version: 66.03
glider: 148
mission: 6
dive: 128
start: 8 28 108 20 7 46
data:
$ID,148
$MISSION,6
$DIVE,128
$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,-8867.9297
$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,52
$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
$GPS1,200107,2248.720,-15749.166,37,0.9,42,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-57.7
$GPS2,200651,2248.697,-15749.179,14,1.1,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.009,0.162
$KALMAN_X,-69943.2,-174.3,159.6,83255.3,407.9
$KALMAN_Y,-4348.8,26.7,162.8,5270.0,-3220.8
$MHEAD_RNG_PITCHd_Wd,346.8,1326,-24.5,-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,-1.61,-59.4,0.0,0.0,0,106,0.00,0.00,-84.78,0.000,2,0.000,0.000,411,1915,2747
$GC,109,-1.67,-109.6,3.2,-3.7,11,142,11.38,2.25,-10.07,0.000,4,0.160,0.049,2548,3286,3198
$GC,201,-1.67,-109.6,22.8,-22.5,25,209,0.00,2.20,0.00,0.000,6,0.000,0.023,2548,1897,3198
$GC,467,-1.67,-109.6,80.5,-18.4,52,471,0.00,2.22,0.00,0.000,4,0.000,0.044,2548,3287,3199
$GC,493,-1.67,-109.6,86.2,-20.6,54,503,0.00,2.20,0.00,0.000,6,0.000,0.023,2548,1895,3199
$GC,758,-1.67,-109.6,134.7,-18.4,79,762,0.00,2.25,0.00,0.000,4,0.000,0.035,2548,3296,3199
$GC,779,-1.67,-109.6,139.5,-18.7,80,789,0.00,2.20,0.00,0.000,6,0.000,0.021,2548,1895,3200
$GC,1040,-1.67,-109.6,185.8,-17.8,105,1044,0.00,2.20,0.00,0.000,4,0.000,0.033,2548,500,3200
$GC,1079,-1.67,-109.6,192.1,-16.3,108,1084,0.00,2.17,0.00,0.000,6,0.000,0.024,2548,1895,3200
$GC,1341,-1.67,-109.6,232.0,-15.2,118,1345,0.00,2.22,0.00,0.000,4,0.000,0.034,2548,500,3200
$GC,1389,-1.67,-109.6,239.8,-15.9,119,1394,0.00,2.20,0.00,0.000,6,0.000,0.024,2548,1895,3200
$GC,1667,-1.67,-109.6,280.1,-13.6,126,1671,0.00,2.22,0.00,0.000,4,0.000,0.038,2549,506,3200
$GC,1694,-1.67,-109.6,283.6,-13.1,126,1698,0.00,2.20,0.00,0.000,6,0.000,0.024,2548,1901,3201
$GC,1949,-1.67,-109.6,315.5,-12.5,133,1953,0.00,2.25,0.00,0.000,4,0.000,0.042,2548,513,3201
$GC,2015,-1.67,-109.6,323.5,-12.3,134,2020,0.00,2.20,0.00,0.000,6,0.000,0.034,2548,1899,3200
$GC,2277,-1.67,-109.6,354.3,-12.0,141,2280,0.00,2.28,0.00,0.000,4,0.000,0.052,2548,510,3200
$GC,2315,-1.67,-109.6,359.3,-12.6,142,2319,0.00,2.20,0.00,0.000,6,0.000,0.035,2548,1901,3200
$GC,2598,-1.67,-109.6,391.6,-11.3,149,2602,0.00,2.28,0.00,0.000,4,0.000,0.051,2548,3301,3199
$GC,2658,-1.67,-109.6,398.9,-11.7,150,2663,0.00,2.22,0.00,0.000,6,0.000,0.035,2548,1910,3199
$GC,2925,-1.67,-109.6,429.5,-11.2,157,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1910,3198
$GC,3169,-1.67,-109.6,455.2,-10.5,163,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1910,3196
$GC,3412,-1.67,-109.6,479.8,-10.2,169,3416,0.00,2.30,0.00,0.000,4,0.000,0.049,2548,3308,3195
$GC,3449,-1.67,-109.6,483.4,-8.9,169,3456,0.00,2.28,0.00,0.000,6,0.000,0.029,2548,1903,3195
$GC,3699,-1.67,-109.6,506.7,-9.6,176,3703,0.00,2.30,0.00,0.000,4,0.000,0.052,2548,3299,3193
$STATE,3737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3737,begin apogee
$GC,3744,-0.31,0.0,510.3,9.4,177,3836,1.42,0.00,88.62,0.897,6,0.107,0.000,2849,1660,2749
$STATE,3837,end apogee,CONTROL_FINISHED_OK
$STATE,3837,begin climb
