version: 66.03
glider: 148
mission: 6
dive: 101
start: 8 25 108 18 41 33
data:
$ID,148
$MISSION,6
$DIVE,101
$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,-8344.1875
$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,32
$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
$GPS1,182556,2247.777,-15749.478,38,1.2,38,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.4
$GPS2,184039,2247.705,-15749.496,13,1.2,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,0.055
$KALMAN_X,-76958.6,-4.9,112.7,89606.2,-60.1
$KALMAN_Y,27985.0,-330.5,-405.5,-27966.8,180.6
$MHEAD_RNG_PITCHd_Wd,57.9,1008,-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,-62.38,0.000,2,0.000,0.000,415,1946,2733
$GC,85,-1.80,-91.8,3.1,-3.6,8,110,11.52,0.00,-9.30,0.000,6,0.160,0.000,2588,1946,3126
$GC,378,-1.80,-91.8,59.4,-18.4,46,382,0.00,2.35,0.00,0.000,4,0.000,0.048,2588,490,3127
$GC,496,-1.80,-91.8,80.7,-15.2,56,500,0.00,2.15,0.00,0.000,6,0.000,0.028,2588,1871,3128
$GC,766,-1.80,-91.8,118.1,-14.8,81,770,0.00,2.22,0.00,0.000,4,0.000,0.038,2588,489,3128
$GC,796,-1.80,-91.8,122.6,-14.3,83,800,0.00,2.22,0.00,0.000,6,0.000,0.026,2588,1906,3128
$GC,1055,-1.80,-91.8,160.8,-14.3,107,1059,0.00,2.28,0.00,0.000,4,0.000,0.038,2589,492,3128
$GC,1106,-1.80,-91.8,168.5,-15.8,111,1110,0.00,2.22,0.00,0.000,6,0.000,0.027,2588,1910,3128
$GC,1375,-1.80,-91.8,206.2,-12.9,133,1379,0.00,2.28,0.00,0.000,4,0.000,0.038,2589,496,3128
$GC,1479,-1.80,-91.8,219.7,-12.4,135,1484,0.00,2.22,0.00,0.000,6,0.000,0.025,2588,1903,3128
$GC,1746,-1.80,-91.8,250.8,-11.6,142,1750,0.00,2.28,0.00,0.000,4,0.000,0.040,2588,490,3128
$GC,1806,-1.80,-91.8,258.8,-12.6,143,1811,0.00,2.25,0.00,0.000,6,0.000,0.028,2589,1901,3128
$GC,2073,-1.80,-91.8,287.9,-10.8,150,2077,0.00,2.28,0.00,0.000,4,0.000,0.045,2588,3312,3128
$GC,2157,-1.80,-91.8,297.6,-11.7,152,2161,0.00,2.22,0.00,0.000,6,0.000,0.031,2589,1890,3128
$GC,2444,-1.80,-91.8,328.0,-10.0,159,2448,0.00,2.25,0.00,0.000,4,0.000,0.049,2588,504,3128
$GC,2476,-1.80,-91.8,331.3,-10.5,159,2481,0.00,2.22,0.00,0.000,6,0.000,0.038,2588,1889,3128
$GC,2732,-1.80,-91.8,355.3,-9.3,166,2736,0.00,2.30,0.00,0.000,4,0.000,0.058,2589,500,3128
$GC,2763,-1.80,-91.8,358.9,-11.1,166,2771,0.00,2.25,0.00,0.000,6,0.000,0.035,2588,1888,3128
$GC,3013,-1.80,-91.8,383.7,-10.0,173,3017,0.00,2.35,0.00,0.000,4,0.000,0.054,2588,3305,3127
$GC,3102,-1.80,-91.8,393.6,-10.6,175,3106,0.00,2.25,0.00,0.000,6,0.000,0.035,2588,1909,3126
$GC,3385,-1.80,-94.0,418.0,-8.2,182,3390,0.00,2.35,0.00,0.000,4,0.000,0.059,2588,502,3124
$GC,3457,-1.80,-94.0,424.4,-9.1,183,3461,0.00,2.30,0.00,0.000,6,0.000,0.037,2588,1905,3124
$GC,3713,-1.81,-100.0,444.3,-7.8,190,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1905,3122
$GC,3956,-1.81,-100.0,465.3,-8.9,196,3960,0.00,2.38,0.00,0.000,4,0.000,0.064,2588,497,3120
$GC,4015,-1.81,-100.0,471.3,-10.2,197,4020,0.00,2.33,0.00,0.000,6,0.000,0.048,2589,1898,3120
$GC,4282,-1.81,-100.0,495.3,-9.0,204,4286,0.00,2.38,0.00,0.000,4,0.000,0.063,2589,497,3118
$GC,4309,-1.81,-100.0,497.9,-9.8,204,4313,0.00,2.33,0.00,0.000,6,0.000,0.049,2588,1895,3118
$STATE,4481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4482,begin apogee
