version: 66.03
glider: 148
mission: 6
dive: 147
start: 8 31 108 2 9 4
data:
$ID,148
$MISSION,6
$DIVE,147
$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,-9252.9092
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,020138,2248.302,-15748.970,36,1.0,36,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.7
$GPS2,020809,2248.230,-15749.042,14,1.0,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.121,0.147
$KALMAN_X,-76069.4,593.2,-262.7,89267.6,-1383.6
$KALMAN_Y,-41600.2,469.0,-598.4,41981.4,-2185.9
$MHEAD_RNG_PITCHd_Wd,29.4,432,-20.5,-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,-1.38,-83.2,0.0,0.0,0,106,0.00,0.00,-85.30,0.000,2,0.000,0.000,405,1893,2760
$GC,109,-1.45,-136.3,3.3,-3.6,11,143,11.62,2.33,-11.98,0.000,4,0.160,0.047,2595,3313,3307
$GC,180,-1.30,-136.3,17.7,-20.2,21,187,0.15,2.25,0.00,0.000,6,0.106,0.021,2630,1887,3307
$GC,385,-1.30,-136.3,53.9,-13.7,45,389,0.00,2.28,0.00,0.000,4,0.000,0.042,2630,3315,3307
$GC,443,-1.30,-136.3,62.3,-13.9,50,448,0.00,2.20,0.00,0.000,6,0.000,0.027,2630,1893,3307
$GC,640,-1.30,-136.3,90.3,-13.9,68,644,0.00,2.28,0.00,0.000,4,0.000,0.031,2630,3319,3308
$GC,672,-1.30,-136.3,95.2,-15.4,70,681,0.00,2.22,0.00,0.000,6,0.000,0.019,2630,1899,3308
$GC,874,-1.35,-136.3,122.4,-13.8,89,878,0.00,2.28,0.00,0.000,4,0.000,0.032,2630,3325,3308
$GC,916,-1.35,-136.3,129.3,-14.2,92,926,0.00,2.22,0.00,0.000,6,0.000,0.019,2630,1903,3308
$GC,1114,-1.39,-136.3,155.1,-14.4,111,1118,0.00,2.25,0.00,0.000,4,0.000,0.032,2630,3319,3308
$GC,1154,-1.43,-136.3,160.5,-13.7,114,1159,0.00,2.20,0.00,0.000,6,0.000,0.019,2630,1893,3308
$GC,1509,-1.53,-136.3,204.8,-12.0,144,1513,0.15,2.28,0.00,0.000,4,0.049,0.031,2569,3324,3308
$GC,1552,-1.49,-136.3,211.3,-15.1,145,1556,0.12,2.20,0.00,0.000,6,0.104,0.019,2594,1896,3308
$GC,1877,-1.53,-136.3,253.8,-12.5,153,1881,0.00,2.25,0.00,0.000,4,0.000,0.031,2594,3317,3308
$GC,1949,-1.58,-136.3,262.8,-12.6,154,1953,0.00,2.20,0.00,0.000,6,0.000,0.025,2594,1896,3308
$GC,2285,-1.65,-136.3,303.1,-12.0,163,2290,0.15,2.28,0.00,0.000,4,0.048,0.043,2536,3317,3308
$GC,2329,-1.57,-136.3,309.5,-15.3,164,2333,0.17,2.20,0.00,0.000,6,0.100,0.021,2573,1896,3308
$GC,2648,-1.61,-136.3,346.6,-11.4,172,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1896,3308
$GC,2971,-1.65,-136.3,383.5,-11.4,180,2975,0.00,2.25,0.00,0.000,4,0.000,0.048,2573,510,3307
$GC,2987,-1.70,-136.3,385.5,-11.4,180,2991,0.00,2.20,0.00,0.000,6,0.000,0.025,2573,1915,3307
$GC,3335,-1.74,-136.3,423.8,-11.3,189,3337,0.15,0.00,0.00,0.000,6,0.052,0.000,2523,1915,3305
$GC,3660,-1.70,-136.3,468.4,-13.5,197,3662,0.12,0.00,0.00,0.000,6,0.111,0.000,2547,1915,3303
$GC,3985,-1.70,-136.3,505.3,-10.9,205,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1915,3300
$STATE,4064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4064,begin apogee
$GC,4069,-0.31,0.0,513.9,10.7,207,4187,1.40,0.00,109.80,0.899,6,0.097,0.000,2849,1654,2749
$STATE,4187,end apogee,CONTROL_FINISHED_OK
$STATE,4187,begin climb
$GC,4189,1.45,136.3,515.9,0.0,210,4313,1.62,2.40,112.82,0.877,4,0.048,0.063,3240,276,2192
