version: 66.03
glider: 148
mission: 6
dive: 118
start: 8 27 108 16 42 3
data:
$ID,148
$MISSION,6
$DIVE,118
$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,-8645.9619
$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,41
$R_STBD_OVSHOOT,33
$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
$GPS1,163507,2249.162,-15748.874,27,1.1,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-56.7
$GPS2,164109,2249.156,-15748.909,12,1.6,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.137,0.053
$KALMAN_X,-73124.2,-260.7,47.3,87092.7,621.9
$KALMAN_Y,10864.1,-205.0,369.1,-9063.7,-2437.4
$MHEAD_RNG_PITCHd_Wd,281.1,2147,-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,-84.88,0.000,2,0.000,0.000,405,1883,2778
$GC,108,-1.80,-88.6,3.2,-4.0,11,134,11.68,2.38,-7.68,0.000,4,0.161,0.048,2589,3314,3113
$GC,288,-1.80,-88.6,35.3,-17.7,39,292,0.00,2.22,0.00,0.000,6,0.000,0.025,2589,1899,3113
$GC,550,-1.80,-88.6,81.5,-15.5,63,554,0.00,2.28,0.00,0.000,4,0.000,0.039,2589,3305,3114
$GC,603,-1.80,-88.6,89.5,-15.1,67,607,0.00,2.20,0.00,0.000,6,0.000,0.025,2589,1896,3114
$GC,868,-1.80,-88.6,126.3,-13.4,92,872,0.00,2.22,0.00,0.000,4,0.000,0.036,2589,494,3115
$GC,910,-1.80,-88.6,131.8,-14.1,95,914,0.00,2.22,0.00,0.000,6,0.000,0.027,2589,1905,3115
$GC,1170,-1.80,-88.6,168.3,-14.4,119,1174,0.00,2.25,0.00,0.000,4,0.000,0.039,2589,3309,3115
$GC,1186,-1.80,-88.6,170.6,-15.0,120,1190,0.00,2.20,0.00,0.000,6,0.000,0.024,2589,1895,3115
$GC,1455,-1.80,-88.6,205.0,-12.0,142,1459,0.00,2.28,0.00,0.000,4,0.000,0.037,2589,3310,3115
$GC,1465,-1.80,-88.6,206.3,-11.8,142,1469,0.00,2.22,0.00,0.000,6,0.000,0.024,2589,1900,3115
$GC,1737,-1.80,-88.6,236.3,-11.0,149,1741,0.00,2.20,0.00,0.000,4,0.000,0.042,2589,506,3116
$GC,1865,-1.80,-88.6,251.1,-12.3,151,1872,0.00,2.20,0.00,0.000,6,0.000,0.026,2589,1898,3116
$GC,2115,-1.80,-88.6,275.8,-9.7,158,2119,0.00,2.25,0.00,0.000,4,0.000,0.041,2589,3302,3116
$GC,2164,-1.80,-88.6,280.7,-9.6,159,2168,0.00,2.22,0.00,0.000,6,0.000,0.025,2589,1899,3115
$GC,2442,-1.80,-88.6,309.4,-10.6,166,2446,0.00,2.30,0.00,0.000,4,0.000,0.043,2589,3309,3116
$GC,2508,-1.80,-88.6,315.8,-9.7,167,2512,0.00,2.22,0.00,0.000,6,0.000,0.027,2589,1911,3115
$GC,2769,-1.80,-88.6,339.0,-8.5,174,2773,0.00,2.30,0.00,0.000,4,0.000,0.050,2589,500,3116
$GC,2785,-1.80,-88.6,340.6,-8.8,174,2789,0.00,2.20,0.00,0.000,6,0.000,0.037,2589,1893,3116
$GC,3046,-1.80,-88.6,365.5,-9.6,181,3050,0.00,2.30,0.00,0.000,4,0.000,0.048,2589,3303,3115
$GC,3066,-1.80,-88.6,367.8,-10.8,181,3071,0.00,2.25,0.00,0.000,6,0.000,0.028,2589,1899,3115
$GC,3328,-1.80,-89.7,390.8,-8.4,188,3332,0.00,2.33,0.00,0.000,4,0.000,0.058,2589,3305,3114
$GC,3360,-1.80,-91.8,393.5,-8.3,188,3364,0.00,2.25,0.00,0.000,6,0.000,0.034,2589,1903,3114
$GC,3615,-1.80,-91.8,414.6,-8.5,195,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1903,3112
$GC,3859,-1.80,-92.5,435.0,-8.4,201,3863,0.00,2.35,0.00,0.000,4,0.000,0.055,2589,3305,3110
$GC,3937,-1.80,-92.5,441.8,-8.8,202,3943,0.00,2.28,0.00,0.000,6,0.000,0.037,2589,1897,3110
$GC,4186,-1.80,-92.5,462.7,-8.5,209,4190,0.00,2.35,0.00,0.000,4,0.000,0.052,2589,3303,3108
$GC,4234,-1.80,-92.5,467.2,-9.0,210,4239,0.00,2.28,0.00,0.000,6,0.000,0.031,2589,1902,3108
