version: 66.03
glider: 148
mission: 6
dive: 90
start: 8 24 108 11 51 10
data:
$ID,148
$MISSION,6
$DIVE,90
$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,-8087.7769
$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,37
$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
$GPS1,114359,2247.425,-15748.955,7,3.0,26,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-59.3
$GPS2,115017,2247.438,-15748.982,10,99.0,29,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.120,0.139
$KALMAN_X,-76431.5,527.6,407.0,89130.8,-1478.7
$KALMAN_Y,33784.2,-325.5,453.7,-35122.7,-627.9
$MHEAD_RNG_PITCHd_Wd,30.8,1042,-21.4,-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,-1.43,-77.2,0.0,0.0,0,105,0.00,0.00,-85.00,0.000,2,0.000,0.000,399,1885,2785
$GC,108,-1.50,-136.1,3.4,-4.1,11,141,12.02,2.30,-11.25,0.000,4,0.161,0.046,2656,3294,3305
$GC,177,-1.50,-136.1,16.3,-16.8,21,186,0.00,2.25,0.00,0.000,6,0.000,0.029,2656,1906,3306
$GC,446,-1.50,-136.1,58.2,-13.2,53,450,0.00,2.28,0.00,0.000,4,0.000,0.041,2656,494,3306
$GC,522,-1.50,-136.1,68.4,-12.2,59,532,0.00,2.25,0.00,0.000,6,0.000,0.028,2656,1897,3307
$GC,783,-1.50,-136.1,101.9,-12.1,84,787,0.00,2.28,0.00,0.000,4,0.000,0.041,2656,3306,3307
$GC,834,-1.50,-136.1,108.0,-12.2,88,838,0.00,2.22,0.00,0.000,6,0.000,0.026,2656,1889,3307
$GC,1094,-1.50,-136.1,140.5,-12.3,112,1098,0.00,2.30,0.00,0.000,4,0.000,0.039,2656,3312,3307
$GC,1112,-1.50,-136.1,142.5,-12.9,113,1116,0.00,2.22,0.00,0.000,6,0.000,0.025,2656,1895,3307
$GC,1372,-1.50,-136.1,174.1,-11.6,137,1376,0.00,2.28,0.00,0.000,4,0.000,0.038,2656,3306,3307
$GC,1414,-1.50,-136.1,179.3,-12.1,140,1422,0.00,2.22,0.00,0.000,6,0.000,0.025,2656,1907,3307
$GC,1682,-1.50,-136.1,211.0,-12.2,160,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1908,3307
$GC,1926,-1.50,-136.1,241.1,-11.7,166,1930,0.00,2.25,0.00,0.000,4,0.000,0.038,2657,3306,3308
$GC,1964,-1.50,-136.1,245.6,-11.5,166,1971,0.00,2.22,0.00,0.000,6,0.000,0.026,2656,1905,3307
$GC,2214,-1.50,-136.1,270.0,-9.8,173,2218,0.00,2.28,0.00,0.000,4,0.000,0.038,2656,3317,3307
$GC,2319,-1.50,-136.1,279.9,-10.2,175,2323,0.00,2.28,0.00,0.000,6,0.000,0.028,2656,1893,3308
$GC,2586,-1.50,-136.3,303.2,-8.2,182,2590,0.00,2.25,0.00,0.000,4,0.000,0.048,2656,500,3307
$GC,2657,-1.50,-136.3,309.7,-9.3,183,2662,0.00,2.25,0.00,0.000,6,0.000,0.031,2656,1905,3307
$GC,2918,-1.50,-136.3,332.7,-8.9,190,2922,0.00,2.28,0.00,0.000,4,0.000,0.048,2656,3308,3307
$GC,2984,-1.50,-136.3,338.6,-8.8,191,2989,0.00,2.28,0.00,0.000,6,0.000,0.039,2656,1904,3307
$GC,3251,-1.50,-136.3,359.9,-7.9,198,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1904,3307
$GC,3495,-1.50,-136.3,378.7,-7.7,204,3499,0.00,2.33,0.00,0.000,4,0.000,0.049,2656,3309,3306
$GC,3543,-1.50,-136.3,382.7,-7.7,205,3548,0.00,2.28,0.00,0.000,6,0.000,0.039,2656,1907,3306
$GC,3822,-1.50,-136.3,403.1,-7.3,212,3826,0.00,2.33,0.00,0.000,4,0.000,0.051,2656,3301,3304
$GC,3871,-1.50,-136.3,406.9,-7.6,213,3875,0.00,2.28,0.00,0.000,6,0.000,0.034,2656,1906,3304
$GC,4149,-1.50,-136.3,425.2,-6.4,220,4153,0.00,2.35,0.00,0.000,4,0.000,0.060,2656,502,3302
$GC,4164,-1.50,-136.3,426.4,-6.3,220,4168,0.00,2.28,0.00,0.000,6,0.000,0.041,2656,1898,3302
$GC,4431,-1.50,-136.3,444.2,-6.9,227,4435,0.00,2.35,0.00,0.000,4,0.000,0.062,2656,3305,3300
$GC,4469,-1.50,-136.3,447.2,-7.7,228,4474,0.00,2.28,0.00,0.000,6,0.000,0.041,2656,1898,3300
$GC,4752,-1.50,-136.3,466.4,-6.6,235,4756,0.00,2.38,0.00,0.000,4,0.000,0.063,2656,3301,3298
$GC,4769,-1.50,-136.3,467.5,-6.4,235,4773,0.00,2.28,0.00,0.000,6,0.000,0.036,2656,1892,3297
