version: 66.03
glider: 148
mission: 6
dive: 135
start: 8 29 108 15 29 34
data:
$ID,148
$MISSION,6
$DIVE,135
$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,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,-9038.96
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,151753,2248.767,-15749.179,7,99.0,26,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-58.2
$GPS2,152841,2248.722,-15749.229,9,99.0,28,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.009,0.163
$KALMAN_X,-70080.5,-96.2,-213.8,83602.5,285.1
$KALMAN_Y,-18294.3,5.1,258.0,19187.6,-3283.2
$MHEAD_RNG_PITCHd_Wd,352.9,1393,-24.3,-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,-1.59,-60.5,0.0,0.0,0,106,0.00,0.00,-84.70,0.000,2,0.000,0.000,407,1891,2757
$GC,110,-1.65,-106.9,3.4,-4.1,11,143,11.35,2.30,-9.48,0.000,4,0.158,0.044,2550,3299,3186
$GC,261,-1.65,-106.9,38.5,-24.8,33,270,0.00,2.22,0.00,0.000,6,0.000,0.021,2550,1892,3187
$GC,459,-1.65,-106.9,85.4,-21.1,52,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1889,3187
$GC,650,-1.65,-106.9,120.8,-16.7,70,653,0.00,2.25,0.00,0.000,4,0.000,0.034,2550,3299,3187
$GC,677,-1.65,-106.9,125.4,-17.1,72,681,0.00,2.17,0.00,0.000,6,0.000,0.021,2550,1899,3187
$GC,874,-1.65,-106.9,159.2,-16.0,90,878,0.00,2.25,0.00,0.000,4,0.000,0.035,2550,3303,3188
$GC,903,-1.65,-106.9,163.3,-15.0,92,907,0.00,2.17,0.00,0.000,6,0.000,0.021,2550,1899,3188
$GC,1233,-1.65,-106.9,212.0,-14.4,117,1237,0.00,2.20,0.00,0.000,4,0.000,0.033,2550,503,3188
$GC,1273,-1.65,-106.9,218.1,-16.3,118,1277,0.00,2.17,0.00,0.000,6,0.000,0.022,2550,1904,3188
$GC,1596,-1.65,-106.9,262.4,-13.4,126,1600,0.00,2.22,0.00,0.000,4,0.000,0.034,2550,3309,3188
$GC,1617,-1.65,-106.9,265.8,-15.3,126,1621,0.00,2.22,0.00,0.000,6,0.000,0.021,2550,1897,3188
$GC,1959,-1.65,-106.9,307.7,-11.6,135,1963,0.00,2.25,0.00,0.000,4,0.000,0.044,2550,498,3188
$GC,2003,-1.65,-106.9,312.7,-11.4,136,2007,0.00,2.20,0.00,0.000,6,0.000,0.024,2550,1908,3188
$GC,2326,-1.65,-106.9,347.2,-11.0,144,2330,0.00,2.25,0.00,0.000,4,0.000,0.048,2550,3306,3188
$GC,2375,-1.65,-106.9,352.7,-10.4,145,2380,0.00,2.22,0.00,0.000,6,0.000,0.031,2550,1905,3188
$GC,2694,-1.65,-106.9,385.6,-10.4,153,2698,0.00,2.30,0.00,0.000,4,0.000,0.048,2550,500,3187
$GC,2748,-1.65,-106.9,391.8,-11.2,154,2752,0.00,2.22,0.00,0.000,6,0.000,0.028,2550,1891,3186
$GC,3061,-1.65,-106.9,426.9,-11.4,162,3065,0.00,2.30,0.00,0.000,4,0.000,0.045,2550,3303,3184
$GC,3137,-1.65,-106.9,436.2,-12.0,163,3144,0.00,2.25,0.00,0.000,6,0.000,0.034,2550,1900,3183
$GC,3469,-1.65,-106.9,471.3,-10.1,172,3473,0.00,2.30,0.00,0.000,4,0.000,0.054,2550,506,3181
$GC,3518,-1.65,-106.9,476.6,-10.7,173,3522,0.00,2.25,0.00,0.000,6,0.000,0.035,2550,1890,3181
$GC,3836,-1.65,-106.9,505.2,-8.8,181,3840,0.00,2.30,0.00,0.000,4,0.000,0.051,2550,507,3178
$GC,3879,-1.65,-106.9,509.6,-10.4,182,3884,0.00,2.28,0.00,0.000,6,0.000,0.042,2550,1895,3178
$STATE,3888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3889,begin apogee
$GC,3894,-0.31,0.0,510.7,10.2,182,3983,1.38,0.00,86.00,0.897,6,0.104,0.000,2845,1639,2749
$STATE,3984,end apogee,CONTROL_FINISHED_OK
$STATE,3984,begin climb
$GC,3986,1.65,106.9,511.5,0.0,184,4083,1.83,2.33,89.00,0.874,4,0.050,0.064,3280,289,2312