$GC,4513,-1.81,-97.7,489.9,-7.9,217,4517,0.00,2.33,0.00,0.000,4,0.000,0.061,2589,501,3106
$GC,4562,-1.81,-97.7,494.3,-8.7,218,4566,0.00,2.28,0.00,0.000,6,0.000,0.041,2589,1887,3105
$STATE,4797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4797,begin apogee
$GC,4802,-0.31,0.0,512.6,7.7,224,4880,1.52,0.00,71.97,0.909,6,0.099,0.000,2918,1649,2748
$STATE,4881,end apogee,CONTROL_FINISHED_OK
$STATE,4881,begin climb
$GC,4883,1.81,97.7,513.4,0.0,226,4973,1.95,2.42,81.25,0.887,4,0.041,0.064,3389,270,2350
$GC,5225,1.81,97.7,462.3,17.5,233,5232,0.00,2.30,0.00,0.000,6,0.000,0.033,3390,1665,2341
$GC,5475,1.81,97.7,422.3,16.1,240,5479,0.00,2.35,0.00,0.000,4,0.000,0.051,3390,270,2338
$GC,5666,1.81,97.7,389.6,16.9,244,5670,0.00,2.25,0.00,0.000,6,0.000,0.038,3390,1661,2337
$GC,5931,1.81,97.7,350.0,14.0,251,5935,0.00,2.33,0.00,0.000,4,0.000,0.054,3389,263,2335
$GC,6025,1.81,97.7,336.4,14.4,253,6030,0.00,2.28,0.00,0.000,6,0.000,0.035,3389,1663,2333
$GC,6309,1.81,97.7,300.2,12.7,260,6313,0.00,2.33,0.00,0.000,4,0.000,0.046,3389,265,2332
$GC,6483,1.81,97.7,279.3,12.5,264,6487,0.00,2.22,0.00,0.000,6,0.000,0.036,3390,1662,2331
$GC,6765,1.81,97.7,248.9,10.2,271,6769,0.00,2.33,0.00,0.000,4,0.000,0.053,3390,3059,2330
$GC,6854,1.82,108.8,241.8,7.2,273,6865,0.00,2.25,6.68,0.620,6,0.000,0.029,3390,1675,2304
$GC,7131,1.82,108.8,216.6,9.0,280,7135,0.00,2.35,0.00,0.000,4,0.000,0.061,3389,257,2304
$GC,7387,1.82,108.8,189.8,10.8,291,7397,0.00,2.25,0.00,0.000,6,0.000,0.028,3389,1666,2303
$GC,7651,1.83,119.3,167.3,7.3,316,7666,0.00,2.35,10.05,0.605,4,0.000,0.043,3389,245,2262
$GC,7919,1.83,119.3,139.7,11.4,339,7926,0.00,2.25,0.00,0.000,6,0.000,0.033,3390,1658,2260
$GC,8180,1.83,119.3,112.0,11.3,364,8184,0.00,2.28,0.00,0.000,4,0.000,0.041,3389,252,2260
$GC,8439,1.83,119.3,83.2,9.3,386,8449,0.00,2.25,0.00,0.000,6,0.000,0.027,3390,1666,2260
$GC,8703,1.88,152.7,66.9,4.6,411,8742,0.00,2.35,29.17,0.558,4,0.000,0.048,3389,253,2125
$GC,8882,1.88,152.7,54.1,8.5,426,8891,0.00,2.22,0.00,0.000,6,0.000,0.025,3390,1650,2122
$GC,9145,1.88,152.7,28.5,10.9,452,9154,0.00,2.33,0.00,0.000,4,0.000,0.044,3389,3062,2122
$GC,9161,1.88,152.7,26.8,10.6,454,9170,0.00,2.25,0.00,0.000,6,0.000,0.028,3389,1650,2121
$STATE,9408,end climb,SURFACE_DEPTH_REACHED
$STATE,9409,begin surface coast
$FINISH,0.6,1.022977
$STATE,9439,end surface coast,CONTROL_FINISHED_OK
$STATE,9439,begin surface
$SM_CCo,9459,207.55,0.497,0,0,510,548.98
$SM_GC,1.43,0.00,0.00,207.55,0.000,0.000,0.497,411,1947,510,-11.86,1.30,548.98
$IRIDIUM_FIX,2241.69,-15748.90,211197,141458
$TT8_MAMPS,0.026845
$HUMID,1622
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,23.50
$XPDR_PINGS,117
$24V_AH,23.8,24.352
$10V_AH,10.1,22.081
$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,27.325,110.025,199.125,207.550,0.000,28.790,28.913,210.283,29.250,0.000,0.000,14.314,1029.609,6071.613,520.178,1959.927,450.992,33.352,1287.996,0.000,1979.751,0.000,0.469
$DEVICE_MAMPS,161.070,63.661,908.895,497.016,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.204,333.250,581.650,453.304,939.699,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38304,502
$CAP_FILE_SIZE,208156,0
$CFSIZE,260165632,250572800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270808,192407,2248.905,-15749.435,11,1.7,21,10.1