version: 66.03
glider: 148
mission: 6
dive: 297
start: 9 18 108 17 0 16
data:
$ID,148
$MISSION,6
$DIVE,297
$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,-12395.719
$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,39
$R_STBD_OVSHOOT,58
$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
$GPS1,165335,2248.573,-15749.384,7,4.9,26,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-64.0
$GPS2,165921,2248.512,-15749.419,14,1.3,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.129,0.070
$KALMAN_X,-223877.5,-276.5,-526.8,237570.4,-604.4
$KALMAN_Y,-269034.4,405.8,-454.2,269853.1,-1654.5
$MHEAD_RNG_PITCHd_Wd,51.4,1188,-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,-62.33,0.000,2,0.000,0.000,410,2078,2580
$GC,89,-1.80,-93.8,3.1,-3.4,8,122,11.23,2.15,-13.60,0.000,4,0.159,0.043,2518,3434,3132
$GC,188,-1.72,-93.8,20.8,-22.3,23,197,0.10,2.17,0.00,0.000,6,0.121,0.022,2541,2048,3133
$GC,401,-1.65,-93.8,70.4,-22.7,45,406,0.10,2.20,0.00,0.000,4,0.135,0.036,2558,652,3134
$GC,479,-1.69,-93.8,87.4,-19.5,51,485,0.00,2.15,0.00,0.000,6,0.000,0.019,2558,2040,3134
$GC,677,-1.74,-93.8,121.1,-16.6,70,680,0.00,2.20,0.00,0.000,4,0.000,0.027,2558,645,3134
$GC,687,-1.81,-93.8,122.9,-15.7,70,696,0.10,2.20,0.00,0.000,6,0.041,0.017,2516,2064,3134
$GC,884,-1.81,-93.8,154.4,-14.9,89,888,0.00,2.20,0.00,0.000,4,0.000,0.027,2516,654,3135
$GC,1010,-1.85,-93.8,174.7,-16.6,100,1014,0.00,2.15,0.00,0.000,6,0.000,0.018,2516,2052,3136
$GC,1348,-1.90,-93.8,221.1,-12.6,120,1352,0.00,2.20,0.00,0.000,4,0.000,0.029,2516,655,3137
$GC,1449,-1.96,-93.8,232.8,-12.1,122,1454,0.10,2.12,0.00,0.000,6,0.063,0.018,2481,2053,3136
$GC,1761,-1.96,-93.8,276.6,-13.7,130,1765,0.00,2.22,0.00,0.000,4,0.000,0.041,2480,651,3137
$GC,2019,-1.96,-93.8,318.3,-14.7,135,2023,0.00,2.15,0.00,0.000,6,0.000,0.028,2481,2044,3137
$GC,2356,-2.00,-93.8,362.1,-12.8,144,2360,0.00,2.25,0.00,0.000,4,0.000,0.043,2481,662,3136
$GC,2569,-2.00,-93.8,392.0,-14.2,148,2575,0.00,2.17,0.00,0.000,6,0.000,0.029,2481,2043,3135
$GC,2899,-2.00,-93.8,433.9,-12.3,157,2903,0.00,2.25,0.00,0.000,4,0.000,0.042,2480,665,3133
$GC,3145,-2.03,-93.8,468.0,-13.8,162,3150,0.00,2.20,0.00,0.000,6,0.000,0.035,2480,2045,3131
$STATE,3480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3480,begin apogee
$GC,3486,-0.31,0.0,512.6,13.1,171,3567,1.73,0.00,76.72,0.920,6,0.105,0.000,2846,2044,2749
$STATE,3567,end apogee,CONTROL_FINISHED_OK
$STATE,3567,begin climb
$GC,3570,1.80,93.8,515.8,0.0,173,3655,1.95,2.35,77.55,0.894,4,0.041,0.059,3318,3398,2366
$GC,3717,1.51,93.8,504.0,13.8,176,3722,0.35,2.25,0.00,0.000,6,0.125,0.029,3250,2019,2361
$GC,4059,1.34,93.8,462.2,12.8,185,4061,0.17,0.00,0.00,0.000,6,0.124,0.000,3216,2019,2358
$GC,4385,1.25,93.8,426.1,11.4,193,4386,0.12,0.00,0.00,0.000,6,0.128,0.000,3194,2019,2354
$GC,4710,1.20,93.8,394.6,9.1,201,4714,0.00,2.42,0.00,0.000,4,0.000,0.060,3194,587,2351
$GC,4788,1.10,93.8,386.6,9.9,202,4792,0.17,2.25,0.00,0.000,6,0.125,0.029,3161,2001,2351
$GC,5119,1.11,100.6,360.7,7.7,210,5128,0.00,2.33,4.15,0.571,4,0.000,0.050,3161,594,2338
