version: 66.03
glider: 148
mission: 6
dive: 111
start: 8 26 108 22 18 28
data:
$ID,148
$MISSION,6
$DIVE,111
$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,-8543.2539
$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,33
$R_STBD_OVSHOOT,65
$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
$GPS1,220302,2248.537,-15749.149,37,1.4,37,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.7
$GPS2,221732,2248.523,-15749.180,9,1.3,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.052,0.138
$KALMAN_X,-75412.2,-32.9,-14.5,88752.5,556.0
$KALMAN_Y,18034.0,258.0,92.4,-17589.8,-1629.2
$MHEAD_RNG_PITCHd_Wd,329.4,1015,-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,-49.4,0.0,0.0,0,82,0.00,0.00,-61.95,0.000,2,0.000,0.000,406,1942,2720
$GC,84,-1.80,-91.4,3.1,-3.7,8,110,11.52,2.22,-9.27,0.000,4,0.158,0.050,2590,3284,3123
$GC,234,-1.80,-91.4,29.6,-18.1,33,242,0.00,2.20,0.00,0.000,6,0.000,0.025,2590,1900,3124
$GC,496,-1.80,-91.4,79.7,-19.4,58,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1898,3125
$GC,749,-1.80,-91.4,115.0,-12.8,82,753,0.00,2.25,0.00,0.000,4,0.000,0.038,2590,490,3125
$GC,825,-1.80,-91.4,126.1,-13.9,88,835,0.00,2.20,0.00,0.000,6,0.000,0.026,2590,1868,3126
$GC,1086,-1.80,-91.4,161.5,-13.6,113,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1868,3126
$GC,1341,-1.80,-91.4,194.0,-12.7,137,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1869,3126
$GC,1597,-1.80,-91.4,225.9,-12.2,147,1601,0.00,2.30,0.00,0.000,4,0.000,0.038,2590,3311,3127
$GC,1607,-1.80,-91.4,227.3,-12.4,147,1611,0.00,2.25,0.00,0.000,6,0.000,0.025,2590,1888,3127
$GC,1879,-1.80,-91.4,258.2,-11.6,154,1883,0.00,2.22,0.00,0.000,4,0.000,0.043,2590,501,3127
$GC,1934,-1.80,-91.4,264.1,-9.9,155,1938,0.00,2.22,0.00,0.000,6,0.000,0.026,2590,1908,3127
$GC,2206,-1.80,-91.4,293.3,-11.3,162,2210,0.00,2.25,0.00,0.000,4,0.000,0.041,2590,3306,3126
$GC,2272,-1.80,-91.4,300.5,-10.6,163,2277,0.00,2.22,0.00,0.000,6,0.000,0.027,2590,1910,3127
$GC,2533,-1.81,-101.0,321.6,-7.4,170,2537,0.00,2.30,0.00,0.000,4,0.000,0.050,2590,499,3126
$GC,2694,-1.81,-101.0,336.1,-9.1,173,2699,0.00,2.22,0.00,0.000,6,0.000,0.036,2590,1885,3127
$GC,2950,-1.81,-101.0,361.3,-10.0,180,2954,0.00,2.30,0.00,0.000,4,0.000,0.055,2590,3303,3127
$GC,2988,-1.81,-101.0,365.3,-10.2,180,2995,0.00,2.25,0.00,0.000,6,0.000,0.030,2590,1905,3127
$GC,3238,-1.81,-102.1,386.5,-8.4,187,3242,0.00,2.33,0.00,0.000,4,0.000,0.052,2590,3301,3125
$GC,3253,-1.82,-103.4,387.9,-8.3,187,3257,0.00,2.25,0.00,0.000,6,0.000,0.031,2590,1899,3125
$GC,3520,-1.82,-108.9,409.0,-7.9,194,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1899,3123
$GC,3764,-1.83,-112.1,428.5,-8.1,200,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1899,3122
$GC,4007,-1.83,-112.1,449.7,-8.8,206,4011,0.00,2.33,0.00,0.000,4,0.000,0.065,2590,501,3121
$GC,4045,-1.83,-112.1,453.1,-8.6,207,4050,0.00,2.25,0.00,0.000,6,0.000,0.044,2590,1895,3120
$GC,4328,-1.83,-117.1,475.3,-7.9,214,4332,0.00,2.35,0.00,0.000,4,0.000,0.064,2590,497,3118
$GC,4354,-1.83,-117.1,477.7,-8.8,214,4359,0.00,2.30,0.00,0.000,6,0.000,0.038,2590,1895,3118
