version: 66.03
glider: 148
mission: 6
dive: 305
start: 9 19 108 16 28 46
data:
$ID,148
$MISSION,6
$DIVE,305
$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,-12577.928
$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,44
$R_STBD_OVSHOOT,69
$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
$GPS1,162237,2248.228,-15748.635,31,1.8,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-64.7
$GPS2,162751,2248.155,-15748.665,11,1.6,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.147,0.004
$KALMAN_X,-236357.1,65.3,-224.5,250684.5,-2039.5
$KALMAN_Y,-276039.6,-334.6,-588.0,277076.4,-324.3
$MHEAD_RNG_PITCHd_Wd,78.4,640,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.75,-49.4,0.0,0.0,0,84,0.00,0.00,-61.62,0.000,2,0.000,0.000,410,2081,2541
$GC,88,-1.81,-98.5,3.0,-2.8,8,119,11.25,0.00,-14.90,0.000,6,0.160,0.000,2515,2081,3152
$GC,323,-1.66,-98.5,56.8,-24.0,38,327,0.17,2.25,0.00,0.000,4,0.132,0.026,2551,645,3153
$GC,422,-1.69,-98.5,76.5,-17.4,46,427,0.00,2.12,0.00,0.000,6,0.000,0.018,2551,2028,3153
$GC,619,-1.69,-98.5,108.8,-15.7,64,623,0.00,2.20,0.00,0.000,4,0.000,0.030,2552,643,3154
$GC,751,-1.81,-98.5,130.4,-16.7,75,755,0.12,2.20,0.00,0.000,6,0.056,0.022,2509,2052,3154
$GC,950,-1.84,-98.5,166.6,-16.1,93,954,0.00,2.22,0.00,0.000,4,0.000,0.028,2509,647,3155
$GC,992,-1.88,-98.5,173.2,-15.4,96,996,0.00,2.17,0.00,0.000,6,0.000,0.018,2509,2061,3156
$GC,1321,-1.92,-98.5,217.8,-13.6,118,1325,0.00,2.25,0.00,0.000,4,0.000,0.031,2509,644,3157
$GC,1557,-1.99,-98.5,250.3,-14.2,123,1562,0.10,2.17,0.00,0.000,6,0.062,0.019,2473,2057,3157
$GC,1907,-1.99,-98.5,301.2,-14.6,132,1911,0.00,2.25,0.00,0.000,4,0.000,0.041,2473,654,3157
$GC,1992,-1.99,-98.5,314.5,-15.0,134,1996,0.00,2.17,0.00,0.000,6,0.000,0.022,2473,2050,3157
$GC,2316,-1.99,-98.5,364.2,-14.7,142,2320,0.00,2.25,0.00,0.000,4,0.000,0.038,2473,655,3156
$GC,2573,-1.99,-98.5,400.9,-12.4,147,2577,0.00,2.20,0.00,0.000,6,0.000,0.025,2473,2050,3155
$GC,2904,-2.02,-98.5,435.9,-10.2,155,2908,0.00,2.30,0.00,0.000,4,0.000,0.045,2473,653,3153
$GC,3072,-2.06,-98.5,454.4,-11.0,158,3078,0.00,2.22,0.00,0.000,6,0.000,0.036,2473,2048,3152
$GC,3404,-2.10,-98.5,493.4,-12.2,167,3408,0.00,2.30,0.00,0.000,4,0.000,0.047,2473,657,3150
$STATE,3524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3524,begin apogee
$GC,3532,-0.31,0.0,510.4,13.9,169,3619,1.75,0.00,80.65,0.919,6,0.113,0.000,2848,1993,2749
$STATE,3619,end apogee,CONTROL_FINISHED_OK
$STATE,3619,begin climb
$GC,3622,1.81,98.5,513.3,0.0,172,3709,1.95,0.00,81.78,0.897,6,0.044,0.000,3316,1993,2347
$GC,4027,1.54,98.5,464.3,13.6,182,4032,0.28,2.30,0.00,0.000,4,0.125,0.043,3258,612,2338
$GC,4077,1.32,98.5,457.7,13.3,183,4082,0.25,2.25,0.00,0.000,6,0.120,0.035,3210,2007,2337
$GC,4397,1.24,98.5,423.4,10.8,191,4401,0.00,2.33,0.00,0.000,4,0.000,0.042,3210,613,2335
$GC,4488,1.13,98.5,412.0,11.5,193,4493,0.22,2.25,0.00,0.000,6,0.123,0.028,3168,2008,2333
$GC,4808,1.13,98.5,381.8,8.8,201,4812,0.00,2.33,0.00,0.000,4,0.000,0.048,3167,607,2331
$GC,4897,1.10,98.5,373.6,8.7,203,4901,0.00,2.25,0.00,0.000,6,0.000,0.025,3167,2013,2330
