version: 66.03
glider: 148
mission: 6
dive: 148
start: 8 31 108 5 11 28
data:
$ID,148
$MISSION,6
$DIVE,148
$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,-9270.0361
$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,49
$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
$GPS1,045537,2248.672,-15748.673,12,1.0,28,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-62.0
$GPS2,051033,2248.662,-15748.703,15,1.3,15,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,0.136
$KALMAN_X,-76861.5,492.5,-232.8,90704.6,-985.3
$KALMAN_Y,-43428.9,484.7,289.1,43701.0,-2387.3
$MHEAD_RNG_PITCHd_Wd,12.3,1326,-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,17,begin dive
$GC,19,-1.75,-49.4,0.0,0.0,0,90,0.00,0.00,-69.22,0.000,2,0.000,0.000,413,1884,2804
$GC,93,-1.80,-87.4,3.5,-4.1,9,117,11.27,2.28,-6.55,0.000,4,0.163,0.041,2522,3323,3104
$GC,216,-1.71,-87.4,32.4,-23.9,29,220,0.12,2.20,0.00,0.000,6,0.134,0.020,2544,1901,3105
$GC,414,-1.71,-87.4,77.1,-21.2,47,418,0.00,2.20,0.00,0.000,4,0.000,0.037,2544,499,3105
$GC,444,-1.71,-87.4,82.8,-20.1,49,448,0.00,2.20,0.00,0.000,6,0.000,0.029,2544,1921,3105
$GC,645,-1.77,-87.4,116.4,-14.4,67,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1921,3106
$GC,842,-1.82,-87.4,147.6,-15.2,86,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1921,3106
$GC,1033,-1.89,-87.4,176.1,-13.7,104,1038,0.15,2.25,0.00,0.000,4,0.052,0.032,2498,504,3106
$GC,1105,-1.89,-87.4,187.6,-16.8,110,1109,0.00,2.17,0.00,0.000,6,0.000,0.022,2498,1906,3106
$GC,1429,-1.89,-87.4,236.1,-14.8,123,1433,0.00,2.25,0.00,0.000,4,0.000,0.035,2498,494,3106
$GC,1449,-1.89,-87.4,239.4,-15.3,123,1454,0.00,2.20,0.00,0.000,6,0.000,0.021,2498,1902,3107
$GC,1792,-1.93,-87.4,286.7,-13.1,132,1796,0.00,2.22,0.00,0.000,4,0.000,0.045,2498,507,3107
$GC,1864,-1.99,-87.4,296.6,-12.7,133,1868,0.00,2.20,0.00,0.000,6,0.000,0.026,2498,1893,3107
$GC,2207,-2.06,-87.4,339.7,-12.4,142,2211,0.12,2.25,0.00,0.000,4,0.058,0.049,2457,510,3106
$GC,2323,-2.06,-87.4,356.7,-14.6,144,2327,0.00,2.20,0.00,0.000,6,0.000,0.032,2458,1895,3106
$GC,2659,-2.06,-87.4,405.6,-14.7,153,2663,0.00,2.28,0.00,0.000,4,0.000,0.047,2457,510,3105
$GC,2753,-2.06,-87.4,420.1,-15.6,155,2758,0.00,2.22,0.00,0.000,6,0.000,0.038,2457,1893,3105
$GC,3072,-2.06,-87.4,464.8,-13.7,163,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1893,3102
$GC,3397,-2.06,-87.4,506.5,-12.6,171,3401,0.00,2.30,0.00,0.000,4,0.000,0.054,2457,511,3099
$STATE,3422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3422,begin apogee
$GC,3429,-0.31,0.0,510.4,14.3,171,3504,1.83,0.00,70.95,0.887,6,0.113,0.000,2849,1658,2749
$STATE,3505,end apogee,CONTROL_FINISHED_OK
$STATE,3505,begin climb
$GC,3506,1.80,87.4,512.5,0.0,173,3584,1.98,0.00,72.95,0.868,6,0.045,0.000,3317,1658,2392
$GC,3886,1.49,87.4,466.2,14.4,183,3888,0.35,0.00,0.00,0.000,6,0.120,0.000,3248,1658,2385
$GC,4210,1.32,87.4,427.6,11.8,191,4214,0.17,2.38,0.00,0.000,4,0.126,0.059,3211,3063,2382
$GC,4264,1.20,87.4,421.4,11.8,192,4269,0.15,2.25,0.00,0.000,6,0.137,0.031,3184,1682,2381
$GC,4577,1.15,87.4,389.2,10.1,200,4581,0.00,2.30,0.00,0.000,4,0.000,0.049,3184,3069,2378
$GC,4671,1.10,87.4,380.3,9.7,202,4676,0.12,2.28,0.00,0.000,6,0.135,0.033,3162,1658,2377
