version: 66.03
glider: 148
mission: 6
dive: 131
start: 8 29 108 4 26 10
data:
$ID,148
$MISSION,6
$DIVE,131
$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,-8939.2148
$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,35
$R_STBD_OVSHOOT,57
$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
$GPS1,041026,2249.223,-15749.018,40,1.4,40,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-60.0
$GPS2,042515,2249.232,-15749.042,14,1.5,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.038,0.142
$KALMAN_X,-70004.5,39.6,-107.6,83601.2,516.5
$KALMAN_Y,-10954.4,887.1,596.1,11565.9,-3949.1
$MHEAD_RNG_PITCHd_Wd,335.1,2283,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.75,-49.4,0.0,0.0,0,90,0.00,0.00,-69.22,0.000,2,0.000,0.000,413,1926,2801
$GC,93,-1.79,-85.5,3.5,-4.3,9,118,11.12,2.17,-6.60,0.000,4,0.158,0.049,2520,3291,3100
$GC,227,-1.79,-85.5,34.8,-24.5,30,231,0.00,2.20,0.00,0.000,6,0.000,0.022,2520,1882,3100
$GC,487,-1.79,-85.5,93.0,-19.3,54,491,0.00,2.17,0.00,0.000,4,0.000,0.035,2520,503,3101
$GC,564,-1.79,-85.5,107.8,-19.0,60,573,0.00,2.17,0.00,0.000,6,0.000,0.023,2520,1883,3101
$GC,829,-1.79,-85.5,154.5,-18.8,85,833,0.00,2.20,0.00,0.000,4,0.000,0.033,2520,497,3102
$GC,870,-1.79,-85.5,162.3,-17.7,88,874,0.00,2.20,0.00,0.000,6,0.000,0.023,2520,1913,3101
$GC,1128,-1.79,-85.5,206.4,-15.6,109,1132,0.00,2.25,0.00,0.000,4,0.000,0.033,2520,499,3102
$GC,1227,-1.79,-85.5,221.1,-13.9,111,1231,0.00,2.20,0.00,0.000,6,0.000,0.023,2520,1898,3102
$GC,1499,-1.79,-85.5,256.1,-13.1,118,1503,0.00,2.22,0.00,0.000,4,0.000,0.040,2520,506,3102
$GC,1688,-1.79,-85.5,282.7,-13.0,122,1693,0.00,2.20,0.00,0.000,6,0.000,0.025,2520,1897,3102
$GC,1960,-1.79,-85.5,316.3,-12.5,129,1964,0.00,2.25,0.00,0.000,4,0.000,0.042,2520,508,3102
$GC,2009,-1.79,-85.5,322.6,-12.5,130,2014,0.00,2.20,0.00,0.000,6,0.000,0.027,2520,1893,3102
$GC,2287,-1.79,-85.5,353.2,-11.1,137,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1893,3102
$GC,2531,-1.79,-85.5,379.9,-11.0,143,2535,0.00,2.30,0.00,0.000,4,0.000,0.052,2520,3305,3100
$GC,2557,-1.79,-85.5,382.9,-11.0,143,2562,0.00,2.22,0.00,0.000,6,0.000,0.033,2520,1909,3100
$GC,2819,-1.79,-85.5,410.8,-10.7,150,2823,0.00,2.30,0.00,0.000,4,0.000,0.055,2520,506,3099
$GC,2862,-1.79,-85.5,415.9,-11.6,151,2866,0.00,2.25,0.00,0.000,6,0.000,0.036,2520,1900,3098
$GC,3146,-1.79,-85.5,447.6,-11.0,158,3150,0.00,2.33,0.00,0.000,4,0.000,0.053,2520,3305,3097
$GC,3194,-1.79,-85.5,453.2,-11.1,159,3199,0.00,2.25,0.00,0.000,6,0.000,0.036,2520,1908,3096
$GC,3473,-1.79,-85.5,483.5,-10.7,166,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1908,3094
$GC,3717,-1.79,-85.5,509.1,-10.5,172,3721,0.00,2.35,0.00,0.000,4,0.000,0.061,2520,493,3092
$STATE,3726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3726,begin apogee
$GC,3733,-0.31,0.0,510.2,10.3,172,3806,1.55,0.00,69.45,0.896,6,0.114,0.000,2845,1658,2749
$STATE,3807,end apogee,CONTROL_FINISHED_OK
$STATE,3807,begin climb
$GC,3808,1.79,85.5,511.8,0.0,174,3888,1.98,2.45,71.07,0.874,4,0.046,0.056,3314,267,2400
$GC,3972,1.79,85.5,494.7,15.9,178,3976,0.00,2.28,0.00,0.000,6,0.000,0.041,3314,1656,2395
$GC,4249,1.79,85.5,457.3,13.1,185,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1656,2392
