version: 66.03
glider: 148
mission: 6
dive: 122
start: 8 28 108 3 48 23
data:
$ID,148
$MISSION,6
$DIVE,122
$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,440
$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,-8741.8047
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2920
$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,51
$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
$GPS1,034145,2248.927,-15748.933,10,1.8,10,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-58.4
$GPS2,034729,2248.922,-15748.952,13,99.0,32,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.082,0.122
$KALMAN_X,-71866.4,111.8,-81.0,85520.4,416.9
$KALMAN_Y,5779.0,706.0,396.1,-5354.5,-2447.0
$MHEAD_RNG_PITCHd_Wd,316.1,1709,-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,-84.62,0.000,2,0.000,0.000,413,1921,2760
$GC,108,-1.79,-86.2,3.3,-4.3,11,133,11.23,2.20,-7.72,0.000,4,0.161,0.054,2519,3288,3102
$GC,276,-1.79,-86.2,41.4,-22.8,35,285,0.00,2.22,0.00,0.000,6,0.000,0.024,2519,1892,3103
$GC,537,-1.79,-86.2,93.7,-17.1,60,541,0.00,2.22,0.00,0.000,4,0.000,0.035,2519,493,3104
$GC,569,-1.79,-86.2,99.6,-18.2,62,578,0.00,2.20,0.00,0.000,6,0.000,0.022,2519,1888,3104
$GC,834,-1.79,-86.2,145.8,-17.3,87,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1888,3104
$GC,1096,-1.79,-86.2,190.3,-15.6,112,1100,0.00,2.22,0.00,0.000,4,0.000,0.037,2520,503,3104
$GC,1173,-1.79,-86.2,203.4,-16.3,117,1180,0.00,2.20,0.00,0.000,6,0.000,0.025,2520,1891,3104
$GC,1423,-1.79,-86.2,240.1,-14.4,124,1427,0.00,2.22,0.00,0.000,4,0.000,0.035,2520,497,3105
$GC,1449,-1.79,-86.2,243.6,-13.3,124,1454,0.00,2.22,0.00,0.000,6,0.000,0.024,2520,1905,3105
$GC,1705,-1.79,-86.2,277.2,-13.6,131,1709,0.00,2.25,0.00,0.000,4,0.000,0.038,2520,501,3105
$GC,1794,-1.79,-86.2,290.3,-15.1,133,1799,0.00,2.20,0.00,0.000,6,0.000,0.028,2519,1904,3105
$GC,2071,-1.79,-86.2,323.3,-11.8,140,2075,0.00,2.25,0.00,0.000,4,0.000,0.042,2519,507,3105
$GC,2148,-1.79,-86.2,333.4,-12.8,141,2153,0.00,2.22,0.00,0.000,6,0.000,0.029,2519,1894,3105
$GC,2404,-1.79,-86.2,360.8,-10.5,148,2408,0.00,2.28,0.00,0.000,4,0.000,0.047,2519,501,3105
$GC,2452,-1.79,-86.2,366.0,-10.5,149,2457,0.00,2.25,0.00,0.000,6,0.000,0.038,2520,1899,3105
$GC,2737,-1.79,-86.2,395.3,-10.4,156,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1900,3104
$GC,2980,-1.79,-86.2,422.0,-11.1,162,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1900,3103
$GC,3224,-1.79,-86.2,448.4,-10.5,168,3228,0.00,2.33,0.00,0.000,4,0.000,0.060,2520,508,3101
$GC,3245,-1.79,-86.2,450.8,-11.3,168,3249,0.00,2.25,0.00,0.000,6,0.000,0.044,2520,1886,3101
$GC,3506,-1.79,-86.2,478.4,-10.3,175,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1886,3099
$GC,3749,-1.79,-86.2,506.0,-11.3,181,3753,0.00,2.33,0.00,0.000,4,0.000,0.058,2519,504,3098
$STATE,3787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3787,begin apogee
$GC,3793,-0.31,0.0,510.6,12.6,182,3869,1.55,0.00,70.32,0.896,6,0.110,0.000,2846,1666,2749
$STATE,3870,end apogee,CONTROL_FINISHED_OK
$STATE,3870,begin climb
$GC,3872,1.79,86.2,513.2,0.0,184,3948,1.95,0.00,71.68,0.876,6,0.046,0.000,3314,1666,2397
$GC,4158,1.79,86.2,481.7,13.8,191,4162,0.00,2.38,0.00,0.000,4,0.000,0.057,3314,271,2391