$GC,4303,1.65,106.9,466.7,16.9,191,4307,0.00,2.22,0.00,0.000,6,0.000,0.036,3280,1665,2304
$GC,4615,1.65,106.9,422.4,13.7,199,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1665,2300
$GC,4940,1.65,106.9,379.7,13.5,207,4944,0.00,2.35,0.00,0.000,4,0.000,0.054,3280,3061,2297
$GC,5033,1.65,106.9,366.8,13.3,209,5038,0.00,2.25,0.00,0.000,6,0.000,0.036,3280,1689,2296
$GC,5352,1.65,106.9,326.6,12.4,217,5356,0.00,2.28,0.00,0.000,4,0.000,0.047,3280,3061,2294
$GC,5383,1.65,106.9,322.2,13.4,217,5390,0.00,2.30,0.00,0.000,6,0.000,0.037,3280,1658,2293
$GC,5715,1.65,106.9,281.8,11.0,226,5719,0.00,2.33,0.00,0.000,4,0.000,0.047,3280,3067,2291
$GC,5758,1.65,106.9,277.3,10.0,227,5762,0.00,2.28,0.00,0.000,6,0.000,0.028,3280,1655,2291
$GC,6082,1.65,106.9,246.3,8.7,235,6086,0.00,2.35,0.00,0.000,4,0.000,0.060,3280,256,2290
$GC,6158,1.65,106.9,238.1,10.1,236,6165,0.00,2.25,0.00,0.000,6,0.000,0.028,3280,1673,2289
$GC,6490,1.65,108.9,209.3,8.3,245,6494,0.00,2.28,0.00,0.000,4,0.000,0.054,3280,3054,2288
$GC,6611,1.65,108.9,198.9,9.0,247,6618,0.00,2.25,0.00,0.000,6,0.000,0.028,3280,1655,2287
$GC,6936,1.66,114.0,170.3,8.0,278,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1655,2287
$GC,7255,1.68,132.0,145.9,6.8,308,7276,0.00,0.00,17.42,0.620,6,0.000,0.000,3280,1655,2210
$GC,7466,1.68,132.0,128.2,9.4,328,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1655,2208
$GC,7657,1.68,132.0,111.6,8.5,346,7661,0.00,2.28,0.00,0.000,4,0.000,0.038,3280,3058,2208
$GC,7836,1.69,142.0,96.2,7.6,361,7850,0.00,2.22,9.32,0.532,6,0.000,0.033,3280,1651,2170
$GC,8052,1.70,148.3,79.5,7.9,381,8066,0.00,2.30,7.18,0.494,4,0.000,0.038,3281,3058,2143
$GC,8181,1.72,162.7,69.1,7.1,392,8199,0.00,2.22,13.62,0.535,6,0.000,0.033,3280,1654,2085
$GC,8393,1.73,169.7,53.3,7.8,411,8403,0.00,0.00,6.97,0.464,6,0.000,0.000,3280,1654,2057
$GC,8593,1.73,169.7,33.0,10.8,430,8597,0.00,2.28,0.00,0.000,4,0.000,0.038,3280,3057,2055
$GC,8608,1.73,169.7,31.5,10.8,431,8612,0.00,2.20,0.00,0.000,6,0.000,0.025,3280,1661,2053
$GC,8821,1.73,169.7,9.3,8.6,466,8829,0.00,2.30,0.00,0.000,4,0.000,0.038,3280,3056,2054
$GC,8837,1.73,169.7,7.7,9.1,468,8845,0.00,2.22,0.00,0.000,6,0.000,0.025,3280,1663,2053
$STATE,8886,end climb,SURFACE_DEPTH_REACHED
$STATE,8886,begin surface coast
$FINISH,0.5,1.023285
$STATE,8917,end surface coast,CONTROL_FINISHED_OK
$STATE,8917,begin surface
$SM_CCo,8936,136.12,0.501,0,0,954,440.07
$SM_GC,1.52,0.00,0.00,136.12,0.000,0.000,0.501,411,1949,954,-11.54,1.39,440.07
$IRIDIUM_FIX,2239.35,-15747.62,231197,151518
$TT8_MAMPS,0.026845
$HUMID,1615
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.70
$XPDR_PINGS,160
$24V_AH,23.8,26.044
$10V_AH,10.1,23.697
$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,26.175,95.550,229.525,136.125,0.000,49.949,57.041,353.651,40.000,0.000,0.000,30.390,949.104,5928.509,457.309,1718.438,669.825,33.360,1136.216,0.000,1736.914,0.000,0.469
$DEVICE_MAMPS,158.002,63.661,897.390,500.851,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.695,322.049,566.450,431.657,883.113,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34996,481
$CAP_FILE_SIZE,201600,0
$CFSIZE,260165632,249528320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,180202,2249.030,-15748.897,38,1.4,38,10.1