version: 66.03
glider: 148
mission: 6
dive: 112
start: 8 27 108 0 50 3
data:
$ID,148
$MISSION,6
$DIVE,112
$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,-8556.5371
$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,21
$R_STBD_OVSHOOT,48
$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
$GPS1,004337,2249.047,-15749.296,9,2.0,25,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-57.0
$GPS2,004909,2249.050,-15749.321,11,2.0,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.005,0.147
$KALMAN_X,-75066.2,-35.9,11.5,88143.3,559.3
$KALMAN_Y,16979.4,417.5,362.7,-15992.7,-2266.1
$MHEAD_RNG_PITCHd_Wd,347.8,2021,-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,-49.4,0.0,0.0,0,105,0.00,0.00,-84.78,0.000,2,0.000,0.000,412,1924,2756
$GC,108,-1.80,-91.8,3.3,-3.6,11,134,11.55,2.28,-8.25,0.000,4,0.159,0.048,2590,3299,3126
$GC,242,-1.80,-91.8,27.0,-17.8,33,251,0.00,2.25,0.00,0.000,6,0.000,0.026,2590,1888,3127
$GC,513,-1.80,-91.8,75.5,-15.7,59,517,0.00,2.22,0.00,0.000,4,0.000,0.038,2590,497,3127
$GC,575,-1.80,-91.8,85.8,-14.9,64,579,0.00,2.20,0.00,0.000,6,0.000,0.027,2590,1888,3127
$GC,835,-1.80,-91.8,122.3,-14.7,88,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1888,3128
$GC,1093,-1.80,-91.8,158.6,-13.9,112,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1889,3129
$GC,1347,-1.80,-91.8,192.1,-13.1,136,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1889,3129
$GC,1611,-1.80,-91.8,224.7,-12.0,147,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1889,3129
$GC,1855,-1.80,-91.8,251.0,-10.7,153,1859,0.00,2.25,0.00,0.000,4,0.000,0.042,2590,496,3129
$GC,1876,-1.80,-91.8,253.3,-10.0,153,1881,0.00,2.22,0.00,0.000,6,0.000,0.025,2590,1899,3129
$GC,2137,-1.80,-91.8,280.1,-10.9,160,2141,0.00,2.25,0.00,0.000,4,0.000,0.046,2590,3301,3129
$GC,2180,-1.80,-91.8,285.1,-11.6,161,2185,0.00,2.22,0.00,0.000,6,0.000,0.029,2590,1903,3129
$GC,2464,-1.80,-91.8,313.3,-9.2,168,2468,0.00,2.28,0.00,0.000,4,0.000,0.046,2590,503,3129
$GC,2558,-1.80,-91.8,322.5,-10.6,170,2563,0.00,2.22,0.00,0.000,6,0.000,0.037,2590,1891,3129
$GC,2836,-1.80,-91.8,346.6,-8.8,177,2840,0.00,2.28,0.00,0.000,4,0.000,0.056,2590,505,3129
$GC,2890,-1.80,-91.8,351.9,-9.9,178,2894,0.00,2.25,0.00,0.000,6,0.000,0.038,2590,1901,3129
$GC,3162,-1.80,-91.8,376.6,-8.9,185,3166,0.00,2.33,0.00,0.000,4,0.000,0.058,2590,497,3129
$GC,3177,-1.80,-91.8,378.2,-9.4,185,3182,0.00,2.28,0.00,0.000,6,0.000,0.033,2590,1899,3128
$GC,3444,-1.80,-91.8,402.0,-9.0,192,3448,0.00,2.33,0.00,0.000,4,0.000,0.054,2590,3303,3127
$GC,3465,-1.80,-91.8,404.1,-9.8,192,3470,0.00,2.25,0.00,0.000,6,0.000,0.031,2590,1907,3127
$GC,3726,-1.81,-100.5,424.2,-7.5,199,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1908,3126
$GC,3971,-1.82,-109.5,442.9,-7.5,205,3975,0.00,2.33,0.00,0.000,4,0.000,0.063,2590,503,3123
$GC,4015,-1.82,-109.5,446.7,-8.9,206,4019,0.00,2.25,0.00,0.000,6,0.000,0.036,2590,1899,3123
