version: 66.03
glider: 148
mission: 6
dive: 19
start: 8 15 108 21 24 15
data:
$ID,148
$MISSION,6
$DIVE,19
$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,410
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6499.5952
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2990
$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,1670
$C_ROLL_CLIMB,1660
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,39
$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
$GPS1,211625,2252.594,-15754.877,25,1.1,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-62.6
$GPS2,212321,2252.683,-15754.899,12,1.3,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT3
$TGT_LATLONG,2251.000,-15748.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,-0.091
$KALMAN_X,-9577.6,-369.9,76.9,13400.9,-122.9
$KALMAN_Y,22751.4,328.1,469.6,-15047.5,424.3
$MHEAD_RNG_PITCHd_Wd,102.3,12181,-15.6,-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,-1.14,-136.3,0.0,0.0,0,83,0.00,0.00,-62.65,0.000,2,0.000,0.000,410,1672,2745
$GC,86,-1.14,-136.3,3.3,-4.0,8,118,12.38,0.00,-12.43,0.000,6,0.160,0.000,2738,1672,3305
$GC,388,-1.14,-136.3,47.4,-14.5,50,392,0.00,2.25,0.00,0.000,4,0.000,0.035,2738,3074,3307
$GC,451,-1.14,-136.3,55.7,-13.2,55,455,0.00,2.28,0.00,0.000,6,0.000,0.033,2738,1655,3307
$GC,713,-1.14,-136.3,86.5,-11.1,79,717,0.00,2.28,0.00,0.000,4,0.000,0.034,2738,3077,3308
$GC,739,-1.14,-136.3,89.8,-11.5,81,746,0.00,2.28,0.00,0.000,6,0.000,0.031,2738,1672,3308
$GC,1000,-1.14,-136.3,116.1,-9.8,106,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1672,3308
$GC,1255,-1.14,-136.3,143.7,-11.3,130,1259,0.00,2.25,0.00,0.000,4,0.000,0.035,2737,3080,3308
$GC,1309,-1.14,-136.3,149.9,-11.2,134,1319,0.00,2.28,0.00,0.000,6,0.000,0.032,2738,1675,3309
$GC,1570,-1.14,-136.3,175.4,-9.5,159,1574,0.00,2.22,0.00,0.000,4,0.000,0.034,2738,3071,3309
$GC,1590,-1.14,-136.3,177.5,-9.7,160,1597,0.00,2.25,0.00,0.000,6,0.000,0.031,2738,1675,3309
$GC,1881,-1.14,-136.3,203.5,-8.4,185,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1675,3309
$GC,2125,-1.14,-136.3,224.6,-8.5,191,2129,0.00,2.22,0.00,0.000,4,0.000,0.034,2738,3073,3309
$GC,2180,-1.14,-136.3,229.3,-8.0,192,2184,0.00,2.28,0.00,0.000,6,0.000,0.032,2738,1667,3309
$GC,2452,-1.14,-136.3,250.0,-7.8,199,2456,0.00,2.25,0.00,0.000,4,0.000,0.035,2738,3073,3309
$GC,2473,-1.14,-136.3,251.7,-7.7,199,2478,0.00,2.25,0.00,0.000,6,0.000,0.033,2738,1664,3309
$GC,2735,-1.14,-136.3,271.2,-7.3,206,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1664,3310
$GC,2978,-1.14,-136.3,286.6,-6.1,212,2982,0.00,2.28,0.00,0.000,4,0.000,0.038,2738,3076,3309
$GC,3015,-1.14,-136.3,288.7,-5.6,212,3022,0.00,2.28,0.00,0.000,6,0.000,0.035,2738,1679,3309
$GC,3265,-1.14,-136.3,302.6,-5.7,219,3269,0.00,2.25,0.00,0.000,4,0.000,0.039,2738,3074,3309
