version: 66.03
glider: 148
mission: 6
dive: 338
start: 9 23 108 14 6 18
data:
$ID,148
$MISSION,6
$DIVE,338
$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,-13350.126
$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,40
$R_STBD_OVSHOOT,41
$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
$GPS1,135355,2247.702,-15748.156,29,2.0,33,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-59.4
$GPS2,140525,2247.697,-15748.230,30,1.4,40,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.014,0.147
$KALMAN_X,-281086.9,52.6,64.7,295878.5,-1221.7
$KALMAN_Y,-284563.0,-465.1,576.4,283719.0,-359.0
$MHEAD_RNG_PITCHd_Wd,344.5,1428,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.75,-49.4,0.0,0.0,0,96,0.00,0.00,-69.57,0.000,2,0.000,0.000,409,2140,2810
$GC,100,-1.79,-85.9,3.5,-4.3,9,124,11.32,2.05,-6.22,0.000,4,0.161,0.036,2523,3457,3101
$GC,187,-1.72,-85.9,24.5,-23.0,22,196,0.08,2.22,0.00,0.000,6,0.128,0.028,2540,2046,3102
$GC,398,-1.62,-85.9,71.9,-23.3,43,402,0.12,2.20,0.00,0.000,4,0.132,0.029,2562,644,3102
$GC,526,-1.66,-85.9,96.2,-16.5,54,535,0.00,2.20,0.00,0.000,6,0.000,0.018,2563,2056,3102
$GC,728,-1.75,-85.9,123.0,-12.5,73,732,0.10,2.22,0.00,0.000,4,0.062,0.028,2527,651,3103
$GC,796,-1.79,-85.9,132.5,-12.4,78,805,0.00,2.17,0.00,0.000,6,0.000,0.018,2527,2054,3103
$GC,996,-1.84,-85.9,158.8,-13.4,97,1000,0.00,2.22,0.00,0.000,4,0.000,0.031,2526,652,3104
$GC,1107,-1.89,-85.9,174.5,-14.1,106,1111,0.00,2.15,0.00,0.000,6,0.000,0.017,2526,2054,3104
$GC,1457,-1.97,-85.9,219.8,-12.1,127,1462,0.15,2.25,0.00,0.000,4,0.051,0.031,2480,644,3104
$GC,1714,-1.97,-85.9,258.7,-15.3,132,1720,0.00,2.15,0.00,0.000,6,0.000,0.017,2480,2053,3104
$GC,2046,-1.97,-85.9,301.1,-12.3,141,2050,0.00,2.25,0.00,0.000,4,0.000,0.035,2480,652,3104
$GC,2303,-1.97,-85.9,336.1,-14.5,146,2307,0.00,2.17,0.00,0.000,6,0.000,0.021,2480,2043,3104
$GC,2641,-2.00,-85.9,380.2,-12.7,155,2645,0.00,2.28,0.00,0.000,4,0.000,0.041,2480,3449,3102
$GC,2876,-2.05,-85.9,411.8,-12.5,160,2880,0.00,2.20,0.00,0.000,6,0.000,0.032,2480,2054,3101
$GC,3226,-2.09,-85.9,455.9,-12.5,169,3230,0.00,2.30,0.00,0.000,4,0.000,0.047,2480,651,3098
$GC,3483,-2.09,-85.9,490.6,-12.5,174,3489,0.00,2.22,0.00,0.000,6,0.000,0.028,2480,2046,3096
$STATE,3649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3649,begin apogee
$GC,3655,-0.31,0.0,510.3,11.8,179,3732,1.73,0.00,70.55,0.920,6,0.104,0.000,2846,2046,2748
$STATE,3733,end apogee,CONTROL_FINISHED_OK
$STATE,3733,begin climb
$GC,3736,1.79,85.9,511.2,0.0,181,3818,1.95,2.40,71.05,0.895,4,0.044,0.061,3326,3394,2397
$GC,3914,1.49,85.9,490.6,15.5,185,3919,0.40,2.25,0.00,0.000,6,0.125,0.034,3248,2012,2392
$GC,4235,1.32,85.9,451.7,11.6,193,4239,0.17,2.42,0.00,0.000,4,0.126,0.060,3211,598,2389
$GC,4352,1.18,85.9,438.2,10.9,195,4357,0.17,2.25,0.00,0.000,6,0.123,0.032,3179,1997,2387
$GC,4685,1.19,93.2,412.2,7.7,203,4695,0.00,2.35,5.75,0.680,4,0.000,0.049,3179,596,2367
$GC,4846,1.12,93.2,396.8,9.2,206,4850,0.00,2.25,0.00,0.000,6,0.000,0.031,3179,2000,2366
