version: 66.03
glider: 148
mission: 6
dive: 85
start: 8 23 108 21 59 27
data:
$ID,148
$MISSION,6
$DIVE,85
$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,-7975.3896
$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,37
$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
$GPS1,214407,2248.428,-15748.684,38,1.3,43,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-60.9
$GPS2,215833,2248.559,-15748.732,11,1.6,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.077,-0.125
$KALMAN_X,-73883.6,-257.8,-103.9,88298.7,-12.5
$KALMAN_Y,34420.2,372.4,-91.0,-33844.7,-314.9
$MHEAD_RNG_PITCHd_Wd,201.6,1131,-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,-62.50,0.000,2,0.000,0.000,405,1662,2741
$GC,85,-1.80,-90.2,3.3,-3.8,8,110,11.57,2.33,-8.73,0.000,4,0.159,0.062,2590,267,3119
$GC,352,-1.80,-90.2,54.8,-19.6,43,362,0.00,2.22,0.00,0.000,6,0.000,0.025,2591,1670,3120
$GC,614,-1.80,-90.2,99.0,-15.3,68,618,0.00,2.25,0.00,0.000,4,0.000,0.035,2590,3083,3121
$GC,634,-1.80,-90.2,102.6,-16.0,69,641,0.00,2.28,0.00,0.000,6,0.000,0.027,2590,1664,3121
$GC,896,-1.80,-90.2,139.9,-13.5,94,900,0.00,2.25,0.00,0.000,4,0.000,0.034,2590,3074,3122
$GC,914,-1.80,-90.2,142.3,-14.5,95,918,0.00,2.22,0.00,0.000,6,0.000,0.026,2590,1664,3122
$GC,1174,-1.80,-90.2,178.9,-13.8,119,1178,0.00,2.25,0.00,0.000,4,0.000,0.035,2591,3074,3122
$GC,1190,-1.80,-90.2,180.9,-13.3,120,1194,0.00,2.22,0.00,0.000,6,0.000,0.027,2591,1659,3122
$GC,1466,-1.80,-90.2,215.9,-12.8,137,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1660,3122
$GC,1709,-1.80,-90.2,245.6,-12.3,143,1713,0.00,2.28,0.00,0.000,4,0.000,0.035,2590,3080,3122
$GC,1775,-1.80,-90.2,253.7,-11.9,144,1780,0.00,2.25,0.00,0.000,6,0.000,0.029,2590,1677,3122
$GC,2036,-1.80,-90.2,280.7,-10.3,151,2040,0.00,2.25,0.00,0.000,4,0.000,0.038,2590,3072,3122
$GC,2191,-1.80,-90.2,295.8,-8.6,154,2196,0.00,2.25,0.00,0.000,6,0.000,0.030,2590,1674,3121
$GC,2452,-1.80,-90.2,320.4,-9.7,161,2456,0.00,2.28,0.00,0.000,4,0.000,0.042,2590,3070,3122
$GC,2495,-1.80,-90.2,325.5,-11.1,162,2500,0.00,2.25,0.00,0.000,6,0.000,0.039,2590,1672,3122
$GC,2779,-1.80,-90.2,355.7,-10.2,169,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1672,3122
$GC,3023,-1.80,-90.2,379.6,-9.9,175,3027,0.00,2.30,0.00,0.000,4,0.000,0.046,2590,3068,3120
$GC,3094,-1.80,-90.2,386.9,-10.0,176,3099,0.00,2.28,0.00,0.000,6,0.000,0.042,2591,1674,3120
$GC,3350,-1.80,-90.2,410.9,-9.1,183,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1674,3119
$GC,3593,-1.80,-90.2,432.5,-8.8,189,3597,0.00,2.30,0.00,0.000,4,0.000,0.051,2590,3064,3117
$GC,3608,-1.80,-90.2,434.0,-9.1,189,3613,0.00,2.28,0.00,0.000,6,0.000,0.043,2590,1676,3117
$GC,3881,-1.80,-90.2,459.0,-8.9,196,3885,0.00,2.30,0.00,0.000,4,0.000,0.049,2590,3064,3115
$GC,3923,-1.80,-90.2,462.7,-8.6,197,3928,0.00,2.30,0.00,0.000,6,0.000,0.041,2590,1668,3115
$GC,4207,-1.80,-91.0,486.0,-8.4,204,4211,0.00,2.33,0.00,0.000,4,0.000,0.058,2591,3064,3113
$GC,4262,-1.80,-91.0,491.1,-9.4,205,4266,0.00,2.30,0.00,0.000,6,0.000,0.045,2590,1672,3113
