version: 66.03
glider: 148
mission: 6
dive: 96
start: 8 25 108 4 40 58
data:
$ID,148
$MISSION,6
$DIVE,96
$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,-8231.5908
$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,46
$R_STBD_OVSHOOT,36
$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
$GPS1,043301,2249.145,-15748.404,41,1.4,41,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-61.3
$GPS2,044005,2249.139,-15748.418,10,99.0,29,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.104,-0.104
$KALMAN_X,-77191.4,118.9,-189.1,91853.0,-12.8
$KALMAN_Y,30415.3,623.8,-268.0,-28839.3,-1120.5
$MHEAD_RNG_PITCHd_Wd,214.8,2332,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.75,-49.4,0.0,0.0,0,106,0.00,0.00,-84.70,0.000,2,0.000,0.000,414,1874,2795
$GC,109,-1.80,-87.5,3.5,-4.1,11,134,11.57,2.22,-6.65,0.000,4,0.160,0.054,2591,503,3107
$GC,365,-1.80,-87.5,55.2,-21.0,44,374,0.00,2.25,0.00,0.000,6,0.000,0.030,2591,1895,3107
$GC,628,-1.80,-87.5,95.0,-14.8,69,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1895,3107
$GC,885,-1.80,-87.5,131.8,-14.0,93,889,0.00,2.25,0.00,0.000,4,0.000,0.047,2591,505,3108
$GC,1014,-1.80,-87.5,150.9,-14.8,104,1018,0.00,2.22,0.00,0.000,6,0.000,0.028,2591,1914,3108
$GC,1274,-1.80,-87.5,187.0,-13.7,128,1278,0.00,2.28,0.00,0.000,4,0.000,0.040,2591,506,3108
$GC,1328,-1.80,-87.5,195.2,-15.2,132,1338,0.00,2.22,0.00,0.000,6,0.000,0.028,2591,1902,3108
$GC,1580,-1.80,-87.5,225.1,-11.5,142,1584,0.00,2.25,0.00,0.000,4,0.000,0.042,2591,507,3108
$GC,1640,-1.80,-87.5,231.6,-10.3,143,1644,0.00,2.22,0.00,0.000,6,0.000,0.026,2591,1908,3108
$GC,1907,-1.80,-87.5,260.0,-10.8,150,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1908,3108
$GC,2150,-1.80,-87.5,288.5,-11.3,156,2154,0.00,2.25,0.00,0.000,4,0.000,0.041,2591,3310,3108
$GC,2216,-1.80,-87.5,296.4,-11.1,157,2221,0.00,2.25,0.00,0.000,6,0.000,0.029,2591,1908,3108
$GC,2477,-1.80,-87.5,322.3,-9.7,164,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1907,3108
$GC,2721,-1.80,-87.5,346.3,-9.8,170,2725,0.00,2.30,0.00,0.000,4,0.000,0.052,2591,503,3108
$GC,2809,-1.80,-87.5,355.4,-10.4,172,2814,0.00,2.22,0.00,0.000,6,0.000,0.039,2591,1885,3107
$GC,3093,-1.80,-87.5,380.9,-8.9,179,3097,0.00,2.33,0.00,0.000,4,0.000,0.049,2591,3304,3106
$GC,3176,-1.80,-87.5,389.1,-9.6,181,3180,0.00,2.22,0.00,0.000,6,0.000,0.033,2591,1903,3106
$GC,3464,-1.80,-87.5,415.3,-8.8,188,3468,0.00,2.33,0.00,0.000,4,0.000,0.064,2591,503,3104
$GC,3485,-1.80,-87.5,417.4,-9.4,188,3490,0.00,2.28,0.00,0.000,6,0.000,0.038,2591,1898,3104
$GC,3752,-1.80,-87.5,441.6,-9.1,195,3756,0.00,2.35,0.00,0.000,4,0.000,0.063,2591,502,3102
$GC,3828,-1.80,-87.5,449.5,-9.8,196,3835,0.00,2.30,0.00,0.000,6,0.000,0.041,2591,1899,3102
$GC,4078,-1.80,-87.5,471.8,-8.8,203,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1900,3100
$GC,4322,-1.80,-87.5,493.0,-8.8,209,4326,0.00,2.38,0.00,0.000,4,0.000,0.062,2591,497,3099
$GC,4381,-1.80,-87.5,498.7,-9.5,210,4386,0.00,2.33,0.00,0.000,6,0.000,0.047,2591,1899,3098
$STATE,4525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4525,begin apogee
$GC,4529,-0.31,0.0,510.2,7.8,214,4608,1.52,0.00,70.62,0.898,6,0.103,0.000,2916,1658,2748
$STATE,4608,end apogee,CONTROL_FINISHED_OK
$STATE,4609,begin climb