$GC,4486,-0.31,0.0,512.0,8.1,209,4565,1.52,0.00,74.22,0.905,6,0.100,0.000,2918,1653,2749
$STATE,4565,end apogee,CONTROL_FINISHED_OK
$STATE,4566,begin climb
$GC,4567,1.81,100.0,512.6,0.0,211,4658,1.92,2.42,83.15,0.882,4,0.039,0.069,3386,264,2340
$GC,4882,1.81,100.0,465.6,18.9,218,4886,0.00,2.33,0.00,0.000,6,0.000,0.042,3385,1652,2332
$GC,5154,1.81,100.0,419.4,17.5,225,5158,0.00,2.35,0.00,0.000,4,0.000,0.060,3386,265,2329
$GC,5388,1.81,100.0,377.7,15.4,230,5393,0.00,2.33,0.00,0.000,6,0.000,0.039,3385,1664,2326
$GC,5661,1.81,100.0,337.1,15.2,237,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1664,2324
$GC,5904,1.81,100.0,303.5,13.4,243,5908,0.00,2.35,0.00,0.000,4,0.000,0.054,3385,265,2322
$GC,5953,1.81,100.0,298.0,10.9,244,5958,0.00,2.28,0.00,0.000,6,0.000,0.040,3385,1658,2322
$GC,6231,1.81,100.0,272.7,9.0,251,6235,0.00,2.38,0.00,0.000,4,0.000,0.061,3385,3058,2321
$GC,6489,1.81,100.0,247.5,9.6,256,6496,0.00,2.25,0.00,0.000,6,0.000,0.035,3385,1670,2319
$GC,6738,1.81,100.0,223.2,9.6,263,6742,0.00,2.30,0.00,0.000,4,0.000,0.043,3385,3062,2319
$GC,6754,1.81,100.0,221.9,8.6,263,6758,0.00,2.30,0.00,0.000,6,0.000,0.039,3385,1654,2318
$GC,7020,1.84,122.3,204.7,5.9,270,7037,0.00,0.00,15.40,0.664,6,0.000,0.000,3385,1654,2250
$GC,7272,1.84,122.3,181.4,11.0,288,7276,0.00,2.30,0.00,0.000,4,0.000,0.052,3385,258,2248
$GC,7281,1.84,122.3,180.2,11.4,288,7291,0.00,2.25,0.00,0.000,6,0.000,0.027,3385,1663,2247
$GC,7545,1.84,122.3,149.6,11.8,313,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1663,2247
$GC,7801,1.84,122.3,120.3,11.6,337,7805,0.00,2.30,0.00,0.000,4,0.000,0.050,3386,256,2247
$GC,7862,1.84,122.3,112.6,10.8,342,7867,0.00,2.20,0.00,0.000,6,0.000,0.032,3385,1658,2248
$GC,8123,1.84,123.4,89.5,8.4,366,8127,0.00,2.30,0.00,0.000,4,0.000,0.044,3386,250,2248
$GC,8379,1.88,153.8,69.5,5.0,388,8415,0.00,2.25,27.83,0.557,6,0.000,0.034,3385,1667,2120
$GC,8668,1.88,153.8,46.1,10.2,415,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1667,2116
$GC,8928,1.88,153.8,17.4,12.2,448,8936,0.00,2.30,0.00,0.000,4,0.000,0.044,3385,3061,2116
$GC,8943,1.88,153.8,15.5,12.1,450,8952,0.00,2.25,0.00,0.000,6,0.000,0.030,3385,1661,2116
$STATE,9048,end climb,SURFACE_DEPTH_REACHED
$STATE,9048,begin surface coast
$FINISH,0.5,1.023174
$STATE,9073,end surface coast,CONTROL_FINISHED_OK
$STATE,9073,begin surface
$SM_CCo,9093,203.77,0.497,0,0,510,548.98
$SM_GC,1.50,0.00,0.00,203.77,0.000,0.000,0.497,408,1935,510,-11.87,0.99,548.98
$IRIDIUM_FIX,2237.01,-15749.78,191197,181834
$TT8_MAMPS,0.026845
$HUMID,1590
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.40
$XPDR_PINGS,132
$24V_AH,23.8,22.665
$10V_AH,10.1,20.496
$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,27.100,96.875,200.600,203.775,0.000,143.719,404.118,0.000,33.000,0.000,0.000,15.183,968.274,6246.821,498.582,1760.239,707.834,33.357,1187.733,0.000,1766.712,0.000,0.469
$DEVICE_MAMPS,159.536,72.098,905.060,497.016,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.144,330.180,537.410,405.142,836.848,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35070,472
$CAP_FILE_SIZE,191198,0
$CFSIZE,260165632,251617280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250808,211738,2247.757,-15748.698,32,1.1,32,10.1