version: 66.03
glider: 148
mission: 6
dive: 149
start: 8 31 108 7 56 46
data:
$ID,148
$MISSION,6
$DIVE,149
$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,-9305.9883
$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,41
$R_STBD_OVSHOOT,37
$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
$GPS1,074953,2249.083,-15748.340,9,3.6,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-59.0
$GPS2,075553,2249.068,-15748.317,13,4.2,32,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.017,0.146
$KALMAN_X,-77203.7,155.1,460.2,91347.5,-1368.1
$KALMAN_Y,-44851.8,389.6,971.2,45286.8,-3723.2
$MHEAD_RNG_PITCHd_Wd,356.7,2296,-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,16,begin dive
$GC,18,-1.75,-49.5,0.0,0.0,0,106,0.00,0.00,-84.72,0.000,2,0.000,0.000,414,1885,2754
$GC,109,-1.80,-89.0,3.4,-4.0,11,134,11.15,2.28,-7.90,0.000,4,0.157,0.041,2522,3312,3112
$GC,222,-1.71,-89.0,29.9,-25.0,29,231,0.08,2.22,0.00,0.000,6,0.127,0.021,2539,1899,3113
$GC,421,-1.65,-89.0,75.2,-22.4,48,425,0.00,2.20,0.00,0.000,4,0.000,0.030,2539,497,3113
$GC,442,-1.61,-89.0,80.8,-23.4,49,452,0.10,2.20,0.00,0.000,6,0.123,0.029,2562,1899,3114
$GC,639,-1.68,-89.0,118.2,-16.7,68,643,0.00,2.22,0.00,0.000,4,0.000,0.031,2562,495,3114
$GC,726,-1.79,-89.0,131.4,-14.3,75,730,0.15,2.17,0.00,0.000,6,0.050,0.021,2513,1900,3114
$GC,924,-1.79,-89.0,165.9,-17.1,93,928,0.00,2.22,0.00,0.000,4,0.000,0.033,2512,500,3114
$GC,1046,-1.79,-89.0,187.4,-18.0,103,1053,0.00,2.20,0.00,0.000,6,0.000,0.022,2512,1901,3115
$GC,1371,-1.84,-89.0,237.5,-15.1,117,1375,0.00,2.22,0.00,0.000,4,0.000,0.035,2512,504,3116
$GC,1448,-1.90,-89.0,249.9,-15.8,118,1455,0.00,2.17,0.00,0.000,6,0.000,0.021,2512,1912,3116
$GC,1779,-1.99,-89.0,292.7,-12.9,127,1784,0.12,2.28,0.00,0.000,4,0.057,0.046,2472,502,3116
$GC,1941,-1.99,-89.0,316.7,-13.6,130,1945,0.00,2.17,0.00,0.000,6,0.000,0.025,2472,1896,3116
$GC,2271,-1.99,-89.0,358.8,-13.0,138,2275,0.00,2.28,0.00,0.000,4,0.000,0.052,2472,506,3116
$GC,2472,-1.99,-89.0,387.9,-14.8,142,2477,0.00,2.22,0.00,0.000,6,0.000,0.029,2472,1895,3115
$GC,2815,-2.02,-89.0,433.2,-13.2,151,2819,0.00,2.28,0.00,0.000,4,0.000,0.056,2472,514,3113
$GC,2846,-2.02,-89.0,437.9,-13.7,151,2853,0.00,2.25,0.00,0.000,6,0.000,0.040,2472,1901,3113
$GC,3178,-2.06,-89.0,478.7,-12.0,160,3182,0.00,2.30,0.00,0.000,4,0.000,0.057,2472,516,3110
$GC,3211,-2.06,-89.0,482.9,-12.1,160,3217,0.00,2.25,0.00,0.000,6,0.000,0.041,2472,1897,3110
$STATE,3459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3459,begin apogee
$GC,3464,-0.31,0.0,512.5,11.9,167,3542,1.77,0.00,72.57,0.895,6,0.108,0.000,2846,1651,2749
$STATE,3542,end apogee,CONTROL_FINISHED_OK
$STATE,3542,begin climb
$GC,3544,1.80,89.0,514.2,0.0,169,3627,1.95,2.35,74.00,0.874,4,0.047,0.057,3311,279,2385
$GC,3633,1.47,89.0,508.2,11.1,171,3638,0.35,2.25,0.00,0.000,6,0.124,0.034,3243,1655,2384
$GC,3951,1.28,89.0,469.8,11.7,179,3956,0.17,2.40,0.00,0.000,4,0.128,0.063,3206,3064,2378
$GC,4022,1.17,89.0,462.0,11.0,180,4027,0.17,2.25,0.00,0.000,6,0.126,0.035,3173,1680,2376
$GC,4360,1.12,89.0,429.7,9.6,189,4364,0.00,2.33,0.00,0.000,4,0.000,0.049,3174,3073,2373
$GC,4431,1.07,89.0,422.5,10.3,190,4436,0.10,2.30,0.00,0.000,6,0.136,0.036,3157,1654,2372
