version: 66.03
glider: 148
mission: 6
dive: 67
start: 8 21 108 18 47 4
data:
$ID,148
$MISSION,6
$DIVE,67
$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,-7527.5977
$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,28
$R_STBD_OVSHOOT,46
$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
$GPS1,183131,2248.174,-15748.050,36,1.3,36,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-61.2
$GPS2,184609,2248.189,-15748.130,12,2.0,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.068,-0.131
$KALMAN_X,-62904.4,176.0,-55.1,77863.6,-1150.0
$KALMAN_Y,40105.1,-263.6,-218.3,-39439.6,283.3
$MHEAD_RNG_PITCHd_Wd,197.2,1526,-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,-62.65,0.000,2,0.000,0.000,410,1682,2741
$GC,85,-1.80,-89.6,3.2,-3.9,8,110,11.65,2.38,-8.52,0.000,4,0.163,0.061,2589,259,3118
$GC,296,-1.80,-89.6,44.5,-18.9,38,306,0.00,2.22,0.00,0.000,6,0.000,0.027,2589,1657,3119
$GC,560,-1.80,-89.6,89.5,-15.5,63,563,0.00,2.28,0.00,0.000,4,0.000,0.038,2589,3082,3119
$GC,643,-1.80,-89.6,102.9,-15.5,70,653,0.00,2.28,0.00,0.000,6,0.000,0.037,2589,1664,3120
$GC,906,-1.80,-89.6,142.4,-15.2,95,910,0.00,2.25,0.00,0.000,4,0.000,0.036,2589,3074,3120
$GC,991,-1.80,-89.6,155.4,-14.7,102,999,0.00,2.25,0.00,0.000,6,0.000,0.028,2589,1665,3120
$GC,1253,-1.80,-89.6,189.8,-12.1,127,1257,0.00,2.28,0.00,0.000,4,0.000,0.038,2589,3080,3121
$GC,1314,-1.80,-89.6,197.9,-12.8,132,1318,0.00,2.22,0.00,0.000,6,0.000,0.028,2589,1667,3120
$GC,1585,-1.80,-89.6,233.1,-13.2,140,1589,0.00,2.25,0.00,0.000,4,0.000,0.038,2589,3074,3121
$GC,1679,-1.80,-89.6,245.9,-12.4,142,1683,0.00,2.25,0.00,0.000,6,0.000,0.028,2589,1668,3121
$GC,1962,-1.80,-89.6,276.6,-10.4,149,1966,0.00,2.28,0.00,0.000,4,0.000,0.045,2589,3081,3121
$GC,1972,-1.80,-89.6,277.7,-10.0,149,1976,0.00,2.25,0.00,0.000,6,0.000,0.035,2589,1671,3121
$GC,2244,-1.80,-89.6,302.3,-9.2,156,2248,0.00,2.28,0.00,0.000,4,0.000,0.043,2589,3074,3121
$GC,2360,-1.80,-89.6,314.3,-10.7,158,2365,0.00,2.25,0.00,0.000,6,0.000,0.031,2589,1674,3121
$GC,2622,-1.80,-89.6,340.9,-10.3,165,2626,0.00,2.28,0.00,0.000,4,0.000,0.052,2589,3068,3121
$GC,2638,-1.80,-89.6,342.6,-9.8,165,2642,0.00,2.22,0.00,0.000,6,0.000,0.032,2589,1669,3121
$GC,2898,-1.80,-89.6,366.7,-8.9,172,2902,0.00,2.30,0.00,0.000,4,0.000,0.056,2589,3067,3119
$GC,3003,-1.80,-89.6,377.0,-9.7,174,3008,0.00,2.25,0.00,0.000,6,0.000,0.033,2589,1681,3119
$GC,3270,-1.80,-89.6,401.3,-9.1,181,3274,0.00,2.30,0.00,0.000,4,0.000,0.052,2589,3065,3118
$GC,3347,-1.80,-89.6,408.4,-9.0,182,3354,0.00,2.28,0.00,0.000,6,0.000,0.040,2589,1670,3117
$GC,3597,-1.80,-89.6,430.2,-8.6,189,3601,0.00,2.35,0.00,0.000,4,0.000,0.058,2589,3068,3116
$GC,3651,-1.80,-91.4,434.8,-8.3,190,3656,0.00,2.30,0.00,0.000,6,0.000,0.041,2589,1668,3115
