version: 66.03
glider: 148
mission: 6
dive: 62
start: 8 21 108 5 0 58
data:
$ID,148
$MISSION,6
$DIVE,62
$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,410
$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,-7434.7466
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,045402,2247.624,-15748.314,41,1.3,41,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-58.8
$GPS2,050003,2247.688,-15748.374,11,1.3,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.096,0.112
$KALMAN_X,-58755.3,88.0,-207.4,73536.8,-1235.5
$KALMAN_Y,40082.2,357.2,-251.2,-40933.5,371.1
$MHEAD_RNG_PITCHd_Wd,30.4,1215,-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,17,-1.75,-49.4,0.0,0.0,0,104,0.00,0.00,-84.30,0.000,2,0.000,0.000,412,1644,2756
$GC,107,-1.80,-89.7,3.3,-3.9,11,132,11.57,2.35,-8.00,0.000,4,0.160,0.044,2588,3079,3117
$GC,189,-1.80,-89.7,19.4,-18.5,24,198,0.00,2.28,0.00,0.000,6,0.000,0.035,2588,1672,3118
$GC,461,-1.80,-89.7,73.5,-19.6,54,465,0.00,2.28,0.00,0.000,4,0.000,0.044,2588,265,3118
$GC,533,-1.80,-89.7,86.0,-15.3,60,538,0.00,2.20,0.00,0.000,6,0.000,0.024,2588,1680,3119
$GC,793,-1.80,-89.7,123.4,-13.9,84,797,0.00,2.30,0.00,0.000,4,0.000,0.044,2588,265,3119
$GC,814,-1.80,-89.7,126.5,-14.2,85,821,0.00,2.20,0.00,0.000,6,0.000,0.024,2588,1665,3119
$GC,1075,-1.80,-89.7,160.4,-13.0,110,1079,0.00,2.28,0.00,0.000,4,0.000,0.044,2588,266,3120
$GC,1096,-1.80,-89.7,163.6,-14.4,111,1106,0.00,2.20,0.00,0.000,6,0.000,0.024,2588,1672,3119
$GC,1360,-1.80,-89.7,197.8,-13.5,136,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1673,3120
$GC,1622,-1.80,-89.7,231.8,-13.1,144,1626,0.00,2.30,0.00,0.000,4,0.000,0.046,2588,259,3120
$GC,1661,-1.80,-89.7,237.0,-13.4,145,1665,0.00,2.17,0.00,0.000,6,0.000,0.025,2588,1668,3120
$GC,1943,-1.80,-89.7,268.5,-10.5,152,1947,0.00,2.30,0.00,0.000,4,0.000,0.055,2588,259,3120
$GC,2065,-1.80,-89.7,283.9,-12.9,154,2071,0.00,2.22,0.00,0.000,6,0.000,0.026,2588,1670,3120
$GC,2315,-1.80,-89.7,308.8,-10.1,161,2319,0.00,2.22,0.00,0.000,4,0.000,0.038,2588,3067,3121
$GC,2408,-1.80,-89.7,318.6,-9.8,163,2414,0.00,2.25,0.00,0.000,6,0.000,0.034,2588,1679,3120
$GC,2687,-1.80,-89.7,343.7,-8.8,170,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1679,3121
$GC,2930,-1.80,-89.7,365.1,-8.6,176,2934,0.00,2.35,0.00,0.000,4,0.000,0.067,2588,268,3120
$GC,3041,-1.80,-89.7,376.0,-10.8,178,3046,0.00,2.22,0.00,0.000,6,0.000,0.033,2588,1653,3119
$GC,3302,-1.80,-89.7,398.5,-8.7,185,3306,0.00,2.30,0.00,0.000,4,0.000,0.048,2588,3069,3118
$GC,3357,-1.80,-89.7,403.9,-9.8,186,3361,0.00,2.30,0.00,0.000,6,0.000,0.046,2588,1675,3118
$GC,3635,-1.80,-89.7,429.6,-9.3,193,3638,0.00,2.40,0.00,0.000,4,0.000,0.067,2588,256,3116
$GC,3655,-1.80,-89.7,431.8,-9.9,193,3660,0.00,2.28,0.00,0.000,6,0.000,0.035,2588,1654,3116
$GC,3922,-1.80,-89.7,456.5,-9.1,200,3926,0.00,2.38,0.00,0.000,4,0.000,0.065,2588,261,3114
$GC,3950,-1.80,-89.7,459.3,-10.3,200,3954,0.00,2.28,0.00,0.000,6,0.000,0.039,2588,1668,3114
$GC,4199,-1.80,-89.7,482.7,-9.3,206,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1668,3112
$GC,4442,-1.80,-89.7,504.3,-8.5,212,4446,0.00,2.35,0.00,0.000,4,0.000,0.056,2588,3079,3110
$GC,4508,-1.80,-94.1,509.4,-8.0,213,4513,0.00,2.33,0.00,0.000,6,0.000,0.045,2588,1678,3110
$STATE,4517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4517,begin apogee