$GC,3839,1.67,109.6,511.9,0.0,179,3939,1.83,2.50,90.45,0.874,4,0.048,0.064,3287,253,2302
$GC,4023,1.67,109.6,491.0,16.3,183,4027,0.00,2.33,0.00,0.000,6,0.000,0.038,3287,1650,2296
$GC,4295,1.67,109.6,450.0,14.6,190,4299,0.00,2.45,0.00,0.000,4,0.000,0.069,3287,3069,2292
$GC,4361,1.67,109.6,439.5,15.6,191,4366,0.00,2.33,0.00,0.000,6,0.000,0.032,3287,1669,2290
$GC,4622,1.67,109.6,401.1,14.5,198,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1669,2287
$GC,4866,1.67,109.6,369.4,13.1,204,4870,0.00,2.35,0.00,0.000,4,0.000,0.048,3287,3069,2285
$GC,4971,1.67,109.6,355.3,12.4,206,4975,0.00,2.33,0.00,0.000,6,0.000,0.034,3287,1659,2285
$GC,5237,1.67,109.6,321.7,12.6,213,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1659,2283
$GC,5481,1.67,109.6,293.9,11.0,219,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1660,2281
$GC,5725,1.67,109.6,267.7,10.6,225,5729,0.00,2.38,0.00,0.000,4,0.000,0.067,3287,253,2280
$GC,5982,1.67,109.6,240.8,10.2,230,5989,0.00,2.28,0.00,0.000,6,0.000,0.028,3287,1678,2278
$GC,6232,1.67,109.6,219.6,8.6,237,6236,0.00,2.35,0.00,0.000,4,0.000,0.049,3287,249,2278
$GC,6353,1.67,109.6,207.4,10.1,239,6360,0.00,2.25,0.00,0.000,6,0.000,0.025,3287,1662,2278
$GC,6609,1.67,109.6,186.0,8.6,255,6613,0.00,2.30,0.00,0.000,4,0.000,0.053,3288,3059,2278
$GC,6682,1.67,114.1,180.1,8.1,261,6686,0.00,2.25,0.00,0.000,6,0.000,0.028,3287,1638,2277
$GC,6943,1.68,119.1,159.6,8.0,285,6956,0.00,0.00,4.82,0.485,6,0.000,0.000,3288,1638,2262
$GC,7207,1.68,119.1,136.9,8.7,310,7211,0.00,2.22,0.00,0.000,4,0.000,0.051,3287,256,2262
$GC,7432,1.68,119.1,115.4,10.0,329,7437,0.00,2.20,0.00,0.000,6,0.000,0.025,3287,1671,2262
$GC,7697,1.68,120.1,92.4,8.4,353,7701,0.00,2.22,0.00,0.000,4,0.000,0.041,3287,3053,2263
$GC,7775,1.69,130.5,85.7,7.5,359,7796,0.00,2.22,11.52,0.540,6,0.000,0.028,3287,1640,2215
$GC,8049,1.70,135.2,63.2,8.1,385,8063,0.00,2.33,5.22,0.435,4,0.000,0.044,3287,3050,2197
$GC,8315,1.76,183.0,46.9,3.9,408,8363,0.00,2.22,40.58,0.541,6,0.000,0.025,3287,1657,2001
$GC,8623,1.76,183.0,16.4,11.7,446,8631,0.00,2.30,0.00,0.000,4,0.000,0.036,3288,3054,1995
$STATE,8735,end climb,SURFACE_DEPTH_REACHED
$STATE,8735,begin surface coast
$FINISH,0.5,1.011358
$STATE,8765,end surface coast,CONTROL_FINISHED_OK
$STATE,8765,begin surface
$SM_CCo,8786,139.27,0.499,0,0,954,440.07
$SM_GC,1.45,0.00,0.00,139.27,0.000,0.000,0.499,413,1890,954,-11.53,-0.28,440.07
$IRIDIUM_FIX,2241.69,-15751.94,221197,171727
$TT8_MAMPS,0.026845
$HUMID,1623
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.70
$XPDR_PINGS,141
$24V_AH,23.8,25.330
$10V_AH,10.1,23.023
$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,26.425,95.200,241.225,139.275,0.000,30.030,27.132,190.062,35.250,0.000,0.000,15.669,930.320,5734.354,479.568,1699.353,429.484,33.355,1165.326,0.000,1741.146,0.000,0.469
$DEVICE_MAMPS,160.303,69.030,897.390,499.317,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.782,299.007,551.136,432.252,885.452,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35108,470
$CAP_FILE_SIZE,191773,0
$CFSIZE,260165632,249970688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280808,223735,2248.532,-15749.274,7,2.4,26,10.1