version: 66.03
glider: 148
mission: 6
dive: 133
start: 8 29 108 9 59 40
data:
$ID,148
$MISSION,6
$DIVE,133
$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,2
$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,-8989.8086
$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,37
$R_STBD_OVSHOOT,60
$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
$GPS1,094425,2248.919,-15749.060,39,1.6,39,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.6
$GPS2,095845,2248.823,-15749.111,12,1.4,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.043,0.199
$KALMAN_X,-69892.8,63.6,110.4,83129.5,-323.0
$KALMAN_Y,-14241.8,561.9,81.0,14942.3,-3908.1
$MHEAD_RNG_PITCHd_Wd,2.0,1537,-18.9,-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,-1.30,-96.4,0.0,0.0,0,90,0.00,0.00,-69.40,0.000,2,0.000,0.000,411,1925,2811
$GC,93,-1.35,-136.3,3.6,-4.6,9,126,11.65,2.22,-10.57,0.000,4,0.158,0.049,2617,3285,3308
$GC,190,-1.35,-136.3,24.5,-21.7,24,199,0.00,2.20,0.00,0.000,6,0.000,0.022,2618,1895,3309
$GC,398,-1.35,-136.3,65.9,-18.7,45,401,0.00,2.25,0.00,0.000,4,0.000,0.048,2618,3286,3309
$GC,498,-1.35,-136.3,83.8,-17.0,54,502,0.00,2.17,0.00,0.000,6,0.000,0.021,2617,1889,3309
$GC,694,-1.35,-136.3,113.8,-13.7,72,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1888,3309
$GC,886,-1.35,-136.3,140.7,-13.5,90,890,0.00,2.22,0.00,0.000,4,0.000,0.036,2617,3280,3309
$GC,950,-1.35,-136.3,150.0,-14.6,95,954,0.00,2.15,0.00,0.000,6,0.000,0.021,2617,1894,3310
$GC,1146,-1.35,-136.3,177.1,-13.5,113,1150,0.00,2.20,0.00,0.000,4,0.000,0.034,2618,500,3310
$GC,1163,-1.35,-136.3,179.4,-14.0,114,1167,0.00,2.15,0.00,0.000,6,0.000,0.022,2617,1884,3310
$GC,1480,-1.35,-136.3,220.3,-12.4,132,1484,0.00,2.25,0.00,0.000,4,0.000,0.040,2617,3302,3310
$GC,1545,-1.35,-136.3,229.5,-12.2,133,1550,0.00,2.20,0.00,0.000,6,0.000,0.021,2618,1904,3310
$GC,1888,-1.35,-136.3,268.5,-11.4,142,1892,0.00,2.25,0.00,0.000,4,0.000,0.036,2617,3308,3310
$GC,1909,-1.35,-136.3,270.9,-11.0,142,1913,0.00,2.22,0.00,0.000,6,0.000,0.030,2617,1899,3310
$GC,2251,-1.35,-136.3,306.0,-10.3,151,2255,0.00,2.25,0.00,0.000,4,0.000,0.040,2617,3299,3310
$GC,2344,-1.35,-136.3,315.9,-10.4,153,2349,0.00,2.22,0.00,0.000,6,0.000,0.032,2618,1902,3310
$GC,2663,-1.35,-136.3,345.8,-9.5,161,2667,0.00,2.28,0.00,0.000,4,0.000,0.042,2617,3301,3309
$GC,2746,-1.35,-136.3,354.3,-10.2,163,2750,0.00,2.20,0.00,0.000,6,0.000,0.026,2618,1902,3309
$GC,3069,-1.35,-136.3,386.0,-10.1,171,3073,0.00,2.28,0.00,0.000,4,0.000,0.045,2618,3295,3307
$GC,3090,-1.35,-136.3,388.3,-10.6,171,3095,0.00,2.22,0.00,0.000,6,0.000,0.026,2618,1902,3307
$GC,3438,-1.35,-136.3,420.6,-9.1,180,3442,0.00,2.30,0.00,0.000,4,0.000,0.046,2618,3296,3305
$GC,3481,-1.35,-136.3,424.6,-9.1,181,3485,0.00,2.25,0.00,0.000,6,0.000,0.034,2618,1897,3305
$GC,3805,-1.35,-136.3,451.8,-8.1,189,3809,0.00,2.33,0.00,0.000,4,0.000,0.055,2618,3298,3302
$GC,3905,-1.35,-136.3,460.6,-9.2,191,3909,0.00,2.25,0.00,0.000,6,0.000,0.033,2618,1902,3302
$GC,4218,-1.35,-136.3,488.5,-8.9,199,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1902,3299
$STATE,4460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4460,begin apogee
$GC,4464,-0.31,0.0,510.2,9.1,205,4577,1.08,0.00,109.20,0.906,6,0.092,0.000,2852,1647,2749
