version: 66.03
glider: 148
mission: 6
dive: 349
start: 9 24 108 20 36 27
data:
$ID,148
$MISSION,6
$DIVE,349
$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,-13704.163
$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,45
$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
$GPS1,203032,2247.800,-15748.476,40,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-60.7
$GPS2,203532,2247.785,-15748.516,10,1.0,10,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.063,-0.133
$KALMAN_X,-290019.7,-57.4,36.3,304462.0,-1020.9
$KALMAN_Y,-285278.2,404.2,-189.3,284496.2,815.6
$MHEAD_RNG_PITCHd_Wd,144.4,918,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.75,-49.4,0.0,0.0,0,86,0.00,0.00,-62.10,0.000,2,0.000,0.000,413,2005,2556
$GC,89,-1.81,-98.4,3.1,-2.9,8,123,11.23,2.15,-14.60,0.000,4,0.160,0.042,2517,651,3150
$GC,289,-1.72,-98.4,44.5,-22.3,35,294,0.15,2.20,0.00,0.000,6,0.136,0.019,2544,2064,3152
$GC,490,-1.72,-98.4,86.0,-16.7,53,494,0.00,2.25,0.00,0.000,4,0.000,0.031,2544,654,3153
$GC,605,-1.72,-98.4,106.6,-18.0,62,613,0.00,2.17,0.00,0.000,6,0.000,0.018,2545,2044,3153
$GC,805,-1.78,-98.4,138.1,-16.3,81,809,0.00,2.20,0.00,0.000,4,0.000,0.029,2544,653,3154
$GC,860,-1.86,-98.4,146.6,-16.0,85,864,0.15,2.15,0.00,0.000,6,0.050,0.021,2497,2053,3154
$GC,1062,-1.86,-98.4,178.6,-15.0,104,1066,0.00,2.22,0.00,0.000,4,0.000,0.030,2497,653,3155
$GC,1262,-1.86,-98.4,211.0,-14.2,116,1266,0.00,2.15,0.00,0.000,6,0.000,0.018,2497,2054,3155
$GC,1599,-1.90,-98.4,258.1,-14.1,125,1603,0.00,2.22,0.00,0.000,4,0.000,0.030,2497,652,3156
$GC,1857,-1.96,-98.4,295.2,-13.3,130,1863,0.00,2.17,0.00,0.000,6,0.000,0.020,2497,2053,3156
$GC,2188,-2.03,-98.4,337.0,-12.2,139,2192,0.00,2.25,0.00,0.000,4,0.000,0.044,2497,659,3156
$GC,2413,-2.09,-98.4,367.2,-13.5,144,2417,0.15,2.17,0.00,0.000,6,0.052,0.023,2449,2044,3156
$GC,2732,-2.09,-98.4,412.4,-13.8,152,2736,0.00,2.28,0.00,0.000,4,0.000,0.047,2449,654,3154
$GC,2990,-2.06,-98.4,450.4,-14.9,157,2997,0.12,2.22,0.00,0.000,6,0.126,0.035,2472,2052,3152
$GC,3323,-2.09,-98.4,491.2,-12.2,166,3327,0.00,2.30,0.00,0.000,4,0.000,0.051,2472,664,3150
$STATE,3462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3462,begin apogee
$GC,3471,-0.31,0.0,510.3,12.7,169,3555,1.75,0.00,80.20,0.920,6,0.107,0.000,2851,1998,2749
$STATE,3556,end apogee,CONTROL_FINISHED_OK
$STATE,3556,begin climb
$GC,3559,1.81,98.4,511.8,0.0,171,3649,1.92,2.47,81.53,0.893,4,0.040,0.067,3317,3392,2346
$GC,3898,1.53,98.4,467.8,14.5,178,3903,0.30,2.22,0.00,0.000,6,0.127,0.033,3258,2020,2339
$GC,4232,1.37,98.4,426.5,12.2,186,4237,0.20,2.45,0.00,0.000,4,0.123,0.064,3216,589,2336
$GC,4281,1.24,98.4,419.9,12.0,187,4286,0.12,2.28,0.00,0.000,6,0.124,0.029,3193,2003,2335
$GC,4594,1.21,98.4,388.3,9.8,195,4598,0.00,2.35,0.00,0.000,4,0.000,0.043,3193,596,2332
$GC,4689,1.13,98.4,379.0,9.8,197,4694,0.15,2.25,0.00,0.000,6,0.126,0.027,3166,2003,2331