$GC,3923,-1.81,-95.8,456.7,-8.0,197,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1668,3113
$GC,4167,-1.81,-100.8,476.0,-7.9,203,4171,0.00,2.35,0.00,0.000,4,0.000,0.056,2589,3066,3112
$GC,4251,-1.82,-108.9,482.4,-7.6,205,4255,0.00,2.28,0.00,0.000,6,0.000,0.040,2589,1671,3111
$GC,4534,-1.84,-120.5,503.0,-7.2,212,4538,0.00,2.35,0.00,0.000,4,0.000,0.055,2589,3069,3109
$STATE,4625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4626,begin apogee
$GC,4631,-0.31,0.0,510.1,7.5,214,4708,1.50,0.00,72.75,0.906,6,0.100,0.000,2916,1659,2749
$STATE,4709,end apogee,CONTROL_FINISHED_OK
$STATE,4709,begin climb
$GC,4711,1.84,120.5,510.5,0.0,216,4821,1.98,2.50,100.15,0.884,4,0.038,0.068,3393,258,2256
$GC,5074,1.84,120.5,442.2,23.1,224,5078,0.00,2.30,0.00,0.000,6,0.000,0.038,3393,1652,2247
$GC,5346,1.84,120.5,389.6,18.8,231,5350,0.00,2.35,0.00,0.000,4,0.000,0.054,3393,255,2243
$GC,5602,1.84,120.5,340.8,17.1,236,5607,0.00,2.33,0.00,0.000,6,0.000,0.036,3393,1661,2240
$GC,5858,1.84,120.5,299.8,15.7,243,5862,0.00,2.35,0.00,0.000,4,0.000,0.054,3393,254,2239
$GC,6114,1.84,120.5,259.3,16.7,248,6119,0.00,2.30,0.00,0.000,6,0.000,0.036,3393,1660,2236
$GC,6370,1.84,120.5,228.6,11.5,255,6374,0.00,2.33,0.00,0.000,4,0.000,0.055,3393,252,2234
$GC,6626,1.84,120.5,196.2,12.8,260,6631,0.00,2.28,0.00,0.000,6,0.000,0.029,3393,1663,2233
$GC,6893,1.84,120.5,164.3,12.7,285,6897,0.00,2.33,0.00,0.000,4,0.000,0.045,3393,244,2233
$GC,6979,1.84,120.5,153.1,13.8,292,6983,0.00,2.25,0.00,0.000,6,0.000,0.028,3393,1663,2234
$GC,7239,1.84,120.5,119.3,12.0,316,7243,0.00,2.33,0.00,0.000,4,0.000,0.051,3393,241,2233
$GC,7384,1.84,120.5,101.3,11.5,328,7394,0.00,2.28,0.00,0.000,6,0.000,0.032,3393,1662,2234
$GC,7648,1.84,121.9,74.6,8.3,353,7652,0.00,2.30,0.00,0.000,4,0.000,0.050,3393,249,2233
$GC,7792,1.84,123.8,62.0,8.3,365,7802,0.00,2.25,0.00,0.000,6,0.000,0.028,3393,1662,2234
$STATE,8022,end climb,NO_VERTICAL_VELOCITY
$STATE,8022,begin surface
$SM_CCo,8025,343.58,0.530,0,0,509,548.98
$SM_GC,1.27,12.27,0.00,0.00,0.030,0.000,0.000,406,1666,506,-11.79,-0.11,550.21
$IRIDIUM_FIX,2241.69,-15748.90,151197,181806
$TT8_MAMPS,0.026845
$HUMID,1618
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,21.90
$XPDR_PINGS,131
$24V_AH,23.8,19.221
$10V_AH,10.2,17.215
$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,27.400,91.725,172.900,343.575,0.000,145.529,401.480,0.000,32.750,0.000,0.000,14.183,846.943,5650.565,605.069,1578.292,677.335,33.356,1271.907,0.000,1588.888,0.000,0.468
$DEVICE_MAMPS,163.371,68.263,905.827,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,282.359,233.862,421.972,296.534,606.858,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28767,387
$CAP_FILE_SIZE,162568,0
$CFSIZE,260165632,253812736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210808,210931,2248.191,-15749.001,34,1.7,34,10.1