version: 66.03
glider: 148
mission: 6
dive: 347
start: 9 24 108 15 7 22
data:
$ID,148
$MISSION,6
$DIVE,347
$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,-13652.257
$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,36
$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
$GPS1,145741,2248.821,-15748.622,8,2.8,27,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-59.8
$GPS2,150629,2248.826,-15748.635,10,2.7,29,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.107,-0.101
$KALMAN_X,-288881.8,-121.9,282.7,302940.4,-1833.3
$KALMAN_Y,-285968.1,-480.0,320.4,287475.6,-368.3
$MHEAD_RNG_PITCHd_Wd,123.4,1652,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.75,-49.4,0.0,0.0,0,87,0.00,0.00,-62.17,0.000,2,0.000,0.000,408,2134,2562
$GC,91,-1.81,-98.1,3.1,-2.9,8,126,11.27,2.38,-15.07,0.000,4,0.160,0.041,2516,647,3151
$GC,169,-1.72,-98.1,16.3,-21.6,19,178,0.10,2.22,0.00,0.000,6,0.134,0.019,2537,2060,3151
$GC,376,-1.64,-98.1,61.9,-22.0,42,380,0.12,2.22,0.00,0.000,4,0.133,0.028,2560,650,3151
$GC,502,-1.69,-98.1,84.5,-17.3,53,506,0.00,2.17,0.00,0.000,6,0.000,0.020,2560,2053,3152
$GC,702,-1.77,-98.1,114.5,-14.4,71,706,0.12,2.22,0.00,0.000,4,0.055,0.027,2517,645,3153
$GC,848,-1.77,-98.1,137.9,-15.8,83,854,0.00,2.17,0.00,0.000,6,0.000,0.018,2517,2057,3153
$GC,1046,-1.80,-98.1,166.7,-13.5,102,1050,0.00,2.22,0.00,0.000,4,0.000,0.029,2517,650,3154
$GC,1135,-1.84,-98.1,179.3,-15.5,109,1140,0.00,2.17,0.00,0.000,6,0.000,0.018,2517,2059,3154
$GC,1483,-1.91,-98.1,224.9,-12.2,127,1487,0.00,2.25,0.00,0.000,4,0.000,0.031,2517,647,3155
$GC,1641,-2.00,-98.1,247.7,-15.5,130,1646,0.15,2.17,0.00,0.000,6,0.049,0.019,2469,2057,3155
$GC,1977,-2.00,-98.1,300.4,-16.1,139,1981,0.00,2.25,0.00,0.000,4,0.000,0.032,2469,652,3155
$GC,2235,-2.00,-98.1,341.3,-14.8,144,2241,0.00,2.17,0.00,0.000,6,0.000,0.021,2469,2044,3155
$GC,2567,-2.00,-98.1,385.7,-13.6,153,2571,0.00,2.25,0.00,0.000,4,0.000,0.047,2469,655,3154
$GC,2824,-2.00,-98.1,423.9,-14.0,158,2828,0.00,2.20,0.00,0.000,6,0.000,0.030,2469,2043,3153
$GC,3162,-2.00,-98.1,468.3,-13.2,167,3166,0.00,2.28,0.00,0.000,4,0.000,0.051,2469,662,3150
$GC,3419,-2.00,-98.1,503.5,-13.2,172,3425,0.00,2.22,0.00,0.000,6,0.000,0.032,2469,2046,3148
$STATE,3504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3504,begin apogee
$GC,3509,-0.31,0.0,514.5,12.8,175,3594,1.80,0.00,80.07,0.917,6,0.105,0.000,2850,2046,2749
$STATE,3594,end apogee,CONTROL_FINISHED_OK
$STATE,3595,begin climb
$GC,3597,1.81,98.1,516.3,0.0,177,3687,1.95,2.40,81.53,0.892,4,0.044,0.067,3320,3398,2347
$GC,3718,1.50,98.1,505.7,15.1,179,3725,0.38,2.25,0.00,0.000,6,0.123,0.029,3247,2016,2343
$GC,4051,1.34,98.1,458.6,13.4,188,4056,0.17,2.42,0.00,0.000,4,0.123,0.065,3212,598,2339
$GC,4207,1.21,98.1,437.8,12.6,191,4212,0.15,2.28,0.00,0.000,6,0.125,0.033,3184,2007,2338
$GC,4543,1.21,98.1,406.0,8.6,200,4547,0.00,2.35,0.00,0.000,4,0.000,0.047,3184,596,2335
$GC,4623,1.14,98.1,398.9,8.9,201,4629,0.00,2.25,0.00,0.000,6,0.000,0.030,3184,2001,2333