$GC,4521,-0.31,0.0,510.4,7.9,213,4598,1.50,0.00,73.28,0.904,6,0.098,0.000,2917,1678,2749
$STATE,4599,end apogee,CONTROL_FINISHED_OK
$STATE,4599,begin climb
$GC,4600,1.80,94.1,510.4,0.0,215,4688,1.95,0.00,78.65,0.881,6,0.038,0.000,3388,1678,2364
$GC,4931,1.80,94.1,463.0,17.1,224,4935,0.00,2.45,0.00,0.000,4,0.000,0.067,3387,249,2357
$GC,4945,1.80,94.1,460.1,17.1,224,4950,0.00,2.33,0.00,0.000,6,0.000,0.036,3387,1650,2356
$GC,5212,1.80,94.1,417.1,15.9,231,5216,0.00,2.38,0.00,0.000,4,0.000,0.062,3388,254,2354
$GC,5470,1.80,94.1,374.3,16.7,236,5477,0.00,2.30,0.00,0.000,6,0.000,0.036,3387,1670,2351
$GC,5719,1.80,94.1,341.0,12.9,243,5723,0.00,2.40,0.00,0.000,4,0.000,0.060,3388,252,2350
$GC,5976,1.80,94.1,308.0,12.2,248,5983,0.00,2.30,0.00,0.000,6,0.000,0.034,3387,1661,2348
$GC,6226,1.80,94.1,282.4,9.8,255,6230,0.00,2.38,0.00,0.000,4,0.000,0.057,3387,252,2346
$GC,6483,1.80,94.1,261.3,10.2,260,6490,0.00,2.28,0.00,0.000,6,0.000,0.032,3388,1660,2345
$GC,6733,1.81,102.1,241.6,7.6,267,6742,0.00,2.40,4.40,0.522,4,0.000,0.053,3388,229,2332
$GC,6994,1.82,110.8,219.1,7.5,272,7009,0.00,2.30,8.70,0.630,6,0.000,0.031,3388,1660,2297
$GC,7260,1.82,110.8,194.9,10.5,280,7264,0.00,2.33,0.00,0.000,4,0.000,0.054,3387,249,2295
$GC,7281,1.82,110.8,192.3,10.5,281,7289,0.00,2.28,0.00,0.000,6,0.000,0.028,3388,1662,2295
$GC,7542,1.82,110.8,167.2,8.8,306,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1662,2295
$GC,7797,1.82,110.8,145.4,9.4,330,7801,0.00,2.33,0.00,0.000,4,0.000,0.054,3388,248,2295
$GC,7815,1.82,110.8,143.8,9.4,331,7819,0.00,2.25,0.00,0.000,6,0.000,0.035,3388,1671,2295
$GC,8079,1.83,116.8,121.4,7.8,355,8091,0.00,2.40,6.70,0.514,4,0.000,0.052,3388,249,2272
$GC,8204,1.83,116.8,109.4,10.3,366,8208,0.00,2.22,0.00,0.000,6,0.000,0.035,3388,1662,2272
$GC,8464,1.84,126.3,87.0,7.4,390,8477,0.00,0.00,9.30,0.522,6,0.000,0.000,3388,1662,2233
$GC,8731,1.85,131.4,62.0,7.9,415,8746,0.00,2.38,5.90,0.452,4,0.000,0.048,3388,246,2213
$GC,8793,1.85,135.3,57.1,8.1,420,8807,0.00,2.22,5.20,0.428,6,0.000,0.028,3388,1661,2196
$GC,9061,1.89,164.5,45.8,5.1,445,9091,0.00,2.33,25.45,0.532,4,0.000,0.045,3387,3063,2076
$GC,9138,1.89,164.5,39.7,10.0,451,9142,0.00,2.30,0.00,0.000,6,0.000,0.034,3388,1641,2074
$GC,9409,1.89,164.5,5.5,12.8,492,9417,0.00,2.35,0.00,0.000,4,0.000,0.040,3388,3061,2073
$STATE,9429,end climb,SURFACE_DEPTH_REACHED
$STATE,9429,begin surface coast
$FINISH,1.2,1.023115
$STATE,9436,end surface coast,CONTROL_FINISHED_OK
$STATE,9436,begin surface
$SM_CCo,9457,133.52,0.498,0,0,1077,410.14
$SM_GC,1.40,0.00,0.00,133.52,0.000,0.000,0.498,414,1655,1077,-11.85,-0.42,410.14
$IRIDIUM_FIX,2239.35,-15746.73,151197,020208
$TT8_MAMPS,0.027612
$HUMID,1585
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.50
$XPDR_PINGS,103
$24V_AH,23.8,18.703
$10V_AH,10.1,16.764
$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,27.125,105.875,217.575,133.525,0.000,24.352,27.835,219.763,25.750,0.000,0.000,12.857,1003.999,6200.897,475.481,1842.429,431.309,33.358,1208.725,0.000,1864.042,0.000,0.469
$DEVICE_MAMPS,159.536,67.496,903.526,497.783,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.650,324.943,568.942,429.536,883.162,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38269,496
$CAP_FILE_SIZE,205899,0
$CFSIZE,260165632,254083072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210808,074133,2248.506,-15748.033,8,2.0,8,10.1