$GC,3320,-1.14,-136.3,306.0,-6.0,220,3324,0.00,2.30,0.00,0.000,6,0.000,0.044,2738,1667,3309
$GC,3592,-1.14,-136.3,323.7,-6.5,227,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1667,3308
$GC,3836,-1.14,-136.3,336.2,-4.9,233,3840,0.00,2.30,0.00,0.000,4,0.000,0.044,2738,3074,3307
$GC,3874,-1.14,-136.3,338.2,-5.4,234,3878,0.00,2.28,0.00,0.000,6,0.000,0.043,2738,1672,3307
$GC,4158,-1.14,-136.3,354.2,-5.8,241,4162,0.00,2.30,0.00,0.000,4,0.000,0.044,2738,3075,3306
$GC,4223,-1.14,-136.3,358.3,-6.1,242,4227,0.00,2.33,0.00,0.000,6,0.000,0.048,2738,1667,3306
$GC,4485,-1.14,-136.3,372.5,-5.5,249,4489,0.00,2.38,0.00,0.000,4,0.000,0.071,2738,263,3304
$GC,4524,-1.14,-136.3,374.8,-5.7,250,4528,0.00,2.22,0.00,0.000,6,0.000,0.032,2738,1664,3304
$GC,4807,-1.14,-136.3,391.1,-5.9,257,4811,0.00,2.30,0.00,0.000,4,0.000,0.046,2738,3071,3302
$GC,4845,-1.14,-136.3,393.5,-6.6,258,4849,0.00,2.30,0.00,0.000,6,0.000,0.044,2738,1668,3302
$GC,5127,-1.14,-136.3,409.8,-5.8,265,5131,0.00,2.38,0.00,0.000,4,0.000,0.067,2738,265,3300
$GC,5148,-1.14,-136.3,411.0,-5.8,265,5153,0.00,2.28,0.00,0.000,6,0.000,0.034,2738,1670,3300
$GC,5409,-1.14,-136.3,426.1,-5.8,272,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1670,3299
$GC,5653,-1.14,-136.3,441.2,-6.4,278,5657,0.00,2.33,0.00,0.000,4,0.000,0.056,2737,3081,3297
$GC,5701,-1.14,-136.3,444.5,-6.7,279,5706,0.00,2.35,0.00,0.000,6,0.000,0.048,2738,1674,3297
$GC,5980,-1.14,-136.3,461.7,-6.1,286,5984,0.00,2.35,0.00,0.000,4,0.000,0.054,2738,3080,3295
$GC,6018,-1.14,-136.3,464.0,-5.3,287,6022,0.00,2.33,0.00,0.000,6,0.000,0.047,2737,1670,3295
$GC,6300,-1.14,-136.3,480.0,-5.6,294,6304,0.00,2.35,0.00,0.000,4,0.000,0.061,2738,3073,3293
$GC,6332,-1.14,-136.3,481.9,-5.8,294,6338,0.00,2.35,0.00,0.000,6,0.000,0.051,2738,1670,3294
$GC,6582,-1.14,-136.3,497.1,-5.9,301,6586,0.00,2.35,0.00,0.000,4,0.000,0.061,2738,3070,3292
$GC,6620,-1.14,-136.3,499.5,-5.9,301,6626,0.00,2.35,0.00,0.000,6,0.000,0.053,2738,1672,3292
$STATE,6868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6868,begin apogee
$GC,6872,-0.31,0.0,511.6,4.7,308,6984,0.82,0.00,109.28,0.932,6,0.091,0.000,2918,1672,2749
$STATE,6985,end apogee,CONTROL_FINISHED_OK
$STATE,6985,begin climb
$GC,6986,1.14,136.3,512.8,0.0,310,7108,1.38,0.00,114.07,0.904,6,0.054,0.000,3240,1672,2192
$GC,7351,1.14,136.3,476.3,12.5,319,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1672,2183
$GC,7594,1.14,136.3,446.4,12.1,325,7598,0.00,2.50,0.00,0.000,4,0.000,0.077,3240,252,2182
$GC,7694,1.14,136.3,432.2,14.2,327,7698,0.00,2.33,0.00,0.000,6,0.000,0.041,3241,1650,2180
$GC,7966,1.14,136.3,398.4,12.1,334,7970,0.00,2.42,0.00,0.000,4,0.000,0.067,3240,250,2178
$GC,8222,1.14,136.3,363.5,12.5,339,8229,0.00,2.33,0.00,0.000,6,0.000,0.037,3240,1664,2176
$GC,8472,1.14,136.3,335.4,11.3,346,8476,0.00,2.42,0.00,0.000,4,0.000,0.068,3240,251,2175
