version: 66.03
glider: 148
mission: 6
dive: 341
start: 9 23 108 22 32 4
data:
$ID,148
$MISSION,6
$DIVE,341
$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,-13522.602
$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,42
$R_STBD_OVSHOOT,39
$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
$GPS1,222625,2248.049,-15748.267,24,1.4,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-61.4
$GPS2,223109,2248.064,-15748.287,11,1.5,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.027,-0.145
$KALMAN_X,-284221.6,160.6,-132.6,299003.4,-1284.7
$KALMAN_Y,-285798.6,388.4,107.8,285248.8,285.4
$MHEAD_RNG_PITCHd_Wd,159.4,1223,-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,-49.4,0.0,0.0,0,87,0.00,0.00,-62.62,0.000,2,0.000,0.000,411,2007,2581
$GC,90,-1.81,-97.8,3.1,-2.9,8,124,11.23,2.17,-13.85,0.000,4,0.159,0.047,2517,649,3149
$GC,203,-1.76,-97.8,24.6,-21.7,25,211,0.00,2.22,0.00,0.000,6,0.000,0.027,2517,2059,3150
$GC,412,-1.66,-97.8,74.6,-22.7,46,416,0.15,2.25,0.00,0.000,4,0.132,0.028,2550,642,3150
$GC,521,-1.72,-97.8,95.1,-16.6,55,525,0.00,2.20,0.00,0.000,6,0.000,0.019,2549,2061,3150
$GC,721,-1.79,-97.8,126.7,-14.4,73,725,0.00,2.25,0.00,0.000,4,0.000,0.029,2550,645,3151
$GC,738,-1.86,-97.8,129.5,-14.0,74,747,0.12,2.17,0.00,0.000,6,0.037,0.018,2502,2048,3151
$GC,935,-1.86,-97.8,162.0,-16.4,93,939,0.00,2.22,0.00,0.000,4,0.000,0.028,2501,640,3152
$GC,1002,-1.86,-97.8,173.3,-17.1,98,1008,0.00,2.17,0.00,0.000,6,0.000,0.018,2501,2053,3152
$GC,1351,-1.86,-97.8,225.3,-14.9,120,1355,0.00,2.22,0.00,0.000,4,0.000,0.029,2502,648,3153
$GC,1609,-1.89,-97.8,263.1,-15.6,125,1615,0.00,2.15,0.00,0.000,6,0.000,0.018,2502,2049,3154
$GC,1940,-1.95,-97.8,312.2,-14.4,134,1944,0.00,2.25,0.00,0.000,4,0.000,0.033,2501,646,3154
$GC,2199,-2.02,-97.8,347.0,-11.4,139,2205,0.00,2.17,0.00,0.000,6,0.000,0.030,2501,2041,3153
$GC,2530,-2.10,-97.8,386.7,-12.0,148,2535,0.15,2.28,0.00,0.000,4,0.054,0.044,2448,649,3153
$GC,2697,-2.07,-97.8,412.8,-16.4,151,2704,0.10,2.22,0.00,0.000,6,0.136,0.034,2465,2056,3152
$GC,3028,-2.07,-97.8,461.1,-14.4,160,3032,0.00,2.30,0.00,0.000,4,0.000,0.047,2465,661,3150
$GC,3284,-2.07,-97.8,500.5,-14.2,165,3291,0.00,2.22,0.00,0.000,6,0.000,0.033,2465,2042,3148
$STATE,3369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3369,begin apogee
$GC,3375,-0.31,0.0,512.5,13.9,168,3460,1.83,0.00,80.25,0.914,6,0.109,0.000,2849,2042,2749
$STATE,3460,end apogee,CONTROL_FINISHED_OK
$STATE,3460,begin climb
$GC,3463,1.81,97.8,514.5,0.0,170,3554,1.95,2.40,81.15,0.888,4,0.044,0.061,3318,3394,2349
$GC,3633,1.50,97.8,495.1,17.1,174,3639,0.35,2.25,0.00,0.000,6,0.125,0.027,3250,2014,2345
$GC,3960,1.33,97.8,446.6,14.9,182,3965,0.17,2.42,0.00,0.000,4,0.123,0.062,3213,598,2340
$GC,3993,1.19,97.8,441.4,14.1,182,3999,0.17,2.28,0.00,0.000,6,0.120,0.032,3180,2009,2340
$GC,4324,1.19,97.8,406.4,9.3,191,4328,0.00,2.35,0.00,0.000,4,0.000,0.048,3180,597,2337
$GC,4482,1.12,97.8,391.5,8.7,194,4486,0.00,2.25,0.00,0.000,6,0.000,0.030,3180,2003,2336
