version: 66.03
glider: 148
mission: 6
dive: 124
start: 8 28 108 9 22 41
data:
$ID,148
$MISSION,6
$DIVE,124
$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,-8788.5166
$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,50
$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
$GPS1,091547,2248.627,-15749.164,8,3.8,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-58.3
$GPS2,092147,2248.570,-15749.160,9,99.0,28,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.035,0.150
$KALMAN_X,-70381.9,-166.1,117.0,83758.5,690.6
$KALMAN_Y,3082.1,281.0,-93.7,-2390.9,-2847.7
$MHEAD_RNG_PITCHd_Wd,336.8,1090,-25.8,-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,-1.68,-53.8,0.0,0.0,0,106,0.00,0.00,-85.07,0.000,2,0.000,0.000,410,1922,2776
$GC,109,-1.73,-96.8,3.4,-3.9,11,134,11.30,2.28,-8.18,0.000,4,0.160,0.048,2536,3301,3146
$GC,256,-1.73,-96.8,37.6,-23.0,33,260,0.00,2.20,0.00,0.000,6,0.000,0.029,2536,1896,3147
$GC,520,-1.73,-96.8,95.7,-19.9,57,524,0.00,2.22,0.00,0.000,4,0.000,0.032,2536,490,3147
$GC,595,-1.73,-96.8,109.1,-17.7,63,599,0.00,2.20,0.00,0.000,6,0.000,0.024,2536,1895,3147
$GC,855,-1.73,-96.8,154.2,-16.5,87,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1895,3148
$GC,1109,-1.73,-96.8,194.1,-16.1,111,1113,0.00,2.22,0.00,0.000,4,0.000,0.034,2536,498,3148
$GC,1159,-1.73,-96.8,202.2,-16.5,114,1163,0.00,2.20,0.00,0.000,6,0.000,0.024,2536,1909,3149
$GC,1436,-1.73,-96.8,241.9,-13.6,121,1440,0.00,2.22,0.00,0.000,4,0.000,0.035,2536,3310,3149
$GC,1457,-1.73,-96.8,244.7,-12.6,121,1462,0.00,2.22,0.00,0.000,6,0.000,0.022,2536,1899,3149
$GC,1718,-1.73,-96.8,278.9,-13.2,128,1722,0.00,2.22,0.00,0.000,4,0.000,0.044,2536,506,3149
$GC,1762,-1.73,-96.8,285.5,-15.0,129,1766,0.00,2.20,0.00,0.000,6,0.000,0.027,2536,1896,3149
$GC,2045,-1.73,-96.8,318.9,-11.6,136,2049,0.00,2.25,0.00,0.000,4,0.000,0.048,2536,508,3149
$GC,2084,-1.73,-96.8,323.4,-12.0,137,2088,0.00,2.20,0.00,0.000,6,0.000,0.029,2536,1899,3149
$GC,2366,-1.73,-96.8,351.6,-10.0,144,2370,0.00,2.28,0.00,0.000,4,0.000,0.053,2536,510,3149
$GC,2397,-1.73,-96.8,355.0,-10.5,144,2404,0.00,2.22,0.00,0.000,6,0.000,0.036,2536,1896,3149
$GC,2648,-1.73,-96.8,381.5,-10.9,151,2652,0.00,2.28,0.00,0.000,4,0.000,0.054,2536,509,3148
$GC,2725,-1.73,-96.8,391.6,-13.0,152,2729,0.00,2.25,0.00,0.000,6,0.000,0.040,2536,1897,3148
$GC,2980,-1.73,-96.8,420.9,-11.5,159,2984,0.00,2.30,0.00,0.000,4,0.000,0.050,2536,3306,3146
$GC,3018,-1.73,-96.8,425.4,-11.8,159,3025,0.00,2.25,0.00,0.000,6,0.000,0.032,2536,1908,3146
$GC,3268,-1.73,-96.8,453.3,-11.0,166,3272,0.00,2.33,0.00,0.000,4,0.000,0.055,2536,502,3144
$GC,3397,-1.73,-96.8,466.3,-9.8,169,3401,0.00,2.25,0.00,0.000,6,0.000,0.043,2536,1898,3143
$GC,3679,-1.73,-96.8,490.7,-8.6,176,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1898,3141
$STATE,3921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3921,begin apogee
$GC,3926,-0.31,0.0,513.5,9.5,182,4008,1.48,0.00,78.65,0.901,6,0.104,0.000,2850,1646,2749
$STATE,4009,end apogee,CONTROL_FINISHED_OK
$STATE,4009,begin climb
$GC,4011,1.73,96.8,514.9,0.0,184,4101,1.88,2.45,80.57,0.877,4,0.048,0.064,3298,273,2353
$GC,4206,1.73,96.8,493.4,16.6,188,4211,0.00,2.30,0.00,0.000,6,0.000,0.043,3298,1655,2348
$GC,4468,1.73,96.8,456.3,14.1,195,4472,0.00,2.35,0.00,0.000,4,0.000,0.060,3298,270,2344
