version: 66.03
glider: 148
mission: 6
dive: 152
start: 8 31 108 16 58 44
data:
$ID,148
$MISSION,6
$DIVE,152
$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,-9356.9365
$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,39
$R_STBD_OVSHOOT,67
$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
$GPS1,164237,2248.637,-15749.028,35,1.1,40,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-61.3
$GPS2,165750,2248.590,-15749.169,9,1.9,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.082,0.122
$KALMAN_X,-79448.1,-215.0,-544.7,93521.0,-86.2
$KALMAN_Y,-50054.4,78.1,41.7,50847.3,-1640.8
$MHEAD_RNG_PITCHd_Wd,23.7,1130,-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,17,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,-69.18,0.000,2,0.000,0.000,409,1946,2795
$GC,93,-1.79,-84.3,3.5,-4.5,9,118,11.23,2.10,-6.47,0.000,4,0.161,0.052,2519,3278,3094
$GC,200,-1.68,-84.3,29.5,-25.2,26,209,0.12,2.17,0.00,0.000,6,0.123,0.020,2546,1887,3095
$GC,398,-1.68,-84.3,71.8,-20.3,45,402,0.00,2.22,0.00,0.000,4,0.000,0.043,2546,3274,3095
$GC,428,-1.68,-84.3,77.2,-19.0,47,432,0.00,2.12,0.00,0.000,6,0.000,0.029,2546,1899,3095
$GC,629,-1.72,-84.3,111.6,-16.1,65,633,0.00,2.20,0.00,0.000,4,0.000,0.032,2546,498,3095
$GC,650,-1.78,-84.3,116.1,-17.5,66,659,0.00,2.15,0.00,0.000,6,0.000,0.021,2546,1868,3095
$GC,850,-1.84,-84.3,146.2,-14.6,85,852,0.12,0.00,0.00,0.000,6,0.058,0.000,2507,1868,3096
$GC,1041,-1.84,-84.3,177.2,-15.9,103,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1869,3096
$GC,1349,-1.84,-84.3,226.3,-15.6,121,1353,0.00,2.17,0.00,0.000,4,0.000,0.033,2506,497,3096
$GC,1434,-1.87,-84.3,239.3,-16.4,123,1438,0.00,2.15,0.00,0.000,6,0.000,0.021,2506,1902,3097
$GC,1764,-1.94,-84.3,283.9,-12.8,131,1768,0.00,2.25,0.00,0.000,4,0.000,0.046,2506,499,3097
$GC,1893,-2.01,-84.3,301.3,-12.6,134,1898,0.10,2.17,0.00,0.000,6,0.064,0.023,2472,1898,3097
$GC,2217,-2.01,-84.3,343.9,-12.6,142,2221,0.00,2.25,0.00,0.000,4,0.000,0.041,2471,3306,3096
$GC,2232,-2.01,-84.3,346.2,-12.9,142,2237,0.00,2.20,0.00,0.000,6,0.000,0.021,2472,1902,3097
$GC,2581,-2.01,-84.3,391.6,-13.3,151,2585,0.00,2.25,0.00,0.000,4,0.000,0.045,2472,510,3096
$GC,2596,-2.01,-84.3,393.9,-13.2,151,2600,0.00,2.20,0.00,0.000,6,0.000,0.026,2472,1897,3096
$GC,2945,-2.04,-84.3,440.2,-13.0,160,2949,0.00,2.28,0.00,0.000,4,0.000,0.055,2472,512,3093
$GC,3111,-2.04,-84.3,464.0,-14.0,163,3118,0.00,2.22,0.00,0.000,6,0.000,0.035,2472,1893,3092
$GC,3443,-2.08,-84.3,503.8,-11.7,172,3447,0.00,2.28,0.00,0.000,4,0.000,0.056,2472,514,3090
$GC,3470,-2.08,-84.3,507.2,-12.4,172,3474,0.00,2.25,0.00,0.000,6,0.000,0.035,2471,1889,3089
$STATE,3520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3521,begin apogee
$GC,3526,-0.31,0.0,512.6,10.7,174,3603,1.80,0.00,69.05,0.894,6,0.113,0.000,2848,1640,2748
$STATE,3604,end apogee,CONTROL_FINISHED_OK
$STATE,3604,begin climb
$GC,3606,1.79,84.3,512.9,0.0,176,3684,1.98,2.33,69.65,0.873,4,0.051,0.061,3312,274,2405
$GC,3734,1.44,84.3,498.6,16.7,179,3738,0.38,2.28,0.00,0.000,6,0.123,0.032,3237,1670,2403
$GC,4059,1.28,84.3,458.0,11.9,187,4064,0.17,2.35,0.00,0.000,4,0.125,0.057,3202,3065,2398
$GC,4074,1.14,84.3,456.0,11.6,187,4079,0.17,2.25,0.00,0.000,6,0.131,0.031,3170,1683,2397
