version: 66.03
glider: 148
mission: 6
dive: 99
start: 8 25 108 13 5 41
data:
$ID,148
$MISSION,6
$DIVE,99
$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,-8294.7725
$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,26
$R_STBD_OVSHOOT,67
$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
$GPS1,124911,2248.624,-15748.361,9,2.1,28,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-61.0
$GPS2,130447,2248.619,-15748.396,12,2.4,31,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.099,0.109
$KALMAN_X,-77730.9,172.1,102.3,92079.9,-538.7
$KALMAN_Y,28816.4,-383.4,522.9,-27983.9,-1673.7
$MHEAD_RNG_PITCHd_Wd,307.5,1543,-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,-62.50,0.000,2,0.000,0.000,409,1942,2745
$GC,85,-1.80,-87.8,3.3,-4.1,8,110,11.57,2.20,-8.15,0.000,4,0.160,0.050,2590,3274,3109
$GC,262,-1.80,-87.8,35.6,-20.1,36,266,0.00,2.17,0.00,0.000,6,0.000,0.027,2590,1885,3110
$GC,524,-1.80,-87.8,78.1,-13.2,60,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1885,3110
$GC,777,-1.80,-87.8,110.1,-12.2,84,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1885,3111
$GC,1031,-1.80,-87.8,142.8,-12.5,108,1035,0.00,2.22,0.00,0.000,4,0.000,0.037,2590,3273,3111
$GC,1052,-1.80,-87.8,145.8,-13.6,109,1059,0.00,2.17,0.00,0.000,6,0.000,0.025,2590,1896,3111
$GC,1313,-1.80,-87.8,176.7,-11.4,134,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1896,3111
$GC,1566,-1.80,-87.8,204.7,-11.9,155,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1896,3112
$GC,1810,-1.80,-87.8,233.2,-11.4,161,1814,0.00,2.22,0.00,0.000,4,0.000,0.040,2590,504,3111
$GC,1870,-1.80,-87.8,239.4,-9.8,162,1875,0.00,2.17,0.00,0.000,6,0.000,0.036,2590,1869,3112
$GC,2137,-1.80,-88.8,261.7,-8.4,169,2141,0.00,2.33,0.00,0.000,4,0.000,0.042,2590,3313,3112
$GC,2237,-1.80,-88.8,271.4,-10.0,171,2241,0.00,2.25,0.00,0.000,6,0.000,0.027,2590,1901,3112
$GC,2509,-1.80,-88.8,298.5,-9.5,178,2513,0.00,2.28,0.00,0.000,4,0.000,0.047,2590,499,3112
$GC,2542,-1.80,-91.7,301.2,-8.2,178,2548,0.00,2.25,0.00,0.000,6,0.000,0.030,2590,1901,3112
$GC,2791,-1.82,-105.4,318.7,-6.9,185,2795,0.00,2.30,0.00,0.000,4,0.000,0.047,2590,3313,3112
$GC,2835,-1.82,-108.9,322.3,-8.1,186,2839,0.00,2.28,0.00,0.000,6,0.000,0.038,2590,1901,3112
$GC,3118,-1.82,-108.9,348.4,-9.8,193,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1900,3110
$GC,3362,-1.83,-116.9,368.4,-7.6,199,3366,0.00,2.33,0.00,0.000,4,0.000,0.055,2590,3302,3109
$GC,3472,-1.84,-120.7,376.9,-8.1,201,3477,0.00,2.25,0.00,0.000,6,0.000,0.034,2590,1910,3109
$GC,3739,-1.84,-121.1,398.8,-8.5,208,3743,0.00,2.35,0.00,0.000,4,0.000,0.058,2590,491,3107
$GC,3765,-1.84,-121.1,401.2,-9.3,208,3770,0.00,2.30,0.00,0.000,6,0.000,0.040,2590,1901,3107
$GC,4021,-1.84,-125.7,421.9,-8.0,215,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1901,3105
$GC,4265,-1.85,-127.8,441.8,-8.3,221,4269,0.00,2.35,0.00,0.000,4,0.000,0.059,2590,3305,3104
$GC,4313,-1.85,-127.8,446.4,-8.6,222,4318,0.00,2.28,0.00,0.000,6,0.000,0.041,2590,1907,3104
$GC,4592,-1.85,-134.5,469.0,-7.7,229,4596,0.00,2.35,0.00,0.000,4,0.000,0.063,2590,3301,3102