$GC,4414,1.79,86.2,442.0,15.2,196,4421,0.00,2.28,0.00,0.000,6,0.000,0.035,3314,1649,2387
$GC,4664,1.79,86.2,410.6,12.1,203,4668,0.00,2.33,0.00,0.000,4,0.000,0.051,3314,268,2385
$GC,4679,1.79,86.2,408.6,11.8,203,4684,0.00,2.30,0.00,0.000,6,0.000,0.039,3314,1666,2385
$GC,4946,1.79,86.2,375.5,12.2,210,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1666,2383
$GC,5190,1.79,86.2,351.2,9.8,216,5194,0.00,2.35,0.00,0.000,4,0.000,0.051,3314,262,2381
$GC,5386,1.79,86.2,331.5,9.3,220,5390,0.00,2.25,0.00,0.000,6,0.000,0.037,3314,1669,2379
$GC,5646,1.80,88.2,308.8,8.3,227,5650,0.00,2.35,0.00,0.000,4,0.000,0.051,3314,262,2378
$GC,5902,1.80,88.2,284.1,9.1,232,5909,0.00,2.25,0.00,0.000,6,0.000,0.028,3314,1663,2377
$GC,6153,1.81,100.3,265.8,7.1,239,6167,0.00,2.35,9.07,0.678,4,0.000,0.059,3313,3055,2340
$GC,6184,1.82,110.9,263.5,7.3,239,6199,0.00,2.25,10.55,0.682,6,0.000,0.035,3314,1680,2296
$GC,6484,1.82,110.9,235.7,10.2,247,6488,0.00,2.38,0.00,0.000,4,0.000,0.060,3314,257,2293
$GC,6689,1.82,110.9,214.3,10.3,251,6694,0.00,2.25,0.00,0.000,6,0.000,0.026,3314,1662,2291
$GC,6944,1.83,119.0,193.8,7.6,263,6955,0.00,0.00,7.60,0.594,6,0.000,0.000,3314,1662,2263
$GC,7210,1.84,125.0,172.9,7.8,288,7223,0.00,2.35,6.40,0.547,4,0.000,0.045,3314,259,2238
$GC,7475,1.84,125.0,147.2,11.1,311,7482,0.00,2.22,0.00,0.000,6,0.000,0.027,3314,1650,2238
$GC,7736,1.84,125.0,119.9,10.3,336,7740,0.00,2.30,0.00,0.000,4,0.000,0.047,3314,3059,2238
$GC,7755,1.84,125.0,118.2,10.2,337,7760,0.00,2.25,0.00,0.000,6,0.000,0.029,3314,1641,2238
$GC,8019,1.84,125.0,91.3,9.7,361,8023,0.00,2.30,0.00,0.000,4,0.000,0.047,3314,3061,2238
$GC,8277,1.88,158.5,75.5,4.6,383,8313,0.00,2.22,29.45,0.563,6,0.000,0.028,3314,1667,2101
$GC,8567,1.89,163.1,52.4,8.0,410,8581,0.00,2.33,4.78,0.406,4,0.000,0.051,3314,261,2083
$GC,8696,1.89,163.1,38.8,10.3,421,8700,0.00,2.20,0.00,0.000,6,0.000,0.023,3314,1667,2083
$GC,8972,1.89,163.1,10.3,8.7,461,8980,0.00,2.28,0.00,0.000,4,0.000,0.042,3314,3054,2082
$GC,8994,1.89,164.6,8.3,8.3,464,9002,0.00,2.22,0.00,0.000,6,0.000,0.028,3314,1666,2082
$STATE,9043,end climb,SURFACE_DEPTH_REACHED
$STATE,9043,begin surface coast
$FINISH,0.7,1.023199
$STATE,9073,end surface coast,CONTROL_FINISHED_OK
$STATE,9073,begin surface
$SM_CCo,9092,149.43,0.498,0,0,954,440.07
$SM_GC,1.50,0.00,0.00,149.43,0.000,0.000,0.498,413,1939,954,-11.53,1.10,440.07
$IRIDIUM_FIX,2239.35,-15746.73,221197,010127
$TT8_MAMPS,0.027612
$HUMID,1612
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.80
$XPDR_PINGS,127
$24V_AH,23.8,24.732
$10V_AH,10.1,22.456
$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,26.425,90.750,209.850,149.425,0.000,29.610,26.977,177.441,31.750,0.000,0.000,34.455,964.077,5956.868,472.676,1791.632,405.199,33.359,1175.703,0.000,1808.553,0.000,0.468
$DEVICE_MAMPS,161.070,59.826,895.856,497.783,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.933,293.498,548.253,421.556,863.797,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35136,477
$CAP_FILE_SIZE,194352,0
$CFSIZE,260165632,250339328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280808,062338,2248.977,-15749.072,36,1.1,36,10.1