version: 66.03
glider: 148
mission: 6
dive: 153
start: 8 31 108 19 48 26
data:
$ID,148
$MISSION,6
$DIVE,153
$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,-9373.1943
$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,40
$R_STBD_OVSHOOT,23
$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
$GPS1,194137,2249.157,-15748.550,9,1.3,25,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-59.2
$GPS2,194732,2249.166,-15748.551,9,1.2,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.002,0.147
$KALMAN_X,-80407.2,-21.5,297.6,94497.5,-753.7
$KALMAN_Y,-51432.2,123.1,1025.9,52262.4,-3052.0
$MHEAD_RNG_PITCHd_Wd,349.1,2292,-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,-49.4,0.0,0.0,0,105,0.00,0.00,-84.35,0.000,2,0.000,0.000,407,1957,2739
$GC,109,-1.80,-90.7,3.4,-3.7,11,134,11.32,2.25,-8.30,0.000,4,0.163,0.045,2519,3326,3121
$GC,212,-1.71,-90.7,26.7,-23.2,27,219,0.10,2.25,0.00,0.000,6,0.123,0.020,2542,1895,3122
$GC,418,-1.71,-90.7,72.8,-20.8,47,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1893,3122
$GC,609,-1.71,-90.7,109.1,-18.5,65,613,0.00,2.20,0.00,0.000,4,0.000,0.031,2542,500,3122
$GC,685,-1.75,-90.7,122.6,-17.8,71,689,0.00,2.22,0.00,0.000,6,0.000,0.031,2542,1921,3122
$GC,882,-1.81,-90.7,157.3,-15.8,89,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1922,3123
$GC,1199,-1.89,-90.7,206.2,-14.6,116,1203,0.15,2.25,0.00,0.000,4,0.054,0.032,2496,506,3123
$GC,1309,-1.89,-90.7,224.2,-16.2,118,1314,0.00,2.17,0.00,0.000,6,0.000,0.021,2496,1902,3123
$GC,1652,-1.94,-90.7,276.9,-14.9,127,1656,0.00,2.22,0.00,0.000,4,0.000,0.038,2496,508,3124
$GC,1729,-1.99,-90.7,288.1,-14.1,128,1735,0.00,2.15,0.00,0.000,6,0.000,0.023,2496,1899,3124
$GC,2060,-2.06,-90.7,331.7,-12.8,137,2064,0.12,2.25,0.00,0.000,4,0.057,0.048,2456,3302,3124
$GC,2086,-2.06,-90.7,335.2,-13.0,137,2090,0.00,2.20,0.00,0.000,6,0.000,0.031,2457,1906,3124
$GC,2428,-2.06,-90.7,379.5,-12.6,146,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1906,3124
$GC,2753,-2.06,-90.7,420.9,-12.8,154,2757,0.00,2.28,0.00,0.000,4,0.000,0.049,2456,511,3122
$GC,2825,-2.06,-90.7,430.9,-15.1,155,2829,0.00,2.22,0.00,0.000,6,0.000,0.038,2456,1893,3122
$GC,3161,-2.06,-90.7,475.7,-13.4,164,3165,0.00,2.30,0.00,0.000,4,0.000,0.055,2456,506,3119
$GC,3250,-2.06,-90.7,487.8,-14.4,166,3254,0.00,2.25,0.00,0.000,6,0.000,0.040,2456,1891,3119
$STATE,3451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3451,begin apogee
$GC,3456,-0.31,0.0,512.9,12.3,171,3534,1.88,0.00,74.20,0.900,6,0.111,0.000,2850,1641,2749
$STATE,3535,end apogee,CONTROL_FINISHED_OK
$STATE,3535,begin climb
$GC,3537,1.80,90.7,514.8,0.0,173,3622,1.98,2.53,75.70,0.878,4,0.048,0.055,3315,3069,2378
$GC,3644,1.46,90.7,506.5,12.8,175,3649,0.38,2.28,0.00,0.000,6,0.131,0.031,3243,1686,2376
$GC,3975,1.28,90.7,466.0,11.7,183,3980,0.20,2.47,0.00,0.000,4,0.129,0.064,3202,247,2370
$GC,4025,1.12,90.7,460.4,11.2,184,4029,0.20,2.28,0.00,0.000,6,0.128,0.035,3165,1661,2369
$GC,4338,1.09,90.7,431.4,9.5,192,4342,0.00,2.38,0.00,0.000,4,0.000,0.060,3165,3070,2367
$GC,4364,1.05,90.7,428.9,9.6,192,4368,0.00,2.30,0.00,0.000,6,0.000,0.031,3165,1656,2365
$GC,4701,1.05,90.7,397.0,8.9,201,4705,0.00,2.33,0.00,0.000,4,0.000,0.044,3165,3061,2363