$GC,4819,1.13,101.9,364.5,8.0,203,4823,0.00,2.33,0.00,0.000,4,0.000,0.048,3180,597,2334
$GC,4975,1.06,103.2,350.7,8.4,206,4980,0.15,2.25,0.00,0.000,6,0.127,0.031,3153,2010,2331
$GC,5312,1.11,103.2,323.7,8.6,215,5316,0.00,2.33,0.00,0.000,4,0.000,0.041,3153,596,2330
$GC,5514,1.13,116.4,308.2,7.0,219,5534,0.00,2.22,13.18,0.760,6,0.000,0.027,3153,2010,2273
$GC,5860,1.21,128.5,284.3,7.1,228,5873,0.12,0.00,11.02,0.726,6,0.061,0.000,3191,2010,2225
$GC,6185,1.21,128.5,250.8,10.5,236,6189,0.00,2.35,0.00,0.000,4,0.000,0.042,3191,590,2222
$GC,6314,1.21,128.5,237.1,10.6,239,6318,0.00,2.22,0.00,0.000,6,0.000,0.022,3191,2003,2220
$GC,6645,1.22,134.2,209.5,7.8,247,6656,0.00,2.33,5.95,0.587,4,0.000,0.049,3191,3394,2200
$GC,6718,1.23,140.4,203.4,7.8,248,6730,0.00,2.22,6.75,0.603,6,0.000,0.031,3191,1991,2176
$GC,7046,1.23,141.3,176.7,8.4,276,7050,0.00,2.25,0.00,0.000,4,0.000,0.045,3191,600,2174
$GC,7268,1.23,141.3,155.8,10.2,295,7272,0.00,2.20,0.00,0.000,6,0.000,0.028,3191,2005,2173
$GC,7598,1.29,147.6,129.2,7.8,326,7612,0.00,2.30,7.43,0.562,4,0.000,0.036,3191,593,2146
$GC,7683,1.33,147.6,122.0,9.0,333,7687,0.00,2.22,0.00,0.000,6,0.000,0.024,3191,2007,2146
$GC,7885,1.43,175.6,109.4,5.3,351,7917,0.15,0.00,25.05,0.614,6,0.051,0.000,3244,2007,2030
$GC,8107,1.43,175.6,90.2,8.9,372,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2008,2027
$GC,8301,1.44,179.4,73.3,8.1,390,8315,0.00,2.30,4.00,0.398,4,0.000,0.038,3244,3396,2016
$GC,8386,1.44,179.4,65.6,9.2,397,8390,0.00,2.20,0.00,0.000,6,0.000,0.023,3244,1992,2015
$GC,8586,1.44,183.9,50.8,8.0,415,8600,0.00,2.25,5.32,0.443,4,0.000,0.035,3244,611,1998
$GC,8614,1.45,188.6,48.5,8.0,417,8628,0.00,2.17,5.78,0.450,6,0.000,0.020,3244,2001,1979
$GC,8819,1.45,188.6,29.8,9.3,436,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2001,1978
$GC,9040,1.45,188.6,8.9,9.8,473,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2001,1978
$STATE,9107,end climb,SURFACE_DEPTH_REACHED
$STATE,9107,begin surface coast
$FINISH,0.7,1.015767
$STATE,9144,end surface coast,CONTROL_FINISHED_OK
$STATE,9144,begin surface
$SM_CCo,9165,136.80,0.512,0,0,954,440.07
$SM_GC,1.60,0.00,0.00,136.80,0.000,0.000,0.512,413,2005,954,-11.53,-1.27,440.07
$IRIDIUM_FIX,2239.35,-15749.78,181297,191938
$TT8_MAMPS,0.026845
$HUMID,1730
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.80
$XPDR_PINGS,113
$24V_AH,23.7,47.720
$10V_AH,10.1,44.873
$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,28.250,85.600,245.875,136.800,0.000,24.603,27.786,114.167,28.250,0.000,0.000,13.418,1006.698,5716.637,471.773,1902.853,487.648,33.360,1219.956,0.000,1982.907,0.000,0.469
$DEVICE_MAMPS,158.769,62.127,914.264,512.356,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.628,319.993,606.131,472.750,934.189,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38281,490
$CAP_FILE_SIZE,203826,0
$CFSIZE,260165632,235413504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240908,010757,2247.661,-15748.132,11,2.0,11,10.1