version: 66.03
glider: 148
mission: 6
dive: 79
start: 8 23 108 4 15 50
data:
$ID,148
$MISSION,6
$DIVE,79
$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,-7840.0747
$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,33
$R_STBD_OVSHOOT,38
$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
$GPS1,035956,2247.725,-15749.058,6,2.0,11,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-56.1
$GPS2,041456,2247.633,-15749.177,38,1.9,38,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.159,0.041
$KALMAN_X,-71653.5,211.4,304.6,84437.8,-1607.7
$KALMAN_Y,38643.4,201.1,-350.2,-39344.6,182.8
$MHEAD_RNG_PITCHd_Wd,65.3,743,-24.1,-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,-1.58,-61.2,0.0,0.0,0,105,0.00,0.00,-84.82,0.000,2,0.000,0.000,406,1668,2779
$GC,108,-1.64,-106.5,3.5,-4.3,11,142,11.82,2.35,-8.75,0.000,4,0.162,0.052,2630,3080,3186
$GC,160,-1.64,-106.5,13.7,-18.2,18,169,0.00,2.25,0.00,0.000,6,0.000,0.028,2630,1677,3186
$GC,429,-1.64,-106.5,58.2,-16.5,51,433,0.00,2.25,0.00,0.000,4,0.000,0.035,2630,3074,3187
$GC,505,-1.64,-106.5,69.1,-12.8,57,515,0.00,2.25,0.00,0.000,6,0.000,0.025,2630,1664,3187
$GC,766,-1.64,-106.5,104.7,-14.6,82,770,0.00,2.28,0.00,0.000,4,0.000,0.037,2630,3073,3187
$GC,907,-1.64,-106.5,124.9,-14.2,94,911,0.00,2.20,0.00,0.000,6,0.000,0.027,2630,1670,3187
$GC,1169,-1.64,-106.5,160.1,-13.1,118,1173,0.00,2.25,0.00,0.000,4,0.000,0.038,2630,3070,3187
$GC,1278,-1.64,-106.5,174.2,-13.0,127,1282,0.00,2.22,0.00,0.000,6,0.000,0.028,2630,1661,3187
$GC,1536,-1.64,-106.5,206.0,-12.1,148,1540,0.00,2.28,0.00,0.000,4,0.000,0.038,2630,3070,3187
$GC,1624,-1.64,-106.5,216.5,-12.1,150,1628,0.00,2.22,0.00,0.000,6,0.000,0.026,2630,1674,3187
$GC,1907,-1.64,-106.5,247.3,-10.4,157,1911,0.00,2.25,0.00,0.000,4,0.000,0.038,2630,3069,3187
$GC,1984,-1.64,-106.5,255.5,-10.2,158,1991,0.00,2.22,0.00,0.000,6,0.000,0.027,2630,1672,3187
$GC,2234,-1.64,-106.5,277.5,-8.6,165,2238,0.00,2.28,0.00,0.000,4,0.000,0.046,2630,3080,3187
$GC,2379,-1.64,-106.5,288.8,-9.1,168,2383,0.00,2.22,0.00,0.000,6,0.000,0.033,2630,1672,3187
$GC,2651,-1.64,-107.8,311.2,-8.4,175,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1672,3187
$GC,2895,-1.66,-122.9,329.1,-7.1,181,2899,0.00,2.28,0.00,0.000,4,0.000,0.053,2630,3065,3186
$GC,3039,-1.68,-136.3,338.9,-6.6,184,3043,0.00,2.25,0.00,0.000,6,0.000,0.039,2630,1676,3186
$GC,3311,-1.68,-136.3,358.3,-7.5,191,3315,0.00,2.30,0.00,0.000,4,0.000,0.053,2630,3070,3185
$GC,3433,-1.68,-136.3,368.4,-8.7,193,3440,0.00,2.28,0.00,0.000,6,0.000,0.039,2630,1670,3184
$GC,3684,-1.68,-136.3,388.4,-7.8,200,3687,0.00,2.30,0.00,0.000,4,0.000,0.052,2630,3063,3182
$GC,3789,-1.68,-136.3,397.0,-8.2,202,3793,0.00,2.28,0.00,0.000,6,0.000,0.040,2630,1668,3182
$GC,4061,-1.68,-136.3,419.9,-8.6,209,4065,0.00,2.35,0.00,0.000,4,0.000,0.059,2630,3067,3180
$GC,4171,-1.68,-136.3,429.3,-8.3,211,4176,0.00,2.28,0.00,0.000,6,0.000,0.041,2630,1675,3179
$GC,4432,-1.68,-136.3,450.0,-7.9,218,4436,0.00,2.33,0.00,0.000,4,0.000,0.061,2630,3062,3178
$GC,4532,-1.68,-136.3,457.5,-7.0,220,4536,0.00,2.28,0.00,0.000,6,0.000,0.041,2630,1672,3177
