version: 66.03
glider: 148
mission: 6
dive: 69
start: 8 22 108 0 28 27
data:
$ID,148
$MISSION,6
$DIVE,69
$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,-7575.3496
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,001208,2247.721,-15748.401,38,1.0,38,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-62.0
$GPS2,002733,2247.707,-15748.552,14,1.5,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.105,0.107
$KALMAN_X,-64978.9,-15.0,263.9,79090.8,-2024.9
$KALMAN_Y,40702.5,-67.4,466.0,-41811.0,-747.5
$MHEAD_RNG_PITCHd_Wd,34.4,939,-26.5,-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,-1.72,-51.4,0.0,0.0,0,82,0.00,0.00,-62.50,0.000,2,0.000,0.000,410,1677,2743
$GC,85,-1.77,-95.5,3.3,-3.6,8,110,11.62,2.30,-8.85,0.000,4,0.160,0.050,2597,3071,3140
$GC,146,-1.77,-95.5,14.6,-16.7,17,154,0.00,2.25,0.00,0.000,6,0.000,0.026,2598,1670,3141
$GC,414,-1.77,-95.5,59.3,-15.5,49,418,0.00,2.25,0.00,0.000,4,0.000,0.044,2598,3071,3142
$GC,449,-1.77,-95.5,64.8,-16.2,52,453,0.00,2.22,0.00,0.000,6,0.000,0.027,2598,1662,3143
$GC,708,-1.77,-95.5,101.8,-13.3,76,712,0.00,2.25,0.00,0.000,4,0.000,0.034,2598,3070,3143
$GC,794,-1.77,-95.5,113.1,-13.2,83,799,0.00,2.20,0.00,0.000,6,0.000,0.026,2597,1672,3144
$GC,1058,-1.77,-95.5,148.6,-13.3,107,1062,0.00,2.25,0.00,0.000,4,0.000,0.035,2598,3073,3144
$GC,1090,-1.77,-95.5,153.5,-13.8,109,1097,0.00,2.25,0.00,0.000,6,0.000,0.026,2597,1665,3144
$GC,1351,-1.77,-95.5,186.0,-11.7,134,1355,0.00,2.25,0.00,0.000,4,0.000,0.036,2598,3069,3145
$GC,1416,-1.77,-95.5,194.3,-11.7,139,1423,0.00,2.22,0.00,0.000,6,0.000,0.027,2597,1674,3144
$GC,1678,-1.77,-95.5,224.4,-11.3,150,1682,0.00,2.22,0.00,0.000,4,0.000,0.036,2597,3068,3144
$GC,1772,-1.77,-95.5,235.0,-11.2,152,1777,0.00,2.22,0.00,0.000,6,0.000,0.027,2597,1674,3144
$GC,2050,-1.77,-95.5,265.4,-10.5,159,2054,0.00,2.25,0.00,0.000,4,0.000,0.039,2598,3071,3144
$GC,2172,-1.77,-95.5,276.8,-8.9,161,2180,0.00,2.22,0.00,0.000,6,0.000,0.027,2597,1674,3144
$GC,2422,-1.77,-95.5,302.3,-10.6,168,2426,0.00,2.25,0.00,0.000,4,0.000,0.049,2597,3066,3144
$GC,2454,-1.77,-95.5,305.9,-11.0,168,2461,0.00,2.22,0.00,0.000,6,0.000,0.035,2598,1678,3144
$GC,2704,-1.77,-95.5,329.1,-9.2,175,2708,0.00,2.28,0.00,0.000,4,0.000,0.041,2597,3074,3144
$GC,2763,-1.77,-95.5,335.0,-9.8,176,2768,0.00,2.25,0.00,0.000,6,0.000,0.030,2598,1676,3144
$GC,3030,-1.77,-95.5,362.5,-10.7,183,3034,0.00,2.28,0.00,0.000,4,0.000,0.050,2597,3062,3144
$GC,3124,-1.77,-95.5,373.0,-10.8,185,3129,0.00,2.25,0.00,0.000,6,0.000,0.032,2598,1671,3143
$GC,3402,-1.77,-95.5,400.3,-9.8,192,3406,0.00,2.33,0.00,0.000,4,0.000,0.050,2597,3069,3141
$GC,3524,-1.77,-95.8,411.2,-8.5,194,3531,0.00,2.28,0.00,0.000,6,0.000,0.035,2597,1672,3141
$GC,3774,-1.79,-109.3,429.4,-7.0,201,3778,0.00,2.33,0.00,0.000,4,0.000,0.058,2598,3069,3140
$GC,3870,-1.80,-118.3,436.4,-7.5,203,3874,0.00,2.25,0.00,0.000,6,0.000,0.037,2598,1672,3139
$GC,4141,-1.80,-121.2,458.5,-8.2,210,4145,0.00,2.30,0.00,0.000,4,0.000,0.058,2598,3060,3137
