version: 66.03
glider: 148
mission: 6
dive: 89
start: 8 24 108 9 6 22
data:
$ID,148
$MISSION,6
$DIVE,89
$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,-8054.855
$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,1900
$C_ROLL_CLIMB,1660
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,68
$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
$GPS1,085037,2248.176,-15749.322,34,1.2,40,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-64.3
$GPS2,090527,2248.191,-15749.399,11,1.4,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.093,-0.114
$KALMAN_X,-75399.4,446.3,-120.0,87989.2,144.0
$KALMAN_Y,34335.7,-25.9,-360.5,-33768.9,310.8
$MHEAD_RNG_PITCHd_Wd,130.7,768,-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,-49.4,0.0,0.0,0,83,0.00,0.00,-62.50,0.000,2,0.000,0.000,414,1943,2750
$GC,85,-1.80,-88.9,3.3,-3.9,8,110,11.55,2.42,-8.15,0.000,4,0.160,0.051,2590,487,3112
$GC,162,-1.80,-88.9,18.8,-20.5,20,171,0.00,2.20,0.00,0.000,6,0.000,0.023,2590,1874,3114
$GC,429,-1.80,-88.9,71.0,-15.8,49,433,0.00,2.22,0.00,0.000,4,0.000,0.038,2590,490,3113
$GC,482,-1.80,-88.9,80.2,-15.9,53,492,0.00,2.22,0.00,0.000,6,0.000,0.033,2590,1891,3114
$GC,744,-1.80,-88.9,120.3,-15.2,78,748,0.00,2.25,0.00,0.000,4,0.000,0.038,2590,493,3114
$GC,808,-1.80,-88.9,130.0,-15.8,83,812,0.00,2.22,0.00,0.000,6,0.000,0.027,2590,1908,3115
$GC,1068,-1.80,-88.9,169.2,-14.4,107,1072,0.00,2.28,0.00,0.000,4,0.000,0.038,2590,493,3115
$GC,1107,-1.80,-88.9,175.3,-15.5,110,1111,0.00,2.20,0.00,0.000,6,0.000,0.026,2590,1901,3115
$GC,1363,-1.80,-88.9,211.7,-13.5,128,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1902,3115
$GC,1606,-1.80,-88.9,243.9,-13.6,134,1610,0.00,2.28,0.00,0.000,4,0.000,0.041,2590,493,3115
$GC,1627,-1.80,-88.9,246.7,-12.8,134,1632,0.00,2.22,0.00,0.000,6,0.000,0.025,2590,1900,3115
$GC,1888,-1.80,-88.9,276.2,-10.4,141,1892,0.00,2.28,0.00,0.000,4,0.000,0.050,2590,496,3115
$GC,1960,-1.80,-88.9,284.3,-11.8,142,1964,0.00,2.22,0.00,0.000,6,0.000,0.037,2590,1893,3115
$GC,2215,-1.80,-88.9,308.6,-9.5,149,2219,0.00,2.28,0.00,0.000,4,0.000,0.050,2590,3307,3116
$GC,2326,-1.80,-88.9,320.7,-10.7,151,2331,0.00,2.25,0.00,0.000,6,0.000,0.037,2590,1899,3115
$GC,2587,-1.80,-88.9,346.5,-10.0,158,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1899,3115
$GC,2831,-1.80,-88.9,370.3,-9.7,164,2835,0.00,2.33,0.00,0.000,4,0.000,0.060,2590,494,3114
$GC,2846,-1.80,-88.9,372.0,-10.1,164,2851,0.00,2.25,0.00,0.000,6,0.000,0.031,2590,1891,3114
$GC,3113,-1.80,-88.9,395.8,-8.8,171,3117,0.00,2.33,0.00,0.000,4,0.000,0.062,2590,498,3113
$GC,3172,-1.80,-88.9,401.6,-9.3,172,3177,0.00,2.28,0.00,0.000,6,0.000,0.035,2590,1892,3112
$GC,3439,-1.80,-88.9,426.2,-9.3,179,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1892,3110
$GC,3683,-1.80,-88.9,448.3,-9.1,185,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1892,3109
$GC,3926,-1.80,-88.9,469.7,-8.8,191,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1892,3107
$GC,4170,-1.80,-88.9,491.4,-8.8,197,4174,0.00,2.38,0.00,0.000,4,0.000,0.065,2590,3309,3105
$GC,4186,-1.80,-91.8,492.8,-8.2,197,4190,0.00,2.30,0.00,0.000,6,0.000,0.044,2590,1909,3105
$STATE,4410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4410,begin apogee