$GC,4610,1.80,87.5,510.8,0.0,216,4693,1.92,2.45,72.35,0.877,4,0.043,0.066,3383,264,2391
$GC,4827,1.80,87.5,482.3,16.8,221,4831,0.00,2.30,0.00,0.000,6,0.000,0.045,3383,1660,2386
$GC,5110,1.80,87.5,438.2,15.5,228,5114,0.00,2.40,0.00,0.000,4,0.000,0.062,3383,257,2383
$GC,5366,1.80,87.5,399.3,15.3,233,5373,0.00,2.33,0.00,0.000,6,0.000,0.038,3383,1663,2380
$GC,5616,1.80,87.5,370.2,12.0,240,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1662,2378
$GC,5860,1.80,87.5,338.9,13.1,246,5864,0.00,2.38,0.00,0.000,4,0.000,0.061,3383,3069,2376
$GC,5874,1.80,87.5,336.9,12.7,246,5880,0.00,2.33,0.00,0.000,6,0.000,0.039,3383,1672,2376
$GC,6142,1.80,87.5,307.3,10.6,253,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1672,2375
$GC,6385,1.80,94.4,287.3,7.7,259,6394,0.00,2.47,3.72,0.493,4,0.000,0.065,3383,250,2364
$GC,6513,1.80,94.4,276.2,8.6,261,6519,0.00,2.28,0.00,0.000,6,0.000,0.031,3383,1666,2364
$GC,6762,1.82,107.8,258.1,6.9,268,6782,0.00,2.40,12.77,0.703,4,0.000,0.055,3383,3052,2309
$GC,6955,1.82,107.8,240.0,9.6,272,6960,0.00,2.30,0.00,0.000,6,0.000,0.034,3383,1657,2306
$GC,7227,1.82,107.8,211.6,10.9,279,7231,0.00,2.35,0.00,0.000,4,0.000,0.064,3383,250,2305
$GC,7241,1.82,107.8,210.0,10.0,279,7246,0.00,2.28,0.00,0.000,6,0.000,0.029,3383,1661,2304
$GC,7503,1.82,107.8,186.3,8.5,294,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1662,2304
$GC,7758,1.83,112.1,164.0,8.0,318,7772,0.00,2.38,4.53,0.472,4,0.000,0.048,3383,251,2292
$GC,7923,1.83,112.1,148.2,9.9,332,7931,0.00,2.25,0.00,0.000,6,0.000,0.033,3383,1656,2291
$GC,8188,1.83,118.0,125.9,7.8,357,8200,0.00,2.38,6.62,0.517,4,0.000,0.048,3383,251,2267
$GC,8416,1.83,118.0,102.1,11.1,377,8420,0.00,2.22,0.00,0.000,6,0.000,0.028,3383,1660,2267
$GC,8679,1.83,118.0,77.7,10.1,401,8683,0.00,2.30,0.00,0.000,4,0.000,0.052,3383,252,2267
$GC,8709,1.83,118.0,74.5,11.5,403,8713,0.00,2.22,0.00,0.000,6,0.000,0.035,3383,1664,2267
$GC,8972,1.85,131.3,51.4,7.0,427,8986,0.00,0.00,12.90,0.518,6,0.000,0.000,3383,1665,2213
$GC,9239,1.91,178.6,41.8,3.0,452,9280,0.00,0.00,39.47,0.534,6,0.000,0.000,3383,1665,2020
$GC,9541,1.91,178.6,3.3,15.9,495,9550,0.00,2.35,0.00,0.000,4,0.000,0.044,3383,253,2015
$STATE,9558,end climb,SURFACE_DEPTH_REACHED
$STATE,9558,begin surface coast
$FINISH,0.6,1.010891
$STATE,9576,end surface coast,CONTROL_FINISHED_OK
$STATE,9576,begin surface
$SM_CCo,9598,127.47,0.499,0,0,1076,410.14
$SM_GC,1.49,0.00,0.00,127.47,0.000,0.000,0.499,414,1912,1076,-11.85,0.34,410.14
$IRIDIUM_FIX,2241.69,-15746.73,191197,010132
$TT8_MAMPS,0.027612
$HUMID,1616
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.30
$XPDR_PINGS,137
$24V_AH,23.8,22.182
$10V_AH,10.1,20.022
$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,27.175,92.850,223.000,127.475,0.000,29.364,27.691,258.786,34.250,0.000,0.000,31.481,997.049,6385.627,453.959,1833.278,480.900,33.357,1174.657,0.000,1846.623,0.000,0.469
$DEVICE_MAMPS,159.536,65.962,898.157,498.550,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.656,317.180,566.870,436.887,893.088,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38145,500
$CAP_FILE_SIZE,202865,0
$CFSIZE,260165632,251932672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250808,072408,2248.061,-15749.040,28,1.1,28,10.1