version: 66.03
glider: 148
mission: 6
dive: 144
start: 8 30 108 17 38 31
data:
$ID,148
$MISSION,6
$DIVE,144
$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,-9204.8691
$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,39
$R_STBD_OVSHOOT,59
$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
$GPS1,172227,2248.799,-15749.092,7,1.8,7,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.0
$GPS2,173737,2248.801,-15749.135,9,1.2,25,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.070,0.130
$KALMAN_X,-73717.1,-316.9,-103.7,87509.9,-311.7
$KALMAN_Y,-36067.6,-30.1,531.3,36867.7,-2470.7
$MHEAD_RNG_PITCHd_Wd,18.3,1501,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.75,-49.4,0.0,0.0,0,90,0.00,0.00,-69.50,0.000,2,0.000,0.000,409,1948,2803
$GC,93,-1.79,-86.8,3.4,-4.2,9,118,11.27,2.15,-6.60,0.000,4,0.163,0.047,2520,3289,3104
$GC,161,-1.70,-86.8,18.0,-21.1,19,169,0.10,2.20,0.00,0.000,6,0.133,0.022,2542,1896,3104
$GC,365,-1.64,-86.8,64.6,-22.8,42,370,0.10,2.20,0.00,0.000,4,0.143,0.031,2558,500,3105
$GC,385,-1.59,-86.8,69.1,-23.7,43,389,0.00,2.15,0.00,0.000,6,0.000,0.024,2558,1876,3105
$GC,585,-1.65,-86.8,105.0,-16.0,61,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1877,3105
$GC,783,-1.73,-86.8,136.3,-14.3,80,787,0.00,2.28,0.00,0.000,4,0.000,0.035,2558,3306,3106
$GC,802,-1.81,-86.8,138.9,-14.9,81,807,0.15,2.17,0.00,0.000,6,0.051,0.021,2512,1898,3106
$GC,998,-1.81,-86.8,172.8,-18.1,99,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1898,3106
$GC,1333,-1.85,-86.8,225.8,-15.7,119,1337,0.00,2.20,0.00,0.000,4,0.000,0.035,2511,507,3107
$GC,1479,-1.91,-86.8,247.4,-13.9,122,1483,0.00,2.17,0.00,0.000,6,0.000,0.023,2511,1912,3107
$GC,1827,-2.00,-86.8,288.7,-11.8,131,1829,0.12,0.00,0.00,0.000,6,0.059,0.000,2472,1913,3107
$GC,2150,-2.00,-86.8,334.6,-14.9,139,2154,0.00,2.28,0.00,0.000,4,0.000,0.044,2472,511,3107
$GC,2193,-2.00,-86.8,342.1,-16.0,140,2198,0.00,2.20,0.00,0.000,6,0.000,0.028,2472,1888,3107
$GC,2519,-2.03,-86.8,387.9,-13.7,148,2523,0.00,2.28,0.00,0.000,4,0.000,0.049,2472,506,3106
$GC,2630,-2.03,-86.8,403.7,-13.9,150,2634,0.00,2.25,0.00,0.000,6,0.000,0.037,2472,1903,3105
$GC,2973,-2.07,-86.8,445.7,-11.7,159,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1903,3103
$GC,3298,-2.11,-86.8,483.7,-11.7,167,3302,0.00,2.33,0.00,0.000,4,0.000,0.061,2472,513,3101
$GC,3442,-2.11,-86.8,501.9,-12.5,170,3447,0.00,2.25,0.00,0.000,6,0.000,0.035,2472,1891,3100
$STATE,3510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3510,begin apogee
$GC,3515,-0.31,0.0,510.3,12.1,172,3593,1.80,0.00,70.62,0.894,6,0.111,0.000,2849,1648,2748
$STATE,3593,end apogee,CONTROL_FINISHED_OK
$STATE,3593,begin climb
$GC,3595,1.79,86.8,511.9,0.0,174,3674,1.98,2.42,71.95,0.874,4,0.044,0.058,3318,275,2395
$GC,3690,1.43,86.8,504.9,8.9,176,3695,0.43,2.28,0.00,0.000,6,0.122,0.041,3235,1660,2393
$GC,4038,1.26,86.8,460.9,12.8,185,4042,0.17,2.33,0.00,0.000,4,0.124,0.055,3198,278,2387
$GC,4111,1.12,86.8,451.9,12.4,186,4116,0.17,2.22,0.00,0.000,6,0.129,0.030,3166,1663,2386
$GC,4441,1.12,86.8,420.4,8.9,194,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1663,2384
$GC,4766,1.12,91.3,395.1,8.0,202,4770,0.00,2.35,0.00,0.000,4,0.000,0.061,3166,3063,2381
