version: 66.03
glider: 148
mission: 6
dive: 309
start: 9 20 108 3 49 27
data:
$ID,148
$MISSION,6
$DIVE,309
$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,-12670.529
$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,37
$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
$GPS1,034326,2247.913,-15748.051,37,1.0,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-62.8
$GPS2,034833,2247.866,-15748.115,14,1.1,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.087,0.119
$KALMAN_X,-243172.9,249.7,86.1,257940.9,-2552.5
$KALMAN_Y,-279287.5,728.7,-456.8,278597.5,-1183.1
$MHEAD_RNG_PITCHd_Wd,26.2,1530,-26.9,-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,-1.74,-49.8,0.0,0.0,0,86,0.00,0.00,-62.45,0.000,2,0.000,0.000,408,2089,2577
$GC,90,-1.80,-94.9,3.2,-3.3,8,122,11.27,2.15,-13.27,0.000,4,0.160,0.047,2517,3431,3136
$GC,193,-1.70,-94.9,24.0,-23.6,24,202,0.12,2.20,0.00,0.000,6,0.123,0.019,2545,2033,3138
$GC,402,-1.70,-94.9,72.5,-20.3,45,406,0.00,2.17,0.00,0.000,4,0.000,0.033,2545,652,3138
$GC,453,-1.70,-94.9,83.6,-20.3,49,459,0.00,2.15,0.00,0.000,6,0.000,0.019,2545,2020,3139
$GC,651,-1.70,-94.9,119.8,-17.0,68,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2020,3139
$GC,842,-1.76,-94.9,146.0,-13.6,86,846,0.00,2.17,0.00,0.000,4,0.000,0.031,2545,650,3139
$GC,908,-1.84,-94.9,153.4,-11.7,91,915,0.12,2.17,0.00,0.000,6,0.057,0.018,2504,2065,3140
$GC,1233,-1.87,-94.9,195.3,-12.7,122,1237,0.00,2.25,0.00,0.000,4,0.000,0.032,2504,653,3141
$GC,1333,-1.91,-94.9,209.6,-14.7,126,1337,0.00,2.15,0.00,0.000,6,0.000,0.018,2504,2055,3141
$GC,1682,-1.96,-94.9,257.7,-14.0,135,1685,0.00,2.22,0.00,0.000,4,0.000,0.036,2504,658,3141
$GC,1823,-2.01,-94.9,276.0,-13.1,138,1827,0.00,2.15,0.00,0.000,6,0.000,0.021,2504,2050,3141
$GC,2142,-2.07,-94.9,320.6,-14.2,146,2147,0.15,2.25,0.00,0.000,4,0.054,0.040,2448,655,3141
$GC,2400,-2.02,-94.9,363.8,-17.0,151,2406,0.15,2.17,0.00,0.000,6,0.132,0.025,2475,2045,3140
$GC,2731,-2.02,-94.9,411.2,-14.0,160,2734,0.00,2.28,0.00,0.000,4,0.000,0.049,2476,658,3138
$GC,2988,-2.02,-94.9,440.8,-10.5,165,2994,0.00,2.20,0.00,0.000,6,0.000,0.031,2475,2044,3137
$GC,3320,-2.02,-94.9,477.2,-11.7,174,3323,0.00,2.25,0.00,0.000,4,0.000,0.046,2476,668,3134
$STATE,3569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3569,begin apogee
$GC,3577,-0.31,0.0,510.4,13.2,179,3659,1.75,0.00,77.75,0.920,6,0.117,0.000,2848,2003,2749
$STATE,3660,end apogee,CONTROL_FINISHED_OK
$STATE,3660,begin climb
$GC,3663,1.80,94.9,512.1,0.0,181,3749,1.95,2.42,78.43,0.894,4,0.044,0.064,3313,3408,2363
$GC,3816,1.52,94.9,496.3,15.4,184,3822,0.30,2.25,0.00,0.000,6,0.123,0.030,3254,2021,2358
$GC,4150,1.34,94.9,452.7,12.4,192,4154,0.17,2.42,0.00,0.000,4,0.123,0.063,3216,599,2354
$GC,4334,1.20,94.9,428.8,12.8,196,4339,0.17,2.25,0.00,0.000,6,0.120,0.032,3184,2001,2352
$GC,4647,1.17,94.9,395.0,10.4,204,4651,0.00,2.35,0.00,0.000,4,0.000,0.044,3184,589,2350
$GC,4674,1.10,94.9,392.0,11.3,204,4679,0.12,2.28,0.00,0.000,6,0.130,0.026,3162,2005,2350
$GC,5005,1.10,94.9,361.4,8.9,212,5009,0.00,2.35,0.00,0.000,4,0.000,0.047,3161,589,2347
$GC,5105,1.10,94.9,352.0,9.0,214,5110,0.00,2.28,0.00,0.000,6,0.000,0.027,3161,2009,2346