$GC,4733,1.02,90.7,394.0,8.9,201,4740,0.12,2.28,0.00,0.000,6,0.137,0.031,3143,1659,2362
$GC,5064,1.02,90.9,365.5,8.5,210,5068,0.00,2.33,0.00,0.000,4,0.000,0.040,3143,3064,2361
$GC,5107,1.02,91.3,361.9,8.5,211,5111,0.00,2.28,0.00,0.000,6,0.000,0.030,3142,1658,2360
$GC,5432,1.07,108.5,339.3,6.5,219,5451,0.00,2.40,12.52,0.773,4,0.000,0.040,3143,3065,2306
$GC,5659,1.14,127.4,324.0,6.3,224,5683,0.10,2.28,17.10,0.779,6,0.075,0.035,3170,1657,2229
$GC,6019,1.14,127.4,293.0,8.9,233,6023,0.00,2.33,0.00,0.000,4,0.000,0.038,3170,3068,2224
$GC,6209,1.14,127.4,275.8,9.5,237,6214,0.00,2.28,0.00,0.000,6,0.000,0.031,3170,1650,2222
$GC,6558,1.17,127.4,245.3,8.6,246,6562,0.00,2.33,0.00,0.000,4,0.000,0.037,3170,3068,2221
$GC,6721,1.20,127.4,230.8,8.9,249,6725,0.00,2.25,0.00,0.000,6,0.000,0.031,3170,1649,2221
$GC,7052,1.24,127.4,200.5,9.3,257,7056,0.00,2.28,0.00,0.000,4,0.000,0.034,3170,3069,2220
$GC,7144,1.29,127.4,192.5,8.9,262,7149,0.12,2.22,0.00,0.000,6,0.062,0.027,3208,1660,2220
$GC,7471,1.29,129.6,163.7,8.2,292,7475,0.00,2.25,0.00,0.000,4,0.000,0.043,3208,256,2220
$GC,7522,1.22,129.6,159.0,8.7,296,7527,0.12,2.20,0.00,0.000,6,0.117,0.025,3184,1687,2219
$GC,7847,1.27,144.8,133.9,6.8,326,7870,0.00,2.28,14.52,0.602,4,0.000,0.037,3184,3055,2157
$GC,8056,1.33,154.2,118.2,7.4,344,8074,0.08,2.22,9.68,0.554,6,0.050,0.029,3217,1664,2119
$GC,8264,1.33,154.2,99.8,10.5,364,8268,0.00,2.25,0.00,0.000,4,0.000,0.040,3217,3056,2118
$GC,8291,1.33,154.2,97.1,10.4,366,8295,0.00,2.20,0.00,0.000,6,0.000,0.025,3217,1660,2117
$GC,8490,1.33,154.2,76.4,10.4,384,8494,0.00,2.25,0.00,0.000,4,0.000,0.041,3217,260,2117
$GC,8499,1.33,154.2,75.0,10.2,384,8509,0.00,2.17,0.00,0.000,6,0.000,0.027,3217,1656,2117
$GC,8699,1.34,161.0,59.0,7.7,403,8713,0.00,2.25,7.20,0.482,4,0.000,0.034,3217,3058,2091
$GC,8763,1.37,186.3,55.2,5.6,408,8790,0.00,2.22,22.25,0.541,6,0.000,0.024,3217,1664,1989
$GC,8984,1.41,186.9,38.3,8.4,428,8988,0.00,2.22,0.00,0.000,4,0.000,0.032,3217,3055,1985
$GC,9067,1.47,186.9,31.1,9.3,435,9071,0.10,2.20,0.00,0.000,6,0.066,0.024,3250,1660,1984
$GC,9280,1.47,186.9,8.7,11.5,470,9288,0.00,2.25,0.00,0.000,4,0.000,0.029,3250,3054,1984
$STATE,9328,end climb,SURFACE_DEPTH_REACHED
$STATE,9329,begin surface coast
$FINISH,0.5,1.010258
$STATE,9358,end surface coast,CONTROL_FINISHED_OK
$STATE,9358,begin surface
$SM_CCo,9380,135.55,0.502,0,0,954,440.07
$SM_GC,1.43,0.00,0.00,135.55,0.000,0.000,0.502,409,1863,954,-11.55,-1.05,440.07
$IRIDIUM_FIX,2239.35,-15746.73,251197,171738
$TT8_MAMPS,0.026845
$HUMID,1646
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.70
$XPDR_PINGS,133
$24V_AH,23.8,27.933
$10V_AH,10.1,25.491
$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,28.525,104.175,233.175,135.550,0.000,30.213,30.115,196.995,33.250,0.000,0.000,15.630,986.042,6221.668,481.848,1730.913,451.868,33.358,1163.035,0.000,1772.245,0.000,0.469
$DEVICE_MAMPS,162.604,76.700,899.691,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.857,302.727,553.436,427.154,876.199,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38019,483
$CAP_FILE_SIZE,202306,0
$CFSIZE,260165632,248340480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310808,222808,2249.033,-15748.715,29,1.2,29,10.1