$GC,4431,1.12,136.3,485.7,18.0,215,4436,0.30,2.25,0.00,0.000,6,0.108,0.037,3168,1645,2186
$GC,4774,0.97,136.3,440.2,12.9,224,4778,0.17,2.40,0.00,0.000,4,0.123,0.054,3131,3066,2179
$GC,4947,0.88,136.3,420.0,11.4,228,4951,0.00,2.25,0.00,0.000,6,0.000,0.035,3132,1681,2177
$GC,5271,0.81,136.3,386.3,10.1,236,5276,0.15,2.28,0.00,0.000,4,0.123,0.044,3099,3064,2175
$GC,5382,0.82,141.4,376.9,8.1,238,5386,0.00,2.30,0.00,0.000,6,0.000,0.032,3099,1657,2174
$GC,5724,0.83,149.2,350.1,8.0,247,5738,0.00,2.38,9.00,0.728,4,0.000,0.041,3099,3063,2140
$GC,5845,0.83,149.2,339.7,9.1,249,5850,0.00,2.30,0.00,0.000,6,0.000,0.035,3098,1658,2137
$GC,6182,0.83,152.0,311.6,8.3,258,6186,0.00,2.30,0.00,0.000,4,0.000,0.042,3099,3065,2135
$GC,6349,0.88,187.0,299.9,6.1,261,6389,0.00,2.28,32.83,0.772,6,0.000,0.032,3099,1660,1985
$GC,6722,0.93,187.0,270.2,8.6,271,6727,0.10,2.30,0.00,0.000,4,0.067,0.041,3131,3065,1979
$GC,6968,0.94,187.1,247.6,8.5,276,6972,0.00,2.28,0.00,0.000,6,0.000,0.027,3131,1657,1976
$GC,7310,0.95,202.4,220.7,7.5,285,7329,0.00,2.35,13.18,0.667,4,0.000,0.041,3131,3064,1922
$GC,7582,0.95,202.4,197.7,8.7,291,7592,0.00,2.28,0.00,0.000,6,0.000,0.032,3131,1653,1919
$GC,7911,0.99,206.3,170.9,8.2,322,7922,0.00,2.30,4.53,0.476,4,0.000,0.037,3131,3074,1906
$GC,8153,1.04,220.1,150.8,7.6,343,8171,0.00,2.25,13.27,0.600,6,0.000,0.025,3131,1649,1851
$GC,8491,1.10,226.7,124.3,8.0,375,8504,0.12,2.38,6.90,0.515,4,0.056,0.038,3175,3069,1823
$GC,8756,1.10,226.7,96.5,10.8,398,8765,0.00,2.25,0.00,0.000,6,0.000,0.025,3175,1659,1821
$GC,8955,1.10,226.7,76.4,10.5,417,8959,0.00,2.28,0.00,0.000,4,0.000,0.041,3174,3069,1821
$GC,9154,1.11,234.0,57.9,8.0,434,9167,0.00,2.22,7.25,0.474,6,0.000,0.025,3175,1651,1795
$GC,9358,1.11,234.0,40.9,8.8,453,9362,0.00,2.30,0.00,0.000,4,0.000,0.036,3175,3073,1795
$GC,9446,1.11,234.0,32.4,9.6,460,9456,0.00,2.25,0.00,0.000,6,0.000,0.024,3175,1661,1793
$GC,9660,1.11,234.0,13.2,9.3,495,9668,0.00,2.30,0.00,0.000,4,0.000,0.037,3175,3068,1794
$STATE,9771,end climb,SURFACE_DEPTH_REACHED
$STATE,9771,begin surface coast
$FINISH,0.6,1.010503
$STATE,9807,end surface coast,CONTROL_FINISHED_OK
$STATE,9807,begin surface
$SM_CCo,9829,99.40,0.496,0,0,954,440.07
$SM_GC,1.37,0.00,0.00,99.40,0.000,0.000,0.496,414,1885,954,-11.53,-0.45,440.07
$IRIDIUM_FIX,2239.35,-15747.62,241197,232335
$TT8_MAMPS,0.027612
$HUMID,1645
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.80
$XPDR_PINGS,145
$24V_AH,23.8,27.318
$10V_AH,10.1,24.895
$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,27.775,95.450,309.575,99.400,0.000,31.207,30.638,232.584,36.250,0.000,0.000,16.388,1046.272,6307.874,499.047,1966.245,502.424,33.362,1274.566,0.000,1997.725,0.000,0.471
$DEVICE_MAMPS,159.536,62.894,898.924,496.249,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,399.099,336.880,609.267,467.023,954.138,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38291,520
$CAP_FILE_SIZE,215097,0
$CFSIZE,260165632,248729600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310808,045537,2248.672,-15748.673,12,1.0,28,10.1