version: 66.03
glider: 148
mission: 6
dive: 117
start: 8 27 108 14 9 3
data:
$ID,148
$MISSION,6
$DIVE,117
$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,-8631.0176
$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,36
$R_STBD_OVSHOOT,62
$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
$GPS1,135325,2248.895,-15749.248,24,1.5,41,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-57.6
$GPS2,140808,2248.859,-15749.341,8,1.7,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.023,0.145
$KALMAN_X,-73567.5,-247.2,16.2,86820.6,491.8
$KALMAN_Y,12073.9,-112.2,200.7,-10748.6,-2141.6
$MHEAD_RNG_PITCHd_Wd,358.7,1695,-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,-84.88,0.000,2,0.000,0.000,414,1937,2753
$GC,109,-1.80,-92.8,3.3,-3.5,11,134,11.55,2.22,-8.20,0.000,4,0.160,0.051,2590,3278,3130
$GC,262,-1.80,-92.8,36.6,-19.0,34,267,0.00,2.17,0.00,0.000,6,0.000,0.024,2590,1890,3130
$GC,525,-1.80,-92.8,78.5,-13.6,58,529,0.00,2.25,0.00,0.000,4,0.000,0.038,2590,3285,3130
$GC,597,-1.80,-92.8,89.8,-15.0,64,601,0.00,2.17,0.00,0.000,6,0.000,0.025,2590,1895,3131
$GC,857,-1.80,-92.8,126.6,-14.2,88,861,0.00,2.25,0.00,0.000,4,0.000,0.038,2591,3284,3131
$GC,878,-1.80,-92.8,129.6,-14.1,89,885,0.00,2.20,0.00,0.000,6,0.000,0.025,2590,1896,3131
$GC,1139,-1.80,-92.8,163.9,-13.0,114,1143,0.00,2.22,0.00,0.000,4,0.000,0.038,2590,3279,3131
$GC,1170,-1.80,-92.8,168.1,-13.0,116,1177,0.00,2.17,0.00,0.000,6,0.000,0.025,2590,1905,3131
$GC,1431,-1.80,-92.8,198.4,-11.5,141,1435,0.00,2.22,0.00,0.000,4,0.000,0.038,2590,503,3131
$GC,1452,-1.80,-92.8,201.0,-11.6,142,1456,0.00,2.17,0.00,0.000,6,0.000,0.025,2590,1881,3131
$GC,1713,-1.80,-92.8,231.0,-11.3,149,1717,0.00,2.28,0.00,0.000,4,0.000,0.038,2590,3306,3131
$GC,1829,-1.80,-92.8,245.7,-13.0,151,1834,0.00,2.22,0.00,0.000,6,0.000,0.024,2590,1898,3131
$GC,2085,-1.80,-92.8,273.8,-10.2,158,2089,0.00,2.22,0.00,0.000,4,0.000,0.045,2590,503,3131
$GC,2141,-1.80,-92.8,279.6,-10.1,159,2145,0.00,2.17,0.00,0.000,6,0.000,0.026,2590,1901,3131
$GC,2412,-1.80,-92.8,306.1,-9.3,166,2416,0.00,2.22,0.00,0.000,4,0.000,0.044,2590,3301,3131
$GC,2461,-1.80,-92.8,310.6,-8.9,167,2466,0.00,2.22,0.00,0.000,6,0.000,0.027,2590,1902,3131
$GC,2745,-1.80,-92.8,335.5,-9.0,174,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1902,3131
$GC,2989,-1.80,-92.8,358.2,-9.1,180,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1902,3129
$GC,3232,-1.80,-92.8,379.3,-8.8,186,3236,0.00,2.28,0.00,0.000,4,0.000,0.052,2590,3298,3128
$GC,3287,-1.80,-92.8,384.0,-8.7,187,3291,0.00,2.22,0.00,0.000,6,0.000,0.028,2590,1910,3127
$GC,3560,-1.81,-97.4,405.6,-8.0,194,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1910,3126
$GC,3803,-1.81,-97.4,427.1,-9.1,200,3807,0.00,2.30,0.00,0.000,4,0.000,0.054,2590,3294,3125
$GC,3846,-1.81,-97.4,431.0,-9.0,201,3851,0.00,2.25,0.00,0.000,6,0.000,0.031,2590,1899,3125
$GC,4130,-1.81,-99.7,454.0,-8.2,208,4134,0.00,2.33,0.00,0.000,4,0.000,0.051,2590,3301,3123
$GC,4178,-1.81,-103.2,458.1,-8.1,209,4183,0.00,2.28,0.00,0.000,6,0.000,0.035,2590,1898,3122
