version: 66.03
glider: 148
mission: 6
dive: 138
start: 8 29 108 23 28 32
data:
$ID,148
$MISSION,6
$DIVE,138
$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,-9083.9512
$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,70
$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
$GPS1,232631,2248.588,-15749.120,34,1.3,38,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-57.7
$GPS2,232739,2248.576,-15749.125,11,1.9,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.004,0.203
$KALMAN_X,-69292.1,16.1,-73.9,82737.4,168.2
$KALMAN_Y,-24171.2,517.9,-228.0,24770.5,-3496.1
$MHEAD_RNG_PITCHd_Wd,350.9,1089,-19.0,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.31,-95.4,0.0,0.0,0,105,0.00,0.00,-84.40,0.000,2,0.000,0.000,409,1941,2759
$GC,109,-1.36,-136.3,3.6,-4.4,11,142,11.73,2.17,-11.90,0.000,4,0.160,0.048,2619,3270,3304
$GC,240,-1.36,-136.3,28.5,-19.5,32,249,0.00,2.17,0.00,0.000,6,0.000,0.022,2619,1895,3304
$GC,448,-1.36,-136.3,67.4,-17.1,52,452,0.00,2.22,0.00,0.000,4,0.000,0.037,2619,3271,3304
$GC,500,-1.36,-136.3,76.3,-17.8,56,504,0.00,2.15,0.00,0.000,6,0.000,0.029,2619,1893,3304
$GC,696,-1.36,-136.3,106.4,-14.9,74,700,0.00,2.20,0.00,0.000,4,0.000,0.035,2619,3270,3305
$GC,772,-1.36,-136.3,118.6,-15.0,80,782,0.00,2.15,0.00,0.000,6,0.000,0.021,2619,1906,3306
$GC,974,-1.36,-136.3,147.7,-14.1,99,978,0.00,2.20,0.00,0.000,4,0.000,0.034,2619,3278,3306
$GC,991,-1.36,-136.3,150.6,-14.2,100,995,0.00,2.15,0.00,0.000,6,0.000,0.020,2619,1885,3306
$GC,1317,-1.36,-136.3,193.6,-12.9,130,1321,0.00,2.22,0.00,0.000,4,0.000,0.035,2620,3277,3307
$GC,1359,-1.36,-136.3,199.4,-12.1,133,1367,0.00,2.15,0.00,0.000,6,0.000,0.021,2619,1906,3306
$GC,1701,-1.36,-136.3,237.9,-11.3,143,1705,0.00,2.17,0.00,0.000,4,0.000,0.036,2619,3275,3306
$GC,1822,-1.36,-136.3,252.2,-11.6,145,1829,0.00,2.15,0.00,0.000,6,0.000,0.021,2619,1906,3307
$GC,2154,-1.36,-136.3,289.0,-11.1,154,2158,0.00,2.17,0.00,0.000,4,0.000,0.033,2619,3272,3307
$GC,2186,-1.36,-136.3,292.9,-11.9,154,2193,0.00,2.15,0.00,0.000,6,0.000,0.021,2619,1903,3307
$GC,2517,-1.36,-136.3,329.0,-10.9,163,2521,0.00,2.22,0.00,0.000,4,0.000,0.044,2619,3279,3306
$GC,2549,-1.36,-136.3,332.7,-10.9,163,2555,0.00,2.17,0.00,0.000,6,0.000,0.031,2619,1909,3306
$GC,2879,-1.36,-136.3,365.7,-10.0,172,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1909,3306
$GC,3204,-1.36,-136.3,395.3,-8.7,180,3208,0.00,2.22,0.00,0.000,4,0.000,0.046,2619,3271,3304
$GC,3265,-1.36,-136.3,400.8,-8.7,181,3269,0.00,2.17,0.00,0.000,6,0.000,0.032,2619,1905,3305
$GC,3577,-1.36,-136.3,427.5,-8.5,189,3581,0.00,2.25,0.00,0.000,4,0.000,0.046,2619,3271,3302
$GC,3649,-1.36,-136.3,433.6,-8.3,190,3653,0.00,2.17,0.00,0.000,6,0.000,0.032,2619,1906,3302
$GC,3986,-1.36,-136.3,461.6,-8.4,199,3990,0.00,2.25,0.00,0.000,4,0.000,0.048,2619,3265,3300
$GC,4030,-1.36,-136.3,465.4,-8.2,200,4034,0.00,2.17,0.00,0.000,6,0.000,0.034,2619,1909,3300
$GC,4354,-1.36,-136.3,493.7,-8.7,208,4358,0.00,2.25,0.00,0.000,4,0.000,0.054,2619,3269,3297
$GC,4430,-1.36,-136.3,500.7,-8.7,209,4437,0.00,2.20,0.00,0.000,6,0.000,0.028,2619,1906,3297
$STATE,4557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4557,begin apogee