$GC,4493,1.79,85.5,427.3,12.3,191,4497,0.00,2.40,0.00,0.000,4,0.000,0.064,3314,3065,2389
$GC,4580,1.79,85.5,415.9,13.1,193,4585,0.00,2.30,0.00,0.000,6,0.000,0.035,3314,1675,2388
$GC,4864,1.79,85.5,381.0,11.8,200,4868,0.00,2.42,0.00,0.000,4,0.000,0.071,3314,252,2387
$GC,4941,1.79,85.5,371.4,12.3,201,4948,0.00,2.28,0.00,0.000,6,0.000,0.033,3314,1663,2386
$GC,5190,1.79,85.5,345.9,10.2,208,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1663,2384
$GC,5434,1.79,85.5,321.8,9.8,214,5438,0.00,2.35,0.00,0.000,4,0.000,0.054,3314,3063,2383
$GC,5454,1.79,85.5,319.6,10.3,214,5459,0.00,2.30,0.00,0.000,6,0.000,0.035,3314,1659,2382
$GC,5716,1.79,85.5,295.7,8.6,221,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1659,2381
$GC,5959,1.79,85.5,275.2,8.6,227,5963,0.00,2.30,0.00,0.000,4,0.000,0.041,3314,3061,2381
$GC,6048,1.82,104.0,269.3,6.4,229,6067,0.00,2.28,13.02,0.719,6,0.000,0.034,3314,1662,2324
$GC,6330,1.82,111.2,247.8,7.7,236,6344,0.00,2.38,7.22,0.631,4,0.000,0.038,3314,3064,2295
$GC,6389,1.83,113.3,242.8,8.3,237,6393,0.00,2.28,0.00,0.000,6,0.000,0.029,3314,1654,2293
$GC,6661,1.83,113.3,219.7,8.6,244,6665,0.00,2.33,0.00,0.000,4,0.000,0.057,3314,259,2292
$GC,6918,1.83,113.3,193.3,9.0,252,6927,0.00,2.22,0.00,0.000,6,0.000,0.023,3314,1662,2292
$GC,7182,1.85,132.0,174.2,6.3,277,7207,0.00,2.38,18.17,0.645,4,0.000,0.043,3314,256,2209
$GC,7463,1.85,132.0,142.3,13.3,302,7467,0.00,2.20,0.00,0.000,6,0.000,0.025,3314,1658,2207
$GC,7723,1.85,132.0,112.8,10.8,326,7727,0.00,2.30,0.00,0.000,4,0.000,0.049,3314,250,2207
$GC,7777,1.85,132.0,106.7,11.1,330,7787,0.00,2.22,0.00,0.000,6,0.000,0.029,3314,1655,2207
$GC,8042,1.86,142.7,83.5,7.3,355,8061,0.00,0.00,9.98,0.529,6,0.000,0.000,3314,1655,2166
$GC,8316,1.88,155.1,61.0,7.1,381,8333,0.00,2.33,12.25,0.525,4,0.000,0.049,3314,3061,2116
$GC,8365,1.90,169.1,57.6,6.9,385,8383,0.00,2.25,12.90,0.519,6,0.000,0.027,3314,1646,2059
$GC,8641,1.90,169.1,30.8,11.1,410,8645,0.00,2.33,0.00,0.000,4,0.000,0.043,3314,3064,2055
$GC,8762,1.90,169.1,18.2,10.0,430,8770,0.00,2.25,0.00,0.000,6,0.000,0.027,3314,1659,2054
$STATE,8901,end climb,SURFACE_DEPTH_REACHED
$STATE,8902,begin surface coast
$FINISH,0.5,1.020847
$STATE,8931,end surface coast,CONTROL_FINISHED_OK
$STATE,8932,begin surface
$SM_CCo,8951,204.55,0.500,0,0,511,548.98
$SM_GC,1.34,0.00,0.00,204.55,0.000,0.000,0.500,412,1947,511,-11.53,1.30,548.98
$IRIDIUM_FIX,2239.35,-15749.78,231197,040414
$TT8_MAMPS,0.026845
$HUMID,1628
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.60
$XPDR_PINGS,133
$24V_AH,23.8,25.649
$10V_AH,10.1,23.313
$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,26.475,95.525,214.075,204.550,0.000,141.121,411.464,0.000,33.250,0.000,0.000,15.801,936.493,6191.829,521.486,1665.576,733.673,33.356,1183.729,0.000,1693.215,0.000,0.469
$DEVICE_MAMPS,158.002,70.564,895.856,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.567,295.506,520.122,394.866,815.417,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35063,459
$CAP_FILE_SIZE,185422,0
$CFSIZE,260165632,249769984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,065953,2249.309,-15749.007,10,99.0,29,10.1