version: 66.03
glider: 148
mission: 6
dive: 313
start: 9 20 108 15 34 30
data:
$ID,148
$MISSION,6
$DIVE,313
$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,-12776.764
$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,38
$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
$GPS1,152817,2248.494,-15748.147,9,3.6,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-62.5
$GPS2,153337,2248.441,-15748.175,12,1.7,28,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.156,0.008
$KALMAN_X,-250643.9,147.7,349.8,265144.0,-3267.8
$KALMAN_Y,-281740.2,-357.5,-133.4,282869.9,-907.2
$MHEAD_RNG_PITCHd_Wd,76.9,1628,-25.5,-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,21,-1.66,-55.3,0.0,0.0,0,93,0.00,0.00,-69.25,0.000,2,0.000,0.000,416,2127,2785
$GC,96,-1.71,-97.9,3.5,-4.1,9,122,11.40,2.10,-8.02,0.000,4,0.163,0.041,2540,3452,3149
$GC,132,-0.75,-97.9,11.2,-16.7,13,139,0.98,2.20,0.00,0.000,6,0.114,0.022,2753,2035,3150
$GC,350,-1.10,-97.9,35.3,-9.7,46,358,0.30,0.00,0.00,0.000,6,0.032,0.000,2653,2035,3151
$GC,550,-1.22,-97.9,65.8,-15.7,65,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2034,3152
$GC,740,-1.40,-97.9,90.3,-11.6,83,745,0.15,2.15,0.00,0.000,4,0.047,0.029,2593,669,3152
$GC,832,-1.52,-97.9,102.4,-12.4,90,840,0.00,2.17,0.00,0.000,6,0.000,0.019,2593,2057,3152
$GC,1034,-1.62,-97.9,124.5,-10.0,109,1038,0.12,2.20,0.00,0.000,4,0.053,0.028,2549,665,3153
$GC,1087,-1.65,-97.9,131.2,-13.3,113,1091,0.00,2.15,0.00,0.000,6,0.000,0.017,2549,2071,3153
$GC,1284,-1.71,-97.9,157.4,-13.0,131,1288,0.00,2.22,0.00,0.000,4,0.000,0.028,2548,659,3154
$GC,1362,-1.78,-97.9,168.1,-13.5,137,1368,0.00,2.12,0.00,0.000,6,0.000,0.018,2549,2049,3154
$GC,1715,-1.87,-97.9,209.5,-10.6,165,1719,0.15,2.20,0.00,0.000,4,0.050,0.029,2494,662,3155
$GC,1864,-1.87,-97.9,232.3,-15.1,168,1868,0.00,2.12,0.00,0.000,6,0.000,0.018,2494,2051,3155
$GC,2212,-1.87,-97.9,284.5,-14.7,177,2216,0.00,2.20,0.00,0.000,4,0.000,0.032,2494,671,3155
$GC,2241,-1.87,-97.9,288.6,-15.0,177,2245,0.00,2.12,0.00,0.000,6,0.000,0.019,2494,2049,3155
$GC,2572,-1.87,-97.9,334.1,-14.1,185,2576,0.00,2.22,0.00,0.000,4,0.000,0.043,2495,667,3154
$GC,2823,-1.87,-97.9,372.9,-15.1,190,2827,0.00,2.17,0.00,0.000,6,0.000,0.024,2494,2049,3153
$GC,3166,-1.87,-97.9,418.5,-12.7,199,3170,0.00,2.25,0.00,0.000,4,0.000,0.042,2495,673,3152
$GC,3385,-1.87,-97.9,446.2,-11.9,204,3389,0.00,2.20,0.00,0.000,6,0.000,0.030,2495,2050,3150
$GC,3708,-1.87,-97.9,481.4,-10.9,212,3712,0.00,2.28,0.00,0.000,4,0.000,0.051,2494,671,3148
$GC,3909,-1.87,-97.9,506.7,-12.3,216,3913,0.00,2.22,0.00,0.000,6,0.000,0.035,2495,2048,3146
$STATE,3966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3966,begin apogee
$GC,3972,-0.31,0.0,513.8,12.4,218,4056,1.65,0.00,80.18,0.921,6,0.100,0.000,2847,2048,2749
$STATE,4057,end apogee,CONTROL_FINISHED_OK
$STATE,4057,begin climb
$GC,4060,1.71,97.9,516.4,0.0,220,4146,1.92,0.00,81.93,0.898,6,0.044,0.000,3303,2048,2348
$GC,4454,1.44,97.9,473.9,12.4,230,4459,0.32,2.38,0.00,0.000,4,0.120,0.047,3236,630,2340
$GC,4494,1.24,97.9,469.3,10.8,231,4499,0.22,2.22,0.00,0.000,6,0.118,0.028,3193,1997,2339
$GC,4818,1.18,97.9,440.4,8.9,239,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1997,2337
