version: 66.03
glider: 148
mission: 6
dive: 106
start: 8 26 108 8 32 16
data:
$ID,148
$MISSION,6
$DIVE,106
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8444.3281
$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,1900
$C_ROLL_CLIMB,1660
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,35
$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
$GPS1,082537,2248.238,-15748.461,40,1.2,51,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-54.8
$GPS2,083121,2248.237,-15748.495,11,1.4,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.115,0.092
$KALMAN_X,-76434.0,-25.1,-111.9,91026.5,413.1
$KALMAN_Y,23305.1,196.4,-59.8,-23176.6,-1447.5
$MHEAD_RNG_PITCHd_Wd,298.5,967,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.75,-49.4,0.0,0.0,0,104,0.00,0.00,-84.62,0.000,2,0.000,0.000,413,1889,2775
$GC,107,-1.79,-86.5,3.4,-4.2,11,132,11.62,2.28,-7.18,0.000,4,0.161,0.048,2590,3306,3103
$GC,308,-1.79,-86.5,37.1,-15.2,41,312,0.00,2.22,0.00,0.000,6,0.000,0.036,2590,1902,3103
$GC,571,-1.79,-86.5,79.8,-15.1,65,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1899,3103
$GC,827,-1.79,-86.5,114.3,-12.8,89,831,0.00,2.25,0.00,0.000,4,0.000,0.038,2590,491,3104
$GC,856,-1.79,-86.5,118.1,-12.9,91,860,0.00,2.22,0.00,0.000,6,0.000,0.026,2590,1908,3105
$GC,1118,-1.79,-86.5,151.4,-13.3,115,1122,0.00,2.25,0.00,0.000,4,0.000,0.037,2590,494,3105
$GC,1154,-1.79,-86.5,156.2,-13.4,118,1158,0.00,2.22,0.00,0.000,6,0.000,0.026,2590,1912,3105
$GC,1417,-1.79,-86.5,189.7,-12.4,142,1421,0.00,2.28,0.00,0.000,4,0.000,0.038,2590,496,3105
$GC,1449,-1.79,-86.5,194.2,-13.2,144,1458,0.00,2.22,0.00,0.000,6,0.000,0.027,2589,1892,3105
$GC,1711,-1.79,-86.5,224.4,-11.7,155,1715,0.00,2.25,0.00,0.000,4,0.000,0.038,2589,492,3106
$GC,1743,-1.79,-86.5,228.5,-11.9,155,1749,0.00,2.22,0.00,0.000,6,0.000,0.025,2589,1900,3106
$GC,1992,-1.79,-86.5,254.2,-9.7,162,1996,0.00,2.28,0.00,0.000,4,0.000,0.040,2589,493,3106
$GC,2041,-1.79,-86.5,258.7,-8.7,163,2046,0.00,2.22,0.00,0.000,6,0.000,0.025,2590,1896,3106
$GC,2319,-1.79,-86.5,282.2,-8.7,170,2323,0.00,2.28,0.00,0.000,4,0.000,0.051,2589,3308,3106
$GC,2419,-1.79,-86.5,291.6,-9.3,172,2423,0.00,2.25,0.00,0.000,6,0.000,0.035,2590,1899,3106
$GC,2691,-1.80,-94.8,313.5,-7.5,179,2695,0.00,2.28,0.00,0.000,4,0.000,0.056,2590,503,3106
$GC,2791,-1.80,-94.8,322.7,-9.4,181,2795,0.00,2.22,0.00,0.000,6,0.000,0.038,2590,1888,3106
$GC,3063,-1.80,-94.8,345.8,-8.6,188,3067,0.00,2.33,0.00,0.000,4,0.000,0.055,2590,3307,3105
$GC,3078,-1.80,-94.8,347.4,-9.0,188,3083,0.00,2.25,0.00,0.000,6,0.000,0.031,2590,1905,3105
$GC,3345,-1.80,-94.8,369.9,-8.5,195,3349,0.00,2.30,0.00,0.000,4,0.000,0.052,2590,504,3104
$GC,3366,-1.80,-94.8,371.9,-9.0,195,3371,0.00,2.25,0.00,0.000,6,0.000,0.031,2590,1895,3104
$GC,3627,-1.81,-95.9,393.9,-8.4,202,3631,0.00,2.35,0.00,0.000,4,0.000,0.052,2590,3315,3103
$GC,3704,-1.81,-99.5,400.4,-8.1,203,3710,0.00,2.25,0.00,0.000,6,0.000,0.033,2590,1903,3102
$GC,3953,-1.81,-101.2,420.9,-8.3,210,3957,0.00,2.35,0.00,0.000,4,0.000,0.058,2590,3309,3101
$GC,3985,-1.81,-101.2,423.9,-8.8,210,3992,0.00,2.30,0.00,0.000,6,0.000,0.039,2590,1896,3101
$GC,4236,-1.82,-108.5,443.6,-7.7,217,4240,0.00,2.38,0.00,0.000,4,0.000,0.062,2590,3310,3099
$GC,4285,-1.83,-116.7,447.6,-7.5,218,4289,0.00,2.30,0.00,0.000,6,0.000,0.040,2590,1900,3099
$GC,4563,-1.85,-131.4,466.8,-6.8,225,4567,0.00,2.38,0.00,0.000,4,0.000,0.060,2590,3312,3097