$STATE,4492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4492,begin apogee
$GC,4496,-0.31,0.0,511.1,8.8,211,4575,1.52,0.00,73.50,0.903,6,0.099,0.000,2920,1672,2749
$STATE,4576,end apogee,CONTROL_FINISHED_OK
$STATE,4576,begin climb
$GC,4577,1.80,91.0,511.9,0.0,213,4662,1.92,2.53,75.55,0.881,4,0.041,0.064,3387,257,2378
$GC,4914,1.80,91.0,459.6,18.5,220,4919,0.00,2.30,0.00,0.000,6,0.000,0.037,3387,1639,2371
$GC,5170,1.80,91.0,419.1,15.3,227,5174,0.00,2.35,0.00,0.000,4,0.000,0.061,3387,256,2367
$GC,5427,1.80,91.0,380.7,13.3,232,5433,0.00,2.33,0.00,0.000,6,0.000,0.035,3387,1665,2365
$GC,5676,1.80,91.0,348.6,13.0,239,5680,0.00,2.38,0.00,0.000,4,0.000,0.054,3387,255,2363
$GC,5933,1.80,91.0,315.6,12.3,244,5940,0.00,2.30,0.00,0.000,6,0.000,0.033,3387,1659,2361
$GC,6183,1.80,91.0,290.9,9.1,251,6187,0.00,2.35,0.00,0.000,4,0.000,0.058,3387,254,2359
$GC,6350,1.82,104.7,277.0,6.9,254,6365,0.00,2.28,8.90,0.687,6,0.000,0.031,3387,1672,2323
$GC,6643,1.82,104.7,252.2,9.0,262,6647,0.00,2.33,0.00,0.000,4,0.000,0.059,3387,3061,2322
$GC,6669,1.82,110.1,250.0,7.9,262,6681,0.00,2.30,6.15,0.607,6,0.000,0.037,3387,1665,2300
$GC,6924,1.82,110.1,226.8,9.0,269,6928,0.00,2.30,0.00,0.000,4,0.000,0.043,3387,3061,2299
$GC,7180,1.82,110.1,202.3,9.2,274,7187,0.00,2.30,0.00,0.000,6,0.000,0.035,3387,1655,2298
$GC,7440,1.83,116.9,180.3,7.7,296,7452,0.00,2.38,7.00,0.571,4,0.000,0.038,3387,3068,2272
$GC,7703,1.83,116.9,154.9,9.8,319,7710,0.00,2.30,0.00,0.000,6,0.000,0.038,3387,1655,2271
$GC,7964,1.83,116.9,128.1,10.8,344,7968,0.00,2.30,0.00,0.000,4,0.000,0.045,3387,3074,2271
$GC,8128,1.83,116.9,110.5,11.5,358,8132,0.00,2.28,0.00,0.000,6,0.000,0.037,3387,1651,2271
$GC,8388,1.83,116.9,82.8,9.9,382,8389,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1651,2272
$GC,8646,1.85,130.5,62.8,6.9,406,8664,0.00,2.30,12.93,0.532,4,0.000,0.036,3387,3067,2216
$GC,8734,1.86,140.9,56.7,7.3,413,8751,0.00,2.25,10.02,0.505,6,0.000,0.038,3387,1662,2173
$GC,9014,1.89,163.0,36.3,6.0,439,9039,0.00,2.33,19.58,0.520,4,0.000,0.054,3387,252,2084
$STATE,9284,end climb,SURFACE_DEPTH_REACHED
$STATE,9284,begin surface coast
$FINISH,0.6,1.023349
$STATE,9307,end surface coast,CONTROL_FINISHED_OK
$STATE,9308,begin surface
$SM_CCo,9328,211.82,0.499,0,0,510,548.98
$SM_GC,1.26,0.00,0.00,211.82,0.000,0.000,0.499,409,1696,510,-11.87,0.74,548.98
$IRIDIUM_FIX,2239.35,-15749.78,171197,222237
$TT8_MAMPS,0.026845
$HUMID,1573
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.30
$XPDR_PINGS,138
$24V_AH,23.8,21.107
$10V_AH,10.1,18.978
$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,27.150,96.375,213.625,211.825,0.000,134.807,399.883,0.000,34.500,0.000,0.000,13.202,995.993,6318.171,520.040,1887.992,686.423,33.348,1249.952,0.000,1905.721,0.000,0.469
$DEVICE_MAMPS,158.769,63.661,902.759,498.550,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.514,306.740,548.116,416.323,858.274,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35087,485
$CAP_FILE_SIZE,197558,0
$CFSIZE,260165632,252616704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240808,003938,2248.310,-15749.293,35,1.5,35,10.1