version: 66.03
glider: 148
mission: 6
dive: 335
start: 9 23 108 5 40 40
data:
$ID,148
$MISSION,6
$DIVE,335
$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,-13260.054
$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,43
$R_STBD_OVSHOOT,42
$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
$GPS1,053433,2247.839,-15749.013,10,2.0,10,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-61.8
$GPS2,053945,2247.816,-15749.052,14,2.0,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.127,0.084
$KALMAN_X,-277946.2,167.0,313.7,290970.8,-1423.2
$KALMAN_Y,-284394.2,123.4,-207.9,283969.2,-673.1
$MHEAD_RNG_PITCHd_Wd,46.2,352,-26.2,-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,-1.70,-52.6,0.0,0.0,0,86,0.00,0.00,-62.25,0.000,2,0.000,0.000,414,2009,2568
$GC,89,-1.76,-103.9,3.1,-2.9,8,123,11.30,2.30,-14.85,0.000,4,0.160,0.047,2528,3451,3173
$GC,149,-1.60,-103.9,13.0,-16.9,16,157,0.15,2.22,0.00,0.000,6,0.115,0.020,2562,2045,3174
$GC,363,-1.52,-103.9,61.2,-23.5,41,371,0.12,0.00,0.00,0.000,6,0.130,0.000,2584,2042,3175
$GC,561,-1.61,-103.9,92.8,-14.2,60,564,0.00,2.20,0.00,0.000,4,0.000,0.029,2584,651,3176
$GC,594,-1.72,-103.9,97.3,-13.1,62,603,0.12,2.20,0.00,0.000,6,0.036,0.018,2535,2061,3176
$GC,793,-1.72,-103.9,126.1,-14.6,81,796,0.00,2.22,0.00,0.000,4,0.000,0.030,2535,652,3176
$GC,874,-1.76,-103.9,138.4,-14.6,88,878,0.00,2.15,0.00,0.000,6,0.000,0.018,2535,2052,3177
$GC,1075,-1.80,-103.9,166.6,-14.6,106,1079,0.00,2.22,0.00,0.000,4,0.000,0.030,2535,648,3177
$GC,1186,-1.87,-103.9,184.1,-16.0,115,1189,0.00,2.15,0.00,0.000,6,0.000,0.018,2535,2049,3178
$GC,1501,-1.94,-103.9,227.5,-13.5,130,1506,0.15,2.22,0.00,0.000,4,0.051,0.031,2486,650,3179
$GC,1634,-1.94,-103.9,247.8,-14.6,133,1638,0.00,2.17,0.00,0.000,6,0.000,0.019,2486,2042,3179
$GC,1958,-1.94,-103.9,291.4,-13.5,141,1962,0.00,2.22,0.00,0.000,4,0.000,0.038,2486,652,3179
$GC,2070,-1.94,-103.9,306.6,-13.0,143,2074,0.00,2.17,0.00,0.000,6,0.000,0.021,2486,2051,3179
$GC,2413,-1.94,-103.9,352.1,-13.7,152,2417,0.00,2.25,0.00,0.000,4,0.000,0.043,2486,659,3178
$GC,2671,-1.94,-103.9,390.7,-16.2,157,2677,0.00,2.17,0.00,0.000,6,0.000,0.026,2486,2044,3177
$GC,3002,-1.94,-103.9,439.7,-14.2,166,3006,0.00,2.25,0.00,0.000,4,0.000,0.047,2486,664,3175
$GC,3259,-1.94,-103.9,477.1,-14.1,171,3263,0.00,2.22,0.00,0.000,6,0.000,0.037,2486,2051,3173
$STATE,3553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3553,begin apogee
$GC,3559,-0.31,0.0,514.0,12.4,179,3648,1.73,0.00,84.95,0.921,6,0.106,0.000,2851,2051,2749
$STATE,3648,end apogee,CONTROL_FINISHED_OK
$STATE,3648,begin climb
$GC,3651,1.76,103.9,515.6,0.0,181,3747,1.90,2.40,86.40,0.895,4,0.041,0.067,3309,3389,2324
$GC,3814,1.45,103.9,497.6,16.9,184,3821,0.35,2.22,0.00,0.000,6,0.123,0.027,3240,2017,2318
$GC,4146,1.28,103.9,454.3,12.3,193,4151,0.17,2.45,0.00,0.000,4,0.121,0.061,3205,590,2314
$GC,4279,1.15,103.9,437.0,12.8,196,4284,0.17,2.28,0.00,0.000,6,0.120,0.027,3172,2001,2313
$GC,4598,1.15,103.9,402.1,11.4,204,4602,0.00,2.35,0.00,0.000,4,0.000,0.041,3172,590,2311
$GC,4609,1.11,103.9,400.8,11.5,204,4613,0.00,2.28,0.00,0.000,6,0.000,0.025,3172,2007,2310