$GC,5029,-1.50,-136.3,484.6,-6.8,242,5033,0.00,2.40,0.00,0.000,4,0.000,0.066,2656,3299,3296
$GC,5072,-1.50,-136.3,487.9,-7.4,243,5076,0.00,2.30,0.00,0.000,6,0.000,0.044,2656,1902,3296
$GC,5355,-1.50,-136.3,510.0,-8.0,250,5359,0.00,2.15,0.00,0.000,3,0.000,0.063,2656,3182,3293
$STATE,5360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5360,begin apogee
$GC,5366,-0.31,0.0,510.3,8.0,250,5483,1.17,0.00,109.10,0.918,6,0.096,0.000,2914,1661,2748
$STATE,5484,end apogee,CONTROL_FINISHED_OK
$STATE,5484,begin climb
$GC,5485,1.50,136.3,514.7,0.0,253,5610,1.67,2.47,113.30,0.894,4,0.044,0.072,3319,259,2192
$GC,5721,1.50,136.3,487.5,18.6,258,5725,0.00,2.35,0.00,0.000,6,0.000,0.045,3319,1655,2186
$GC,5988,1.50,136.3,441.3,17.2,265,5992,0.00,2.40,0.00,0.000,4,0.000,0.063,3319,253,2180
$GC,6036,1.50,136.3,432.5,17.9,266,6041,0.00,2.35,0.00,0.000,6,0.000,0.041,3319,1665,2180
$GC,6314,1.50,136.3,384.8,17.2,273,6318,0.00,2.40,0.00,0.000,4,0.000,0.064,3319,256,2177
$GC,6425,1.50,136.3,364.8,18.3,275,6430,0.00,2.33,0.00,0.000,6,0.000,0.041,3319,1660,2176
$GC,6686,1.50,136.3,326.5,14.4,282,6690,0.00,2.38,0.00,0.000,4,0.000,0.055,3319,256,2174
$GC,6769,1.50,136.3,313.7,15.7,284,6773,0.00,2.28,0.00,0.000,6,0.000,0.041,3319,1665,2173
$GC,7057,1.50,136.3,274.7,12.6,291,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1666,2171
$GC,7301,1.50,136.3,244.6,12.6,297,7305,0.00,2.35,0.00,0.000,4,0.000,0.059,3319,3069,2171
$GC,7557,1.50,136.3,214.6,10.8,302,7564,0.00,2.33,0.00,0.000,6,0.000,0.036,3319,1657,2169
$GC,7811,1.50,136.3,187.3,11.0,315,7815,0.00,2.33,0.00,0.000,4,0.000,0.041,3319,3071,2169
$GC,7829,1.50,136.3,185.6,11.4,316,7833,0.00,2.28,0.00,0.000,6,0.000,0.034,3319,1657,2168
$GC,8092,1.50,136.3,154.5,11.7,340,8096,0.00,2.33,0.00,0.000,4,0.000,0.046,3319,3079,2168
$GC,8112,1.50,136.3,151.6,11.9,341,8119,0.00,2.30,0.00,0.000,6,0.000,0.032,3319,1665,2168
$GC,8373,1.50,136.3,118.7,13.4,366,8377,0.00,2.30,0.00,0.000,4,0.000,0.047,3319,3068,2168
$GC,8395,1.50,136.3,115.7,14.1,367,8402,0.00,2.30,0.00,0.000,6,0.000,0.031,3319,1653,2168
$GC,8656,1.50,136.3,84.0,11.3,392,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1652,2169
$GC,8913,1.51,138.6,56.6,8.3,416,8917,0.00,2.30,0.00,0.000,4,0.000,0.041,3319,3069,2169
$GC,8999,1.58,200.4,51.2,3.9,423,9055,0.00,2.25,49.92,0.557,6,0.000,0.031,3319,1659,1931
$GC,9315,1.58,200.4,14.9,14.1,460,9322,0.00,2.33,0.00,0.000,4,0.000,0.039,3319,3067,1925
$STATE,9401,end climb,SURFACE_DEPTH_REACHED
$STATE,9401,begin surface coast
$FINISH,0.6,1.023207
$STATE,9425,end surface coast,CONTROL_FINISHED_OK
$STATE,9425,begin surface
$SM_CCo,9446,110.05,0.505,0,0,1076,410.14
$SM_GC,1.55,0.00,0.00,110.05,0.000,0.000,0.505,412,1889,1076,-11.86,-0.31,410.14
$IRIDIUM_FIX,2239.35,-15747.62,181197,090919
$TT8_MAMPS,0.027612
$HUMID,1636
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,22.80
$XPDR_PINGS,128
$24V_AH,23.8,21.599
$10V_AH,10.1,19.445
$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,26.700,119.375,272.325,110.050,0.000,30.008,28.379,214.643,32.000,0.000,0.000,32.296,966.906,6315.387,482.807,1745.281,427.104,33.348,1205.972,0.000,1756.630,0.000,0.469
$DEVICE_MAMPS,161.070,72.098,918.099,505.453,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.611,290.082,532.297,402.284,828.066,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35005,479
$CAP_FILE_SIZE,198787,0
$CFSIZE,260165632,252317696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240808,143138,2247.731,-15748.399,36,1.0,36,10.1