$GC,5178,1.12,93.2,366.3,9.3,214,5182,0.00,2.33,0.00,0.000,4,0.000,0.048,3179,594,2363
$GC,5419,1.06,93.2,342.8,8.6,219,5424,0.15,2.25,0.00,0.000,6,0.131,0.028,3152,2010,2362
$GC,5763,1.14,117.2,322.8,5.7,228,5788,0.00,2.38,19.88,0.802,4,0.000,0.044,3152,597,2271
$GC,5810,1.15,126.0,319.7,7.5,229,5824,0.00,2.25,9.15,0.723,6,0.000,0.028,3152,2000,2234
$GC,6172,1.23,126.0,289.1,9.6,238,6177,0.15,2.35,0.00,0.000,4,0.055,0.044,3202,590,2230
$GC,6244,1.16,126.0,280.3,11.4,239,6249,0.15,2.25,0.00,0.000,6,0.121,0.021,3175,2008,2228
$GC,6577,1.20,126.0,248.9,9.2,247,6581,0.00,2.35,0.00,0.000,4,0.000,0.047,3175,588,2227
$GC,6778,1.20,126.0,229.0,10.4,251,6783,0.00,2.22,0.00,0.000,6,0.000,0.028,3175,2003,2226
$GC,7116,1.26,128.6,200.0,8.2,260,7120,0.00,2.30,0.00,0.000,4,0.000,0.054,3174,3398,2226
$GC,7127,1.33,131.4,199.1,8.2,260,7136,0.15,2.25,4.55,0.527,6,0.052,0.030,3222,1979,2213
$GC,7462,1.33,131.4,169.8,8.9,290,7466,0.00,2.25,0.00,0.000,4,0.000,0.040,3222,593,2212
$GC,7694,1.25,133.2,149.1,8.3,310,7699,0.15,2.20,0.00,0.000,6,0.115,0.021,3194,2008,2211
$GC,7892,1.32,149.1,134.5,6.7,328,7917,0.00,2.35,16.35,0.638,4,0.000,0.042,3193,604,2139
$GC,7942,1.32,153.0,131.0,8.1,332,7956,0.00,2.20,4.82,0.486,6,0.000,0.023,3193,1995,2124
$GC,8149,1.39,153.0,112.5,9.1,351,8153,0.12,2.28,0.00,0.000,4,0.056,0.041,3236,3397,2122
$GC,8223,1.39,153.0,104.7,9.5,357,8227,0.00,2.22,0.00,0.000,6,0.000,0.029,3236,1991,2121
$GC,8426,1.42,176.5,90.2,5.8,376,8449,0.00,0.00,20.67,0.600,6,0.000,0.000,3236,1991,2029
$GC,8639,1.42,176.5,71.9,9.0,396,8643,0.00,2.25,0.00,0.000,4,0.000,0.037,3236,597,2026
$GC,8796,1.43,186.7,60.0,7.3,409,8817,0.00,2.20,9.73,0.527,6,0.000,0.019,3236,1994,1986
$GC,9009,1.50,204.2,46.1,6.5,429,9033,0.00,0.00,15.88,0.542,6,0.000,0.000,3236,1995,1915
$GC,9229,1.55,204.2,23.6,12.0,453,9238,0.10,2.28,0.00,0.000,4,0.060,0.033,3277,603,1914
$GC,9311,1.49,204.2,12.9,13.6,466,9320,0.12,2.20,0.00,0.000,6,0.100,0.021,3248,1992,1913
$STATE,9401,end climb,SURFACE_DEPTH_REACHED
$STATE,9401,begin surface coast
$FINISH,0.6,1.023213
$STATE,9440,end surface coast,CONTROL_FINISHED_OK
$STATE,9440,begin surface
$SM_CCo,9462,126.62,0.515,0,0,954,440.07
$SM_GC,1.72,0.00,0.00,126.62,0.000,0.000,0.515,403,2150,954,-11.58,2.83,440.07
$IRIDIUM_FIX,2239.35,-15749.78,181297,141431
$TT8_MAMPS,0.026845
$HUMID,1748
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.30
$XPDR_PINGS,150
$24V_AH,23.7,47.432
$10V_AH,10.1,44.562
$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,28.825,94.625,248.375,126.625,0.000,85.029,105.322,218.141,37.500,0.000,0.000,42.249,1030.788,6056.253,455.208,1977.280,758.002,33.362,1244.719,0.000,2030.573,0.000,0.469
$DEVICE_MAMPS,161.070,73.632,919.633,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.738,317.034,605.443,450.157,891.712,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38394,487
$CAP_FILE_SIZE,210755,0
$CFSIZE,260165632,235601920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230908,164711,2248.010,-15748.869,9,2.0,23,10.1