$GC,5419,1.11,101.7,327.0,7.7,222,5428,0.00,2.38,4.22,0.566,4,0.000,0.058,3161,3406,2333
$GC,5588,1.11,103.6,312.7,8.3,225,5592,0.00,2.25,0.00,0.000,6,0.000,0.031,3161,1992,2332
$GC,5920,1.17,121.8,290.2,6.4,233,5944,0.00,2.40,17.83,0.775,4,0.000,0.057,3161,607,2252
$GC,5978,1.17,121.8,285.9,8.6,234,5982,0.00,2.25,0.00,0.000,6,0.000,0.028,3161,2014,2250
$GC,6294,1.22,122.2,260.2,8.5,242,6299,0.10,2.35,0.00,0.000,4,0.067,0.041,3193,598,2248
$GC,6480,1.19,122.2,243.3,9.7,246,6484,0.00,2.22,0.00,0.000,6,0.000,0.023,3193,2003,2247
$GC,6793,1.20,130.5,218.8,7.6,254,6807,0.00,2.38,7.88,0.652,4,0.000,0.058,3193,3389,2216
$GC,6903,1.20,130.5,207.9,10.6,256,6907,0.00,2.22,0.00,0.000,6,0.000,0.030,3193,1991,2215
$GC,7235,1.20,135.0,177.4,8.0,280,7245,0.00,0.00,5.32,0.553,6,0.000,0.000,3193,1991,2197
$GC,7564,1.21,140.1,150.3,7.9,311,7576,0.00,2.28,5.97,0.555,4,0.000,0.041,3193,593,2176
$GC,7773,1.21,140.1,132.2,8.8,329,7777,0.00,2.22,0.00,0.000,6,0.000,0.021,3193,2013,2176
$GC,7975,1.30,176.4,120.5,4.3,347,8012,0.00,2.38,31.30,0.641,4,0.000,0.038,3193,599,2029
$GC,8060,1.35,177.8,114.7,8.3,354,8067,0.00,2.22,0.00,0.000,6,0.000,0.026,3193,1988,2026
$GC,8260,1.42,177.8,98.5,8.6,373,8264,0.15,2.30,0.00,0.000,4,0.051,0.038,3246,3405,2024
$GC,8314,1.39,177.8,93.2,10.4,377,8319,0.12,2.22,0.00,0.000,6,0.122,0.022,3223,1992,2023
$GC,8514,1.40,190.1,76.5,7.1,395,8531,0.00,2.33,12.23,0.559,4,0.000,0.043,3223,3398,1973
$GC,8547,1.45,199.6,74.3,7.4,397,8561,0.00,2.20,9.77,0.533,6,0.000,0.025,3223,1993,1935
$GC,8752,1.53,208.9,58.1,7.4,416,8767,0.12,2.38,9.23,0.519,4,0.056,0.036,3267,3400,1896
$GC,8781,1.53,208.9,55.6,8.7,418,8785,0.00,2.20,0.00,0.000,6,0.000,0.029,3267,1989,1894
$GC,8987,1.53,208.9,33.2,11.5,437,8991,0.00,2.30,0.00,0.000,4,0.000,0.044,3267,3398,1894
$GC,9007,1.49,208.9,30.8,11.6,438,9011,0.10,2.20,0.00,0.000,6,0.123,0.021,3248,1994,1893
$GC,9222,1.49,208.9,8.0,9.7,474,9231,0.00,2.30,0.00,0.000,4,0.000,0.035,3248,3395,1893
$GC,9241,1.49,208.9,6.2,10.1,476,9249,0.00,2.20,0.00,0.000,6,0.000,0.021,3248,1999,1893
$STATE,9268,end climb,SURFACE_DEPTH_REACHED
$STATE,9269,begin surface coast
$FINISH,0.6,1.014108
$STATE,9298,end surface coast,CONTROL_FINISHED_OK
$STATE,9301,begin surface
$SM_CCo,9322,123.30,0.517,0,0,954,440.07
$SM_GC,1.63,0.00,0.00,123.30,0.000,0.000,0.517,414,2130,954,-11.52,2.26,440.07
$IRIDIUM_FIX,2241.69,-15748.90,151297,010106
$TT8_MAMPS,0.026845
$HUMID,1734
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.30
$XPDR_PINGS,118
$24V_AH,23.7,44.690
$10V_AH,10.1,41.650
$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,28.450,104.000,259.925,123.300,0.000,29.716,33.626,128.237,29.500,0.000,0.000,15.551,1021.273,5866.127,455.048,1909.960,498.958,33.363,1223.767,0.000,1977.891,0.000,0.469
$DEVICE_MAMPS,160.303,72.098,920.400,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.621,317.924,591.129,440.089,877.764,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38323,485
$CAP_FILE_SIZE,207610,0
$CFSIZE,260165632,237559808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200908,062808,2247.778,-15748.755,36,1.0,36,10.1