$GC,4607,-1.86,-136.3,470.5,-7.5,229,4611,0.00,2.30,0.00,0.000,6,0.000,0.041,2590,1897,3102
$GC,4874,-1.86,-136.3,488.1,-6.4,236,4878,0.00,2.38,0.00,0.000,4,0.000,0.057,2590,3306,3100
$GC,4912,-1.86,-136.3,490.5,-6.5,237,4916,0.00,2.28,0.00,0.000,6,0.000,0.042,2590,1903,3100
$GC,5195,-1.86,-136.3,509.6,-6.9,244,5199,0.00,2.15,0.00,0.000,3,0.000,0.061,2590,3192,3098
$STATE,5200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5200,begin apogee
$GC,5207,-0.31,0.0,510.1,7.0,244,5283,1.50,0.00,70.47,0.910,6,0.101,0.000,2916,1655,2749
$STATE,5284,end apogee,CONTROL_FINISHED_OK
$STATE,5284,begin climb
$GC,5286,1.86,136.3,510.9,0.0,246,5409,1.98,2.45,112.68,0.888,4,0.038,0.061,3405,252,2192
$GC,5660,1.86,136.3,440.6,22.1,254,5665,0.00,2.35,0.00,0.000,6,0.000,0.039,3405,1657,2184
$GC,5922,1.86,136.3,386.1,20.6,261,5926,0.00,2.38,0.00,0.000,4,0.000,0.059,3405,257,2180
$GC,6038,1.86,136.3,362.1,20.8,263,6042,0.00,2.33,0.00,0.000,6,0.000,0.038,3405,1656,2178
$GC,6293,1.86,136.3,309.8,20.6,270,6297,0.00,2.35,0.00,0.000,4,0.000,0.051,3404,256,2176
$GC,6505,1.86,136.3,271.2,17.1,274,6512,0.00,2.30,0.00,0.000,6,0.000,0.033,3405,1658,2174
$GC,6755,1.86,136.3,234.7,14.9,281,6759,0.00,2.38,0.00,0.000,4,0.000,0.058,3405,3061,2172
$GC,6770,1.86,136.3,231.9,16.3,281,6775,0.00,2.30,0.00,0.000,6,0.000,0.041,3405,1665,2172
$GC,7029,1.86,136.3,195.1,13.1,290,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,1665,2170
$GC,7283,1.86,136.3,161.1,13.5,314,7287,0.00,2.33,0.00,0.000,4,0.000,0.050,3405,252,2170
$GC,7394,1.86,136.3,144.1,15.5,323,7402,0.00,2.25,0.00,0.000,6,0.000,0.031,3405,1658,2169
$GC,7655,1.86,136.3,106.3,15.1,348,7659,0.00,2.30,0.00,0.000,4,0.000,0.045,3405,249,2170
$GC,7665,1.86,136.3,104.6,15.3,348,7675,0.00,2.25,0.00,0.000,6,0.000,0.037,3405,1650,2170
$GC,7928,1.86,136.3,68.8,13.6,373,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,1650,2170
$GC,8183,1.87,149.5,44.9,7.0,397,8195,0.00,0.00,8.48,0.493,6,0.000,0.000,3405,1650,2139
$GC,8452,1.87,149.5,21.3,11.2,429,8460,0.00,2.30,0.00,0.000,4,0.000,0.051,3405,253,2138
$STATE,8611,end climb,SURFACE_DEPTH_REACHED
$STATE,8611,begin surface coast
$FINISH,0.5,1.023274
$STATE,8635,end surface coast,CONTROL_FINISHED_OK
$STATE,8635,begin surface
$SM_CCo,8657,219.85,0.503,0,0,510,548.98
$SM_GC,1.29,0.00,0.00,219.85,0.000,0.000,0.503,413,1921,510,-11.85,0.59,548.98
$IRIDIUM_FIX,2241.69,-15757.16,191197,131310
$TT8_MAMPS,0.026845
$HUMID,1610
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,22.90
$XPDR_PINGS,114
$24V_AH,23.8,22.481
$10V_AH,10.1,20.302
$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,27.325,87.625,191.625,219.850,0.000,143.979,440.636,0.000,28.500,0.000,0.000,33.435,918.798,6017.597,499.878,1648.397,732.644,33.352,1130.816,0.000,1653.121,0.000,0.469
$DEVICE_MAMPS,160.303,62.894,909.662,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.561,299.586,526.232,412.125,839.165,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35074,461
$CAP_FILE_SIZE,184433,0
$CFSIZE,260165632,251748352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250808,153446,2248.872,-15748.699,24,2.0,32,10.1