version: 66.03
glider: 148
mission: 6
dive: 294
start: 9 18 108 8 39 45
data:
$ID,148
$MISSION,6
$DIVE,294
$D_SURF,3
$D_FLARE,3
$D_TGT,510
$D_ABORT,700
$D_NO_BLEED,80
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52629
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2200
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,440
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12327.967
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2749
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-11.792777
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043992815
$SEABIRD_T_H,0.00064238382
$SEABIRD_T_I,2.7016365e-05
$SEABIRD_T_J,3.0340441e-06
$SEABIRD_C_G,-10.010528
$SEABIRD_C_H,1.1459081
$SEABIRD_C_I,-0.0015769247
$SEABIRD_C_J,0.00021306775
$GPS1,083401,2249.288,-15748.494,36,1.4,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-63.5
$GPS2,083851,2249.296,-15748.485,14,1.5,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.032,0.144
$KALMAN_X,-221245.5,10.7,296.9,235415.6,-1037.4
$KALMAN_Y,-263781.0,87.7,1026.8,264883.2,-3096.7
$MHEAD_RNG_PITCHd_Wd,2.6,2556,-27.0,-8.500
$D_GRID,510
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.75,-49.4,0.0,0.0,0,86,0.00,0.00,-62.45,0.000,2,0.000,0.000,414,2112,2575
$GC,90,-1.80,-94.2,3.0,-3.3,8,122,11.18,2.12,-13.68,0.000,4,0.158,0.042,2516,3452,3134
$GC,182,-1.70,-94.2,20.6,-22.7,22,191,0.10,2.20,0.00,0.000,6,0.122,0.019,2539,2050,3134
$GC,389,-1.62,-94.2,67.6,-22.8,44,393,0.12,2.20,0.00,0.000,4,0.134,0.033,2562,653,3135
$GC,513,-1.67,-94.2,94.5,-17.7,54,522,0.00,2.20,0.00,0.000,6,0.000,0.018,2562,2057,3136
$GC,714,-1.72,-94.2,126.6,-16.6,73,718,0.00,2.22,0.00,0.000,4,0.000,0.028,2562,645,3137
$GC,732,-1.79,-94.2,129.8,-15.5,74,737,0.15,2.17,0.00,0.000,6,0.048,0.018,2513,2060,3136
$GC,930,-1.83,-94.2,163.7,-14.1,92,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2062,3137
$GC,1257,-1.90,-94.2,206.1,-12.6,120,1261,0.00,2.22,0.00,0.000,4,0.000,0.029,2513,654,3139
$GC,1388,-1.98,-94.2,224.9,-13.6,123,1393,0.10,2.12,0.00,0.000,6,0.062,0.018,2476,2050,3138
$GC,1720,-1.98,-94.2,272.3,-14.8,131,1724,0.00,2.22,0.00,0.000,4,0.000,0.034,2475,654,3139
$GC,1977,-1.98,-94.2,308.4,-12.1,136,1984,0.00,2.17,0.00,0.000,6,0.000,0.021,2476,2050,3139
$GC,2308,-1.98,-94.2,347.6,-12.1,145,2312,0.00,2.25,0.00,0.000,4,0.000,0.042,2475,660,3138
$GC,2566,-1.98,-94.2,380.6,-12.9,150,2572,0.00,2.20,0.00,0.000,6,0.000,0.031,2476,2043,3137
$GC,2897,-1.98,-94.2,421.9,-12.9,159,2901,0.00,2.25,0.00,0.000,4,0.000,0.044,2476,665,3135
$GC,3070,-1.98,-94.2,444.6,-11.9,162,3076,0.00,2.20,0.00,0.000,6,0.000,0.036,2476,2042,3133
$GC,3401,-2.02,-94.2,481.3,-10.7,171,3405,0.00,2.28,0.00,0.000,4,0.000,0.051,2476,666,3131
$STATE,3645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3646,begin apogee
$GC,3653,-0.31,0.0,510.2,12.2,176,3734,1.73,0.00,76.93,0.927,6,0.112,0.000,2847,1994,2748
$STATE,3735,end apogee,CONTROL_FINISHED_OK
$STATE,3735,begin climb
$GC,3738,1.80,94.2,511.6,0.0,178,3824,1.98,2.38,78.60,0.900,4,0.041,0.054,3317,618,2363
$GC,4065,1.46,94.2,467.9,16.5,185,4070,0.40,2.25,0.00,0.000,6,0.123,0.034,3240,1999,2356
$GC,4415,1.30,94.2,426.6,12.3,194,4419,0.15,2.30,0.00,0.000,4,0.128,0.042,3207,617,2352
$GC,4425,1.14,94.2,424.9,12.8,194,4429,0.20,2.22,0.00,0.000,6,0.123,0.028,3170,2002,2352
