version: 66.03
glider: 148
mission: 6
dive: 63
start: 8 21 108 7 57 35
data:
$ID,148
$MISSION,6
$DIVE,63
$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,-7466.0137
$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,42
$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
$GPS1,074133,2248.506,-15748.033,8,2.0,8,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-62.9
$GPS2,075641,2248.667,-15748.113,9,2.2,28,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.084,-0.121
$KALMAN_X,-59752.2,200.3,8.1,74653.2,-1055.2
$KALMAN_Y,40004.6,292.5,362.1,-39595.0,-580.8
$MHEAD_RNG_PITCHd_Wd,204.7,1954,-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,15,begin dive
$GC,17,-1.75,-49.4,0.0,0.0,0,81,0.00,0.00,-62.08,0.000,2,0.000,0.000,414,1655,2735
$GC,84,-1.80,-89.2,3.3,-3.9,8,109,11.52,2.30,-8.62,0.000,4,0.160,0.058,2589,276,3114
$GC,337,-1.80,-89.2,52.9,-20.3,42,341,0.00,2.20,0.00,0.000,6,0.000,0.027,2589,1682,3115
$GC,597,-1.80,-89.2,95.2,-13.6,66,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1683,3116
$GC,852,-1.80,-89.2,129.4,-12.8,90,856,0.00,2.30,0.00,0.000,4,0.000,0.044,2589,268,3116
$GC,870,-1.80,-89.2,131.7,-13.5,91,874,0.00,2.17,0.00,0.000,6,0.000,0.025,2589,1675,3116
$GC,1133,-1.80,-89.2,166.2,-12.5,115,1137,0.00,2.28,0.00,0.000,4,0.000,0.044,2589,271,3116
$GC,1183,-1.80,-89.2,173.3,-13.7,119,1186,0.00,2.17,0.00,0.000,6,0.000,0.025,2589,1670,3116
$GC,1470,-1.80,-89.2,210.3,-12.5,140,1474,0.00,2.28,0.00,0.000,4,0.000,0.044,2589,269,3116
$GC,1509,-1.80,-89.2,215.3,-12.8,141,1513,0.00,2.17,0.00,0.000,6,0.000,0.025,2590,1672,3117
$GC,1792,-1.80,-89.2,249.4,-11.7,148,1796,0.00,2.20,0.00,0.000,4,0.000,0.044,2589,3067,3116
$GC,1808,-1.80,-89.2,251.3,-11.4,148,1812,0.00,2.20,0.00,0.000,6,0.000,0.028,2589,1674,3117
$GC,2068,-1.80,-89.2,280.3,-11.2,155,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1674,3116
$GC,2312,-1.80,-89.2,306.9,-10.5,161,2316,0.00,2.28,0.00,0.000,4,0.000,0.052,2589,268,3117
$GC,2337,-1.80,-89.2,309.5,-9.9,161,2342,0.00,2.20,0.00,0.000,6,0.000,0.033,2589,1658,3117
$GC,2599,-1.80,-89.2,331.5,-8.6,168,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1659,3117
$GC,2843,-1.80,-89.2,353.5,-8.7,174,2847,0.00,2.33,0.00,0.000,4,0.000,0.058,2589,265,3116
$GC,2869,-1.80,-89.2,356.3,-10.9,174,2874,0.00,2.25,0.00,0.000,6,0.000,0.031,2589,1664,3116
$GC,3124,-1.80,-89.2,380.3,-9.3,181,3128,0.00,2.30,0.00,0.000,4,0.000,0.047,2589,3076,3115
$GC,3173,-1.80,-89.2,384.9,-8.9,182,3178,0.00,2.28,0.00,0.000,6,0.000,0.038,2589,1683,3115
$GC,3451,-1.80,-89.2,409.4,-8.5,189,3455,0.00,2.40,0.00,0.000,4,0.000,0.071,2589,260,3113
$GC,3500,-1.80,-89.2,414.1,-9.6,190,3505,0.00,2.28,0.00,0.000,6,0.000,0.035,2589,1664,3113
$GC,3778,-1.80,-93.8,436.4,-8.0,197,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1664,3112
$GC,4022,-1.80,-93.8,456.9,-8.6,203,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1664,3110
$GC,4266,-1.81,-96.4,476.9,-8.2,209,4270,0.00,2.38,0.00,0.000,4,0.000,0.067,2589,267,3108
$GC,4281,-1.81,-100.6,478.4,-8.0,209,4285,0.00,2.30,0.00,0.000,6,0.000,0.044,2589,1666,3107
