version: 66.03
glider: 148
mission: 6
dive: 70
start: 8 22 108 2 59 21
data:
$ID,148
$MISSION,6
$DIVE,70
$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,-7588.8989
$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,35
$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
$GPS1,025237,2247.791,-15748.097,34,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-57.5
$GPS2,025826,2247.770,-15748.172,11,1.3,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.060,0.134
$KALMAN_X,-65273.5,70.1,-96.3,80303.5,-1149.6
$KALMAN_Y,40367.1,202.4,-655.3,-40509.1,-142.6
$MHEAD_RNG_PITCHd_Wd,325.7,1476,-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,-49.4,0.0,0.0,0,104,0.00,0.00,-85.10,0.000,2,0.000,0.000,408,1658,2790
$GC,107,-1.80,-87.8,3.3,-4.1,11,132,11.65,2.28,-7.05,0.000,4,0.161,0.047,2591,3076,3109
$GC,353,-1.80,-87.8,50.2,-16.0,44,362,0.00,2.25,0.00,0.000,6,0.000,0.028,2591,1678,3110
$GC,618,-1.80,-87.8,89.0,-13.8,69,621,0.00,2.28,0.00,0.000,4,0.000,0.041,2592,265,3110
$GC,638,-1.80,-87.8,92.6,-14.2,70,648,0.00,2.22,0.00,0.000,6,0.000,0.024,2591,1671,3110
$GC,902,-1.80,-87.8,128.8,-13.3,95,905,0.00,2.22,0.00,0.000,4,0.000,0.035,2591,3079,3111
$GC,949,-1.80,-87.8,135.5,-14.9,99,953,0.00,2.22,0.00,0.000,6,0.000,0.027,2591,1668,3111
$GC,1209,-1.80,-87.8,174.1,-14.9,123,1213,0.00,2.25,0.00,0.000,4,0.000,0.035,2591,3073,3111
$GC,1263,-1.80,-87.8,181.7,-15.8,127,1267,0.00,2.22,0.00,0.000,6,0.000,0.027,2591,1661,3111
$GC,1547,-1.80,-87.8,220.2,-12.3,142,1551,0.00,2.28,0.00,0.000,4,0.000,0.035,2591,3081,3112
$GC,1640,-1.80,-87.8,231.6,-12.0,144,1645,0.00,2.25,0.00,0.000,6,0.000,0.027,2591,1672,3111
$GC,1918,-1.80,-87.8,265.2,-12.1,151,1922,0.00,2.25,0.00,0.000,4,0.000,0.035,2591,3078,3112
$GC,1939,-1.80,-87.8,267.7,-11.4,151,1944,0.00,2.25,0.00,0.000,6,0.000,0.027,2591,1669,3112
$GC,2200,-1.80,-87.8,295.8,-10.4,158,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1670,3112
$GC,2444,-1.80,-87.8,317.2,-8.8,164,2448,0.00,2.28,0.00,0.000,4,0.000,0.041,2591,3076,3112
$GC,2566,-1.80,-87.8,330.0,-10.9,166,2573,0.00,2.25,0.00,0.000,6,0.000,0.029,2591,1677,3112
$GC,2816,-1.80,-87.8,355.4,-9.7,173,2820,0.00,2.25,0.00,0.000,4,0.000,0.046,2591,3066,3111
$GC,2872,-1.81,-96.5,359.9,-7.5,174,2876,0.00,2.22,0.00,0.000,6,0.000,0.038,2591,1667,3111
$GC,3143,-1.81,-96.5,383.7,-8.8,181,3146,0.00,2.30,0.00,0.000,4,0.000,0.052,2591,3063,3111
$GC,3191,-1.81,-96.5,388.3,-8.6,182,3196,0.00,2.25,0.00,0.000,6,0.000,0.032,2591,1675,3110
$GC,3475,-1.82,-103.8,411.6,-7.7,189,3479,0.00,2.30,0.00,0.000,4,0.000,0.058,2591,3065,3109
$GC,3564,-1.82,-111.4,418.8,-7.6,191,3568,0.00,2.25,0.00,0.000,6,0.000,0.035,2592,1670,3108
$GC,3847,-1.83,-113.4,442.2,-8.3,198,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1670,3106
$GC,4090,-1.83,-113.4,463.4,-8.6,204,4094,0.00,2.33,0.00,0.000,4,0.000,0.054,2591,3066,3105
$GC,4151,-1.83,-113.4,468.7,-8.7,205,4155,0.00,2.30,0.00,0.000,6,0.000,0.041,2591,1667,3104
$GC,4423,-1.83,-115.8,490.8,-8.2,212,4427,0.00,2.33,0.00,0.000,4,0.000,0.051,2591,3066,3102