$GC,5215,1.11,114.4,351.6,6.7,211,5234,0.00,2.38,11.45,0.780,4,0.000,0.044,3167,613,2281
$GC,5296,1.12,117.7,345.2,8.1,212,5305,0.00,2.22,4.28,0.571,6,0.000,0.029,3167,2002,2268
$GC,5634,1.15,117.7,318.2,8.5,221,5638,0.00,2.38,0.00,0.000,4,0.000,0.063,3167,3399,2266
$GC,5662,1.15,117.7,315.5,8.8,221,5666,0.00,2.22,0.00,0.000,6,0.000,0.029,3167,2000,2265
$GC,5993,1.19,117.7,280.6,11.4,229,5997,0.00,2.33,0.00,0.000,4,0.000,0.058,3167,607,2264
$GC,6036,1.19,117.7,274.8,13.5,230,6040,0.00,2.22,0.00,0.000,6,0.000,0.030,3167,2004,2263
$GC,6363,1.23,117.7,241.7,8.6,238,6367,0.00,2.33,0.00,0.000,4,0.000,0.055,3167,3398,2262
$GC,6458,1.29,129.4,234.4,7.2,240,6473,0.15,2.22,9.98,0.696,6,0.056,0.026,3211,1993,2221
$GC,6810,1.30,132.5,207.2,8.1,249,6819,0.00,2.33,4.15,0.507,4,0.000,0.048,3211,604,2208
$GC,6854,1.23,132.5,202.9,9.9,250,6859,0.12,2.22,0.00,0.000,6,0.123,0.022,3189,2013,2207
$GC,7181,1.28,143.0,172.0,7.3,278,7196,0.00,2.33,10.18,0.642,4,0.000,0.040,3189,602,2166
$GC,7451,1.28,143.0,149.0,8.6,301,7457,0.00,2.20,0.00,0.000,6,0.000,0.023,3189,2005,2164
$GC,7650,1.35,148.5,132.8,7.9,320,7662,0.10,0.00,6.43,0.554,6,0.064,0.000,3225,2005,2142
$GC,7854,1.38,171.3,118.2,5.9,339,7879,0.00,2.38,20.20,0.628,4,0.000,0.038,3225,599,2049
$GC,7893,1.39,186.6,115.6,6.7,342,7912,0.00,2.22,14.15,0.599,6,0.000,0.025,3225,1998,1988
$GC,8108,1.44,186.6,97.6,8.9,361,8111,0.00,2.28,0.00,0.000,4,0.000,0.042,3225,598,1984
$GC,8186,1.44,186.6,90.3,9.7,367,8192,0.00,2.20,0.00,0.000,6,0.000,0.026,3225,2001,1983
$GC,8386,1.51,198.6,74.7,7.1,386,8406,0.10,0.00,11.00,0.548,6,0.064,0.000,3260,2001,1939
$GC,8597,1.51,198.6,56.7,9.5,406,8601,0.00,2.28,0.00,0.000,4,0.000,0.035,3260,595,1937
$GC,8663,1.51,198.6,49.7,10.5,411,8667,0.00,2.20,0.00,0.000,6,0.000,0.024,3260,2001,1937
$GC,8863,1.51,198.6,30.5,9.3,429,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2001,1937
$GC,9068,1.51,198.6,10.6,9.8,464,9074,0.00,2.28,0.00,0.000,4,0.000,0.041,3260,3391,1937
$GC,9088,1.51,198.6,8.2,10.4,467,9097,0.00,2.20,0.00,0.000,6,0.000,0.021,3260,1993,1936
$STATE,9138,end climb,SURFACE_DEPTH_REACHED
$STATE,9138,begin surface coast
$FINISH,0.6,1.019013
$STATE,9169,end surface coast,CONTROL_FINISHED_OK
$STATE,9169,begin surface
$SM_CCo,9191,128.70,0.515,0,0,955,440.07
$SM_GC,1.52,0.00,0.00,128.70,0.000,0.000,0.515,409,2111,955,-11.55,1.72,440.07
$IRIDIUM_FIX,2241.69,-15746.73,141297,131333
$TT8_MAMPS,0.027612
$HUMID,1720
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.50
$XPDR_PINGS,112
$24V_AH,23.7,44.292
$10V_AH,10.1,41.246
$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,28.125,94.675,254.225,128.700,0.000,27.915,29.007,137.685,28.000,0.000,0.000,12.854,1003.128,5835.415,451.305,1835.921,505.916,33.352,1183.260,0.000,1892.197,0.000,0.468
$DEVICE_MAMPS,160.303,76.700,918.866,514.657,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.264,333.261,588.150,437.754,883.074,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38179,480
$CAP_FILE_SIZE,202861,0
$CFSIZE,260165632,237834240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190908,190507,2247.812,-15748.724,11,2.0,21,10.1