version: 66.03
glider: 148
mission: 6
dive: 59
start: 8 20 108 20 39 58
data:
$ID,148
$MISSION,6
$DIVE,59
$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,-7371.5654
$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,27
$R_STBD_OVSHOOT,47
$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
$GPS1,202425,2248.005,-15748.109,21,0.8,39,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.2
$GPS2,203903,2248.045,-15748.243,12,1.2,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.025,0.145
$KALMAN_X,-55803.5,77.2,4.7,70606.3,-1202.1
$KALMAN_Y,40058.0,-220.1,591.0,-40513.3,-572.8
$MHEAD_RNG_PITCHd_Wd,340.3,1295,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.75,-49.4,0.0,0.0,0,82,0.00,0.00,-62.40,0.000,2,0.000,0.000,408,1692,2753
$GC,85,-1.80,-89.0,3.3,-3.9,8,110,11.62,2.25,-8.27,0.000,4,0.162,0.044,2590,3074,3113
$GC,240,-1.80,-89.0,31.3,-17.4,34,250,0.00,2.28,0.00,0.000,6,0.000,0.031,2590,1667,3113
$GC,504,-1.80,-89.0,75.2,-14.4,59,508,0.00,2.22,0.00,0.000,4,0.000,0.032,2590,3066,3114
$GC,533,-1.80,-89.0,79.4,-14.6,61,537,0.00,2.22,0.00,0.000,6,0.000,0.039,2590,1664,3114
$GC,797,-1.80,-89.0,113.9,-12.3,85,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1664,3115
$GC,1051,-1.80,-89.0,147.6,-13.3,109,1055,0.00,2.28,0.00,0.000,4,0.000,0.046,2590,257,3115
$GC,1079,-1.80,-89.0,152.1,-15.0,111,1083,0.00,2.17,0.00,0.000,6,0.000,0.025,2590,1674,3115
$GC,1346,-1.80,-89.0,190.3,-14.5,136,1350,0.00,2.30,0.00,0.000,4,0.000,0.045,2590,260,3115
$GC,1417,-1.80,-89.0,201.8,-15.6,141,1422,0.00,2.20,0.00,0.000,6,0.000,0.025,2590,1659,3115
$GC,1673,-1.80,-89.0,234.6,-12.6,148,1677,0.00,2.22,0.00,0.000,4,0.000,0.033,2590,3074,3115
$GC,1716,-1.80,-89.0,239.8,-10.9,149,1721,0.00,2.25,0.00,0.000,6,0.000,0.030,2590,1675,3115
$GC,2000,-1.80,-89.0,271.2,-10.5,156,2004,0.00,2.30,0.00,0.000,4,0.000,0.050,2590,264,3115
$GC,2099,-1.80,-89.0,280.8,-9.4,158,2104,0.00,2.22,0.00,0.000,6,0.000,0.025,2590,1678,3115
$GC,2371,-1.80,-89.0,305.5,-9.7,165,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1681,3115
$GC,2615,-1.80,-89.0,330.2,-9.8,171,2619,0.00,2.35,0.00,0.000,4,0.000,0.064,2590,269,3115
$GC,2652,-1.80,-89.0,333.9,-10.1,171,2659,0.00,2.22,0.00,0.000,6,0.000,0.028,2590,1667,3115
$GC,2902,-1.81,-97.5,353.0,-7.5,178,2906,0.00,2.28,0.00,0.000,4,0.000,0.043,2590,3078,3114
$GC,2956,-1.81,-101.6,357.3,-8.0,179,2961,0.00,2.30,0.00,0.000,6,0.000,0.041,2590,1676,3115
$GC,3229,-1.82,-110.1,378.6,-7.5,186,3233,0.00,2.38,0.00,0.000,4,0.000,0.070,2590,259,3113
$GC,3272,-1.82,-110.1,382.5,-9.0,187,3277,0.00,2.25,0.00,0.000,6,0.000,0.032,2590,1664,3113
$GC,3556,-1.83,-115.8,405.1,-7.8,194,3560,0.00,2.30,0.00,0.000,4,0.000,0.046,2590,3075,3111
$GC,3594,-1.85,-128.0,408.1,-7.1,195,3598,0.00,2.28,0.00,0.000,6,0.000,0.042,2590,1669,3111
$GC,3883,-1.85,-134.6,430.5,-7.7,202,3887,0.00,2.38,0.00,0.000,4,0.000,0.067,2590,265,3109
$GC,3981,-1.85,-134.6,439.0,-8.6,204,3987,0.00,2.28,0.00,0.000,6,0.000,0.042,2590,1667,3109
$GC,4254,-1.86,-136.3,459.6,-7.6,211,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1667,3107
