version: 66.03
glider: 148
mission: 6
dive: 24
start: 8 16 108 15 10 40
data:
$ID,148
$MISSION,6
$DIVE,24
$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,-6638.8623
$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,27
$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
$GPS1,150137,2251.102,-15750.259,23,1.7,23,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-62.4
$GPS2,150947,2251.124,-15750.353,12,99.0,31,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT3
$TGT_LATLONG,2251.000,-15748.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.163
$KALMAN_X,-13794.0,-220.7,-200.0,25510.2,-801.8
$KALMAN_Y,28590.2,-533.5,-593.4,-21845.1,1880.7
$MHEAD_RNG_PITCHd_Wd,123.1,4021,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.14,-136.3,0.0,0.0,0,81,0.00,0.00,-61.90,0.000,2,0.000,0.000,410,1650,2728
$GC,84,-1.14,-136.3,3.1,-3.8,8,117,12.35,2.28,-13.27,0.000,4,0.160,0.067,2735,260,3305
$GC,196,-1.14,-136.3,20.8,-18.1,26,204,0.00,2.25,0.00,0.000,6,0.000,0.031,2735,1657,3306
$GC,468,-1.14,-136.3,58.2,-13.0,56,472,0.00,2.28,0.00,0.000,4,0.000,0.038,2735,3076,3306
$GC,488,-1.14,-136.3,61.4,-13.9,57,497,0.00,2.28,0.00,0.000,6,0.000,0.030,2735,1668,3306
$GC,749,-1.14,-136.3,93.7,-12.5,82,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1668,3307
$GC,1004,-1.14,-136.3,124.6,-12.5,106,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1668,3308
$GC,1261,-1.14,-136.3,152.4,-10.3,130,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1668,3308
$GC,1516,-1.14,-136.3,178.8,-10.0,154,1520,0.00,2.28,0.00,0.000,4,0.000,0.036,2735,3086,3308
$GC,1556,-1.14,-136.3,183.0,-10.4,157,1561,0.00,2.28,0.00,0.000,6,0.000,0.032,2735,1660,3308
$GC,1812,-1.14,-136.3,208.3,-9.5,175,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1659,3308
$GC,2056,-1.14,-136.3,229.9,-8.7,181,2060,0.00,2.28,0.00,0.000,4,0.000,0.051,2735,264,3308
$GC,2083,-1.14,-136.3,232.2,-9.1,181,2087,0.00,2.22,0.00,0.000,6,0.000,0.026,2735,1679,3308
$GC,2338,-1.14,-136.3,253.9,-8.4,188,2342,0.00,2.33,0.00,0.000,4,0.000,0.051,2735,265,3308
$GC,2359,-1.14,-136.3,255.9,-8.7,188,2364,0.00,2.22,0.00,0.000,6,0.000,0.025,2735,1675,3308
$GC,2621,-1.14,-136.3,277.1,-7.9,195,2624,0.00,2.22,0.00,0.000,4,0.000,0.037,2735,3075,3308
$GC,2714,-1.14,-136.3,284.5,-7.7,197,2719,0.00,2.28,0.00,0.000,6,0.000,0.035,2734,1672,3308
$GC,2993,-1.14,-136.3,302.9,-6.1,204,2997,0.00,2.33,0.00,0.000,4,0.000,0.062,2735,263,3308
$GC,3042,-1.14,-136.3,306.2,-6.6,205,3046,0.00,2.22,0.00,0.000,6,0.000,0.035,2735,1663,3308
$GC,3320,-1.14,-136.3,323.8,-6.7,212,3324,0.00,2.28,0.00,0.000,4,0.000,0.050,2736,3077,3308
$GC,3347,-1.14,-136.3,325.7,-7.4,212,3351,0.00,2.30,0.00,0.000,6,0.000,0.038,2735,1671,3308