$GC,4763,1.07,91.0,394.3,8.3,198,4767,0.00,2.33,0.00,0.000,4,0.000,0.044,3157,3064,2370
$GC,4914,1.07,91.0,381.5,8.5,201,4919,0.00,2.28,0.00,0.000,6,0.000,0.037,3157,1654,2369
$GC,5262,1.08,97.6,353.6,7.7,210,5270,0.00,0.00,5.32,0.638,6,0.000,0.000,3157,1654,2350
$GC,5590,1.08,97.6,325.2,9.1,218,5594,0.00,2.35,0.00,0.000,4,0.000,0.062,3157,250,2348
$GC,5656,1.04,97.6,318.6,9.8,219,5660,0.00,2.22,0.00,0.000,6,0.000,0.022,3157,1676,2347
$GC,6004,1.07,119.9,293.9,5.9,228,6028,0.00,2.35,19.38,0.763,4,0.000,0.052,3156,3052,2260
$GC,6129,1.08,129.3,284.9,7.4,230,6144,0.00,2.28,8.82,0.684,6,0.000,0.027,3157,1654,2223
$GC,6464,1.13,129.3,256.5,9.0,239,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1654,2220
$GC,6788,1.19,133.6,229.4,8.0,247,6795,0.10,0.00,4.90,0.544,6,0.071,0.000,3188,1654,2204
$GC,7113,1.19,134.1,202.1,8.4,255,7117,0.00,2.28,0.00,0.000,4,0.000,0.042,3188,3056,2203
$GC,7370,1.19,137.0,180.7,8.2,275,7379,0.00,2.22,4.05,0.463,6,0.000,0.028,3188,1644,2191
$GC,7708,1.21,151.5,153.6,6.8,307,7730,0.00,2.33,14.50,0.617,4,0.000,0.041,3188,3060,2130
$GC,7812,1.25,151.5,144.2,8.8,316,7821,0.00,2.25,0.00,0.000,6,0.000,0.028,3188,1658,2129
$GC,8014,1.29,151.5,127.3,8.9,335,8018,0.00,2.25,0.00,0.000,4,0.000,0.041,3188,3057,2129
$GC,8092,1.34,151.5,120.1,9.5,341,8096,0.10,2.20,0.00,0.000,6,0.068,0.031,3219,1659,2128
$GC,8292,1.34,151.5,99.0,10.6,359,8296,0.00,2.25,0.00,0.000,4,0.000,0.038,3219,3057,2128
$GC,8376,1.34,151.5,90.5,9.4,366,8380,0.00,2.20,0.00,0.000,6,0.000,0.028,3219,1657,2128
$GC,8575,1.35,159.1,73.9,7.6,384,8589,0.00,2.28,7.62,0.496,4,0.000,0.034,3218,3061,2100
$GC,8648,1.37,171.7,68.7,7.1,390,8665,0.00,2.20,12.05,0.528,6,0.000,0.028,3219,1659,2049
$GC,8866,1.42,182.3,52.8,7.3,410,8882,0.00,2.33,10.48,0.505,4,0.000,0.034,3219,3059,2004
$GC,8962,1.46,182.3,45.1,8.7,418,8970,0.00,2.22,0.00,0.000,6,0.000,0.024,3219,1665,2002
$GC,9163,1.46,182.3,26.0,9.7,440,9171,0.00,2.28,0.00,0.000,4,0.000,0.035,3219,3053,2002
$GC,9306,1.50,182.3,13.6,8.7,464,9314,0.08,2.22,0.00,0.000,6,0.048,0.024,3255,1655,2002
$STATE,9406,end climb,SURFACE_DEPTH_REACHED
$STATE,9407,begin surface coast
$FINISH,0.6,1.023153
$STATE,9437,end surface coast,CONTROL_FINISHED_OK
$STATE,9437,begin surface
$SM_CCo,9457,135.60,0.501,0,0,954,440.07
$SM_GC,1.34,0.00,0.00,135.60,0.000,0.000,0.501,407,1933,954,-11.56,0.93,440.07
$IRIDIUM_FIX,2241.69,-15746.73,251197,050519
$TT8_MAMPS,0.027612
$HUMID,1629
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.80
$XPDR_PINGS,151
$24V_AH,23.8,27.513
$10V_AH,10.1,25.088
$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,28.025,100.100,233.700,135.600,0.000,23.834,25.534,193.947,37.750,0.000,0.000,35.323,987.916,6272.771,469.103,1787.059,437.086,33.354,1179.132,0.000,1803.159,0.000,0.469
$DEVICE_MAMPS,157.235,62.894,895.089,500.851,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.867,296.483,552.684,432.719,887.979,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38212,486
$CAP_FILE_SIZE,202727,0
$CFSIZE,260165632,248610816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310808,103756,2248.844,-15748.495,40,0.9,40,10.1