$GC,4533,-1.83,-115.8,500.6,-8.5,214,4538,0.00,2.30,0.00,0.000,6,0.000,0.044,2591,1674,3102
$STATE,4676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4676,begin apogee
$GC,4680,-0.31,0.0,512.8,8.5,218,4759,1.52,0.00,71.72,0.907,6,0.102,0.000,2918,1674,2748
$STATE,4760,end apogee,CONTROL_FINISHED_OK
$STATE,4760,begin climb
$GC,4761,1.83,115.8,513.5,0.0,220,4867,1.95,2.50,96.55,0.886,4,0.041,0.065,3397,262,2276
$GC,5120,1.83,115.8,450.3,21.8,228,5124,0.00,2.30,0.00,0.000,6,0.000,0.037,3397,1647,2267
$GC,5398,1.83,115.8,400.1,17.9,235,5401,0.00,2.35,0.00,0.000,4,0.000,0.054,3397,252,2264
$GC,5654,1.83,115.8,351.9,18.1,240,5659,0.00,2.33,0.00,0.000,6,0.000,0.040,3396,1663,2261
$GC,5910,1.83,115.8,312.2,15.1,247,5914,0.00,2.35,0.00,0.000,4,0.000,0.055,3397,255,2259
$GC,6166,1.83,115.8,273.9,13.5,252,6171,0.00,2.30,0.00,0.000,6,0.000,0.032,3396,1663,2256
$GC,6422,1.83,115.8,243.6,11.2,259,6425,0.00,2.35,0.00,0.000,4,0.000,0.051,3397,248,2255
$GC,6611,1.83,115.8,221.1,10.3,263,6615,0.00,2.28,0.00,0.000,6,0.000,0.030,3397,1653,2254
$GC,6874,1.83,115.8,192.8,9.8,274,6878,0.00,2.35,0.00,0.000,4,0.000,0.058,3397,3063,2253
$GC,6927,1.83,115.8,187.0,10.2,278,6935,0.00,2.28,0.00,0.000,6,0.000,0.038,3397,1657,2252
$GC,7188,1.83,115.8,159.2,10.3,303,7192,0.00,2.30,0.00,0.000,4,0.000,0.047,3397,3068,2252
$GC,7241,1.83,115.8,154.1,10.0,307,7245,0.00,2.25,0.00,0.000,6,0.000,0.031,3397,1656,2252
$GC,7505,1.83,115.8,125.9,11.4,331,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1656,2252
$GC,7759,1.83,115.8,100.1,9.1,355,7763,0.00,2.30,0.00,0.000,4,0.000,0.045,3397,3068,2253
$GC,7888,1.83,115.8,86.2,10.4,366,7892,0.00,2.25,0.00,0.000,6,0.000,0.032,3397,1651,2253
$GC,8150,1.83,116.0,63.5,8.5,390,8154,0.00,2.28,0.00,0.000,4,0.000,0.054,3397,251,2254
$GC,8204,1.83,116.0,58.2,9.7,394,8214,0.00,2.22,0.00,0.000,6,0.000,0.025,3397,1660,2255
$GC,8468,1.86,140.3,40.7,5.7,419,8495,0.00,2.33,17.80,0.523,4,0.000,0.043,3397,3057,2174
$GC,8732,1.86,140.3,22.9,8.6,448,8741,0.00,2.25,0.00,0.000,6,0.000,0.029,3397,1655,2174
$STATE,8998,end climb,SURFACE_DEPTH_REACHED
$STATE,8998,begin surface coast
$FINISH,0.5,1.012268
$STATE,9033,end surface coast,CONTROL_FINISHED_OK
$STATE,9034,begin surface
$SM_CCo,9052,149.88,0.499,0,0,1076,410.14
$SM_GC,1.36,0.00,0.00,149.88,0.000,0.000,0.499,412,1651,1076,-11.86,-0.54,410.14
$IRIDIUM_FIX,2239.35,-15749.78,161197,000021
$TT8_MAMPS,0.027612
$HUMID,1595
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.50
$XPDR_PINGS,116
$24V_AH,23.8,19.512
$10V_AH,10.1,17.517
$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,27.325,95.875,186.075,149.875,0.000,28.020,32.720,202.101,29.000,0.000,0.000,12.922,1023.329,5708.132,443.082,1963.977,418.701,33.344,1191.667,0.000,1991.975,0.000,0.469
$DEVICE_MAMPS,161.070,65.195,907.361,498.550,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.661,324.155,589.718,485.989,990.826,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38302,501
$CAP_FILE_SIZE,206380,0
$CFSIZE,260165632,253591552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220808,053347,2248.374,-15748.608,7,2.7,26,10.1