version: 66.03
glider: 148
mission: 6
dive: 80
start: 8 23 108 7 5 45
data:
$ID,148
$MISSION,6
$DIVE,80
$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,-7856.3984
$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,26
$R_STBD_OVSHOOT,40
$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
$GPS1,065131,2247.299,-15748.439,37,1.4,42,10.1
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-56.2
$GPS2,070451,2247.263,-15748.552,14,1.4,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.048,0.179
$KALMAN_X,-72213.1,383.4,-114.2,86304.3,-1342.2
$KALMAN_Y,37291.5,65.2,-106.7,-38775.3,-798.2
$MHEAD_RNG_PITCHd_Wd,5.0,1564,-21.1,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.42,-78.9,0.0,0.0,0,105,0.00,0.00,-84.28,0.000,2,0.000,0.000,400,1675,2778
$GC,108,-1.49,-136.3,3.4,-4.2,11,141,12.05,2.28,-11.75,0.000,4,0.163,0.047,2660,3069,3307
$GC,254,-1.49,-136.3,28.7,-14.9,35,263,0.00,2.25,0.00,0.000,6,0.000,0.028,2660,1668,3307
$GC,525,-1.49,-136.3,67.8,-12.6,61,529,0.00,2.25,0.00,0.000,4,0.000,0.037,2660,3070,3307
$GC,640,-1.49,-136.3,83.1,-13.3,71,644,0.00,2.22,0.00,0.000,6,0.000,0.028,2659,1662,3307
$GC,904,-1.49,-136.3,116.7,-12.7,95,908,0.00,2.28,0.00,0.000,4,0.000,0.044,2660,3074,3308
$GC,1014,-1.49,-136.3,130.6,-11.8,104,1023,0.00,2.25,0.00,0.000,6,0.000,0.027,2660,1669,3307
$GC,1274,-1.49,-136.3,159.3,-10.8,129,1278,0.00,2.25,0.00,0.000,4,0.000,0.037,2659,3070,3307
$GC,1395,-1.49,-136.3,172.8,-11.2,139,1402,0.00,2.22,0.00,0.000,6,0.000,0.027,2660,1675,3307
$GC,1656,-1.49,-136.3,200.8,-10.7,164,1660,0.00,2.25,0.00,0.000,4,0.000,0.037,2660,3074,3308
$GC,1801,-1.49,-136.3,216.7,-10.3,167,1805,0.00,2.25,0.00,0.000,6,0.000,0.027,2660,1667,3307
$GC,2073,-1.49,-136.3,240.3,-8.2,174,2077,0.00,2.25,0.00,0.000,4,0.000,0.046,2660,3067,3308
$GC,2278,-1.49,-136.3,258.6,-9.3,178,2283,0.00,2.22,0.00,0.000,6,0.000,0.030,2660,1674,3307
$GC,2534,-1.49,-136.3,280.3,-8.3,185,2538,0.00,2.25,0.00,0.000,4,0.000,0.045,2660,3067,3307
$GC,2757,-1.49,-136.3,297.3,-7.5,190,2762,0.00,2.25,0.00,0.000,6,0.000,0.036,2660,1670,3307
$GC,3041,-1.49,-136.3,316.7,-6.9,197,3045,0.00,2.28,0.00,0.000,4,0.000,0.044,2660,3066,3307
$GC,3186,-1.49,-136.3,327.8,-7.9,200,3190,0.00,2.25,0.00,0.000,6,0.000,0.033,2660,1674,3307
$GC,3458,-1.49,-136.3,351.3,-8.5,207,3462,0.00,2.30,0.00,0.000,4,0.000,0.051,2660,3066,3305
$GC,3568,-1.49,-136.3,360.7,-8.2,209,3573,0.00,2.28,0.00,0.000,6,0.000,0.036,2659,1665,3305
$GC,3830,-1.49,-136.3,380.8,-7.5,216,3834,0.00,2.33,0.00,0.000,4,0.000,0.049,2660,3068,3303
$GC,4042,-1.49,-136.3,396.7,-7.0,220,4046,0.00,2.28,0.00,0.000,6,0.000,0.034,2660,1672,3302
$GC,4297,-1.49,-136.3,414.7,-7.2,227,4301,0.00,2.33,0.00,0.000,4,0.000,0.054,2660,3060,3301
$GC,4408,-1.49,-136.3,422.7,-7.3,229,4413,0.00,2.28,0.00,0.000,6,0.000,0.042,2659,1668,3300
$GC,4670,-1.49,-136.3,439.1,-6.2,236,4674,0.00,2.35,0.00,0.000,4,0.000,0.061,2660,3068,3298
$GC,4775,-1.49,-136.3,445.7,-6.8,238,4779,0.00,2.30,0.00,0.000,6,0.000,0.038,2660,1665,3297
$GC,5047,-1.49,-136.3,462.8,-6.4,245,5051,0.00,2.35,0.00,0.000,4,0.000,0.056,2660,3062,3295
$GC,5153,-1.49,-136.3,470.2,-6.6,247,5157,0.00,2.28,0.00,0.000,6,0.000,0.043,2660,1675,3295
$GC,5419,-1.49,-136.3,489.7,-7.5,254,5423,0.00,2.33,0.00,0.000,4,0.000,0.053,2659,3063,3294