$GC,4865,1.13,91.9,387.0,8.4,204,4869,0.00,2.22,0.00,0.000,6,0.000,0.031,3166,1685,2380
$GC,5178,1.13,91.9,358.9,9.2,212,5182,0.00,2.42,0.00,0.000,4,0.000,0.061,3166,248,2378
$GC,5189,1.13,91.9,357.8,9.2,212,5193,0.00,2.25,0.00,0.000,6,0.000,0.033,3166,1669,2377
$GC,5536,1.13,97.8,328.4,7.8,221,5549,0.00,2.40,7.10,0.690,4,0.000,0.056,3166,3061,2349
$GC,5600,1.14,103.5,323.2,7.8,222,5611,0.00,2.30,6.30,0.657,6,0.000,0.030,3165,1661,2327
$GC,5943,1.16,118.8,297.8,6.7,231,5962,0.00,2.35,14.25,0.747,4,0.000,0.050,3166,3061,2264
$GC,6130,1.16,120.1,282.2,8.3,235,6135,0.00,2.30,0.00,0.000,6,0.000,0.035,3166,1658,2260
$GC,6449,1.17,127.4,257.3,7.7,243,6463,0.00,2.33,7.97,0.659,4,0.000,0.040,3166,3050,2229
$GC,6718,1.22,127.4,234.3,9.2,249,6722,0.00,2.22,0.00,0.000,6,0.000,0.026,3166,1652,2226
$GC,7042,1.29,140.2,211.0,7.0,257,7062,0.15,2.35,11.70,0.661,4,0.058,0.041,3210,3060,2176
$GC,7175,1.29,140.2,200.5,8.7,260,7179,0.00,2.25,0.00,0.000,6,0.000,0.032,3210,1652,2175
$GC,7501,1.29,140.2,168.3,9.2,288,7505,0.00,2.30,0.00,0.000,4,0.000,0.040,3210,3063,2175
$GC,7590,1.29,140.2,160.0,9.5,295,7597,0.00,2.25,0.00,0.000,6,0.000,0.031,3210,1659,2174
$GC,7915,1.29,140.2,130.1,8.8,326,7919,0.00,2.28,0.00,0.000,4,0.000,0.041,3210,3064,2174
$GC,7957,1.29,140.2,126.6,8.8,329,7961,0.00,2.22,0.00,0.000,6,0.000,0.031,3210,1654,2174
$GC,8157,1.29,143.5,109.9,8.1,347,8168,0.00,2.33,4.28,0.426,4,0.000,0.039,3210,3061,2163
$GC,8174,1.31,151.8,108.2,7.5,348,8187,0.00,2.22,8.93,0.529,6,0.000,0.030,3210,1668,2130
$GC,8380,1.31,151.8,90.4,8.8,367,8384,0.00,2.25,0.00,0.000,4,0.000,0.043,3210,3062,2128
$GC,8530,1.32,160.2,78.5,7.5,380,8545,0.00,2.20,8.65,0.512,6,0.000,0.031,3210,1658,2095
$GC,8735,1.41,192.1,63.8,4.8,399,8765,0.00,0.00,27.38,0.555,6,0.000,0.000,3210,1658,1966
$GC,8956,1.48,192.1,47.5,8.5,420,8960,0.12,2.28,0.00,0.000,4,0.056,0.042,3253,3065,1963
$GC,9036,1.48,192.1,39.2,10.9,427,9040,0.00,2.22,0.00,0.000,6,0.000,0.025,3252,1658,1960
$GC,9243,1.48,192.1,15.9,12.0,455,9252,0.00,2.30,0.00,0.000,4,0.000,0.037,3252,3058,1960
$GC,9332,1.45,192.1,5.0,12.5,470,9341,0.00,2.22,0.00,0.000,6,0.000,0.025,3252,1657,1960
$STATE,9347,end climb,SURFACE_DEPTH_REACHED
$STATE,9347,begin surface coast
$FINISH,0.7,0.999530
$STATE,9372,end surface coast,CONTROL_FINISHED_OK
$STATE,9372,begin surface
$SM_CCo,9391,186.02,0.501,0,0,510,548.98
$SM_GC,1.48,0.00,0.00,186.02,0.000,0.000,0.501,409,1917,510,-11.55,0.48,548.98
$IRIDIUM_FIX,2241.69,-15748.90,241197,171721
$TT8_MAMPS,0.026845
$HUMID,1621
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.70
$XPDR_PINGS,139
$24V_AH,23.8,27.011
$10V_AH,10.1,24.593
$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,28.075,95.950,239.125,186.025,0.000,149.645,409.142,0.000,34.750,0.000,0.000,27.216,984.192,6504.260,523.119,1733.554,743.660,33.355,1200.688,0.000,1751.448,0.000,0.470
$DEVICE_MAMPS,162.604,61.360,893.555,500.851,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.289,300.171,538.787,408.964,843.156,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35112,476
$CAP_FILE_SIZE,196010,0
$CFSIZE,260165632,248930304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,300808,201926,2249.006,-15748.577,41,1.1,41,10.1