$GC,4423,1.15,87.8,426.0,8.1,196,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1683,2395
$GC,4746,1.15,89.5,398.9,8.3,204,4752,0.00,0.00,3.83,0.533,6,0.000,0.000,3170,1683,2383
$GC,5071,1.15,89.5,371.3,8.6,212,5075,0.00,2.28,0.00,0.000,4,0.000,0.041,3170,3066,2381
$GC,5171,1.15,93.9,363.4,8.0,214,5180,0.00,2.28,4.72,0.604,6,0.000,0.028,3170,1656,2366
$GC,5526,1.16,100.5,335.2,7.7,223,5540,0.00,2.38,7.10,0.692,4,0.000,0.041,3170,3066,2338
$GC,5794,1.17,104.1,313.7,8.1,229,5803,0.00,2.28,4.38,0.562,6,0.000,0.031,3170,1655,2324
$GC,6124,1.17,104.1,286.3,8.6,237,6128,0.00,2.33,0.00,0.000,4,0.000,0.044,3170,3070,2322
$GC,6292,1.18,117.7,272.9,6.9,240,6311,0.00,2.25,12.30,0.720,6,0.000,0.030,3170,1655,2269
$GC,6626,1.23,124.0,246.3,7.8,249,6640,0.00,2.33,6.75,0.627,4,0.000,0.041,3170,3067,2242
$GC,6663,1.27,131.6,243.4,7.6,249,6678,0.12,2.25,8.00,0.644,6,0.065,0.026,3205,1657,2212
$GC,6998,1.27,131.6,213.4,8.8,258,7002,0.00,2.30,0.00,0.000,4,0.000,0.038,3205,3070,2209
$GC,7097,1.27,134.1,204.8,8.2,260,7102,0.00,2.28,0.00,0.000,6,0.000,0.025,3205,1655,2208
$GC,7425,1.28,145.4,178.4,7.2,286,7446,0.00,2.38,12.50,0.636,4,0.000,0.033,3205,3072,2155
$GC,7484,1.29,152.2,173.6,7.7,291,7497,0.00,2.28,7.68,0.573,6,0.000,0.028,3205,1659,2127
$GC,7825,1.29,152.2,144.2,9.3,323,7829,0.00,2.30,0.00,0.000,4,0.000,0.040,3205,3079,2126
$GC,8060,1.29,152.4,124.5,8.5,343,8064,0.00,2.25,0.00,0.000,6,0.000,0.025,3205,1651,2124
$GC,8261,1.32,152.4,107.3,9.0,361,8265,0.00,2.30,0.00,0.000,4,0.000,0.040,3204,3079,2124
$GC,8360,1.36,153.3,98.3,8.4,369,8364,0.00,2.22,0.00,0.000,6,0.000,0.031,3205,1659,2124
$GC,8561,1.42,164.9,82.7,7.2,387,8585,0.10,2.35,11.73,0.542,4,0.065,0.034,3240,3073,2075
$GC,8623,1.42,164.9,77.2,9.2,392,8627,0.00,2.22,0.00,0.000,6,0.000,0.031,3240,1659,2075
$GC,8822,1.43,171.4,61.4,7.7,410,8836,0.00,2.30,7.03,0.479,4,0.000,0.035,3240,3076,2048
$GC,8963,1.44,176.8,49.9,7.9,422,8976,0.00,2.22,5.97,0.446,6,0.000,0.031,3240,1659,2028
$GC,9167,1.44,176.8,30.9,9.3,441,9171,0.00,2.28,0.00,0.000,4,0.000,0.035,3240,3072,2027
$GC,9264,1.44,176.8,22.0,9.9,457,9272,0.00,2.25,0.00,0.000,6,0.000,0.023,3240,1658,2026
$STATE,9460,end climb,SURFACE_DEPTH_REACHED
$STATE,9461,begin surface coast
$FINISH,0.7,1.023091
$STATE,9498,end surface coast,CONTROL_FINISHED_OK
$STATE,9498,begin surface
$SM_CCo,9517,193.18,0.500,0,0,510,548.98
$SM_GC,1.38,0.00,0.00,193.18,0.000,0.000,0.500,407,1957,510,-11.56,1.61,548.98
$IRIDIUM_FIX,2239.35,-15747.62,251197,171739
$TT8_MAMPS,0.027612
$HUMID,1613
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,23.70
$XPDR_PINGS,155
$24V_AH,23.8,27.843
$10V_AH,10.1,25.397
$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,27.925,99.900,230.675,193.175,0.000,149.086,423.921,0.000,38.750,0.000,0.000,15.495,1020.172,6477.073,523.629,1810.880,792.406,33.359,1237.883,0.000,1861.177,0.000,0.470
$DEVICE_MAMPS,161.070,61.360,893.555,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,376.606,314.267,577.585,437.081,896.377,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38257,497
$CAP_FILE_SIZE,204869,0
$CFSIZE,260165632,248385536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310808,194137,2249.157,-15748.550,9,1.3,25,10.1