$GC,5002,1.14,112.1,356.6,6.9,205,5016,0.00,2.38,9.60,0.756,4,0.000,0.044,3165,596,2292
$GC,5067,1.14,112.1,351.0,9.0,206,5071,0.00,2.22,0.00,0.000,6,0.000,0.030,3165,2002,2291
$GC,5409,1.18,112.1,321.6,8.6,215,5413,0.00,2.33,0.00,0.000,4,0.000,0.043,3165,593,2289
$GC,5641,1.18,116.9,302.8,7.9,220,5650,0.00,2.25,5.03,0.612,6,0.000,0.030,3165,2015,2272
$GC,5960,1.25,125.6,280.9,7.5,228,5975,0.12,2.42,8.52,0.706,4,0.060,0.048,3205,596,2237
$GC,6021,1.18,125.6,274.8,9.6,229,6026,0.12,2.22,0.00,0.000,6,0.120,0.027,3181,2001,2236
$GC,6370,1.23,134.0,246.4,7.5,238,6384,0.00,2.38,8.55,0.683,4,0.000,0.052,3181,3391,2201
$GC,6425,1.27,134.0,241.7,9.1,239,6430,0.00,2.25,0.00,0.000,6,0.000,0.031,3181,1984,2200
$GC,6741,1.32,135.0,216.7,8.4,247,6745,0.12,2.28,0.00,0.000,4,0.059,0.048,3222,597,2200
$GC,6966,1.25,135.0,194.3,8.7,255,6975,0.10,2.22,0.00,0.000,6,0.105,0.022,3198,2003,2198
$GC,7293,1.27,146.9,169.3,7.1,286,7314,0.00,2.38,11.80,0.646,4,0.000,0.044,3198,597,2149
$GC,7486,1.28,160.8,154.5,6.9,303,7504,0.00,2.20,13.15,0.637,6,0.000,0.028,3198,1995,2093
$GC,7824,1.36,160.8,123.9,8.6,334,7828,0.00,2.28,0.00,0.000,4,0.000,0.038,3198,3397,2091
$GC,7968,1.44,164.0,111.0,8.1,346,7983,0.15,2.22,4.00,0.426,6,0.051,0.025,3245,1979,2078
$GC,8173,1.44,171.7,93.2,7.6,365,8182,0.00,0.00,8.00,0.537,6,0.000,0.000,3246,1979,2048
$GC,8373,1.44,171.7,76.0,9.2,384,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1979,2047
$GC,8564,1.45,173.5,58.9,8.3,402,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1979,2047
$GC,8755,1.47,192.9,44.7,6.3,420,8781,0.00,2.22,19.30,0.550,4,0.000,0.035,3246,600,1960
$GC,8899,1.47,192.9,32.3,9.6,432,8903,0.00,2.20,0.00,0.000,6,0.000,0.019,3246,2006,1959
$GC,9116,1.50,192.9,12.5,9.6,466,9124,0.00,2.28,0.00,0.000,4,0.000,0.035,3246,611,1958
$STATE,9199,end climb,SURFACE_DEPTH_REACHED
$STATE,9199,begin surface coast
$FINISH,0.8,1.023199
$STATE,9230,end surface coast,CONTROL_FINISHED_OK
$STATE,9230,begin surface
$SM_CCo,9254,132.95,0.515,0,0,954,440.07
$SM_GC,1.54,0.00,0.00,132.95,0.000,0.000,0.515,408,2101,954,-11.56,1.44,440.07
$IRIDIUM_FIX,2241.69,-15749.78,191297,171746
$TT8_MAMPS,0.026845
$HUMID,1735
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.20
$XPDR_PINGS,113
$24V_AH,23.7,48.457
$10V_AH,10.1,45.668
$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,28.350,90.350,249.675,132.950,0.000,25.750,29.665,128.986,28.250,0.000,0.000,11.982,1027.077,5737.379,444.440,1967.225,510.622,33.360,1222.550,0.000,2052.492,0.000,0.469
$DEVICE_MAMPS,159.536,67.496,920.400,514.657,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.640,310.508,616.443,475.884,923.789,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38239,485
$CAP_FILE_SIZE,205423,0
$CFSIZE,260165632,234881024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240908,231405,2247.495,-15748.419,10,4.6,29,10.1