version: 66.03
glider: 148
mission: 6
dive: 333
start: 9 23 108 0 1 0
data:
$ID,148
$MISSION,6
$DIVE,333
$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,-13232.828
$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,45
$R_STBD_OVSHOOT,57
$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
$GPS1,235429,2248.535,-15748.380,5,7.2,24,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-58.2
$GPS2,000007,2248.540,-15748.453,11,1.9,27,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.137,-0.053
$KALMAN_X,-276955.4,256.5,28.8,291197.8,-1811.7
$KALMAN_Y,-284800.1,562.5,409.3,284650.5,-648.4
$MHEAD_RNG_PITCHd_Wd,101.2,1368,-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,-49.4,0.0,0.0,0,94,0.00,0.00,-69.72,0.000,2,0.000,0.000,405,2078,2814
$GC,97,-1.79,-86.4,3.7,-4.2,9,121,11.32,2.25,-6.10,0.000,4,0.162,0.039,2519,651,3103
$GC,137,-1.07,-86.4,13.8,-22.2,14,146,0.77,2.17,0.00,0.000,6,0.114,0.019,2681,2034,3104
$GC,355,-1.29,-86.4,43.7,-13.3,42,363,0.15,0.00,0.00,0.000,6,0.048,0.000,2624,2035,3105
$GC,555,-1.44,-86.4,74.2,-13.6,61,559,0.00,2.20,0.00,0.000,4,0.000,0.031,2624,647,3105
$GC,587,-1.61,-86.4,79.6,-15.4,63,595,0.20,2.20,0.00,0.000,6,0.028,0.021,2551,2041,3106
$GC,785,-1.65,-86.4,111.2,-16.5,82,789,0.00,2.20,0.00,0.000,4,0.000,0.030,2551,652,3106
$GC,930,-1.73,-86.4,134.8,-16.6,94,939,0.00,2.20,0.00,0.000,6,0.000,0.020,2551,2056,3107
$GC,1128,-1.82,-86.4,162.6,-12.3,113,1133,0.12,2.20,0.00,0.000,4,0.051,0.031,2505,3447,3108
$GC,1169,-1.82,-86.4,168.2,-14.7,116,1173,0.00,2.17,0.00,0.000,6,0.000,0.018,2505,2037,3108
$GC,1521,-1.82,-86.4,215.5,-12.9,140,1525,0.00,2.17,0.00,0.000,4,0.000,0.030,2505,652,3109
$GC,1663,-1.85,-86.4,235.7,-13.5,143,1668,0.00,2.15,0.00,0.000,6,0.000,0.018,2505,2057,3109
$GC,1984,-1.91,-86.4,273.6,-11.0,151,1988,0.00,2.22,0.00,0.000,4,0.000,0.031,2505,657,3109
$GC,2017,-1.96,-86.4,277.7,-11.4,151,2023,0.00,2.15,0.00,0.000,6,0.000,0.025,2505,2058,3109
$GC,2348,-2.03,-86.4,313.3,-11.3,160,2353,0.12,2.25,0.00,0.000,4,0.054,0.035,2461,661,3109
$GC,2605,-2.03,-86.4,350.1,-14.1,165,2612,0.00,2.15,0.00,0.000,6,0.000,0.030,2461,2041,3108
$GC,2936,-2.03,-86.4,391.7,-12.2,174,2940,0.00,2.25,0.00,0.000,4,0.000,0.046,2460,664,3107
$GC,3193,-2.03,-86.4,424.9,-12.5,179,3199,0.00,2.20,0.00,0.000,6,0.000,0.028,2461,2043,3105
$GC,3524,-2.03,-86.4,465.0,-12.1,188,3528,0.00,2.28,0.00,0.000,4,0.000,0.044,2461,666,3103
$GC,3782,-2.03,-86.4,497.1,-13.3,193,3788,0.00,2.22,0.00,0.000,6,0.000,0.032,2461,2053,3101
$STATE,3907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3907,begin apogee
$GC,3913,-0.31,0.0,511.9,11.7,197,3990,1.83,0.00,71.20,0.927,6,0.105,0.000,2847,2053,2749
$STATE,3991,end apogee,CONTROL_FINISHED_OK
$STATE,3991,begin climb
$GC,3994,1.79,86.4,513.2,0.0,199,4076,1.95,2.40,71.78,0.898,4,0.043,0.071,3314,3393,2394
$GC,4183,1.48,86.4,492.3,15.5,203,4188,0.35,2.22,0.00,0.000,6,0.123,0.029,3245,2020,2390
$GC,4535,1.30,86.4,451.2,11.5,212,4540,0.17,2.42,0.00,0.000,4,0.123,0.066,3208,599,2386
$GC,4754,1.15,86.4,426.0,11.2,217,4759,0.17,2.28,0.00,0.000,6,0.122,0.033,3175,2005,2384
$GC,5080,1.12,90.4,398.2,8.0,225,5084,0.00,2.35,0.00,0.000,4,0.000,0.046,3175,589,2382
