version: 66.03
glider: 148
mission: 6
dive: 57
start: 8 20 108 15 27 16
data:
$ID,148
$MISSION,6
$DIVE,57
$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,548.98138
$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,-7341.1089
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2990
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1670
$C_ROLL_CLIMB,1660
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,34
$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
$GPS1,151117,2247.831,-15747.677,8,99.0,27,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-64.8
$GPS2,152622,2247.709,-15747.768,10,99.0,29,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.044,-0.140
$KALMAN_X,-54636.0,409.6,241.2,69678.7,-2205.5
$KALMAN_Y,40877.4,-307.5,-704.6,-40575.1,895.3
$MHEAD_RNG_PITCHd_Wd,152.4,2172,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.75,-49.4,0.0,0.0,0,82,0.00,0.00,-61.95,0.000,2,0.000,0.000,414,1653,2718
$GC,84,-1.80,-91.3,3.2,-3.7,8,109,11.60,2.35,-9.10,0.000,4,0.162,0.058,2588,255,3124
$GC,221,-1.80,-91.3,30.1,-19.6,31,230,0.00,2.25,0.00,0.000,6,0.000,0.026,2588,1674,3125
$GC,483,-1.80,-91.3,79.2,-16.0,56,487,0.00,2.30,0.00,0.000,4,0.000,0.044,2588,262,3126
$GC,637,-1.80,-91.3,106.0,-18.2,69,641,0.00,2.20,0.00,0.000,6,0.000,0.025,2588,1678,3126
$GC,899,-1.80,-91.3,147.7,-15.6,93,903,0.00,2.30,0.00,0.000,4,0.000,0.045,2587,260,3127
$GC,933,-1.80,-91.3,153.4,-16.5,96,937,0.00,2.20,0.00,0.000,6,0.000,0.025,2588,1677,3127
$GC,1193,-1.80,-91.3,192.3,-14.0,120,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1679,3127
$GC,1459,-1.80,-91.3,228.7,-13.4,131,1463,0.00,2.30,0.00,0.000,4,0.000,0.054,2588,263,3127
$GC,1543,-1.80,-91.3,240.1,-13.8,133,1547,0.00,2.20,0.00,0.000,6,0.000,0.025,2588,1684,3127
$GC,1831,-1.80,-91.3,273.1,-11.2,140,1835,0.00,2.33,0.00,0.000,4,0.000,0.055,2588,259,3127
$GC,1869,-1.80,-91.3,277.5,-12.0,141,1873,0.00,2.20,0.00,0.000,6,0.000,0.035,2588,1677,3127
$GC,2152,-1.80,-91.3,307.4,-10.4,148,2156,0.00,2.33,0.00,0.000,4,0.000,0.058,2588,265,3127
$GC,2179,-1.80,-91.3,310.1,-10.6,148,2183,0.00,2.20,0.00,0.000,6,0.000,0.029,2588,1668,3127
$GC,2428,-1.80,-91.3,334.9,-10.2,154,2432,0.00,2.35,0.00,0.000,4,0.000,0.056,2588,259,3127
$GC,2449,-1.80,-91.3,337.3,-11.1,154,2453,0.00,2.25,0.00,0.000,6,0.000,0.036,2588,1667,3127
$GC,2710,-1.80,-91.3,362.5,-9.5,161,2714,0.00,2.35,0.00,0.000,4,0.000,0.059,2588,263,3127
$GC,2748,-1.80,-91.3,366.2,-9.2,162,2752,0.00,2.22,0.00,0.000,6,0.000,0.038,2588,1674,3127
$GC,3036,-1.80,-91.3,391.0,-8.9,169,3040,0.00,2.28,0.00,0.000,4,0.000,0.048,2588,3070,3125
$GC,3085,-1.80,-91.3,395.5,-9.1,170,3090,0.00,2.30,0.00,0.000,6,0.000,0.047,2588,1676,3125
$GC,3363,-1.80,-91.3,419.4,-8.8,177,3367,0.00,2.40,0.00,0.000,4,0.000,0.067,2588,263,3123
$GC,3435,-1.80,-91.3,426.8,-10.7,178,3439,0.00,2.28,0.00,0.000,6,0.000,0.035,2588,1663,3123
$GC,3690,-1.80,-91.3,451.9,-10.2,185,3694,0.00,2.38,0.00,0.000,4,0.000,0.068,2588,265,3122
$GC,3778,-1.80,-91.3,461.4,-10.5,187,3782,0.00,2.28,0.00,0.000,6,0.000,0.042,2588,1657,3121
