version: 66.03
glider: 148
mission: 6
dive: 143
start: 8 30 108 14 45 34
data:
$ID,148
$MISSION,6
$DIVE,143
$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,-9177.0264
$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,0.029999999
$PITCH_ADJ_DBAND,1
$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,33
$R_STBD_OVSHOOT,38
$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
$GPS1,143508,2248.423,-15749.284,36,1.1,36,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-57.3
$GPS2,144439,2248.359,-15749.335,11,1.0,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.076,0.126
$KALMAN_X,-72715.8,-496.1,-349.9,86594.1,-341.2
$KALMAN_Y,-34624.0,82.9,-366.0,35395.7,-2175.5
$MHEAD_RNG_PITCHd_Wd,20.9,877,-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,-49.5,0.0,0.0,0,106,0.00,0.00,-84.50,0.000,2,0.000,0.000,409,1955,2741
$GC,109,-1.80,-88.4,3.3,-4.0,11,134,11.20,2.22,-8.18,0.000,4,0.160,0.048,2517,3303,3112
$GC,206,-1.70,-88.4,26.0,-24.3,26,215,0.10,2.22,0.00,0.000,6,0.129,0.022,2539,1895,3114
$GC,414,-1.70,-88.4,75.0,-21.5,46,418,0.00,2.25,0.00,0.000,4,0.000,0.041,2539,3304,3114
$GC,433,-1.67,-88.4,78.9,-21.4,47,437,0.00,2.17,0.00,0.000,6,0.000,0.021,2539,1896,3114
$GC,633,-1.67,-88.4,114.5,-17.6,65,637,0.00,2.20,0.00,0.000,4,0.000,0.041,2539,500,3114
$GC,650,-1.70,-88.4,118.1,-16.5,66,654,0.00,2.20,0.00,0.000,6,0.000,0.023,2539,1912,3114
$GC,846,-1.75,-88.4,148.4,-15.3,84,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1912,3114
$GC,1038,-1.82,-88.4,177.2,-14.5,102,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1912,3115
$GC,1360,-1.92,-88.4,222.2,-13.4,121,1365,0.15,2.25,0.00,0.000,4,0.054,0.033,2488,501,3115
$GC,1533,-1.92,-88.4,251.0,-15.1,125,1537,0.00,2.17,0.00,0.000,6,0.000,0.031,2488,1900,3116
$GC,1858,-1.96,-88.4,296.5,-13.7,133,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1900,3115
$GC,2182,-2.01,-88.4,338.5,-13.2,141,2186,0.00,2.28,0.00,0.000,4,0.000,0.044,2488,3306,3115
$GC,2203,-2.01,-88.4,341.6,-13.6,141,2208,0.00,2.22,0.00,0.000,6,0.000,0.031,2488,1900,3115
$GC,2546,-2.07,-88.4,385.6,-13.2,150,2550,0.00,2.28,0.00,0.000,4,0.000,0.055,2488,507,3114
$GC,2567,-2.12,-88.4,388.5,-13.6,150,2572,0.12,2.20,0.00,0.000,6,0.057,0.035,2449,1899,3114
$GC,2909,-2.12,-88.4,436.1,-14.0,159,2913,0.00,2.30,0.00,0.000,4,0.000,0.057,2449,511,3112
$GC,2957,-2.12,-88.4,443.5,-14.6,160,2962,0.00,2.25,0.00,0.000,6,0.000,0.038,2449,1898,3112
$GC,3276,-2.12,-88.4,488.0,-14.1,168,3280,0.00,2.30,0.00,0.000,4,0.000,0.057,2449,513,3109
$STATE,3426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3426,begin apogee
$GC,3432,-0.31,0.0,510.3,14.7,171,3509,1.88,0.00,72.20,0.890,6,0.112,0.000,2845,1660,2749
$STATE,3510,end apogee,CONTROL_FINISHED_OK
$STATE,3510,begin climb
$GC,3512,1.80,88.4,512.7,0.0,173,3593,1.95,0.00,73.62,0.871,6,0.046,0.000,3313,1660,2387
$GC,3918,1.51,88.4,464.9,13.2,183,3923,0.28,2.35,0.00,0.000,4,0.123,0.054,3255,273,2380
$GC,3990,1.26,88.4,456.2,11.8,184,3995,0.30,2.25,0.00,0.000,6,0.119,0.038,3196,1659,2379
$GC,4322,1.19,88.4,423.6,9.6,192,4326,0.00,2.38,0.00,0.000,4,0.000,0.056,3196,3065,2376
