version: 66.03
glider: 148
mission: 6
dive: 127
start: 8 28 108 17 29 51
data:
$ID,148
$MISSION,6
$DIVE,127
$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,-8851.6309
$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,36
$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
$GPS1,171351,2248.659,-15749.311,11,1.9,11,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-62.4
$GPS2,172857,2248.604,-15749.403,32,1.8,32,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.009,0.180
$KALMAN_X,-70072.4,-225.3,-128.5,83342.0,789.3
$KALMAN_Y,-2471.8,-237.7,466.0,3183.5,-3274.6
$MHEAD_RNG_PITCHd_Wd,347.1,1314,-21.8,-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,17,begin dive
$GC,19,-1.45,-74.3,0.0,0.0,0,90,0.00,0.00,-69.30,0.000,2,0.000,0.000,409,1892,2806
$GC,93,-1.52,-126.7,3.5,-4.5,9,126,11.45,2.33,-10.02,0.000,4,0.158,0.058,2580,3298,3268
$GC,242,-1.52,-126.7,37.3,-24.2,31,246,0.00,2.20,0.00,0.000,6,0.000,0.030,2580,1883,3269
$GC,504,-1.52,-126.7,86.6,-16.8,55,508,0.00,2.28,0.00,0.000,4,0.000,0.037,2580,3306,3269
$GC,574,-1.52,-126.7,98.9,-16.9,61,579,0.00,2.17,0.00,0.000,6,0.000,0.021,2580,1902,3270
$GC,837,-1.52,-126.7,142.8,-16.6,85,841,0.00,2.25,0.00,0.000,4,0.000,0.035,2581,3314,3271
$GC,852,-1.52,-126.7,146.0,-17.3,86,862,0.00,2.22,0.00,0.000,6,0.000,0.020,2580,1892,3270
$GC,1113,-1.52,-126.7,185.1,-14.6,111,1117,0.00,2.28,0.00,0.000,4,0.000,0.035,2580,3315,3271
$GC,1156,-1.52,-126.7,192.2,-15.6,114,1166,0.00,2.22,0.00,0.000,6,0.000,0.021,2580,1903,3270
$GC,1419,-1.52,-126.7,229.3,-13.8,125,1422,0.00,2.25,0.00,0.000,4,0.000,0.035,2580,3310,3271
$GC,1439,-1.52,-126.7,232.4,-14.3,125,1444,0.00,2.22,0.00,0.000,6,0.000,0.021,2580,1893,3271
$GC,1701,-1.52,-126.7,265.5,-12.2,132,1705,0.00,2.25,0.00,0.000,4,0.000,0.034,2580,3306,3271
$GC,1749,-1.52,-126.7,271.5,-11.0,133,1754,0.00,2.20,0.00,0.000,6,0.000,0.026,2580,1910,3271
$GC,2027,-1.52,-126.7,302.1,-11.2,140,2031,0.00,2.25,0.00,0.000,4,0.000,0.042,2580,507,3271
$GC,2082,-1.52,-126.7,308.9,-12.1,141,2086,0.00,2.20,0.00,0.000,6,0.000,0.033,2580,1894,3271
$GC,2354,-1.52,-126.7,338.3,-10.7,148,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1893,3270
$GC,2598,-1.52,-126.7,365.4,-11.1,154,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1893,3270
$GC,2842,-1.52,-126.7,392.2,-11.1,160,2846,0.00,2.28,0.00,0.000,4,0.000,0.052,2580,3302,3269
$GC,2868,-1.52,-126.7,395.3,-11.7,160,2873,0.00,2.22,0.00,0.000,6,0.000,0.031,2580,1904,3268
$GC,3129,-1.52,-126.7,423.5,-10.7,167,3133,0.00,2.30,0.00,0.000,4,0.000,0.051,2580,3303,3267
$GC,3189,-1.52,-126.7,429.8,-9.8,168,3194,0.00,2.25,0.00,0.000,6,0.000,0.033,2580,1899,3266
$GC,3456,-1.52,-126.7,454.2,-9.1,175,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1899,3265
$GC,3700,-1.52,-126.7,477.4,-9.6,181,3704,0.00,2.30,0.00,0.000,4,0.000,0.049,2580,3296,3263
$GC,3748,-1.52,-126.7,482.3,-9.5,182,3753,0.00,2.25,0.00,0.000,6,0.000,0.034,2580,1903,3263
$GC,4027,-1.52,-126.7,508.7,-9.5,189,4031,0.00,2.30,0.00,0.000,4,0.000,0.051,2580,3301,3261
$STATE,4042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4042,begin apogee
$GC,4049,-0.31,0.0,510.3,9.5,189,4154,1.23,0.00,101.57,0.899,6,0.098,0.000,2847,1666,2749
$STATE,4155,end apogee,CONTROL_FINISHED_OK