$GC,3602,-1.14,-136.3,344.4,-7.4,219,3606,0.00,2.28,0.00,0.000,4,0.000,0.051,2735,3067,3307
$GC,3623,-1.14,-136.3,346.0,-7.4,219,3628,0.00,2.28,0.00,0.000,6,0.000,0.041,2735,1675,3307
$GC,3885,-1.14,-136.3,363.9,-6.6,226,3889,0.00,2.38,0.00,0.000,4,0.000,0.067,2735,257,3306
$GC,3916,-1.14,-136.3,366.2,-6.9,226,3923,0.00,2.28,0.00,0.000,6,0.000,0.032,2735,1671,3306
$GC,4166,-1.14,-136.3,379.9,-5.3,233,4170,0.00,2.28,0.00,0.000,4,0.000,0.048,2735,3072,3305
$GC,4199,-1.14,-136.3,381.8,-5.8,233,4203,0.00,2.30,0.00,0.000,6,0.000,0.045,2735,1672,3305
$GC,4454,-1.14,-136.3,396.4,-5.8,240,4458,0.00,2.30,0.00,0.000,4,0.000,0.051,2735,3071,3303
$GC,4526,-1.14,-136.3,400.7,-6.1,241,4530,0.00,2.30,0.00,0.000,6,0.000,0.048,2735,1677,3303
$GC,4781,-1.14,-136.3,415.9,-6.0,248,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1678,3302
$GC,5025,-1.14,-136.3,431.9,-6.5,254,5029,0.00,2.33,0.00,0.000,4,0.000,0.059,2735,3073,3300
$GC,5090,-1.14,-136.3,436.2,-6.4,255,5095,0.00,2.33,0.00,0.000,6,0.000,0.048,2735,1675,3300
$GC,5352,-1.14,-136.3,452.0,-5.8,262,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1675,3298
$GC,5595,-1.14,-136.3,466.2,-6.0,268,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1675,3296
$GC,5839,-1.14,-136.3,482.0,-6.6,274,5843,0.00,2.35,0.00,0.000,4,0.000,0.058,2735,3070,3295
$GC,5871,-1.14,-136.3,484.3,-6.9,274,5877,0.00,2.33,0.00,0.000,6,0.000,0.052,2735,1676,3295
$GC,6121,-1.14,-136.3,500.0,-6.1,281,6125,0.00,2.35,0.00,0.000,4,0.000,0.058,2735,3071,3294
$GC,6153,-1.14,-136.3,501.9,-6.2,281,6160,0.00,2.35,0.00,0.000,6,0.000,0.051,2735,1668,3293
$STATE,6320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6320,begin apogee
$GC,6324,-0.31,0.0,511.0,5.4,286,6436,0.85,0.00,108.95,0.920,6,0.087,0.000,2922,1668,2749
$STATE,6437,end apogee,CONTROL_FINISHED_OK
$STATE,6437,begin climb
$GC,6438,1.14,136.3,512.2,0.0,288,6562,1.35,2.58,112.88,0.894,4,0.052,0.083,3242,259,2192
$GC,6612,1.14,136.3,498.5,16.1,292,6616,0.00,2.33,0.00,0.000,6,0.000,0.046,3242,1649,2188
$GC,6895,1.14,136.3,462.2,12.5,299,6899,0.00,2.42,0.00,0.000,4,0.000,0.065,3242,250,2183
$GC,6979,1.14,136.3,450.5,14.3,301,6983,0.00,2.30,0.00,0.000,6,0.000,0.044,3242,1660,2182
$GC,7261,1.14,136.3,418.5,11.2,308,7265,0.00,2.42,0.00,0.000,4,0.000,0.071,3242,255,2180
$GC,7309,1.14,136.3,412.3,12.7,309,7314,0.00,2.33,0.00,0.000,6,0.000,0.042,3242,1664,2178
$GC,7587,1.14,136.3,382.3,10.7,316,7591,0.00,2.40,0.00,0.000,4,0.000,0.064,3242,3067,2177
$GC,7671,1.14,136.3,372.5,12.6,318,7675,0.00,2.33,0.00,0.000,6,0.000,0.045,3242,1656,2176
$GC,7959,1.14,136.3,339.1,11.2,325,7963,0.00,2.42,0.00,0.000,4,0.000,0.071,3242,249,2175
$GC,8030,1.14,136.3,331.1,12.2,326,8035,0.00,2.30,0.00,0.000,6,0.000,0.033,3242,1663,2174