$GC,4956,1.11,103.9,364.5,10.1,213,4960,0.00,2.38,0.00,0.000,4,0.000,0.057,3172,3407,2307
$GC,4973,1.08,103.9,362.8,10.0,213,4977,0.00,2.25,0.00,0.000,6,0.000,0.028,3172,1991,2307
$GC,5320,1.09,108.8,332.0,8.0,222,5324,0.00,2.33,0.00,0.000,4,0.000,0.056,3171,602,2305
$GC,5485,1.04,108.8,315.9,10.9,225,5489,0.12,2.22,0.00,0.000,6,0.129,0.031,3149,2014,2304
$GC,5823,1.10,117.8,288.2,7.5,234,5837,0.00,2.38,9.07,0.715,4,0.000,0.042,3149,600,2268
$GC,5894,1.10,117.8,282.4,8.7,235,5898,0.00,2.22,0.00,0.000,6,0.000,0.029,3149,2003,2267
$GC,6237,1.15,123.3,256.0,7.9,244,6244,0.00,0.00,5.57,0.608,6,0.000,0.000,3149,2002,2246
$GC,6562,1.21,124.9,228.7,8.3,252,6567,0.15,2.33,0.00,0.000,4,0.054,0.048,3194,3393,2244
$GC,6595,1.17,124.9,225.5,9.6,252,6601,0.00,2.22,0.00,0.000,6,0.000,0.025,3194,1993,2244
$GC,6912,1.17,124.9,197.2,9.1,262,6916,0.00,2.28,0.00,0.000,4,0.000,0.045,3194,601,2244
$GC,7172,1.13,131.0,173.6,7.8,284,7192,0.15,2.20,8.05,0.617,6,0.117,0.023,3166,2010,2213
$GC,7512,1.22,159.4,155.2,5.4,316,7546,0.00,2.38,24.80,0.666,4,0.000,0.038,3166,601,2098
$GC,7803,1.28,159.4,130.3,9.9,341,7807,0.15,2.20,0.00,0.000,6,0.053,0.026,3213,1998,2095
$GC,8004,1.28,159.4,110.7,9.0,359,8008,0.00,2.28,0.00,0.000,4,0.000,0.036,3213,596,2094
$GC,8050,1.24,159.4,106.1,9.8,362,8057,0.08,2.22,0.00,0.000,6,0.108,0.028,3194,1991,2093
$GC,8251,1.30,170.7,91.1,7.3,381,8265,0.00,2.30,10.25,0.566,4,0.000,0.041,3195,3400,2051
$GC,8338,1.36,170.7,83.1,10.7,388,8347,0.00,2.25,0.00,0.000,6,0.000,0.022,3194,1990,2049
$GC,8538,1.44,170.7,64.2,8.8,407,8543,0.15,2.30,0.00,0.000,4,0.050,0.035,3249,3406,2050
$GC,8559,1.44,170.7,61.6,10.2,408,8568,0.00,2.25,0.00,0.000,6,0.000,0.027,3250,1993,2049
$GC,8760,1.47,196.1,48.0,5.7,427,8789,0.00,0.00,22.05,0.561,6,0.000,0.000,3250,1993,1950
$GC,8981,1.47,196.1,28.6,10.3,449,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1993,1947
$GC,9201,1.47,196.1,6.2,11.5,486,9209,0.00,2.30,0.00,0.000,4,0.000,0.032,3250,3400,1946
$GC,9224,1.42,196.1,3.8,10.6,489,9233,0.00,2.20,0.00,0.000,6,0.000,0.020,3250,2001,1944
$STATE,9239,end climb,SURFACE_DEPTH_REACHED
$STATE,9239,begin surface coast
$FINISH,0.8,1.010395
$STATE,9269,end surface coast,CONTROL_FINISHED_OK
$STATE,9269,begin surface
$SM_CCo,9291,132.18,0.518,0,0,954,440.07
$SM_GC,1.70,0.00,0.00,132.18,0.000,0.000,0.518,409,2116,954,-11.55,1.87,440.07
$IRIDIUM_FIX,2241.69,-15746.73,181297,020235
$TT8_MAMPS,0.026845
$HUMID,1738
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.10
$XPDR_PINGS,102
$24V_AH,23.7,47.140
$10V_AH,10.1,44.260
$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,28.575,94.900,251.150,132.175,0.000,28.243,27.140,135.861,25.500,0.000,0.000,16.048,1003.537,5904.866,472.543,1843.245,510.243,33.363,1213.340,0.000,1912.113,0.000,0.468
$DEVICE_MAMPS,160.303,72.865,921.167,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.232,331.442,614.483,456.784,916.702,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38055,496
$CAP_FILE_SIZE,206485,0
$CFSIZE,260165632,235806720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230908,081902,2247.952,-15749.058,38,1.2,38,10.1