version: 66.03
glider: 148
mission: 6
dive: 356
start: 9 25 108 16 9 3
data:
$ID,148
$MISSION,6
$DIVE,356
$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,-13844.906
$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,36
$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
$GPS1,160308,2247.434,-15748.342,35,1.7,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-63.1
$GPS2,160809,2247.451,-15748.340,12,1.5,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.073,-0.128
$KALMAN_X,-295407.0,-172.2,42.2,310255.6,-734.9
$KALMAN_Y,-279974.5,-409.0,-37.1,279236.1,1683.8
$MHEAD_RNG_PITCHd_Wd,199.7,1518,-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,-49.4,0.0,0.0,0,94,0.00,0.00,-68.88,0.000,2,0.000,0.000,409,2081,2758
$GC,97,-1.80,-88.4,3.5,-4.0,9,123,11.25,2.35,-8.02,0.000,4,0.159,0.049,2521,643,3113
$GC,337,-1.80,-88.4,56.2,-20.6,39,341,0.00,2.20,0.00,0.000,6,0.000,0.019,2521,2057,3113
$GC,537,-1.75,-88.4,94.1,-17.9,57,541,0.00,2.25,0.00,0.000,4,0.000,0.030,2521,637,3114
$GC,688,-1.75,-88.4,120.0,-15.7,70,692,0.00,2.20,0.00,0.000,6,0.000,0.018,2521,2061,3114
$GC,885,-1.75,-88.4,147.3,-13.8,88,889,0.00,2.25,0.00,0.000,4,0.000,0.031,2521,645,3115
$GC,1027,-1.81,-88.4,168.2,-15.4,100,1031,0.00,2.17,0.00,0.000,6,0.000,0.018,2521,2052,3116
$GC,1349,-1.87,-88.4,212.1,-13.8,124,1352,0.00,2.25,0.00,0.000,4,0.000,0.031,2521,634,3117
$GC,1606,-1.94,-88.4,245.3,-13.5,129,1611,0.10,2.17,0.00,0.000,6,0.064,0.018,2487,2052,3117
$GC,1939,-1.98,-88.4,286.7,-12.6,137,1943,0.00,2.25,0.00,0.000,4,0.000,0.033,2487,648,3117
$GC,2197,-1.98,-88.4,324.2,-14.3,142,2203,0.00,2.17,0.00,0.000,6,0.000,0.028,2487,2045,3117
$GC,2529,-2.03,-88.4,365.9,-12.0,151,2533,0.00,2.28,0.00,0.000,4,0.000,0.041,2487,643,3116
$GC,2787,-2.07,-88.4,398.1,-12.4,156,2791,0.00,2.20,0.00,0.000,6,0.000,0.032,2487,2046,3115
$GC,3119,-2.13,-88.4,436.8,-11.9,164,3123,0.12,2.30,0.00,0.000,4,0.059,0.043,2448,644,3112
$GC,3377,-2.09,-88.4,475.4,-14.9,169,3383,0.00,2.22,0.00,0.000,6,0.000,0.030,2448,2043,3111
$STATE,3665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3665,begin apogee
$GC,3671,-0.31,0.0,513.8,13.1,177,3748,1.90,0.00,72.97,0.921,6,0.110,0.000,2847,2043,2749
$STATE,3749,end apogee,CONTROL_FINISHED_OK
$STATE,3749,begin climb
$GC,3751,1.80,88.4,515.8,0.0,179,3834,1.95,2.35,73.30,0.897,4,0.044,0.066,3316,3396,2387
$GC,3991,1.50,88.4,488.5,14.0,184,3996,0.35,2.25,0.00,0.000,6,0.124,0.036,3248,2012,2382
$GC,4336,1.34,88.4,450.3,10.9,193,4341,0.15,2.42,0.00,0.000,4,0.125,0.061,3215,595,2378
$GC,4469,1.20,88.4,434.7,12.9,196,4474,0.17,2.28,0.00,0.000,6,0.119,0.026,3182,2003,2377
$GC,4794,1.16,88.4,401.9,9.6,204,4798,0.00,2.35,0.00,0.000,4,0.000,0.050,3182,594,2375
$GC,5052,1.08,88.4,376.9,9.9,209,5058,0.15,2.25,0.00,0.000,6,0.130,0.025,3155,2004,2373
$GC,5383,1.09,97.3,351.3,7.5,218,5394,0.00,2.35,5.97,0.673,4,0.000,0.049,3155,594,2352
$GC,5472,1.10,98.3,344.0,8.4,220,5476,0.00,2.25,0.00,0.000,6,0.000,0.025,3155,2005,2351
