version: 66.03
glider: 148
mission: 6
dive: 331
start: 9 22 108 18 27 15
data:
$ID,148
$MISSION,6
$DIVE,331
$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,-13169.874
$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,46
$R_STBD_OVSHOOT,35
$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
$GPS1,182126,2246.963,-15748.523,40,1.5,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-53.9
$GPS2,182621,2246.950,-15748.553,15,1.4,15,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.066,0.140
$KALMAN_X,-274858.7,245.2,177.1,288790.1,-1544.4
$KALMAN_Y,-284273.4,93.0,-351.3,282418.8,259.2
$MHEAD_RNG_PITCHd_Wd,15.1,2089,-25.7,-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,21,-1.67,-54.5,0.0,0.0,0,93,0.00,0.00,-68.88,0.000,2,0.000,0.000,412,2154,2773
$GC,96,-1.72,-96.1,3.4,-4.2,9,121,11.27,2.12,-8.35,0.000,4,0.158,0.044,2537,3458,3143
$GC,201,-1.62,-96.1,24.3,-21.2,25,210,0.10,2.22,0.00,0.000,6,0.117,0.018,2560,2043,3143
$GC,412,-1.56,-96.1,69.3,-19.6,46,416,0.00,2.17,0.00,0.000,4,0.000,0.026,2560,644,3144
$GC,437,-1.52,-96.1,74.8,-20.5,48,442,0.12,2.17,0.00,0.000,6,0.123,0.018,2583,2063,3144
$GC,643,-1.60,-96.1,107.6,-14.8,67,647,0.00,2.22,0.00,0.000,4,0.000,0.031,2583,652,3145
$GC,787,-1.73,-96.1,127.1,-13.3,79,792,0.17,2.15,0.00,0.000,6,0.046,0.018,2527,2052,3146
$GC,989,-1.73,-96.1,157.7,-16.1,97,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2053,3147
$GC,1311,-1.73,-96.1,207.7,-15.1,125,1315,0.00,2.22,0.00,0.000,4,0.000,0.029,2527,648,3148
$GC,1442,-1.77,-96.1,226.9,-14.8,128,1446,0.00,2.17,0.00,0.000,6,0.000,0.018,2527,2058,3148
$GC,1769,-1.83,-96.1,266.6,-11.5,136,1772,0.00,2.22,0.00,0.000,4,0.000,0.031,2527,651,3149
$GC,1802,-1.89,-96.1,271.2,-12.9,136,1806,0.00,2.17,0.00,0.000,6,0.000,0.026,2526,2060,3148
$GC,2133,-1.97,-96.1,309.4,-11.1,144,2138,0.15,2.25,0.00,0.000,4,0.051,0.042,2479,662,3149
$GC,2391,-1.97,-96.1,345.4,-14.7,149,2397,0.00,2.17,0.00,0.000,6,0.000,0.030,2479,2051,3148
$GC,2722,-1.97,-96.1,388.9,-12.6,158,2726,0.00,2.28,0.00,0.000,4,0.000,0.040,2479,659,3147
$GC,2880,-1.97,-96.1,408.7,-12.1,161,2884,0.00,2.20,0.00,0.000,6,0.000,0.032,2479,2051,3146
$GC,3216,-1.97,-96.1,449.8,-12.7,170,3220,0.00,2.28,0.00,0.000,4,0.000,0.044,2479,667,3144
$GC,3474,-1.97,-96.1,486.7,-15.3,175,3480,0.00,2.22,0.00,0.000,6,0.000,0.036,2479,2051,3142
$STATE,3681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3681,begin apogee
$GC,3687,-0.31,0.0,513.5,12.8,181,3770,1.75,0.00,78.90,0.922,6,0.104,0.000,2850,2052,2749
$STATE,3770,end apogee,CONTROL_FINISHED_OK
$STATE,3770,begin climb
$GC,3773,1.72,96.1,515.6,0.0,183,3863,1.88,2.42,79.82,0.897,4,0.046,0.065,3298,3409,2356
$GC,3919,1.42,96.1,502.1,14.4,186,3925,0.35,2.28,0.00,0.000,6,0.123,0.036,3231,2018,2352
$GC,4262,1.25,96.1,459.7,11.8,195,4267,0.17,2.42,0.00,0.000,4,0.123,0.066,3195,597,2348
$GC,4441,1.11,96.1,437.9,12.2,199,4446,0.17,2.25,0.00,0.000,6,0.127,0.025,3162,2001,2346
$GC,4761,1.11,96.1,406.7,10.1,207,4765,0.00,2.35,0.00,0.000,4,0.000,0.049,3162,593,2344
$GC,5018,1.04,96.1,378.7,10.2,212,5024,0.00,2.25,0.00,0.000,6,0.000,0.031,3163,2004,2342
$GC,5350,1.05,103.8,351.6,7.7,221,5359,0.00,2.35,4.95,0.624,4,0.000,0.049,3162,594,2325