$GC,4804,-1.68,-136.3,474.7,-6.1,227,4808,0.00,2.33,0.00,0.000,4,0.000,0.058,2630,3061,3174
$GC,4904,-1.68,-136.3,481.0,-6.2,229,4909,0.00,2.28,0.00,0.000,6,0.000,0.043,2631,1677,3173
$GC,5176,-1.68,-136.3,497.6,-6.1,236,5181,0.00,2.33,0.00,0.000,4,0.000,0.061,2630,3061,3172
$GC,5282,-1.68,-136.3,504.3,-6.4,238,5286,0.00,2.30,0.00,0.000,6,0.000,0.038,2630,1669,3171
$STATE,5384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5384,begin apogee
$GC,5388,-0.31,0.0,511.1,6.5,241,5477,1.33,0.00,85.30,0.917,6,0.092,0.000,2921,1670,2749
$STATE,5478,end apogee,CONTROL_FINISHED_OK
$STATE,5478,begin climb
$GC,5479,1.68,136.3,511.7,0.0,243,5604,1.80,2.47,113.75,0.893,4,0.041,0.066,3358,259,2191
$GC,5855,1.68,136.3,440.4,23.9,251,5860,0.00,2.30,0.00,0.000,6,0.000,0.044,3358,1638,2182
$GC,6117,1.68,136.3,387.4,19.8,258,6120,0.00,2.33,0.00,0.000,4,0.000,0.059,3358,258,2178
$GC,6210,1.68,136.3,367.9,19.0,260,6215,0.00,2.33,0.00,0.000,6,0.000,0.035,3358,1662,2177
$GC,6494,1.68,136.3,316.7,17.5,267,6498,0.00,2.40,0.00,0.000,4,0.000,0.067,3358,3064,2174
$GC,6542,1.68,136.3,308.3,16.4,268,6547,0.00,2.35,0.00,0.000,6,0.000,0.044,3358,1661,2172
$GC,6820,1.68,136.3,265.9,15.0,275,6824,0.00,2.35,0.00,0.000,4,0.000,0.047,3359,3065,2171
$GC,7043,1.68,136.3,231.6,15.5,280,7048,0.00,2.33,0.00,0.000,6,0.000,0.038,3358,1653,2169
$GC,7327,1.68,136.3,194.7,12.9,287,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1653,2168
$GC,7582,1.68,136.3,159.9,13.5,311,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1653,2168
$GC,7841,1.68,136.3,123.6,14.8,335,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1653,2168
$GC,8095,1.68,136.3,87.4,13.4,359,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1653,2168
$GC,8348,1.68,136.3,55.0,11.3,383,8352,0.00,2.30,0.00,0.000,4,0.000,0.056,3358,249,2168
$GC,8603,1.69,145.2,38.8,7.7,405,8613,0.00,2.25,4.38,0.397,6,0.000,0.027,3358,1670,2156
$GC,8872,1.69,145.2,16.1,11.2,443,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1670,2156
$STATE,8992,end climb,SURFACE_DEPTH_REACHED
$STATE,8992,begin surface coast
$FINISH,0.7,1.023318
$STATE,9022,end surface coast,CONTROL_FINISHED_OK
$STATE,9022,begin surface
$SM_CCo,9041,221.57,0.502,0,0,511,548.98
$SM_GC,1.42,0.00,0.00,221.57,0.000,0.000,0.502,400,1674,511,-11.91,0.11,548.98
$IRIDIUM_FIX,2241.69,-15746.73,171197,040432
$TT8_MAMPS,0.026845
$HUMID,1589
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,23.30
$XPDR_PINGS,127
$24V_AH,23.8,20.465
$10V_AH,10.1,18.372
$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,26.800,87.050,203.425,221.575,0.000,135.715,408.748,0.000,31.750,0.000,0.000,40.325,973.768,6061.117,528.288,1911.440,693.138,33.354,1259.815,0.000,1905.502,0.000,0.469
$DEVICE_MAMPS,161.837,67.496,916.565,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.216,288.075,528.001,423.132,873.026,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34956,469
$CAP_FILE_SIZE,190470,0
$CFSIZE,260165632,253022208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230808,065131,2247.299,-15748.439,37,1.4,42,10.1