$STATE,4155,begin climb
$GC,4157,1.52,126.7,512.0,0.0,192,4271,1.73,2.50,104.82,0.874,4,0.051,0.065,3256,255,2230
$GC,4524,1.52,126.7,456.7,19.2,200,4528,0.00,2.25,0.00,0.000,6,0.000,0.031,3256,1650,2222
$GC,4784,1.52,126.7,414.5,16.0,207,4788,0.00,2.35,0.00,0.000,4,0.000,0.054,3256,250,2218
$GC,4840,1.52,126.7,405.6,15.7,208,4844,0.00,2.28,0.00,0.000,6,0.000,0.029,3256,1667,2218
$GC,5111,1.52,126.7,365.2,15.0,215,5115,0.00,2.35,0.00,0.000,4,0.000,0.053,3256,3063,2215
$GC,5171,1.52,126.7,356.6,13.7,216,5175,0.00,2.30,0.00,0.000,6,0.000,0.037,3256,1668,2214
$GC,5443,1.52,126.7,320.1,13.0,223,5447,0.00,2.30,0.00,0.000,4,0.000,0.044,3256,3068,2212
$GC,5458,1.52,126.7,317.9,13.5,223,5463,0.00,2.33,0.00,0.000,6,0.000,0.031,3256,1656,2212
$GC,5731,1.52,126.7,285.3,11.4,230,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1657,2210
$GC,5975,1.52,126.7,257.9,11.3,236,5979,0.00,2.38,0.00,0.000,4,0.000,0.061,3257,249,2209
$GC,6110,1.52,126.7,241.9,11.6,239,6114,0.00,2.22,0.00,0.000,6,0.000,0.031,3256,1668,2208
$GC,6387,1.52,126.7,211.8,10.5,246,6391,0.00,2.30,0.00,0.000,4,0.000,0.048,3256,3059,2207
$GC,6402,1.52,126.7,210.1,11.0,246,6406,0.00,2.28,0.00,0.000,6,0.000,0.029,3257,1648,2207
$GC,6665,1.52,126.7,184.3,9.8,264,6669,0.00,2.30,0.00,0.000,4,0.000,0.038,3257,3057,2207
$GC,6906,1.52,126.7,160.9,8.9,285,6910,0.00,2.22,0.00,0.000,6,0.000,0.031,3256,1656,2206
$GC,7170,1.52,126.7,138.8,9.0,309,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1656,2206
$GC,7430,1.52,128.0,115.8,8.4,334,7434,0.00,2.25,0.00,0.000,4,0.000,0.047,3256,259,2206
$GC,7449,1.53,133.3,114.3,8.1,335,7454,0.00,2.17,0.00,0.000,6,0.000,0.030,3257,1664,2206
$GC,7714,1.55,148.3,93.6,7.3,359,7738,0.00,2.30,14.85,0.558,4,0.000,0.046,3257,3049,2143
$GC,7808,1.55,148.3,85.6,9.3,367,7812,0.00,2.22,0.00,0.000,6,0.000,0.035,3257,1649,2143
$GC,8071,1.57,169.4,63.7,6.9,391,8097,0.00,2.33,18.52,0.540,4,0.000,0.044,3256,3044,2058
$GC,8325,1.58,173.7,43.5,8.2,413,8339,0.00,2.20,5.12,0.415,6,0.000,0.027,3256,1655,2039
$GC,8601,1.58,173.7,18.0,9.3,448,8609,0.00,2.30,0.00,0.000,4,0.000,0.037,3257,3056,2039
$GC,8719,1.58,173.7,5.7,11.5,468,8727,0.00,2.22,0.00,0.000,6,0.000,0.026,3256,1661,2038
$STATE,8744,end climb,SURFACE_DEPTH_REACHED
$STATE,8746,begin surface coast
$FINISH,0.5,1.022996
$STATE,8775,end surface coast,CONTROL_FINISHED_OK
$STATE,8776,begin surface
$SM_CCo,8795,202.05,0.496,0,0,510,548.98
$SM_GC,1.31,0.00,0.00,202.05,0.000,0.000,0.496,411,1913,510,-11.54,0.37,548.98
$IRIDIUM_FIX,2241.69,-15746.73,221197,171731
$TT8_MAMPS,0.027612
$HUMID,1604
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.70
$XPDR_PINGS,140
$24V_AH,23.8,25.238
$10V_AH,10.1,22.930
$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,25.950,100.625,244.900,202.050,0.000,147.149,406.180,0.000,35.000,0.000,0.000,34.338,951.584,5957.052,533.231,1734.796,730.869,33.354,1216.615,0.000,1734.759,0.000,0.469
$DEVICE_MAMPS,158.002,65.195,898.924,496.249,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.521,317.268,554.801,430.251,886.766,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35204,477
$CAP_FILE_SIZE,194142,0
$CFSIZE,260165632,250011648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280808,200107,2248.720,-15749.166,37,0.9,42,10.1