version: 66.03
glider: 148
mission: 6
dive: 344
start: 9 24 108 6 44 51
data:
$ID,148
$MISSION,6
$DIVE,344
$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,-13589.735
$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,44
$R_STBD_OVSHOOT,40
$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
$GPS1,063902,2248.489,-15748.393,40,1.2,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-62.4
$GPS2,064356,2248.469,-15748.424,8,1.7,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.083,-0.122
$KALMAN_X,-286167.1,436.3,69.8,300239.0,-1875.3
$KALMAN_Y,-284991.7,92.9,-681.4,286272.1,462.0
$MHEAD_RNG_PITCHd_Wd,135.8,1311,-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,-62.45,0.000,2,0.000,0.000,408,2138,2569
$GC,90,-1.81,-96.0,3.1,-3.1,8,124,11.38,2.38,-14.05,0.000,4,0.164,0.042,2518,648,3142
$GC,209,-1.74,-96.0,26.0,-23.8,26,216,0.05,2.22,0.00,0.000,6,0.140,0.020,2529,2057,3142
$GC,411,-1.70,-96.0,70.2,-20.1,46,416,0.10,2.25,0.00,0.000,4,0.137,0.028,2547,640,3142
$GC,501,-1.76,-96.0,86.8,-17.1,53,505,0.00,2.20,0.00,0.000,6,0.000,0.018,2547,2067,3144
$GC,701,-1.81,-96.0,118.3,-16.4,71,705,0.00,2.25,0.00,0.000,4,0.000,0.028,2547,648,3145
$GC,817,-1.91,-96.0,136.4,-14.4,80,826,0.15,2.17,0.00,0.000,6,0.037,0.018,2492,2047,3145
$GC,1014,-1.91,-96.0,169.7,-17.3,99,1018,0.00,2.20,0.00,0.000,4,0.000,0.027,2492,649,3146
$GC,1185,-1.91,-96.0,199.1,-17.2,113,1191,0.00,2.15,0.00,0.000,6,0.000,0.018,2492,2053,3147
$GC,1516,-1.91,-96.0,249.9,-14.4,122,1519,0.00,2.22,0.00,0.000,4,0.000,0.029,2492,651,3147
$GC,1735,-1.94,-96.0,276.4,-12.3,127,1739,0.00,2.15,0.00,0.000,6,0.000,0.019,2492,2048,3147
$GC,2059,-2.00,-96.0,315.7,-12.2,135,2063,0.00,2.25,0.00,0.000,4,0.000,0.035,2492,647,3147
$GC,2289,-2.05,-96.0,347.0,-13.2,140,2293,0.00,2.17,0.00,0.000,6,0.000,0.025,2492,2042,3147
$GC,2603,-2.12,-96.0,388.2,-13.4,148,2608,0.15,2.25,0.00,0.000,4,0.054,0.043,2446,657,3145
$GC,2737,-2.08,-96.0,409.8,-16.7,151,2741,0.00,2.20,0.00,0.000,6,0.000,0.026,2446,2052,3145
$GC,3056,-2.08,-96.0,455.2,-14.2,159,3060,0.00,2.30,0.00,0.000,4,0.000,0.048,2446,657,3143
$GC,3313,-2.08,-96.0,492.7,-13.4,164,3319,0.00,2.22,0.00,0.000,6,0.000,0.037,2446,2045,3140
$STATE,3479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3479,begin apogee
$GC,3486,-0.31,0.0,514.0,12.7,169,3569,1.92,0.00,78.65,0.923,6,0.111,0.000,2849,2045,2749
$STATE,3569,end apogee,CONTROL_FINISHED_OK
$STATE,3569,begin climb
$GC,3572,1.81,96.0,514.9,0.0,171,3661,1.95,2.42,79.78,0.897,4,0.045,0.061,3315,3402,2357
$GC,3708,1.50,96.0,500.1,16.5,174,3713,0.32,2.25,0.00,0.000,6,0.126,0.028,3251,2019,2353
$GC,4023,1.32,96.0,454.1,13.7,182,4028,0.17,2.45,0.00,0.000,4,0.125,0.062,3213,593,2349
$GC,4193,1.18,96.0,433.6,11.1,185,4200,0.20,2.28,0.00,0.000,6,0.122,0.031,3176,2003,2347
$GC,4524,1.18,96.9,405.0,8.4,194,4528,0.00,2.35,0.00,0.000,4,0.000,0.043,3176,596,2344
$GC,4671,1.11,96.9,391.0,10.4,197,4675,0.00,2.25,0.00,0.000,6,0.000,0.031,3176,2003,2342