$GC,4548,-1.82,-111.3,498.2,-7.3,216,4552,0.00,2.38,0.00,0.000,4,0.000,0.069,2589,269,3105
$GC,4579,-1.82,-111.3,501.1,-8.7,216,4586,0.00,2.33,0.00,0.000,6,0.000,0.041,2589,1670,3105
$STATE,4706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4706,begin apogee
$GC,4709,-0.31,0.0,510.7,7.8,220,4788,1.52,0.00,72.18,0.905,6,0.097,0.000,2920,1670,2750
$STATE,4789,end apogee,CONTROL_FINISHED_OK
$STATE,4789,begin climb
$GC,4791,1.82,111.3,510.9,0.0,222,4892,1.95,2.47,92.85,0.884,4,0.041,0.064,3390,254,2295
$GC,5144,1.82,111.3,449.3,21.7,230,5148,0.00,2.33,0.00,0.000,6,0.000,0.039,3390,1662,2286
$GC,5421,1.82,111.3,400.1,17.5,237,5425,0.00,2.40,0.00,0.000,4,0.000,0.058,3390,256,2282
$GC,5678,1.82,111.3,354.4,20.0,242,5685,0.00,2.33,0.00,0.000,6,0.000,0.037,3390,1658,2279
$GC,5928,1.82,111.3,315.2,14.8,249,5932,0.00,2.38,0.00,0.000,4,0.000,0.054,3390,248,2277
$GC,6184,1.82,111.3,280.6,10.9,254,6191,0.00,2.33,0.00,0.000,6,0.000,0.035,3390,1665,2276
$GC,6434,1.82,111.3,252.4,11.8,261,6438,0.00,2.38,0.00,0.000,4,0.000,0.058,3390,251,2274
$GC,6511,1.82,111.3,243.5,10.9,262,6518,0.00,2.28,0.00,0.000,6,0.000,0.032,3390,1655,2273
$GC,6761,1.82,111.3,214.9,11.5,269,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1655,2273
$GC,7008,1.82,111.3,188.7,9.8,281,7012,0.00,2.33,0.00,0.000,4,0.000,0.054,3390,254,2272
$GC,7264,1.82,111.3,164.4,10.2,303,7274,0.00,2.25,0.00,0.000,6,0.000,0.036,3390,1665,2272
$GC,7525,1.82,111.3,140.0,9.1,328,7529,0.00,2.33,0.00,0.000,4,0.000,0.049,3390,251,2273
$GC,7784,1.82,111.3,110.3,11.1,350,7794,0.00,2.25,0.00,0.000,6,0.000,0.028,3390,1662,2272
$GC,8048,1.82,111.3,86.9,9.8,375,8052,0.00,2.33,0.00,0.000,4,0.000,0.049,3390,244,2273
$GC,8307,1.86,135.8,66.8,5.7,398,8335,0.00,2.22,17.48,0.547,6,0.000,0.027,3390,1667,2194
$GC,8588,1.91,177.5,51.5,3.7,424,8630,0.00,2.35,35.28,0.544,4,0.000,0.047,3390,3051,2024
$GC,8885,1.91,177.5,14.3,16.6,458,8894,0.00,2.28,0.00,0.000,6,0.000,0.033,3390,1651,2020
$STATE,8961,end climb,SURFACE_DEPTH_REACHED
$STATE,8961,begin surface coast
$FINISH,0.5,1.010590
$STATE,8986,end surface coast,CONTROL_FINISHED_OK
$STATE,8986,begin surface
$SM_CCo,9004,189.43,0.496,0,0,510,548.98
$SM_GC,1.42,0.00,0.00,189.43,0.000,0.000,0.496,415,1647,510,-11.84,-0.65,548.98
$IRIDIUM_FIX,2237.01,-15701.59,151197,080825
$TT8_MAMPS,0.027612
$HUMID,1589
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.40
$XPDR_PINGS,149
$24V_AH,23.8,18.806
$10V_AH,10.1,16.861
$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,27.225,87.150,217.775,189.425,0.000,147.688,411.501,0.000,37.250,0.000,0.000,30.642,956.293,6150.885,491.201,1792.491,713.306,33.350,1186.756,0.000,1788.400,0.000,0.469
$DEVICE_MAMPS,159.536,70.564,905.060,496.249,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.225,320.119,540.594,410.489,845.610,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35034,475
$CAP_FILE_SIZE,191133,0
$CFSIZE,260165632,254021632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210808,103202,2248.248,-15748.766,37,1.8,37,10.1