$GC,5559,-1.49,-136.3,501.3,-8.5,257,5563,0.00,2.25,0.00,0.000,6,0.000,0.042,2660,1675,3293
$STATE,5674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5674,begin apogee
$GC,5678,-0.31,0.0,510.9,8.4,260,5794,1.17,0.00,108.78,0.912,6,0.088,0.000,2920,1674,2749
$STATE,5795,end apogee,CONTROL_FINISHED_OK
$STATE,5795,begin climb
$GC,5796,1.49,136.3,515.7,0.0,263,5921,1.65,2.50,113.68,0.889,4,0.041,0.071,3318,249,2191
$GC,6020,1.49,136.3,486.1,23.9,268,6025,0.00,2.33,0.00,0.000,6,0.000,0.044,3318,1636,2185
$GC,6298,1.49,136.3,427.5,20.8,275,6303,0.00,2.35,0.00,0.000,4,0.000,0.062,3318,257,2179
$GC,6472,1.49,136.3,390.3,20.2,279,6476,0.00,2.30,0.00,0.000,6,0.000,0.037,3318,1664,2178
$GC,6760,1.49,136.3,339.5,16.9,286,6764,0.00,2.40,0.00,0.000,4,0.000,0.064,3318,3065,2175
$GC,6775,1.49,136.3,336.7,17.6,286,6780,0.00,2.33,0.00,0.000,6,0.000,0.042,3318,1671,2174
$GC,7042,1.49,136.3,294.9,15.3,293,7046,0.00,2.33,0.00,0.000,4,0.000,0.048,3318,3063,2172
$GC,7102,1.49,136.3,284.4,17.3,294,7107,0.00,2.35,0.00,0.000,6,0.000,0.045,3318,1653,2171
$GC,7375,1.49,136.3,248.7,12.7,301,7379,0.00,2.35,0.00,0.000,4,0.000,0.051,3318,3070,2170
$GC,7559,1.49,136.3,224.4,14.4,305,7563,0.00,2.30,0.00,0.000,6,0.000,0.035,3318,1652,2169
$GC,7821,1.49,136.3,192.4,11.1,316,7825,0.00,2.35,0.00,0.000,4,0.000,0.044,3318,3074,2168
$GC,7864,1.49,136.3,187.2,11.1,319,7871,0.00,2.30,0.00,0.000,6,0.000,0.033,3317,1657,2168
$GC,8125,1.49,136.3,157.5,11.9,344,8129,0.00,2.33,0.00,0.000,4,0.000,0.041,3318,3077,2167
$GC,8135,1.49,136.3,156.3,12.2,344,8142,0.00,2.30,0.00,0.000,6,0.000,0.035,3318,1659,2167
$GC,8400,1.49,136.3,124.2,12.0,369,8404,0.00,2.33,0.00,0.000,4,0.000,0.043,3318,3075,2167
$GC,8429,1.49,136.3,120.3,12.4,371,8433,0.00,2.28,0.00,0.000,6,0.000,0.038,3318,1649,2168
$GC,8693,1.49,136.3,87.4,12.5,395,8697,0.00,2.28,0.00,0.000,4,0.000,0.054,3318,253,2168
$GC,8709,1.49,136.3,85.0,12.1,396,8713,0.00,2.22,0.00,0.000,6,0.000,0.028,3319,1669,2168
$GC,8971,1.49,136.3,56.0,10.8,420,8975,0.00,2.28,0.00,0.000,4,0.000,0.048,3318,3058,2168
$GC,9228,1.53,170.4,35.5,6.0,442,9263,0.00,2.25,25.38,0.535,6,0.000,0.030,3318,1659,2052
$GC,9530,1.53,170.4,6.3,9.2,488,9538,0.00,2.30,0.00,0.000,4,0.000,0.039,3318,3051,2048
$STATE,9563,end climb,SURFACE_DEPTH_REACHED
$STATE,9563,begin surface coast
$FINISH,0.5,1.000835
$STATE,9593,end surface coast,CONTROL_FINISHED_OK
$STATE,9593,begin surface
$SM_CCo,9614,131.15,0.504,0,0,1076,410.14
$SM_GC,1.47,0.00,0.00,131.15,0.000,0.000,0.504,409,1666,1076,-11.87,-0.11,410.14
$IRIDIUM_FIX,2241.69,-15749.78,171197,070744
$TT8_MAMPS,0.027612
$HUMID,1619
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.10
$XPDR_PINGS,187
$24V_AH,23.8,20.581
$10V_AH,10.1,18.477
$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,26.625,114.600,247.825,131.150,0.000,89.162,150.095,346.176,46.750,0.000,0.000,15.694,1057.566,6191.217,485.473,2051.980,762.294,33.350,1310.237,0.000,2072.963,0.000,0.470
$DEVICE_MAMPS,162.604,70.564,911.963,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.535,314.278,568.626,440.415,904.405,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38251,498
$CAP_FILE_SIZE,214471,0
$CFSIZE,260165632,252948480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230808,094907,2247.987,-15748.012,11,1.8,21,10.1