$GC,5143,1.12,97.9,409.2,9.9,247,5148,0.15,2.28,0.00,0.000,4,0.121,0.049,3161,630,2334
$GC,5249,1.12,97.9,398.0,10.7,249,5253,0.00,2.20,0.00,0.000,6,0.000,0.025,3161,2006,2333
$GC,5591,1.12,97.9,366.1,9.2,258,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2007,2330
$GC,5916,1.16,130.3,345.8,5.2,266,5943,0.00,0.00,24.95,0.822,6,0.000,0.000,3160,2007,2217
$GC,6241,1.18,147.5,325.4,6.7,274,6258,0.00,0.00,15.62,0.784,6,0.000,0.000,3160,2006,2147
$GC,6566,1.22,147.5,294.6,10.3,282,6571,0.12,2.28,0.00,0.000,4,0.061,0.046,3197,628,2143
$GC,6677,1.18,147.5,280.1,13.3,284,6682,0.00,2.20,0.00,0.000,6,0.000,0.028,3198,2010,2142
$GC,7014,1.18,147.5,243.5,10.1,293,7018,0.00,2.33,0.00,0.000,4,0.000,0.061,3198,3396,2140
$GC,7041,1.18,147.5,240.6,10.6,293,7045,0.00,2.17,0.00,0.000,6,0.000,0.026,3198,2020,2140
$GC,7372,1.18,147.5,208.9,9.4,301,7376,0.00,2.33,0.00,0.000,4,0.000,0.044,3198,598,2139
$GC,7590,1.18,147.5,185.3,10.8,315,7595,0.00,2.22,0.00,0.000,6,0.000,0.022,3198,2015,2139
$GC,7916,1.18,147.5,154.8,9.4,345,7920,0.00,2.25,0.00,0.000,4,0.000,0.047,3198,3393,2138
$GC,7995,1.18,147.6,148.0,8.5,351,7999,0.00,2.20,0.00,0.000,6,0.000,0.027,3198,1994,2137
$GC,8197,1.21,168.4,133.4,6.4,369,8221,0.00,2.28,17.08,0.642,4,0.000,0.043,3198,597,2062
$GC,8272,1.22,176.4,127.2,7.7,375,8292,0.00,2.22,8.32,0.574,6,0.000,0.021,3198,2002,2029
$GC,8483,1.30,196.3,112.2,6.4,395,8508,0.00,2.30,18.20,0.614,4,0.000,0.042,3198,599,1947
$GC,8522,1.37,208.7,109.4,7.2,398,8539,0.00,2.22,11.73,0.579,6,0.000,0.025,3198,2000,1899
$GC,8738,1.44,209.0,90.4,8.5,418,8743,0.15,2.28,0.00,0.000,4,0.051,0.041,3252,603,1894
$GC,8782,1.38,209.0,86.3,10.3,421,8787,0.15,2.22,0.00,0.000,6,0.110,0.022,3223,2007,1894
$GC,8983,1.46,221.3,68.3,7.2,439,9002,0.00,0.00,11.52,0.545,6,0.000,0.000,3223,2007,1846
$GC,9194,1.53,221.3,49.9,9.6,459,9198,0.12,2.28,0.00,0.000,4,0.057,0.038,3265,601,1844
$GC,9226,1.49,221.3,45.9,12.0,461,9235,0.00,2.22,0.00,0.000,6,0.000,0.028,3264,2001,1844
$GC,9430,1.49,221.3,22.9,12.2,485,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2001,1844
$STATE,9607,end climb,SURFACE_DEPTH_REACHED
$STATE,9607,begin surface coast
$FINISH,0.6,1.012110
$STATE,9638,end surface coast,CONTROL_FINISHED_OK
$STATE,9638,begin surface
$SM_CCo,9660,117.35,0.515,0,0,954,440.07
$SM_GC,1.65,0.00,0.00,117.35,0.000,0.000,0.515,410,2081,954,-11.55,0.88,440.07
$IRIDIUM_FIX,2241.69,-15554.65,151297,121221
$TT8_MAMPS,0.026845
$HUMID,1767
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.30
$XPDR_PINGS,118
$24V_AH,23.7,45.115
$10V_AH,10.1,42.065
$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,29.575,84.450,269.525,117.350,0.000,30.419,28.642,130.510,29.500,0.000,0.000,29.624,1036.847,6213.639,487.655,1847.013,509.651,33.362,1183.083,0.000,1933.986,0.000,0.469
$DEVICE_MAMPS,162.604,112.749,921.167,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.880,337.523,655.064,514.695,1008.621,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38358,520
$CAP_FILE_SIZE,211534,0
$CFSIZE,260165632,237277184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200908,181838,2248.300,-15748.012,31,1.2,31,10.1