$GC,4774,1.14,94.2,388.6,9.9,203,4778,0.00,2.38,0.00,0.000,4,0.000,0.062,3169,3406,2349
$GC,4795,1.11,94.2,386.4,9.0,203,4799,0.00,2.22,0.00,0.000,6,0.000,0.028,3169,2016,2349
$GC,5137,1.11,100.2,356.8,7.8,212,5141,0.00,2.30,0.00,0.000,4,0.000,0.046,3169,3409,2347
$GC,5159,1.12,105.6,355.0,7.9,212,5176,0.00,2.28,7.82,0.736,6,0.000,0.031,3169,1989,2317
$GC,5501,1.13,113.1,328.5,7.6,221,5510,0.00,0.00,7.45,0.719,6,0.000,0.000,3169,1989,2288
$GC,5826,1.13,113.1,299.6,9.4,229,5830,0.00,2.33,0.00,0.000,4,0.000,0.061,3169,603,2285
$GC,6027,1.13,113.1,280.7,9.9,233,6031,0.00,2.25,0.00,0.000,6,0.000,0.028,3169,2020,2284
$GC,6369,1.13,113.1,249.3,8.8,242,6373,0.00,2.30,0.00,0.000,4,0.000,0.058,3169,3399,2283
$GC,6409,1.13,113.1,245.8,8.9,243,6413,0.00,2.22,0.00,0.000,6,0.000,0.027,3169,1993,2283
$GC,6734,1.14,124.0,220.9,7.2,251,6748,0.00,2.33,9.65,0.689,4,0.000,0.051,3169,597,2243
$GC,7001,1.14,124.0,197.8,9.6,257,7005,0.00,2.22,0.00,0.000,6,0.000,0.021,3169,2011,2241
$GC,7326,1.20,126.0,171.5,8.3,287,7330,0.00,2.30,0.00,0.000,4,0.000,0.042,3169,597,2239
$GC,7399,1.20,126.0,165.0,9.0,293,7403,0.00,2.22,0.00,0.000,6,0.000,0.028,3169,2007,2239
$GC,7727,1.29,146.6,145.3,6.1,323,7753,0.12,2.38,19.90,0.663,4,0.058,0.041,3211,3402,2150
$GC,7758,1.31,164.4,143.2,6.5,325,7781,0.00,2.25,16.73,0.638,6,0.000,0.030,3210,1987,2077
$GC,7981,1.32,169.1,126.4,8.0,346,7992,0.00,0.00,4.03,0.443,6,0.000,0.000,3211,1987,2062
$GC,8184,1.33,177.7,111.3,7.5,365,8199,0.00,2.28,9.35,0.577,4,0.000,0.043,3211,609,2023
$GC,8234,1.33,177.7,106.5,9.8,369,8241,0.00,2.20,0.00,0.000,6,0.000,0.026,3211,2001,2023
$GC,8432,1.38,177.7,87.2,10.0,388,8436,0.00,2.28,0.00,0.000,4,0.000,0.040,3211,3405,2021
$GC,8543,1.44,185.9,77.4,7.6,397,8557,0.00,2.20,8.27,0.533,6,0.000,0.022,3211,1993,1989
$GC,8747,1.53,204.8,63.4,6.3,416,8774,0.15,2.28,17.48,0.562,4,0.050,0.037,3266,608,1913
$GC,8804,1.47,204.8,58.8,8.7,420,8811,0.10,2.22,0.00,0.000,6,0.102,0.020,3242,2004,1911
$GC,9003,1.47,204.8,41.2,9.3,439,9007,0.00,2.28,0.00,0.000,4,0.000,0.041,3242,596,1910
$GC,9022,1.47,204.8,39.3,10.1,440,9026,0.00,2.20,0.00,0.000,6,0.000,0.021,3241,2001,1910
$GC,9230,1.47,204.8,18.4,10.3,468,9238,0.00,2.28,0.00,0.000,4,0.000,0.034,3242,604,1910
$GC,9247,1.47,204.8,16.6,10.0,470,9255,0.00,2.20,0.00,0.000,6,0.000,0.020,3242,1997,1910
$STATE,9381,end climb,SURFACE_DEPTH_REACHED
$STATE,9381,begin surface coast
$FINISH,0.6,1.011904
$STATE,9414,end surface coast,CONTROL_FINISHED_OK
$STATE,9414,begin surface
$SM_CCo,9435,113.80,0.513,0,0,953,440.07
$SM_GC,1.69,0.00,0.00,113.80,0.000,0.000,0.513,411,2104,953,-11.54,1.53,440.07
$IRIDIUM_FIX,2239.35,-15749.78,131297,060608
$TT8_MAMPS,0.027612
$HUMID,1728
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.50
$XPDR_PINGS,112
$24V_AH,23.7,43.183
$10V_AH,10.1,40.128
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,27.950,98.825,256.200,113.800,0.000,25.739,33.441,116.602,28.000,0.000,0.000,16.195,1025.886,5969.825,460.086,1905.490,477.672,33.357,1214.284,0.000,1972.230,0.000,0.468
$DEVICE_MAMPS,158.002,108.147,927.303,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.754,331.972,609.317,460.073,910.561,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38181,498
$CAP_FILE_SIZE,208064,0
$CFSIZE,260165632,238592000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180908,111959,2249.215,-15748.577,5,99.0,24,10.1