$GC,4954,1.14,98.1,369.1,9.3,210,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2001,2331
$GC,5279,1.14,98.1,339.8,8.8,218,5282,0.00,2.33,0.00,0.000,4,0.000,0.048,3184,595,2329
$GC,5441,1.08,101.4,325.5,8.1,221,5446,0.15,2.22,0.00,0.000,6,0.132,0.023,3157,2008,2328
$GC,5784,1.14,115.6,301.8,6.9,230,5803,0.00,2.42,11.98,0.752,4,0.000,0.044,3157,596,2277
$GC,5912,1.15,121.3,291.3,7.8,232,5923,0.00,2.25,6.12,0.644,6,0.000,0.028,3157,2012,2254
$GC,6245,1.24,137.2,269.1,6.7,241,6262,0.15,0.00,14.82,0.743,6,0.054,0.000,3202,2012,2189
$GC,6567,1.24,137.2,236.9,10.5,249,6571,0.00,2.33,0.00,0.000,4,0.000,0.059,3203,3395,2184
$GC,6594,1.24,137.2,233.8,11.2,249,6598,0.00,2.25,0.00,0.000,6,0.000,0.027,3203,1985,2184
$GC,6931,1.24,137.2,196.9,11.1,258,6935,0.00,2.28,0.00,0.000,4,0.000,0.044,3202,596,2183
$GC,7146,1.24,137.2,177.4,8.8,276,7153,0.00,2.22,0.00,0.000,6,0.000,0.021,3202,1994,2182
$GC,7474,1.24,137.2,151.9,9.6,307,7478,0.00,2.28,0.00,0.000,4,0.000,0.042,3202,598,2181
$GC,7734,1.24,137.2,125.9,9.5,329,7740,0.00,2.20,0.00,0.000,6,0.000,0.021,3203,2005,2181
$GC,7932,1.29,153.4,112.9,6.6,348,7951,0.00,2.30,13.82,0.607,4,0.000,0.036,3203,596,2123
$GC,8093,1.29,155.1,99.5,8.3,361,8097,0.00,2.22,0.00,0.000,6,0.000,0.020,3203,2009,2122
$GC,8295,1.37,169.9,84.6,6.8,379,8319,0.00,2.35,15.10,0.580,4,0.000,0.035,3203,596,2055
$GC,8407,1.42,183.0,76.1,7.0,388,8427,0.08,2.22,12.45,0.556,6,0.044,0.027,3239,1995,2002
$GC,8617,1.42,183.0,56.6,9.9,408,8621,0.00,2.25,0.00,0.000,4,0.000,0.041,3239,596,1999
$GC,8677,1.42,183.0,50.8,9.1,413,8681,0.00,2.22,0.00,0.000,6,0.000,0.028,3239,2007,1999
$GC,8878,1.46,188.0,35.3,7.9,431,8891,0.00,2.33,5.38,0.439,4,0.000,0.034,3239,595,1981
$GC,8940,1.46,188.0,29.2,10.5,436,8949,0.00,2.22,0.00,0.000,6,0.000,0.020,3239,2000,1981
$GC,9161,1.50,188.0,7.9,9.7,473,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2001,1980
$STATE,9210,end climb,SURFACE_DEPTH_REACHED
$STATE,9210,begin surface coast
$FINISH,0.7,1.010444
$STATE,9242,end surface coast,CONTROL_FINISHED_OK
$STATE,9242,begin surface
$SM_CCo,9264,138.48,0.515,0,0,954,440.07
$SM_GC,1.59,0.00,0.00,138.48,0.000,0.000,0.515,408,2005,954,-11.56,-1.27,440.07
$IRIDIUM_FIX,2241.69,-15746.73,191297,151524
$TT8_MAMPS,0.026845
$HUMID,1753
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.00
$XPDR_PINGS,130
$24V_AH,23.7,48.277
$10V_AH,10.1,45.466
$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,28.150,90.450,241.275,138.475,0.000,56.089,55.542,212.042,32.500,0.000,0.000,31.400,1001.546,5883.568,463.773,1909.095,669.798,33.366,1206.955,0.000,1974.506,0.000,0.468
$DEVICE_MAMPS,160.303,66.729,916.565,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.535,318.338,600.894,456.673,908.024,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38322,486
$CAP_FILE_SIZE,204930,0
$CFSIZE,260165632,235016192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240908,174514,2248.458,-15748.290,23,1.7,29,10.1