$GC,4414,-0.31,0.0,513.7,9.5,203,4493,1.52,0.00,72.15,0.906,6,0.102,0.000,2918,1648,2749
$STATE,4493,end apogee,CONTROL_FINISHED_OK
$STATE,4493,begin climb
$GC,4495,1.80,91.8,515.4,0.0,205,4576,1.95,0.00,77.03,0.884,6,0.038,0.000,3386,1648,2374
$GC,4815,1.80,91.8,473.6,16.6,213,4819,0.00,2.38,0.00,0.000,4,0.000,0.068,3386,263,2367
$GC,4836,1.80,91.8,469.9,16.5,213,4841,0.00,2.33,0.00,0.000,6,0.000,0.037,3386,1656,2366
$GC,5097,1.80,91.8,428.1,16.0,220,5101,0.00,2.38,0.00,0.000,4,0.000,0.063,3386,263,2363
$GC,5305,1.80,91.8,394.8,15.2,224,5309,0.00,2.28,0.00,0.000,6,0.000,0.042,3386,1663,2361
$GC,5553,1.80,91.8,362.8,12.2,230,5557,0.00,2.38,0.00,0.000,4,0.000,0.058,3386,263,2360
$GC,5810,1.80,91.8,329.3,12.8,235,5817,0.00,2.30,0.00,0.000,6,0.000,0.033,3386,1665,2358
$GC,6060,1.80,91.8,298.3,11.7,242,6064,0.00,2.35,0.00,0.000,4,0.000,0.057,3385,262,2356
$GC,6075,1.80,91.8,296.4,10.6,242,6080,0.00,2.28,0.00,0.000,6,0.000,0.032,3386,1662,2355
$GC,6342,1.80,91.8,272.9,8.6,249,6346,0.00,2.38,0.00,0.000,4,0.000,0.069,3386,3058,2355
$GC,6582,1.81,100.5,256.2,7.5,254,6593,0.00,2.28,4.78,0.557,6,0.000,0.041,3386,1671,2339
$GC,6849,1.82,107.2,234.0,7.7,261,6862,0.00,2.47,7.07,0.620,4,0.000,0.067,3386,250,2312
$GC,7116,1.82,107.2,210.6,9.8,267,7120,0.00,2.25,0.00,0.000,6,0.000,0.028,3386,1664,2311
$GC,7375,1.84,125.0,191.9,6.4,280,7398,0.00,2.35,16.20,0.652,4,0.000,0.050,3386,3060,2238
$GC,7424,1.84,125.0,187.8,9.3,284,7431,0.00,2.30,0.00,0.000,6,0.000,0.032,3385,1655,2237
$GC,7685,1.84,125.0,158.1,12.3,309,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1654,2236
$GC,7944,1.84,125.0,128.9,11.3,333,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1654,2236
$GC,8204,1.84,125.0,100.1,11.5,358,8208,0.00,2.28,0.00,0.000,4,0.000,0.054,3386,255,2236
$GC,8291,1.84,125.0,89.8,12.1,365,8295,0.00,2.22,0.00,0.000,6,0.000,0.030,3386,1664,2236
$GC,8554,1.84,125.0,60.5,9.8,389,8558,0.00,2.30,0.00,0.000,4,0.000,0.045,3386,253,2236
$GC,8796,1.91,176.9,44.3,2.5,410,8849,0.00,2.20,43.88,0.543,6,0.000,0.026,3386,1665,2025
$GC,9108,1.91,176.9,9.9,13.7,451,9116,0.00,2.30,0.00,0.000,4,0.000,0.044,3386,3054,2020
$STATE,9156,end climb,SURFACE_DEPTH_REACHED
$STATE,9156,begin surface coast
$FINISH,0.7,1.023187
$STATE,9175,end surface coast,CONTROL_FINISHED_OK
$STATE,9175,begin surface
$SM_CCo,9196,197.38,0.500,0,0,510,548.98
$SM_GC,1.41,0.00,0.00,197.38,0.000,0.000,0.500,399,1885,510,-11.92,-0.40,548.98
$IRIDIUM_FIX,2237.01,-15749.78,181197,090924
$TT8_MAMPS,0.026845
$HUMID,1603
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.00
$XPDR_PINGS,142
$24V_AH,23.8,21.498
$10V_AH,10.1,19.353
$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,27.175,91.675,221.100,197.375,0.000,136.002,424.796,0.000,35.500,0.000,0.000,12.772,940.198,6437.318,526.219,1672.325,712.153,33.360,1181.715,0.000,1698.191,0.000,0.469
$DEVICE_MAMPS,160.303,86.671,905.827,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.503,283.243,510.023,387.766,801.608,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35082,462
$CAP_FILE_SIZE,185037,0
$CFSIZE,260165632,252375040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240808,114359,2247.425,-15748.955,7,3.0,26,10.1