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4578,begin climb
$GC,4580,1.35,136.3,512.9,0.0,207,4703,1.52,2.42,112.78,0.884,4,0.048,0.072,3216,266,2191
$GC,4883,1.35,136.3,483.1,14.0,214,4887,0.00,2.25,0.00,0.000,6,0.000,0.035,3216,1650,2184
$GC,5212,1.35,136.3,440.7,13.3,222,5216,0.00,2.42,0.00,0.000,4,0.000,0.065,3216,3066,2178
$GC,5261,1.35,136.3,434.2,12.7,223,5265,0.00,2.30,0.00,0.000,6,0.000,0.038,3216,1674,2177
$GC,5579,1.35,136.3,391.8,13.1,231,5583,0.00,2.33,0.00,0.000,4,0.000,0.048,3216,3064,2175
$GC,5740,1.35,136.3,370.3,12.4,234,5745,0.00,2.33,0.00,0.000,6,0.000,0.032,3216,1659,2174
$GC,6077,1.35,136.3,329.7,12.2,243,6081,0.00,2.35,0.00,0.000,4,0.000,0.050,3216,3071,2172
$GC,6261,1.35,136.3,306.1,11.9,247,6266,0.00,2.33,0.00,0.000,6,0.000,0.037,3216,1655,2170
$GC,6580,1.35,136.3,269.1,11.3,255,6584,0.00,2.33,0.00,0.000,4,0.000,0.044,3216,3067,2169
$GC,6708,1.35,136.3,255.2,9.8,258,6712,0.00,2.28,0.00,0.000,6,0.000,0.035,3216,1647,2168
$GC,7032,1.35,136.3,219.4,11.5,266,7036,0.00,2.33,0.00,0.000,4,0.000,0.054,3216,252,2167
$GC,7187,1.35,136.3,200.3,11.5,269,7192,0.00,2.25,0.00,0.000,6,0.000,0.030,3216,1672,2166
$GC,7512,1.35,136.3,169.2,10.0,299,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1672,2166
$GC,7835,1.35,137.3,139.9,8.4,329,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1672,2166
$GC,8033,1.37,151.8,124.3,7.6,348,8047,0.00,2.33,9.85,0.568,4,0.000,0.042,3216,3055,2130
$GC,8187,1.37,151.8,110.4,9.7,361,8191,0.00,2.22,0.00,0.000,6,0.000,0.033,3216,1654,2128
$GC,8387,1.37,153.0,92.3,8.4,379,8391,0.00,2.28,0.00,0.000,4,0.000,0.039,3216,3063,2128
$GC,8486,1.37,153.0,83.6,8.8,387,8490,0.00,2.22,0.00,0.000,6,0.000,0.026,3216,1655,2128
$GC,8686,1.38,158.0,66.5,8.2,405,8699,0.00,2.28,7.15,0.489,4,0.000,0.035,3216,3058,2103
$GC,8736,1.43,196.6,63.2,6.2,409,8775,0.00,2.22,33.17,0.558,6,0.000,0.027,3216,1655,1946
$GC,8965,1.43,196.6,45.3,9.8,430,8969,0.00,2.28,0.00,0.000,4,0.000,0.035,3216,3058,1942
$GC,9166,1.43,196.6,28.5,10.1,448,9174,0.00,2.22,0.00,0.000,6,0.000,0.026,3216,1665,1940
$GC,9380,1.43,196.6,8.7,9.3,485,9389,0.00,2.28,0.00,0.000,4,0.000,0.035,3216,3055,1940
$STATE,9446,end climb,SURFACE_DEPTH_REACHED
$STATE,9446,begin surface coast
$FINISH,0.5,1.014976
$STATE,9486,end surface coast,CONTROL_FINISHED_OK
$STATE,9486,begin surface
$SM_CCo,9507,186.57,0.501,0,0,510,548.98
$SM_GC,1.33,0.00,0.00,186.57,0.000,0.000,0.501,404,1883,510,-11.57,-0.48,548.98
$IRIDIUM_FIX,2239.35,-15746.73,231197,101053
$TT8_MAMPS,0.026845
$HUMID,1619
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,23.80
$XPDR_PINGS,159
$24V_AH,23.8,25.855
$10V_AH,10.1,23.511
$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,25.575,99.550,272.150,186.575,0.000,120.813,403.374,0.000,39.750,0.000,0.000,14.341,1012.373,6398.411,532.633,1893.982,719.842,33.355,1275.180,0.000,1928.110,0.000,0.469
$DEVICE_MAMPS,158.002,72.098,905.827,500.851,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.142,323.901,579.895,455.394,935.236,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38363,503
$CAP_FILE_SIZE,202323,0
$CFSIZE,260165632,249626624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,124251,2248.685,-15749.029,40,2.5,59,10.1