$GC,5018,1.11,96.9,353.8,11.0,206,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2003,2340
$GC,5343,1.11,96.9,323.7,8.6,214,5347,0.00,2.35,0.00,0.000,4,0.000,0.048,3176,588,2339
$GC,5399,1.06,100.5,319.1,8.1,215,5404,0.12,2.25,0.00,0.000,6,0.134,0.030,3154,2003,2338
$GC,5749,1.12,115.3,295.7,6.8,224,5764,0.00,0.00,13.98,0.764,6,0.000,0.000,3154,2002,2278
$GC,6072,1.18,115.3,268.2,8.8,232,6074,0.10,0.00,0.00,0.000,6,0.069,0.000,3185,2003,2274
$GC,6396,1.19,129.7,241.6,6.8,240,6416,0.00,2.40,12.73,0.720,4,0.000,0.042,3185,595,2219
$GC,6520,1.20,134.4,232.7,8.0,242,6531,0.00,2.25,5.15,0.576,6,0.000,0.028,3185,2007,2201
$GC,6856,1.20,134.9,204.9,8.4,251,6860,0.00,2.33,0.00,0.000,4,0.000,0.044,3185,590,2199
$GC,6922,1.20,134.9,199.0,8.8,252,6926,0.00,2.22,0.00,0.000,6,0.000,0.028,3185,2007,2198
$GC,7248,1.24,135.3,169.4,8.5,282,7252,0.00,2.30,0.00,0.000,4,0.000,0.049,3185,3403,2198
$GC,7304,1.24,135.3,164.9,8.8,286,7308,0.00,2.25,0.00,0.000,6,0.000,0.029,3185,1982,2196
$GC,7630,1.31,151.5,140.6,6.6,316,7654,0.00,2.33,15.43,0.643,4,0.000,0.038,3185,589,2131
$GC,7727,1.31,151.5,131.8,9.7,324,7736,0.00,2.25,0.00,0.000,6,0.000,0.021,3185,2001,2129
$GC,7930,1.38,158.3,116.4,7.7,343,7939,0.15,0.00,7.18,0.547,6,0.052,0.000,3237,2001,2103
$GC,8126,1.38,158.3,98.2,9.3,362,8130,0.00,2.28,0.00,0.000,4,0.000,0.038,3237,597,2102
$GC,8214,1.34,158.3,89.9,11.1,369,8219,0.12,2.20,0.00,0.000,6,0.114,0.021,3213,2002,2101
$GC,8414,1.40,176.0,73.3,6.5,387,8440,0.00,2.33,16.10,0.574,4,0.000,0.039,3213,3396,2029
$GC,8457,1.47,200.2,70.9,5.7,390,8485,0.12,2.20,21.48,0.574,6,0.055,0.028,3256,1986,1931
$GC,8675,1.47,200.2,51.1,9.4,410,8679,0.00,2.22,0.00,0.000,4,0.000,0.037,3256,603,1928
$GC,8831,1.44,200.2,36.2,9.8,423,8836,0.12,2.20,0.00,0.000,6,0.111,0.020,3233,2002,1927
$GC,9043,1.49,200.2,13.9,11.0,453,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2002,1926
$STATE,9156,end climb,SURFACE_DEPTH_REACHED
$STATE,9156,begin surface coast
$FINISH,0.8,1.011662
$STATE,9187,end surface coast,CONTROL_FINISHED_OK
$STATE,9187,begin surface
$SM_CCo,9209,129.77,0.517,0,0,954,440.07
$SM_GC,1.56,0.00,0.00,129.77,0.000,0.000,0.517,410,2108,954,-11.55,1.64,440.07
$IRIDIUM_FIX,2237.01,-15747.62,191297,040432
$TT8_MAMPS,0.027612
$HUMID,1770
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.10
$XPDR_PINGS,112
$24V_AH,23.7,47.993
$10V_AH,10.1,45.169
$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,28.550,85.975,250.450,129.775,0.000,24.741,28.474,121.537,28.000,0.000,0.000,16.095,984.796,5890.951,457.201,1813.423,486.099,33.361,1174.688,0.000,1880.463,0.000,0.469
$DEVICE_MAMPS,164.138,169.507,922.701,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.864,303.600,584.222,442.498,878.196,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34974,477
$CAP_FILE_SIZE,198268,0
$CFSIZE,260165632,235225088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240908,092137,2247.445,-15748.303,11,0.9,27,10.1