$GC,5399,1.00,106.6,347.8,8.2,222,5408,0.12,2.25,4.07,0.557,6,0.133,0.031,3141,2000,2314
$GC,5717,1.01,119.3,324.7,7.2,230,5735,0.00,2.45,11.93,0.770,4,0.000,0.056,3141,3399,2261
$GC,5793,1.05,119.3,318.1,9.0,231,5797,0.00,2.25,0.00,0.000,6,0.000,0.027,3141,1993,2260
$GC,6130,1.09,119.3,287.3,9.6,240,6134,0.00,2.30,0.00,0.000,4,0.000,0.052,3141,603,2258
$GC,6175,1.09,119.3,282.8,10.5,241,6179,0.00,2.22,0.00,0.000,6,0.000,0.028,3141,2011,2257
$GC,6505,1.17,132.7,256.7,7.1,249,6524,0.15,2.42,11.95,0.726,4,0.054,0.045,3189,600,2207
$GC,6581,1.11,132.7,250.0,9.8,250,6585,0.15,2.22,0.00,0.000,6,0.117,0.029,3161,2011,2205
$GC,6917,1.15,132.7,220.8,8.8,259,6921,0.00,2.33,0.00,0.000,4,0.000,0.042,3161,591,2204
$GC,6956,1.15,132.7,216.6,10.2,259,6962,0.00,2.25,0.00,0.000,6,0.000,0.022,3161,2011,2202
$GC,7272,1.22,150.2,191.5,6.7,275,7297,0.10,2.38,15.68,0.690,4,0.065,0.041,3195,600,2135
$GC,7334,1.18,150.2,186.2,10.3,280,7338,0.00,2.22,0.00,0.000,6,0.000,0.028,3195,2001,2134
$GC,7662,1.18,150.2,157.9,8.5,310,7666,0.00,2.30,0.00,0.000,4,0.000,0.038,3196,590,2132
$GC,7703,1.18,150.2,153.8,9.8,313,7707,0.00,2.22,0.00,0.000,6,0.000,0.028,3196,2001,2132
$GC,8034,1.18,151.4,123.6,8.4,344,8038,0.00,2.28,0.00,0.000,4,0.000,0.044,3196,3403,2131
$GC,8062,1.19,160.5,121.6,7.6,346,8077,0.00,2.22,9.65,0.588,6,0.000,0.022,3196,1989,2094
$GC,8269,1.24,181.6,108.0,6.3,365,8294,0.00,0.00,18.88,0.610,6,0.000,0.000,3196,1989,2007
$GC,8486,1.29,181.6,89.6,9.5,386,8490,0.00,2.22,0.00,0.000,4,0.000,0.037,3195,604,2005
$GC,8610,1.30,191.4,78.5,7.5,396,8630,0.00,2.20,9.48,0.539,6,0.000,0.027,3196,1996,1967
$GC,8821,1.42,206.2,62.3,7.0,416,8840,0.15,2.28,14.02,0.548,4,0.048,0.041,3249,604,1907
$GC,8880,1.38,206.2,57.1,10.1,420,8885,0.15,2.20,0.00,0.000,6,0.110,0.023,3219,2005,1906
$GC,9080,1.43,206.2,41.2,8.5,438,9081,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2006,1904
$GC,9276,1.46,206.2,23.1,8.6,462,9284,0.00,2.28,0.00,0.000,4,0.000,0.044,3219,3401,1903
$GC,9293,1.49,206.2,21.5,8.8,464,9301,0.08,2.20,0.00,0.000,6,0.044,0.021,3257,2006,1903
$STATE,9459,end climb,SURFACE_DEPTH_REACHED
$STATE,9459,begin surface coast
$FINISH,0.7,1.006254
$STATE,9482,end surface coast,CONTROL_FINISHED_OK
$STATE,9483,begin surface
$SM_CCo,9504,125.35,0.515,0,0,954,440.07
$SM_GC,1.77,0.00,0.00,125.35,0.000,0.000,0.515,409,2000,954,-11.55,-1.39,440.07
$IRIDIUM_FIX,2239.35,-15749.78,171297,151533
$TT8_MAMPS,0.026845
$HUMID,1730
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.40
$XPDR_PINGS,108
$24V_AH,23.7,46.780
$10V_AH,10.1,43.858
$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,28.600,99.300,259.325,125.350,0.000,25.892,33.541,118.057,27.000,0.000,0.000,16.972,1021.707,6080.014,461.445,1871.225,489.130,33.357,1206.069,0.000,1955.686,0.000,0.468
$DEVICE_MAMPS,158.002,65.962,921.934,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.079,306.597,617.983,459.755,914.105,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38462,496
$CAP_FILE_SIZE,207156,0
$CFSIZE,260165632,236072960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220908,210853,2247.811,-15748.753,8,99.0,27,10.1