$GC,4990,1.10,92.4,354.7,7.9,210,4994,0.00,2.33,0.00,0.000,4,0.000,0.043,3162,3063,2375
$GC,5011,1.11,99.1,353.0,7.7,210,5028,0.00,2.28,8.12,0.716,6,0.000,0.030,3162,1657,2344
$GC,5353,1.11,99.6,324.1,8.4,219,5357,0.00,2.35,0.00,0.000,4,0.000,0.059,3162,255,2342
$GC,5379,1.07,99.6,321.5,9.6,219,5384,0.00,2.25,0.00,0.000,6,0.000,0.027,3162,1680,2341
$GC,5716,1.08,103.5,293.3,8.1,228,5725,0.00,2.30,4.40,0.553,4,0.000,0.054,3162,3051,2327
$GC,5805,1.09,115.2,286.6,7.1,230,5821,0.00,2.25,11.55,0.719,6,0.000,0.028,3162,1649,2279
$GC,6129,1.13,118.0,260.7,8.2,238,6133,0.00,2.30,0.00,0.000,4,0.000,0.039,3162,3051,2276
$GC,6214,1.16,118.0,253.4,8.6,240,6218,0.00,2.22,0.00,0.000,6,0.000,0.032,3162,1659,2275
$GC,6538,1.23,139.9,231.7,6.0,248,6565,0.10,2.30,20.95,0.709,4,0.071,0.035,3193,3061,2179
$GC,6659,1.23,139.9,222.2,9.2,250,6666,0.00,2.28,0.00,0.000,6,0.000,0.028,3193,1653,2176
$GC,6972,1.23,139.9,194.3,9.3,260,6976,0.00,2.28,0.00,0.000,4,0.000,0.038,3193,3057,2175
$GC,7170,1.25,157.6,179.6,6.5,277,7192,0.00,2.22,16.10,0.646,6,0.000,0.027,3193,1655,2105
$GC,7510,1.30,160.7,149.5,8.1,309,7520,0.00,0.00,3.75,0.417,6,0.000,0.000,3193,1655,2094
$GC,7711,1.35,160.7,132.2,8.9,328,7715,0.00,2.28,0.00,0.000,4,0.000,0.040,3193,3064,2093
$GC,7763,1.40,160.7,127.7,9.0,332,7767,0.12,2.22,0.00,0.000,6,0.061,0.032,3232,1655,2092
$GC,7959,1.40,160.7,107.5,10.1,350,7963,0.00,2.28,0.00,0.000,4,0.000,0.041,3232,3067,2092
$GC,7977,1.40,160.7,105.9,9.4,351,7981,0.00,2.22,0.00,0.000,6,0.000,0.032,3232,1655,2092
$GC,8178,1.40,164.3,88.4,8.1,369,8190,0.00,2.30,4.62,0.430,4,0.000,0.035,3232,3067,2078
$GC,8203,1.40,164.3,85.7,9.7,371,8207,0.00,2.22,0.00,0.000,6,0.000,0.025,3232,1652,2078
$GC,8403,1.42,182.2,71.9,6.4,389,8423,0.00,0.00,16.70,0.547,6,0.000,0.000,3232,1652,2005
$GC,8614,1.42,182.2,54.5,8.9,409,8617,0.00,2.28,0.00,0.000,4,0.000,0.035,3232,3058,2003
$GC,8645,1.42,182.2,52.0,8.7,411,8649,0.00,2.20,0.00,0.000,6,0.000,0.025,3232,1662,2002
$GC,8844,1.42,182.2,34.5,8.8,429,8848,0.00,2.25,0.00,0.000,4,0.000,0.035,3232,3057,2002
$GC,8924,1.42,182.2,27.4,9.1,438,8933,0.00,2.22,0.00,0.000,6,0.000,0.025,3232,1659,2002
$GC,9140,1.42,182.2,8.9,9.6,475,9148,0.00,2.28,0.00,0.000,4,0.000,0.035,3232,3052,2002
$STATE,9195,end climb,SURFACE_DEPTH_REACHED
$STATE,9195,begin surface coast
$FINISH,0.7,1.002444
$STATE,9224,end surface coast,CONTROL_FINISHED_OK
$STATE,9224,begin surface
$SM_CCo,9245,193.70,0.498,0,0,511,548.98
$SM_GC,1.47,0.00,0.00,193.70,0.000,0.000,0.498,414,1884,511,-11.52,-0.45,548.98
$IRIDIUM_FIX,2237.01,-15752.82,251197,050530
$TT8_MAMPS,0.026845
$HUMID,1598
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,24.00
$XPDR_PINGS,147
$24V_AH,23.8,27.424
$10V_AH,10.1,24.992
$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,27.950,98.450,230.100,193.700,0.000,134.788,417.769,0.000,36.750,0.000,0.000,16.500,975.321,6423.473,531.516,1657.607,747.116,33.360,1162.776,0.000,1703.500,0.000,0.470
$DEVICE_MAMPS,163.371,59.059,887.419,497.783,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.438,308.445,562.779,432.674,891.411,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38155,489
$CAP_FILE_SIZE,199098,0
$CFSIZE,260165632,248659968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310808,074953,2249.083,-15748.340,9,3.6,28,10.1