$GC,4562,-0.31,0.0,511.5,8.6,213,4674,1.05,0.00,109.20,0.910,6,0.095,0.000,2847,1643,2749
$STATE,4675,end apogee,CONTROL_FINISHED_OK
$STATE,4675,begin climb
$GC,4677,1.36,136.3,513.7,0.0,215,4801,1.58,2.38,113.03,0.885,4,0.055,0.062,3219,274,2192
$GC,5019,1.36,136.3,469.8,16.5,222,5026,0.00,2.20,0.00,0.000,6,0.000,0.028,3219,1617,2183
$GC,5350,1.36,136.3,421.1,14.6,231,5354,0.00,2.45,0.00,0.000,4,0.000,0.057,3219,3068,2178
$GC,5393,1.36,136.3,414.9,14.2,232,5397,0.00,2.30,0.00,0.000,6,0.000,0.035,3219,1677,2176
$GC,5717,1.36,136.3,371.2,13.3,240,5721,0.00,2.33,0.00,0.000,4,0.000,0.049,3219,3069,2175
$GC,5928,1.36,136.3,341.0,14.3,244,5936,0.00,2.30,0.00,0.000,6,0.000,0.035,3219,1665,2172
$GC,6260,1.36,136.3,299.4,11.9,253,6264,0.00,2.33,0.00,0.000,4,0.000,0.043,3219,3063,2170
$GC,6298,1.36,136.3,294.5,12.6,254,6303,0.00,2.28,0.00,0.000,6,0.000,0.035,3219,1658,2170
$GC,6622,1.36,136.3,257.9,11.2,262,6626,0.00,2.33,0.00,0.000,4,0.000,0.039,3220,3070,2169
$GC,6665,1.36,136.3,252.8,11.8,263,6670,0.00,2.30,0.00,0.000,6,0.000,0.035,3219,1655,2168
$GC,6989,1.36,136.3,220.3,9.4,271,6993,0.00,2.30,0.00,0.000,4,0.000,0.036,3220,3065,2167
$GC,7033,1.36,136.3,215.6,11.6,272,7037,0.00,2.28,0.00,0.000,6,0.000,0.032,3219,1655,2167
$GC,7354,1.36,136.3,182.5,10.5,291,7358,0.00,2.30,0.00,0.000,4,0.000,0.036,3220,3071,2167
$GC,7611,1.36,136.3,154.2,10.5,313,7617,0.00,2.25,0.00,0.000,6,0.000,0.031,3220,1659,2167
$GC,7936,1.36,136.3,123.0,9.0,344,7940,0.00,2.28,0.00,0.000,4,0.000,0.043,3220,3070,2167
$GC,8196,1.36,136.3,98.6,9.1,366,8206,0.00,2.25,0.00,0.000,6,0.000,0.032,3220,1659,2167
$GC,8398,1.37,145.6,82.9,7.9,385,8410,0.00,2.30,4.65,0.430,4,0.000,0.043,3219,3069,2155
$GC,8549,1.38,153.3,71.8,8.0,398,8562,0.00,2.25,8.43,0.509,6,0.000,0.033,3220,1661,2124
$GC,8762,1.42,190.4,56.6,6.3,418,8800,0.00,2.33,32.12,0.552,4,0.000,0.042,3219,3075,1971
$GC,9018,1.42,190.4,34.2,9.2,440,9022,0.00,2.25,0.00,0.000,6,0.000,0.025,3220,1656,1966
$GC,9226,1.42,190.4,14.1,10.5,472,9234,0.00,2.33,0.00,0.000,4,0.000,0.038,3220,3067,1965
$STATE,9343,end climb,SURFACE_DEPTH_REACHED
$STATE,9343,begin surface coast
$FINISH,0.6,1.010186
$STATE,9379,end surface coast,CONTROL_FINISHED_OK
$STATE,9379,begin surface
$SM_CCo,9400,191.05,0.501,0,0,511,548.98
$SM_GC,1.45,0.00,0.00,191.05,0.000,0.000,0.501,410,1877,511,-11.54,-0.65,548.98
$IRIDIUM_FIX,2244.02,-15751.94,231197,202017
$TT8_MAMPS,0.026845
$HUMID,1607
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.50
$XPDR_PINGS,119
$24V_AH,23.8,26.325
$10V_AH,10.1,23.978
$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,25.800,103.100,267.425,191.050,0.000,0.000,0.000,0.000,29.750,0.000,0.000,12.536,984.126,6083.798,566.405,1861.033,165.986,33.349,1299.930,0.000,1884.773,0.000,0.469
$DEVICE_MAMPS,159.536,62.127,909.662,500.851,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.896,337.570,580.597,445.843,921.862,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38058,498
$CAP_FILE_SIZE,196886,0
$CFSIZE,260165632,249315328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300808,020938,2248.731,-15749.180,37,1.1,37,10.1