$GC,8291,1.14,136.3,305.6,9.7,333,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1664,2173
$GC,8535,1.14,137.8,283.8,8.4,339,8539,0.00,2.40,0.00,0.000,4,0.000,0.065,3242,251,2173
$GC,8555,1.14,137.8,281.7,9.7,339,8560,0.00,2.28,0.00,0.000,6,0.000,0.038,3242,1661,2172
$GC,8816,1.16,154.9,260.8,7.8,346,8835,0.00,2.40,13.50,0.716,4,0.000,0.055,3242,3051,2117
$GC,9088,1.16,154.9,235.6,9.4,352,9093,0.00,2.30,0.00,0.000,6,0.000,0.041,3242,1664,2114
$GC,9372,1.16,154.9,209.9,9.1,359,9376,0.00,2.35,0.00,0.000,4,0.000,0.057,3242,252,2113
$GC,9559,1.16,154.9,190.9,10.6,367,9563,0.00,2.22,0.00,0.000,6,0.000,0.035,3242,1672,2113
$GC,9824,1.16,154.9,167.0,8.8,392,9828,0.00,2.35,0.00,0.000,4,0.000,0.059,3242,253,2113
$GC,9846,1.16,154.9,165.0,9.4,393,9855,0.00,2.22,0.00,0.000,6,0.000,0.035,3242,1653,2113
$GC,10107,1.18,163.5,142.7,8.1,418,10120,0.00,0.00,8.60,0.564,6,0.000,0.000,3242,1653,2081
$GC,10374,1.18,163.5,119.4,8.9,443,10377,0.00,2.28,0.00,0.000,4,0.000,0.041,3242,3065,2081
$GC,10421,1.18,163.5,114.9,9.8,447,10425,0.00,2.28,0.00,0.000,6,0.000,0.036,3242,1657,2081
$GC,10683,1.18,163.5,91.2,8.8,471,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1657,2081
$GC,10938,1.18,167.3,69.0,8.3,495,10952,0.00,2.35,5.10,0.441,4,0.000,0.053,3242,255,2065
$GC,11033,1.18,167.3,59.6,9.4,503,11043,0.00,2.22,0.00,0.000,6,0.000,0.026,3242,1663,2064
$GC,11297,1.21,193.4,39.9,7.4,528,11323,0.00,0.00,23.15,0.530,6,0.000,0.000,3242,1664,1960
$GC,11585,1.21,193.4,17.4,8.8,568,11593,0.00,2.28,0.00,0.000,4,0.000,0.038,3242,3061,1957
$GC,11606,1.21,193.4,15.6,8.7,571,11614,0.00,2.28,0.00,0.000,6,0.000,0.035,3242,1665,1956
$STATE,11747,end climb,SURFACE_DEPTH_REACHED
$STATE,11747,begin surface coast
$FINISH,0.7,1.023176
$STATE,11787,end surface coast,CONTROL_FINISHED_OK
$STATE,11787,begin surface
$SM_CCo,11805,107.90,0.499,0,0,1076,410.14
$SM_GC,1.53,0.00,0.00,107.90,0.000,0.000,0.499,415,1662,1076,-11.85,-0.23,410.14
$IRIDIUM_FIX,2241.69,-15757.16,101197,111151
$TT8_MAMPS,0.027612
$HUMID,1558
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.60
$XPDR_PINGS,141
$24V_AH,23.7,14.771
$10V_AH,10.1,13.059
$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,26.100,124.725,272.175,107.900,0.000,25.424,28.930,293.828,35.250,0.000,0.000,33.489,1193.293,8070.130,488.393,2088.650,544.646,33.349,1307.507,0.000,2111.017,0.000,0.468
$DEVICE_MAMPS,159.536,82.836,920.400,498.550,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,445.479,367.569,667.245,513.989,1055.689,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44673,603
$CAP_FILE_SIZE,246648,0
$CFSIZE,260165632,256524288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,183031,2250.744,-15749.783,35,1.0,41,10.1