$GC,4607,1.73,96.8,437.1,13.5,198,4611,0.00,2.28,0.00,0.000,6,0.000,0.031,3298,1662,2342
$GC,4884,1.73,96.8,402.5,12.4,205,4888,0.00,2.38,0.00,0.000,4,0.000,0.063,3298,3066,2340
$GC,4894,1.73,96.8,401.2,12.8,205,4898,0.00,2.25,0.00,0.000,6,0.000,0.038,3298,1679,2340
$GC,5165,1.73,96.8,367.9,11.7,212,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1679,2338
$GC,5409,1.73,96.8,337.2,12.8,218,5413,0.00,2.42,0.00,0.000,4,0.000,0.064,3298,256,2337
$GC,5424,1.73,96.8,335.3,11.3,218,5428,0.00,2.28,0.00,0.000,6,0.000,0.033,3298,1664,2336
$GC,5690,1.73,96.8,306.6,10.5,225,5694,0.00,2.33,0.00,0.000,4,0.000,0.055,3298,3056,2334
$GC,5722,1.73,96.8,303.1,10.4,225,5729,0.00,2.28,0.00,0.000,6,0.000,0.032,3298,1664,2334
$GC,5973,1.73,96.8,276.6,10.3,232,5976,0.00,2.38,0.00,0.000,4,0.000,0.068,3298,251,2333
$GC,6023,1.73,96.8,271.6,10.0,233,6027,0.00,2.22,0.00,0.000,6,0.000,0.035,3298,1664,2333
$GC,6300,1.75,107.0,250.0,7.4,240,6310,0.00,2.38,5.88,0.602,4,0.000,0.053,3298,244,2311
$GC,6339,1.75,107.0,246.7,8.7,241,6342,0.00,2.25,0.00,0.000,6,0.000,0.032,3298,1664,2311
$GC,6621,1.75,107.0,220.9,9.5,248,6625,0.00,2.35,0.00,0.000,4,0.000,0.050,3298,242,2311
$GC,6878,1.76,117.5,199.2,7.4,253,6895,0.00,2.22,10.07,0.634,6,0.000,0.027,3298,1660,2269
$GC,7149,1.76,121.3,179.0,8.1,279,7162,0.00,2.35,4.50,0.482,4,0.000,0.049,3298,253,2254
$GC,7387,1.76,121.3,154.3,10.0,300,7391,0.00,2.22,0.00,0.000,6,0.000,0.035,3298,1664,2253
$GC,7647,1.76,121.3,130.0,8.8,324,7651,0.00,2.33,0.00,0.000,4,0.000,0.044,3298,242,2253
$GC,7678,1.76,121.3,127.2,8.6,326,7688,0.00,2.25,0.00,0.000,6,0.000,0.025,3298,1659,2253
$GC,7944,1.77,127.5,106.3,7.8,351,7956,0.00,2.35,6.80,0.508,4,0.000,0.051,3298,3057,2229
$GC,8196,1.79,144.0,85.3,6.7,373,8220,0.00,2.22,15.75,0.555,6,0.000,0.034,3298,1645,2160
$GC,8474,1.81,157.3,62.2,7.1,399,8491,0.00,2.28,12.30,0.522,4,0.000,0.048,3298,259,2106
$GC,8551,1.81,161.2,56.4,8.1,405,8561,0.00,2.22,4.78,0.409,6,0.000,0.024,3298,1661,2091
$GC,8814,1.81,161.2,33.5,8.8,430,8818,0.00,2.28,0.00,0.000,4,0.000,0.043,3298,3062,2090
$GC,8833,1.81,161.2,31.7,9.3,431,8837,0.00,2.20,0.00,0.000,6,0.000,0.026,3298,1661,2089
$STATE,9112,end climb,SURFACE_DEPTH_REACHED
$STATE,9112,begin surface coast
$FINISH,0.6,1.022245
$STATE,9142,end surface coast,CONTROL_FINISHED_OK
$STATE,9142,begin surface
$SM_CCo,9162,140.10,0.498,0,0,955,440.07
$SM_GC,1.51,0.00,0.00,140.10,0.000,0.000,0.498,411,1923,955,-11.54,0.65,440.07
$IRIDIUM_FIX,2241.69,-15749.78,221197,060615
$TT8_MAMPS,0.027612
$HUMID,1608
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.60
$XPDR_PINGS,132
$24V_AH,23.8,24.924
$10V_AH,10.1,22.652
$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,26.425,105.375,219.300,140.100,0.000,26.515,30.310,194.923,33.000,0.000,0.000,30.939,975.504,5997.993,458.818,1794.283,437.859,33.356,1162.108,0.000,1804.253,0.000,0.469
$DEVICE_MAMPS,159.536,68.263,901.225,497.783,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.564,320.465,556.035,422.656,878.228,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35009,482
$CAP_FILE_SIZE,198877,0
$CFSIZE,260165632,250212352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280808,115901,2248.452,-15749.379,36,1.2,41,10.1