$GC,4457,-1.83,-111.7,479.7,-7.5,216,4461,0.00,2.33,0.00,0.000,4,0.000,0.051,2590,3299,3121
$GC,4545,-1.83,-115.2,486.8,-8.1,218,4549,0.00,2.28,0.00,0.000,6,0.000,0.037,2590,1905,3120
$GC,4828,-1.84,-126.4,507.8,-7.2,225,4832,0.00,2.30,0.00,0.000,4,0.000,0.054,2590,3294,3118
$GC,4857,-1.85,-133.3,509.8,-7.7,225,4861,0.00,2.15,0.00,0.000,3,0.000,0.035,2590,1942,3117
$STATE,4862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4862,begin apogee
$GC,4866,-0.31,0.0,510.2,7.3,225,4944,1.50,0.00,74.50,0.905,6,0.098,0.000,2918,1667,2748
$STATE,4945,end apogee,CONTROL_FINISHED_OK
$STATE,4945,begin climb
$GC,4947,1.85,133.3,510.6,0.0,227,5069,1.98,2.47,110.70,0.884,4,0.038,0.067,3402,264,2204
$GC,5169,1.85,133.3,476.1,22.1,232,5174,0.00,2.30,0.00,0.000,6,0.000,0.042,3402,1647,2198
$GC,5447,1.85,133.3,415.3,21.6,239,5451,0.00,2.35,0.00,0.000,4,0.000,0.051,3402,256,2193
$GC,5631,1.85,133.3,375.6,22.5,243,5636,0.00,2.30,0.00,0.000,6,0.000,0.037,3402,1657,2190
$GC,5908,1.85,133.3,323.7,18.5,250,5912,0.00,2.35,0.00,0.000,4,0.000,0.048,3402,254,2187
$GC,6054,1.85,133.3,294.8,19.6,253,6058,0.00,2.28,0.00,0.000,6,0.000,0.033,3402,1666,2186
$GC,6325,1.85,133.3,250.3,15.0,260,6329,0.00,2.35,0.00,0.000,4,0.000,0.051,3402,256,2184
$GC,6492,1.85,133.3,223.9,13.9,263,6499,0.00,2.28,0.00,0.000,6,0.000,0.028,3402,1665,2184
$GC,6744,1.85,133.3,190.1,14.2,273,6748,0.00,2.33,0.00,0.000,4,0.000,0.046,3402,255,2182
$GC,6921,1.85,133.3,164.0,14.7,288,6931,0.00,2.28,0.00,0.000,6,0.000,0.030,3402,1668,2181
$GC,7185,1.85,133.3,126.6,15.2,313,7189,0.00,2.30,0.00,0.000,4,0.000,0.049,3402,249,2181
$GC,7240,1.85,133.3,118.1,14.3,318,7244,0.00,2.22,0.00,0.000,6,0.000,0.027,3402,1660,2181
$GC,7500,1.85,133.3,84.9,10.8,342,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,1660,2181
$GC,7758,1.85,133.3,60.9,8.6,366,7762,0.00,2.28,0.00,0.000,4,0.000,0.047,3402,3059,2181
$GC,8014,1.88,152.4,45.4,6.3,388,8036,0.00,2.25,13.38,0.520,6,0.000,0.034,3402,1654,2126
$GC,8295,1.88,152.4,16.4,12.1,424,8303,0.00,2.30,0.00,0.000,4,0.000,0.038,3402,3055,2124
$STATE,8433,end climb,SURFACE_DEPTH_REACHED
$STATE,8433,begin surface coast
$FINISH,0.7,1.023214
$STATE,8468,end surface coast,CONTROL_FINISHED_OK
$STATE,8468,begin surface
$SM_CCo,8489,210.62,0.500,0,0,510,548.98
$SM_GC,1.28,0.00,0.00,210.62,0.000,0.000,0.500,405,1884,510,-11.89,-0.45,548.98
$IRIDIUM_FIX,2241.69,-15751.94,211197,141405
$TT8_MAMPS,0.026845
$HUMID,1602
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.30
$XPDR_PINGS,131
$24V_AH,23.8,24.257
$10V_AH,10.1,21.980
$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,27.175,95.075,198.575,210.625,0.000,143.370,404.919,0.000,32.750,0.000,0.000,15.274,923.944,5719.855,512.504,1718.984,712.510,33.358,1183.289,0.000,1723.016,0.000,0.468
$DEVICE_MAMPS,160.303,66.729,905.060,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.393,319.692,527.407,422.387,864.805,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35052,454
$CAP_FILE_SIZE,185218,0
$CFSIZE,260165632,250642432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270808,163507,2249.162,-15748.874,27,1.1,27,10.1