$GC,4610,-1.84,-124.1,497.5,-7.7,221,4614,0.00,2.38,0.00,0.000,4,0.000,0.058,2590,3314,3116
$GC,4653,-1.84,-124.1,501.2,-8.6,222,4657,0.00,2.30,0.00,0.000,6,0.000,0.039,2590,1906,3116
$STATE,4772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4772,begin apogee
$GC,4777,-0.31,0.0,511.0,8.1,225,4855,1.52,0.00,73.82,0.907,6,0.097,0.000,2921,1655,2749
$STATE,4856,end apogee,CONTROL_FINISHED_OK
$STATE,4856,begin climb
$GC,4858,1.84,124.1,512.2,0.0,227,4968,1.95,2.42,102.62,0.886,4,0.041,0.064,3404,265,2242
$GC,5006,1.84,124.1,496.4,21.3,230,5011,0.00,2.33,0.00,0.000,6,0.000,0.042,3404,1654,2238
$GC,5268,1.84,124.1,443.8,19.5,237,5272,0.00,2.38,0.00,0.000,4,0.000,0.060,3404,260,2232
$GC,5524,1.84,124.1,390.6,20.5,242,5531,0.00,2.30,0.00,0.000,6,0.000,0.041,3404,1655,2229
$GC,5774,1.84,124.1,343.8,18.7,249,5778,0.00,2.35,0.00,0.000,4,0.000,0.058,3404,260,2227
$GC,6031,1.84,124.1,297.4,15.2,254,6038,0.00,2.28,0.00,0.000,6,0.000,0.032,3404,1661,2225
$GC,6281,1.84,124.1,263.3,13.5,261,6285,0.00,2.38,0.00,0.000,4,0.000,0.057,3404,3068,2222
$GC,6292,1.84,124.1,261.6,13.7,261,6297,0.00,2.28,0.00,0.000,6,0.000,0.035,3404,1668,2222
$GC,6558,1.84,124.1,222.2,13.9,268,6562,0.00,2.38,0.00,0.000,4,0.000,0.065,3404,252,2221
$GC,6792,1.84,124.1,189.2,12.6,277,6798,0.00,2.28,0.00,0.000,6,0.000,0.032,3404,1666,2220
$GC,7053,1.84,124.1,159.5,12.1,302,7057,0.00,2.33,0.00,0.000,4,0.000,0.044,3404,248,2220
$GC,7197,1.84,124.1,141.5,12.7,314,7207,0.00,2.25,0.00,0.000,6,0.000,0.034,3404,1657,2220
$GC,7461,1.84,124.1,110.3,12.1,339,7465,0.00,2.30,0.00,0.000,4,0.000,0.050,3404,242,2219
$GC,7475,1.84,124.1,108.0,12.4,340,7485,0.00,2.25,0.00,0.000,6,0.000,0.033,3404,1650,2219
$GC,7739,1.84,124.1,77.5,9.0,365,7743,0.00,2.30,0.00,0.000,4,0.000,0.043,3404,240,2220
$GC,7994,1.91,183.8,60.6,1.6,387,8046,0.00,2.28,46.03,0.561,6,0.000,0.025,3404,1673,1998
$GC,8304,1.91,183.8,21.0,15.8,420,8312,0.00,2.35,0.00,0.000,4,0.000,0.042,3404,252,1993
$GC,8358,1.91,183.8,11.5,17.7,429,8366,0.00,2.25,0.00,0.000,6,0.000,0.028,3404,1648,1992
$STATE,8411,end climb,SURFACE_DEPTH_REACHED
$STATE,8411,begin surface coast
$FINISH,0.6,1.023118
$STATE,8430,end surface coast,CONTROL_FINISHED_OK
$STATE,8430,begin surface
$SM_CCo,8450,197.88,0.503,0,0,510,548.98
$SM_GC,1.19,0.00,0.00,197.88,0.000,0.000,0.503,412,1923,510,-11.86,0.65,548.98
$IRIDIUM_FIX,2239.35,-15749.78,201197,222235
$TT8_MAMPS,0.027612
$HUMID,1622
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,22.80
$XPDR_PINGS,121
$24V_AH,23.8,23.654
$10V_AH,10.1,21.432
$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,27.300,92.350,222.475,197.875,0.000,130.905,406.339,0.000,30.250,0.000,0.000,16.284,897.105,5803.093,508.115,1624.499,691.872,33.353,1169.756,0.000,1649.355,0.000,0.806
$DEVICE_MAMPS,158.002,81.302,906.594,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.568,271.084,501.829,383.143,776.182,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31805,441
$CAP_FILE_SIZE,179798,0
$CFSIZE,260165632,251011072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270808,004337,2249.047,-15749.296,9,2.0,25,10.1