$GC,5793,1.16,122.0,324.0,5.8,228,5816,0.00,0.00,21.92,0.804,6,0.000,0.000,3155,2005,2251
$GC,6116,1.22,122.0,297.4,9.0,236,6120,0.12,2.35,0.00,0.000,4,0.060,0.049,3194,593,2247
$GC,6216,1.15,122.0,286.6,10.2,238,6221,0.12,2.25,0.00,0.000,6,0.122,0.024,3172,2010,2246
$GC,6566,1.19,122.0,254.4,9.1,247,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2010,2245
$GC,6890,1.25,134.9,228.5,7.0,255,6906,0.00,2.38,11.27,0.699,4,0.000,0.045,3172,586,2197
$GC,7080,1.25,138.8,214.0,8.1,259,7089,0.00,2.22,4.38,0.522,6,0.000,0.023,3172,2001,2183
$GC,7414,1.33,147.5,189.5,7.5,277,7429,0.15,2.38,9.15,0.643,4,0.053,0.039,3225,591,2147
$GC,7454,1.26,147.5,186.0,9.6,280,7459,0.15,2.25,0.00,0.000,6,0.115,0.028,3197,2003,2146
$GC,7782,1.30,147.5,152.5,9.7,310,7786,0.00,2.33,0.00,0.000,4,0.000,0.043,3196,578,2144
$GC,7878,1.30,147.5,143.0,9.6,318,7882,0.00,2.25,0.00,0.000,6,0.000,0.027,3196,1998,2144
$GC,8076,1.35,154.3,127.5,7.7,336,8090,0.00,2.30,7.05,0.564,4,0.000,0.041,3196,586,2119
$GC,8103,1.39,154.3,125.2,8.5,338,8107,0.10,2.25,0.00,0.000,6,0.064,0.028,3231,2003,2118
$GC,8300,1.39,154.3,107.6,9.3,356,8304,0.00,2.30,0.00,0.000,4,0.000,0.043,3231,588,2118
$GC,8449,1.35,162.4,94.5,7.6,368,8462,0.00,2.25,8.52,0.553,6,0.000,0.028,3231,2002,2086
$GC,8659,1.36,173.3,79.9,7.2,387,8675,0.00,2.38,10.27,0.554,4,0.000,0.041,3231,585,2042
$GC,8700,1.36,173.3,76.0,9.7,390,8704,0.00,2.25,0.00,0.000,6,0.000,0.027,3231,2010,2041
$GC,8900,1.37,181.7,59.4,7.5,408,8915,0.00,2.35,8.57,0.518,4,0.000,0.042,3231,576,2007
$GC,9069,1.37,181.7,42.4,9.1,422,9073,0.00,2.25,0.00,0.000,6,0.000,0.028,3230,2005,2007
$GC,9273,1.44,184.9,27.4,8.1,442,9282,0.00,2.33,4.07,0.380,4,0.000,0.039,3231,3397,1995
$GC,9299,1.50,196.4,25.7,7.2,445,9316,0.00,2.25,11.62,0.509,6,0.000,0.028,3231,1983,1947
$GC,9529,1.56,196.4,4.3,10.0,483,9537,0.12,2.25,0.00,0.000,4,0.054,0.036,3276,601,1945
$STATE,9544,end climb,SURFACE_DEPTH_REACHED
$STATE,9544,begin surface coast
$FINISH,0.7,1.023185
$STATE,9569,end surface coast,CONTROL_FINISHED_OK
$STATE,9569,begin surface
$SM_CCo,9593,134.68,0.518,0,0,954,440.07
$SM_GC,1.64,0.00,0.00,134.68,0.000,0.000,0.518,413,2074,954,-11.53,0.71,440.07
$IRIDIUM_FIX,2241.69,-15746.73,201297,131333
$TT8_MAMPS,0.027612
$HUMID,1752
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.00
$XPDR_PINGS,117
$24V_AH,23.7,49.090
$10V_AH,10.1,46.383
$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,28.550,95.625,249.100,134.675,0.000,28.838,28.311,125.535,29.250,0.000,0.000,14.100,1041.562,6034.808,450.835,1968.885,531.370,33.368,1222.331,0.000,2042.086,0.000,0.469
$DEVICE_MAMPS,158.769,65.962,921.167,517.725,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.344,329.700,599.483,437.395,889.427,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38304,489
$CAP_FILE_SIZE,206662,0
$CFSIZE,260165632,234414080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250908,185231,2246.931,-15748.815,29,1.5,39,10.1