$GC,5316,1.05,90.4,377.6,9.9,230,5321,0.12,2.28,0.00,0.000,6,0.136,0.030,3153,2010,2381
$GC,5665,1.05,91.2,347.3,8.4,239,5669,0.00,2.35,0.00,0.000,4,0.000,0.048,3153,589,2378
$GC,5709,1.05,94.9,343.2,8.1,240,5719,0.00,2.25,5.18,0.640,6,0.000,0.024,3152,2002,2362
$GC,6028,1.07,111.8,320.8,6.5,248,6049,0.00,2.40,15.65,0.790,4,0.000,0.061,3152,3396,2292
$GC,6077,1.08,120.8,317.4,7.5,249,6091,0.00,2.25,9.02,0.724,6,0.000,0.030,3152,1993,2256
$GC,6438,1.12,120.8,288.1,8.6,258,6442,0.00,2.33,0.00,0.000,4,0.000,0.050,3152,603,2252
$GC,6510,1.12,120.8,280.9,10.0,259,6514,0.00,2.22,0.00,0.000,6,0.000,0.026,3152,2005,2251
$GC,6848,1.20,130.4,254.8,7.4,268,6863,0.12,2.38,8.70,0.693,4,0.060,0.055,3190,3388,2217
$GC,6946,1.20,130.4,246.1,9.7,270,6950,0.00,2.22,0.00,0.000,6,0.000,0.030,3190,1993,2215
$GC,7265,1.20,130.4,217.4,9.0,278,7269,0.00,2.30,0.00,0.000,4,0.000,0.042,3190,3395,2214
$GC,7298,1.20,130.4,214.2,9.2,278,7304,0.00,2.22,0.00,0.000,6,0.000,0.025,3190,1994,2214
$GC,7618,1.21,135.6,187.3,7.9,297,7631,0.00,2.30,5.40,0.562,4,0.000,0.046,3190,604,2195
$GC,7704,1.21,135.6,179.1,10.1,304,7708,0.00,2.22,0.00,0.000,6,0.000,0.028,3190,2015,2195
$GC,8031,1.22,151.1,154.4,6.7,334,8053,0.00,2.33,14.70,0.650,4,0.000,0.043,3190,600,2133
$GC,8070,1.23,152.0,151.4,8.4,337,8074,0.00,2.22,0.00,0.000,6,0.000,0.030,3190,2006,2132
$GC,8401,1.27,156.4,125.1,8.0,368,8415,0.00,2.30,6.10,0.532,4,0.000,0.038,3190,3395,2110
$GC,8511,1.32,159.9,116.4,8.1,377,8522,0.00,2.22,4.35,0.457,6,0.000,0.025,3190,1985,2097
$GC,8714,1.39,173.4,100.6,6.9,396,8732,0.15,2.25,13.02,0.589,4,0.050,0.044,3239,603,2040
$GC,8917,1.34,173.4,80.3,12.1,413,8922,0.15,2.20,0.00,0.000,6,0.109,0.025,3210,2001,2038
$GC,9118,1.43,197.7,65.2,5.7,431,9145,0.00,2.33,21.33,0.575,4,0.000,0.041,3210,603,1941
$GC,9194,1.49,199.7,59.5,8.3,437,9199,0.15,2.20,0.00,0.000,6,0.052,0.019,3257,2010,1940
$GC,9399,1.49,199.7,41.7,9.2,456,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2011,1939
$GC,9596,1.49,199.7,22.3,11.1,480,9605,0.00,2.28,0.00,0.000,4,0.000,0.040,3257,3395,1937
$GC,9631,1.49,199.7,18.5,11.0,485,9640,0.00,2.20,0.00,0.000,6,0.000,0.021,3257,2000,1937
$STATE,9767,end climb,SURFACE_DEPTH_REACHED
$STATE,9767,begin surface coast
$FINISH,0.7,0.999751
$STATE,9791,end surface coast,CONTROL_FINISHED_OK
$STATE,9791,begin surface
$SM_CCo,9813,125.03,0.518,0,0,955,440.07
$SM_GC,1.62,0.00,0.00,125.03,0.000,0.000,0.518,409,2135,955,-11.55,2.40,440.07
$IRIDIUM_FIX,2239.35,-15749.78,171297,212130
$TT8_MAMPS,0.027612
$HUMID,1748
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.10
$XPDR_PINGS,132
$24V_AH,23.7,46.961
$10V_AH,10.1,44.062
$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,29.400,103.625,246.425,125.025,0.000,28.370,32.727,145.398,33.000,0.000,0.000,28.586,1061.099,6211.400,462.283,2001.185,538.556,33.360,1254.524,0.000,2065.333,0.000,0.469
$DEVICE_MAMPS,161.837,98.176,927.303,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.989,322.601,624.628,487.499,957.777,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38179,512
$CAP_FILE_SIZE,215947,0
$CFSIZE,260165632,235933696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,230908,024756,2248.446,-15747.744,38,1.3,38,10.1