$GC,4595,-1.86,-136.3,469.0,-6.6,225,4602,0.00,2.30,0.00,0.000,6,0.000,0.035,2590,1902,3097
$GC,4845,-1.86,-136.3,485.1,-6.5,232,4849,0.00,2.35,0.00,0.000,4,0.000,0.057,2590,3305,3096
$GC,4894,-1.86,-136.3,488.5,-7.3,233,4898,0.00,2.28,0.00,0.000,6,0.000,0.042,2590,1898,3095
$GC,5172,-1.86,-136.3,508.0,-7.3,240,5176,0.00,2.38,0.00,0.000,4,0.000,0.058,2590,3312,3093
$GC,5198,-1.86,-136.3,509.9,-7.5,240,5202,0.00,2.33,0.00,0.000,6,0.000,0.038,2590,1896,3094
$STATE,5208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5208,begin apogee
$GC,5213,-0.31,0.0,510.6,7.1,241,5290,1.52,0.00,69.72,0.910,6,0.094,0.000,2922,1651,2749
$STATE,5291,end apogee,CONTROL_FINISHED_OK
$STATE,5291,begin climb
$GC,5293,1.86,136.3,511.2,0.0,243,5417,1.95,2.42,113.22,0.889,4,0.034,0.061,3404,261,2192
$GC,5652,1.86,136.3,442.6,23.9,251,5657,0.00,2.33,0.00,0.000,6,0.000,0.038,3404,1652,2183
$GC,5930,1.86,136.3,384.5,20.2,258,5934,0.00,2.42,0.00,0.000,4,0.000,0.064,3404,3067,2179
$GC,5944,1.86,136.3,381.6,19.2,258,5949,0.00,2.35,0.00,0.000,6,0.000,0.041,3404,1669,2177
$GC,6211,1.86,136.3,331.9,18.8,265,6215,0.00,2.45,0.00,0.000,4,0.000,0.068,3404,248,2175
$GC,6232,1.86,136.3,327.8,19.1,265,6237,0.00,2.33,0.00,0.000,6,0.000,0.033,3404,1662,2175
$GC,6499,1.86,136.3,280.7,17.2,272,6503,0.00,2.38,0.00,0.000,4,0.000,0.050,3404,248,2173
$GC,6513,1.86,136.3,278.0,16.7,272,6518,0.00,2.33,0.00,0.000,6,0.000,0.036,3404,1665,2172
$GC,6780,1.86,136.3,234.5,15.2,279,6784,0.00,2.38,0.00,0.000,4,0.000,0.057,3404,242,2171
$GC,6829,1.86,136.3,227.4,14.0,280,6834,0.00,2.30,0.00,0.000,6,0.000,0.030,3404,1659,2171
$GC,7090,1.86,136.3,191.4,13.2,291,7094,0.00,2.35,0.00,0.000,4,0.000,0.048,3404,241,2169
$GC,7346,1.86,136.3,152.8,15.9,313,7353,0.00,2.30,0.00,0.000,6,0.000,0.034,3404,1670,2169
$GC,7607,1.86,136.3,117.1,13.2,338,7611,0.00,2.35,0.00,0.000,4,0.000,0.051,3404,237,2169
$GC,7866,1.86,136.3,79.7,13.9,360,7876,0.00,2.28,0.00,0.000,6,0.000,0.028,3404,1658,2169
$GC,8130,1.86,136.3,51.0,10.5,385,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1658,2169
$GC,8385,1.87,146.9,35.3,7.3,409,8398,0.00,2.35,6.12,0.449,4,0.000,0.048,3404,3066,2150
$GC,8486,1.87,146.9,24.9,11.0,421,8493,0.00,2.28,0.00,0.000,6,0.000,0.034,3404,1651,2150
$STATE,8678,end climb,SURFACE_DEPTH_REACHED
$STATE,8678,begin surface coast
$FINISH,0.8,1.023196
$STATE,8702,end surface coast,CONTROL_FINISHED_OK
$STATE,8702,begin surface
$SM_CCo,8721,146.20,0.508,0,0,1076,410.14
$SM_GC,1.32,0.00,0.00,146.20,0.000,0.000,0.508,408,1939,1076,-11.88,1.10,410.14
$IRIDIUM_FIX,2239.35,-15746.73,201197,050555
$TT8_MAMPS,0.027612
$HUMID,1635
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,22.90
$XPDR_PINGS,118
$24V_AH,23.8,23.148
$10V_AH,10.1,20.962
$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,27.325,111.400,189.075,146.200,0.000,27.459,26.523,198.895,29.500,0.000,0.000,13.467,938.356,5701.761,458.886,1697.270,418.521,33.358,1132.727,0.000,1717.018,0.000,0.469
$DEVICE_MAMPS,161.070,93.574,909.662,507.754,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.549,311.136,522.919,415.376,860.829,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35056,459
$CAP_FILE_SIZE,191723,0
$CFSIZE,260165632,251318272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260808,110107,2248.402,-15749.223,11,1.8,27,10.1