$GC,4303,-1.84,-123.9,467.3,-6.8,213,4307,0.00,2.33,0.00,0.000,4,0.000,0.063,2590,503,3121
$GC,4408,-1.84,-125.9,475.9,-8.3,215,4413,0.00,2.30,0.00,0.000,6,0.000,0.044,2590,1898,3121
$GC,4680,-1.86,-136.3,494.8,-6.9,222,4685,0.00,2.38,0.00,0.000,4,0.000,0.065,2590,3315,3118
$GC,4730,-1.86,-136.3,498.6,-7.4,223,4734,0.00,2.28,0.00,0.000,6,0.000,0.039,2590,1903,3118
$STATE,4924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4925,begin apogee
$GC,4929,-0.31,0.0,512.8,7.3,228,5008,1.52,0.00,74.40,0.910,6,0.097,0.000,2921,1655,2749
$STATE,5008,end apogee,CONTROL_FINISHED_OK
$STATE,5009,begin climb
$GC,5010,1.86,136.3,513.0,0.0,230,5134,1.98,2.42,113.43,0.888,4,0.039,0.060,3407,258,2192
$GC,5386,1.86,136.3,440.1,23.5,238,5390,0.00,2.33,0.00,0.000,6,0.000,0.042,3407,1656,2182
$GC,5647,1.86,136.3,385.8,20.6,245,5651,0.00,2.35,0.00,0.000,4,0.000,0.052,3408,263,2178
$GC,5903,1.86,136.3,330.3,20.5,250,5908,0.00,2.30,0.00,0.000,6,0.000,0.034,3408,1661,2175
$GC,6159,1.86,136.3,283.9,17.3,257,6163,0.00,2.33,0.00,0.000,4,0.000,0.051,3407,263,2172
$GC,6415,1.86,136.3,238.3,14.9,262,6420,0.00,2.28,0.00,0.000,6,0.000,0.029,3407,1665,2171
$GC,6670,1.86,136.3,203.1,13.7,269,6674,0.00,2.33,0.00,0.000,4,0.000,0.046,3407,255,2169
$GC,6931,1.86,136.3,164.5,15.3,289,6935,0.00,2.25,0.00,0.000,6,0.000,0.029,3407,1671,2168
$GC,7193,1.86,136.3,126.9,14.3,313,7197,0.00,2.30,0.00,0.000,4,0.000,0.044,3408,257,2168
$GC,7249,1.86,136.3,118.0,16.4,318,7253,0.00,2.22,0.00,0.000,6,0.000,0.030,3407,1662,2168
$GC,7509,1.86,136.3,81.5,11.5,342,7513,0.00,2.30,0.00,0.000,4,0.000,0.044,3408,257,2168
$GC,7765,1.89,164.2,58.9,5.3,364,7790,0.00,2.25,20.23,0.550,6,0.000,0.027,3407,1667,2079
$GC,8048,1.89,164.2,28.8,12.8,391,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,1667,2076
$STATE,8253,end climb,SURFACE_DEPTH_REACHED
$STATE,8253,begin surface coast
$FINISH,0.5,1.023290
$STATE,8277,end surface coast,CONTROL_FINISHED_OK
$STATE,8277,begin surface
$SM_CCo,8297,201.52,0.503,0,0,510,548.98
$SM_GC,1.36,0.00,0.00,201.52,0.000,0.000,0.503,415,1926,510,-11.84,0.71,548.98
$IRIDIUM_FIX,2239.35,-15747.62,201197,222220
$TT8_MAMPS,0.027612
$HUMID,1621
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,23.10
$XPDR_PINGS,99
$24V_AH,23.8,23.750
$10V_AH,10.1,21.519
$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,27.350,78.375,208.050,201.525,0.000,23.037,26.703,193.633,24.750,0.000,0.000,12.656,883.244,5413.465,486.097,1658.989,392.973,33.353,1140.554,0.000,1675.319,0.000,0.469
$DEVICE_MAMPS,158.769,65.195,910.429,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.914,283.754,488.029,389.708,799.476,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31849,431
$CAP_FILE_SIZE,175546,0
$CFSIZE,260165632,250970112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270808,031256,2249.681,-15748.883,38,1.0,38,10.1