$GC,4061,-1.80,-91.3,488.4,-9.4,194,4065,0.00,2.38,0.00,0.000,4,0.000,0.074,2588,266,3119
$GC,4089,-1.80,-91.3,490.9,-9.8,194,4093,0.00,2.28,0.00,0.000,6,0.000,0.041,2588,1669,3119
$STATE,4336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4337,begin apogee
$GC,4340,-0.31,0.0,512.9,8.7,200,4420,1.55,0.00,74.55,0.910,6,0.102,0.000,2921,1669,2749
$STATE,4420,end apogee,CONTROL_FINISHED_OK
$STATE,4420,begin climb
$GC,4422,1.80,91.3,514.2,0.0,202,4507,1.95,2.50,76.57,0.885,4,0.039,0.072,3390,3063,2375
$GC,4512,1.82,106.5,509.9,6.7,204,4532,0.00,2.38,14.52,0.807,6,0.000,0.045,3390,1660,2313
$GC,4783,1.82,106.5,464.6,17.0,211,4787,0.00,2.47,0.00,0.000,4,0.000,0.074,3390,247,2305
$GC,4994,1.82,106.5,426.0,18.5,215,5001,0.00,2.35,0.00,0.000,6,0.000,0.044,3390,1662,2303
$GC,5244,1.82,106.5,387.9,15.1,222,5248,0.00,2.40,0.00,0.000,4,0.000,0.066,3390,249,2300
$GC,5500,1.82,106.5,341.5,18.0,227,5507,0.00,2.33,0.00,0.000,6,0.000,0.034,3390,1663,2298
$GC,5750,1.82,106.5,306.7,13.7,234,5754,0.00,2.40,0.00,0.000,4,0.000,0.062,3390,249,2296
$GC,6006,1.82,106.5,273.1,13.6,239,6013,0.00,2.30,0.00,0.000,6,0.000,0.034,3390,1659,2295
$GC,6256,1.82,106.5,246.0,10.2,246,6260,0.00,2.38,0.00,0.000,4,0.000,0.061,3390,249,2293
$GC,6513,1.82,106.5,218.7,9.2,251,6520,0.00,2.28,0.00,0.000,6,0.000,0.036,3390,1660,2292
$GC,6763,1.84,126.2,202.4,6.2,258,6782,0.00,2.40,13.23,0.661,4,0.000,0.053,3390,252,2234
$GC,7033,1.84,126.2,170.2,13.4,279,7043,0.00,2.28,0.00,0.000,6,0.000,0.028,3390,1666,2232
$GC,7295,1.84,126.2,140.7,10.9,304,7299,0.00,2.35,0.00,0.000,4,0.000,0.048,3390,237,2232
$GC,7553,1.84,126.2,108.3,12.2,326,7563,0.00,2.25,0.00,0.000,6,0.000,0.035,3390,1652,2232
$GC,7816,1.84,126.2,81.0,11.0,351,7820,0.00,2.30,0.00,0.000,4,0.000,0.047,3390,242,2232
$GC,7952,1.86,137.4,69.5,7.2,363,7969,0.00,2.22,11.02,0.531,6,0.000,0.028,3390,1665,2187
$GC,8233,1.90,174.1,51.4,4.3,389,8271,0.00,2.40,31.15,0.548,4,0.000,0.054,3390,249,2038
$GC,8397,1.90,174.1,32.5,14.8,403,8402,0.00,2.22,0.00,0.000,6,0.000,0.028,3390,1663,2036
$STATE,8603,end climb,SURFACE_DEPTH_REACHED
$STATE,8603,begin surface coast
$FINISH,0.6,1.023138
$STATE,8622,end surface coast,CONTROL_FINISHED_OK
$STATE,8622,begin surface
$SM_CCo,8640,205.23,0.502,0,0,510,548.98
$SM_GC,1.24,0.00,0.00,205.23,0.000,0.000,0.502,414,1667,510,-11.85,-0.08,548.98
$IRIDIUM_FIX,2239.35,-15752.82,141197,151559
$TT8_MAMPS,0.027612
$HUMID,1565
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,23.20
$XPDR_PINGS,114
$24V_AH,23.8,18.212
$10V_AH,10.1,16.298
$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,27.350,97.075,221.050,205.225,0.000,133.084,423.515,0.000,28.500,0.000,0.000,31.794,926.256,5843.924,531.555,1757.328,695.229,33.354,1217.097,0.000,1752.381,0.000,0.469
$DEVICE_MAMPS,161.837,74.399,910.429,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.982,273.420,488.812,377.756,778.673,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31764,441
$CAP_FILE_SIZE,181304,0
$CFSIZE,260165632,254410752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200808,175601,2246.952,-15748.135,38,1.1,43,10.1