$GC,4461,1.11,88.4,409.4,10.4,195,4465,0.17,2.25,0.00,0.000,6,0.122,0.036,3163,1682,2374
$GC,4779,1.11,88.4,379.7,9.1,203,4783,0.00,2.30,0.00,0.000,4,0.000,0.048,3163,3067,2371
$GC,4788,1.11,88.4,378.7,9.0,203,4793,0.00,2.33,0.00,0.000,6,0.000,0.037,3163,1654,2371
$GC,5107,1.11,88.7,351.4,8.5,211,5111,0.00,2.35,0.00,0.000,4,0.000,0.050,3163,3067,2370
$GC,5304,1.13,104.4,336.3,6.7,215,5320,0.00,2.28,11.25,0.751,6,0.000,0.029,3163,1652,2323
$GC,5646,1.13,108.7,309.2,8.0,223,5655,0.00,2.38,4.78,0.582,4,0.000,0.049,3163,3068,2305
$GC,5908,1.18,116.8,286.7,7.6,229,5922,0.00,2.28,8.27,0.681,6,0.000,0.033,3163,1658,2272
$GC,6238,1.23,124.2,262.8,7.6,237,6253,0.10,2.38,7.22,0.644,4,0.072,0.041,3193,3067,2242
$GC,6506,1.23,124.2,236.4,10.1,243,6510,0.00,2.28,0.00,0.000,6,0.000,0.032,3193,1647,2240
$GC,6829,1.23,124.2,208.0,8.6,251,6833,0.00,2.33,0.00,0.000,4,0.000,0.041,3193,3073,2239
$GC,6976,1.25,142.8,198.3,6.4,255,6998,0.00,2.28,16.77,0.670,6,0.000,0.034,3193,1655,2165
$GC,7325,1.29,146.4,169.8,8.1,288,7339,0.00,2.35,4.10,0.453,4,0.000,0.035,3193,3071,2152
$GC,7431,1.32,146.9,160.9,8.4,297,7436,0.00,2.25,0.00,0.000,6,0.000,0.025,3193,1652,2151
$GC,7760,1.37,150.9,134.9,8.0,327,7768,0.12,0.00,5.80,0.504,6,0.061,0.000,3233,1652,2132
$GC,7956,1.37,150.9,117.2,9.0,346,7960,0.00,2.30,0.00,0.000,4,0.000,0.042,3233,3074,2132
$GC,8126,1.37,150.9,99.9,10.3,360,8134,0.00,2.25,0.00,0.000,6,0.000,0.030,3233,1663,2132
$GC,8327,1.38,157.3,82.2,7.8,379,8339,0.00,2.35,7.03,0.491,4,0.000,0.041,3233,3075,2107
$GC,8388,1.39,168.4,78.0,7.2,384,8405,0.00,2.25,10.93,0.528,6,0.000,0.032,3233,1654,2061
$GC,8605,1.43,196.8,63.3,5.2,404,8635,0.00,2.33,25.00,0.549,4,0.000,0.037,3234,3070,1944
$GC,8673,1.47,205.3,58.6,7.5,409,8685,0.00,2.28,8.18,0.480,6,0.000,0.025,3233,1658,1911
$GC,8880,1.51,205.3,37.9,10.7,428,8884,0.00,2.30,0.00,0.000,4,0.000,0.037,3233,3070,1908
$GC,9007,1.51,205.3,24.0,11.1,443,9016,0.00,2.25,0.00,0.000,6,0.000,0.024,3233,1658,1907
$STATE,9198,end climb,SURFACE_DEPTH_REACHED
$STATE,9198,begin surface coast
$FINISH,0.5,1.013196
$STATE,9228,end surface coast,CONTROL_FINISHED_OK
$STATE,9228,begin surface
$SM_CCo,9248,120.47,0.499,0,0,954,440.07
$SM_GC,1.52,0.00,0.00,120.47,0.000,0.000,0.499,409,1948,954,-11.55,1.33,440.07
$IRIDIUM_FIX,2239.35,-15744.57,241197,141433
$TT8_MAMPS,0.027612
$HUMID,1639
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.90
$XPDR_PINGS,135
$24V_AH,23.8,26.906
$10V_AH,10.1,24.497
$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,27.875,91.100,255.150,120.475,0.000,57.003,66.764,283.621,33.750,0.000,0.000,12.786,994.665,6080.672,446.633,1809.637,607.355,33.358,1173.757,0.000,1839.835,0.000,0.469
$DEVICE_MAMPS,159.536,56.758,890.487,499.317,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.964,310.997,557.097,418.876,859.764,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35101,481
$CAP_FILE_SIZE,205592,0
$CFSIZE,260165632,248999936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300808,172227,2248.799,-15749.092,7,1.8,7,10.1