$GC,4498,-1.86,-136.3,478.7,-7.7,217,4502,0.00,2.33,0.00,0.000,4,0.000,0.054,2590,3080,3105
$GC,4530,-1.86,-136.3,481.3,-7.4,217,4535,0.00,2.33,0.00,0.000,6,0.000,0.041,2590,1675,3105
$GC,4786,-1.86,-136.3,500.6,-7.6,224,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1675,3103
$STATE,4908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4908,begin apogee
$GC,4911,-0.31,0.0,511.0,8.3,227,4989,1.52,0.00,71.82,0.916,6,0.100,0.000,2920,1675,2749
$STATE,4990,end apogee,CONTROL_FINISHED_OK
$STATE,4990,begin climb
$GC,4991,1.86,136.3,512.3,0.0,229,5115,1.98,2.50,113.53,0.894,4,0.041,0.070,3394,247,2192
$GC,5120,1.86,136.3,501.1,18.0,232,5124,0.00,2.38,0.00,0.000,6,0.000,0.044,3394,1655,2190
$GC,5403,1.86,136.3,439.7,21.4,239,5407,0.00,2.40,0.00,0.000,4,0.000,0.060,3394,254,2182
$GC,5659,1.86,136.3,382.3,22.5,244,5666,0.00,2.33,0.00,0.000,6,0.000,0.038,3394,1655,2178
$GC,5909,1.86,136.3,333.0,19.4,251,5913,0.00,2.38,0.00,0.000,4,0.000,0.056,3394,253,2176
$GC,6166,1.86,136.3,283.8,20.1,256,6173,0.00,2.30,0.00,0.000,6,0.000,0.041,3394,1657,2174
$GC,6416,1.86,136.3,248.2,13.8,263,6420,0.00,2.35,0.00,0.000,4,0.000,0.060,3394,252,2171
$GC,6650,1.86,136.3,214.4,14.2,268,6655,0.00,2.28,0.00,0.000,6,0.000,0.032,3394,1656,2170
$GC,6907,1.86,136.3,180.3,13.6,282,6911,0.00,2.35,0.00,0.000,4,0.000,0.052,3394,3067,2169
$GC,6925,1.86,136.3,178.3,12.7,283,6929,0.00,2.30,0.00,0.000,6,0.000,0.041,3394,1647,2168
$GC,7187,1.86,136.3,140.7,14.4,307,7191,0.00,2.28,0.00,0.000,4,0.000,0.050,3394,248,2168
$GC,7446,1.86,136.3,101.0,13.8,330,7450,0.00,2.22,0.00,0.000,6,0.000,0.028,3394,1666,2168
$GC,7708,1.86,136.3,65.7,13.6,354,7712,0.00,2.33,0.00,0.000,4,0.000,0.050,3394,252,2168
$GC,7784,1.86,136.3,54.9,12.8,360,7794,0.00,2.25,0.00,0.000,6,0.000,0.028,3394,1667,2169
$GC,8048,1.88,158.7,33.6,5.9,385,8074,0.00,2.30,16.00,0.527,4,0.000,0.041,3394,3051,2100
$GC,8175,1.88,158.7,22.5,10.2,403,8184,0.00,2.28,0.00,0.000,6,0.000,0.037,3394,1659,2099
$STATE,8350,end climb,SURFACE_DEPTH_REACHED
$STATE,8350,begin surface coast
$FINISH,0.6,1.023113
$STATE,8380,end surface coast,CONTROL_FINISHED_OK
$STATE,8380,begin surface
$SM_CCo,8399,219.25,0.507,0,0,510,548.98
$SM_GC,1.44,0.00,0.00,219.25,0.000,0.000,0.507,411,1655,510,-11.86,-0.42,548.98
$IRIDIUM_FIX,2239.35,-15746.73,141197,202002
$TT8_MAMPS,0.027612
$HUMID,1582
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,22.80
$XPDR_PINGS,97
$24V_AH,23.8,18.406
$10V_AH,10.1,16.476
$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,27.375,91.775,201.350,219.250,0.000,138.958,408.106,0.000,24.250,0.000,0.000,14.298,907.200,5739.778,513.502,1659.734,682.110,33.349,1168.705,0.000,1684.591,0.000,0.468
$DEVICE_MAMPS,161.837,69.797,915.798,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.647,268.456,488.900,390.606,804.303,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31885,439
$CAP_FILE_SIZE,178563,0
$CFSIZE,260165632,254291968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200808,230421,2248.951,-15748.577,9,2.0,9,10.1