$GC,8511,1.14,136.3,330.4,14.4,347,8515,0.00,2.30,0.00,0.000,6,0.000,0.043,3240,1666,2174
$GC,8799,1.14,136.3,300.0,10.4,354,8803,0.00,2.42,0.00,0.000,4,0.000,0.062,3240,246,2174
$GC,8820,1.14,136.3,297.7,10.7,354,8825,0.00,2.30,0.00,0.000,6,0.000,0.037,3240,1660,2173
$GC,9081,1.14,136.3,272.8,8.9,361,9085,0.00,2.38,0.00,0.000,4,0.000,0.061,3241,3058,2173
$GC,9337,1.14,138.9,250.4,8.4,366,9344,0.00,2.35,0.00,0.000,6,0.000,0.050,3240,1650,2171
$GC,9587,1.15,140.0,229.4,8.5,373,9591,0.00,2.35,0.00,0.000,4,0.000,0.048,3240,3060,2171
$GC,9614,1.17,158.6,227.3,7.7,373,9635,0.00,2.33,16.45,0.706,6,0.000,0.041,3240,1660,2101
$GC,9907,1.17,158.6,198.4,10.2,381,9911,0.00,2.33,0.00,0.000,4,0.000,0.044,3240,3064,2098
$GC,9968,1.17,158.6,192.4,9.6,386,9973,0.00,2.30,0.00,0.000,6,0.000,0.044,3240,1657,2098
$GC,10229,1.20,179.8,170.3,7.6,410,10252,0.00,0.00,18.88,0.650,6,0.000,0.000,3240,1656,2015
$GC,10504,1.20,179.8,144.6,10.4,436,10508,0.00,2.33,0.00,0.000,4,0.000,0.043,3240,3071,2012
$GC,10523,1.20,179.8,142.9,10.2,437,10527,0.00,2.30,0.00,0.000,6,0.000,0.041,3240,1657,2011
$GC,10787,1.20,179.8,115.4,10.6,461,10788,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1657,2011
$GC,11041,1.20,179.8,90.6,10.0,485,11045,0.00,2.30,0.00,0.000,4,0.000,0.047,3240,3070,2011
$GC,11057,1.20,179.8,88.7,9.7,486,11061,0.00,2.28,0.00,0.000,6,0.000,0.040,3240,1659,2011
$GC,11319,1.20,179.8,63.6,8.6,510,11323,0.00,2.28,0.00,0.000,4,0.000,0.046,3241,3066,2011
$GC,11359,1.20,179.8,60.1,9.0,513,11363,0.00,2.28,0.00,0.000,6,0.000,0.041,3240,1659,2011
$GC,11622,1.27,238.8,42.1,6.0,537,11678,0.10,2.38,50.00,0.543,4,0.066,0.058,3276,250,1774
$GC,11726,1.27,238.8,31.7,12.8,545,11730,0.00,2.25,0.00,0.000,6,0.000,0.028,3276,1665,1772
$STATE,11952,end climb,SURFACE_DEPTH_REACHED
$STATE,11953,begin surface coast
$FINISH,0.6,1.023011
$STATE,11977,end surface coast,CONTROL_FINISHED_OK
$STATE,11977,begin surface
$SM_CCo,11995,97.20,0.503,0,0,1076,410.14
$SM_GC,1.40,0.00,0.00,97.20,0.000,0.000,0.503,410,1668,1076,-11.87,-0.06,410.14
$IRIDIUM_FIX,2246.36,-15756.28,091197,171705
$TT8_MAMPS,0.026845
$HUMID,1575
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.30
$XPDR_PINGS,106
$24V_AH,23.7,14.220
$10V_AH,10.1,12.500
$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,26.400,129.400,308.675,97.200,0.000,23.322,26.160,246.035,26.500,0.000,0.000,13.786,1177.437,8306.695,525.372,1993.848,487.906,33.347,1317.707,0.000,2023.828,0.000,0.470
$DEVICE_MAMPS,160.303,77.467,931.905,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,440.265,364.787,635.464,468.202,966.218,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44589,588
$CAP_FILE_SIZE,240615,0
$CFSIZE,260165632,256937984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,004701,2252.428,-15753.710,37,1.2,37,10.1