$GC,4224,-1.81,-128.9,465.3,-7.6,211,4231,0.00,2.28,0.00,0.000,6,0.000,0.038,2598,1675,3137
$GC,4474,-1.82,-132.3,485.6,-8.1,218,4478,0.00,2.33,0.00,0.000,4,0.000,0.060,2598,3063,3135
$GC,4517,-1.82,-132.3,489.3,-8.6,219,4521,0.00,2.30,0.00,0.000,6,0.000,0.038,2598,1671,3135
$STATE,4799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4799,begin apogee
$GC,4803,-0.31,0.0,512.2,8.1,226,4884,1.48,0.00,77.68,0.904,6,0.094,0.000,2921,1671,2749
$STATE,4885,end apogee,CONTROL_FINISHED_OK
$STATE,4885,begin climb
$GC,4887,1.82,132.3,513.6,0.0,228,5010,1.92,2.53,109.82,0.883,4,0.037,0.064,3389,258,2208
$GC,5261,1.82,132.3,444.4,22.2,236,5266,0.00,2.30,0.00,0.000,6,0.000,0.040,3389,1637,2199
$GC,5522,1.82,132.3,389.1,21.1,243,5526,0.00,2.33,0.00,0.000,4,0.000,0.061,3389,254,2195
$GC,5779,1.82,132.3,337.5,18.6,248,5784,0.00,2.30,0.00,0.000,6,0.000,0.041,3389,1657,2192
$GC,6034,1.82,132.3,294.6,16.5,255,6038,0.00,2.35,0.00,0.000,4,0.000,0.051,3389,255,2189
$GC,6270,1.82,132.3,254.5,15.9,260,6274,0.00,2.28,0.00,0.000,6,0.000,0.034,3389,1666,2188
$GC,6541,1.82,132.3,217.6,13.5,267,6545,0.00,2.35,0.00,0.000,4,0.000,0.058,3389,3065,2187
$GC,6618,1.82,132.3,206.2,15.6,268,6622,0.00,2.30,0.00,0.000,6,0.000,0.038,3389,1657,2186
$GC,6883,1.82,132.3,170.0,12.2,290,6887,0.00,2.33,0.00,0.000,4,0.000,0.042,3389,3068,2185
$GC,6892,1.82,132.3,168.6,12.3,290,6899,0.00,2.28,0.00,0.000,6,0.000,0.037,3389,1661,2185
$GC,7157,1.82,132.3,132.7,14.6,315,7161,0.00,2.28,0.00,0.000,4,0.000,0.047,3389,258,2185
$GC,7300,1.82,132.3,110.4,16.2,327,7304,0.00,2.22,0.00,0.000,6,0.000,0.032,3389,1667,2185
$GC,7562,1.82,132.3,73.4,11.4,351,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1667,2185
$GC,7817,1.82,132.4,46.6,8.5,375,7821,0.00,2.28,0.00,0.000,4,0.000,0.045,3389,3061,2185
$GC,7826,1.82,132.4,45.3,8.8,375,7835,0.00,2.25,0.00,0.000,6,0.000,0.034,3389,1662,2185
$GC,8093,1.85,156.2,26.4,5.9,405,8116,0.00,0.00,17.20,0.516,6,0.000,0.000,3389,1662,2111
$STATE,8311,end climb,SURFACE_DEPTH_REACHED
$STATE,8311,begin surface coast
$FINISH,0.6,1.023203
$STATE,8342,end surface coast,CONTROL_FINISHED_OK
$STATE,8342,begin surface
$SM_CCo,8361,214.15,0.501,0,0,510,548.98
$SM_GC,1.28,0.00,0.00,214.15,0.000,0.000,0.501,407,1658,510,-11.88,-0.34,548.98
$IRIDIUM_FIX,2241.69,-15749.78,161197,000029
$TT8_MAMPS,0.027612
$HUMID,1588
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,22.80
$XPDR_PINGS,109
$24V_AH,23.8,19.427
$10V_AH,10.1,17.415
$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,27.175,95.625,204.700,214.150,0.000,150.228,439.304,0.000,27.250,0.000,0.000,15.676,923.647,5572.965,517.559,1755.961,730.564,33.356,1199.283,0.000,1768.485,0.000,0.471
$DEVICE_MAMPS,160.303,63.661,904.293,500.851,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.226,297.251,515.931,414.472,855.288,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35121,448
$CAP_FILE_SIZE,184420,0
$CFSIZE,260165632,253661184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220808,025237,2247.791,-15748.097,34,1.0,39,10.1