$GC,5290,1.11,100.6,344.8,9.6,213,5297,0.00,2.25,0.00,0.000,6,0.000,0.024,3161,2008,2337
$GC,5622,1.11,101.2,316.5,8.4,222,5626,0.00,2.33,0.00,0.000,4,0.000,0.047,3161,593,2335
$GC,5784,1.11,101.2,301.0,9.3,225,5788,0.00,2.22,0.00,0.000,6,0.000,0.028,3161,2001,2335
$GC,6122,1.16,113.8,277.5,7.1,234,6136,0.00,0.00,11.77,0.739,6,0.000,0.000,3161,2001,2284
$GC,6447,1.22,120.3,251.1,7.7,242,6461,0.10,2.40,6.65,0.644,4,0.068,0.044,3192,592,2258
$GC,6564,1.17,120.3,239.7,9.5,244,6568,0.00,2.22,0.00,0.000,6,0.000,0.028,3192,2000,2256
$GC,6900,1.17,120.3,206.4,10.5,253,6904,0.00,2.33,0.00,0.000,4,0.000,0.045,3192,582,2256
$GC,6939,1.13,120.3,202.0,11.7,254,6944,0.15,2.25,0.00,0.000,6,0.119,0.025,3165,2001,2255
$GC,7268,1.21,137.7,177.9,6.5,282,7289,0.00,2.40,15.57,0.682,4,0.000,0.053,3165,3397,2187
$GC,7317,1.30,158.8,175.1,6.1,286,7342,0.17,2.25,19.52,0.675,6,0.052,0.022,3213,1984,2100
$GC,7671,1.30,158.8,141.9,10.1,319,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1984,2095
$GC,7869,1.31,163.6,124.7,7.9,338,7883,0.00,2.28,4.38,0.465,4,0.000,0.042,3213,602,2082
$GC,7919,1.31,163.6,120.3,9.3,342,7923,0.00,2.22,0.00,0.000,6,0.000,0.025,3213,2015,2082
$GC,8116,1.38,183.2,106.2,6.2,360,8141,0.00,2.28,17.90,0.611,4,0.000,0.041,3213,3395,2001
$GC,8158,1.43,197.7,103.8,6.8,363,8182,0.00,2.20,13.55,0.585,6,0.000,0.022,3213,1998,1943
$GC,8373,1.50,199.6,84.5,8.3,383,8377,0.12,2.28,0.00,0.000,4,0.058,0.036,3254,3399,1940
$GC,8465,1.50,199.6,74.2,11.8,391,8469,0.00,2.20,0.00,0.000,6,0.000,0.022,3254,1992,1937
$GC,8670,1.50,199.6,53.4,9.1,410,8674,0.00,2.22,0.00,0.000,4,0.000,0.042,3254,603,1937
$GC,8727,1.50,199.6,47.5,10.1,414,8736,0.00,2.22,0.00,0.000,6,0.000,0.021,3254,2005,1937
$GC,8928,1.50,199.6,28.4,9.7,434,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2005,1937
$GC,9146,1.50,199.6,6.5,10.2,471,9155,0.00,2.28,0.00,0.000,4,0.000,0.041,3254,607,1936
$GC,9169,1.50,199.6,4.0,10.6,474,9176,0.00,2.20,0.00,0.000,6,0.000,0.022,3254,1987,1937
$STATE,9182,end climb,SURFACE_DEPTH_REACHED
$STATE,9182,begin surface coast
$FINISH,0.6,1.013965
$STATE,9213,end surface coast,CONTROL_FINISHED_OK
$STATE,9213,begin surface
$SM_CCo,9235,130.05,0.518,0,0,955,440.07
$SM_GC,1.59,0.00,0.00,130.05,0.000,0.000,0.518,408,2127,955,-11.56,2.18,440.07
$IRIDIUM_FIX,2239.35,-15749.78,131297,141405
$TT8_MAMPS,0.027612
$HUMID,1718
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.40
$XPDR_PINGS,104
$24V_AH,23.7,43.474
$10V_AH,10.1,40.425
$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,28.200,89.700,247.775,130.050,0.000,24.395,40.101,164.261,26.000,0.000,0.000,15.904,970.802,5999.499,462.516,1757.324,520.837,33.358,1169.467,0.000,1836.952,0.000,0.469
$DEVICE_MAMPS,158.769,74.399,920.400,517.725,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.712,301.193,579.793,438.194,869.313,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38077,481
$CAP_FILE_SIZE,198945,0
$CFSIZE,260165632,238399488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180908,193737,2248.928,-15749.257,36,1.5,36,10.1