version: 66.03
glider: 148
mission: 6
dive: 174
start: 9 3 108 17 39 52
data:
$ID,148
$MISSION,6
$DIVE,174
$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,-9833.8438
$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,1950
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$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
$GPS1,172329,2246.485,-15749.562,9,99.0,28,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-61.1
$GPS2,173859,2246.347,-15749.714,11,99.0,30,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.089,0.221
$KALMAN_X,-105565.7,-457.8,-599.4,118999.4,-299.2
$KALMAN_Y,-100787.9,-82.7,-352.9,97990.0,-734.3
$MHEAD_RNG_PITCHd_Wd,11.8,3294,-15.6,-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,20,-1.14,-136.3,0.0,0.0,0,91,0.00,0.00,-69.43,0.000,2,0.000,0.000,413,1943,2798
$GC,94,-1.14,-136.3,3.4,-4.2,9,127,11.95,2.30,-11.05,0.000,4,0.161,0.054,2661,3353,3307
$GC,170,-0.98,-136.3,18.1,-18.0,20,179,0.17,2.20,0.00,0.000,6,0.093,0.024,2703,1951,3307
$GC,377,-0.93,-136.3,47.6,-13.6,45,381,0.00,2.25,0.00,0.000,4,0.000,0.035,2703,3358,3308
$GC,432,-0.88,-136.3,55.6,-13.2,49,441,0.08,2.20,0.00,0.000,6,0.104,0.026,2723,1949,3308
$GC,632,-0.95,-136.3,76.7,-8.8,68,636,0.00,2.25,0.00,0.000,4,0.000,0.033,2723,3364,3308
$GC,743,-1.03,-136.3,85.8,-8.2,77,748,0.12,2.17,0.00,0.000,6,0.050,0.018,2667,1948,3308
$GC,944,-0.98,-136.3,108.9,-12.5,95,950,0.15,0.00,0.00,0.000,6,0.094,0.000,2703,1948,3308
$GC,1141,-1.03,-136.3,128.1,-9.5,114,1145,0.00,2.25,0.00,0.000,4,0.000,0.030,2703,3368,3309
$GC,1219,-1.08,-136.3,136.2,-10.5,120,1229,0.00,2.22,0.00,0.000,6,0.000,0.018,2703,1944,3309
$GC,1419,-1.15,-136.3,155.3,-10.2,139,1424,0.15,2.25,0.00,0.000,4,0.046,0.031,2640,3361,3309
$GC,1503,-1.07,-136.3,166.6,-13.0,146,1508,0.22,2.17,0.00,0.000,6,0.087,0.018,2689,1946,3309
$GC,1827,-1.13,-136.3,199.5,-9.1,176,1831,0.00,2.22,0.00,0.000,4,0.000,0.031,2689,3357,3309
$GC,1905,-1.20,-136.3,206.8,-8.8,177,1912,0.12,2.17,0.00,0.000,6,0.050,0.019,2632,1944,3309
$GC,2237,-1.16,-136.3,241.4,-10.0,186,2241,0.15,2.25,0.00,0.000,4,0.092,0.030,2669,3365,3309
$GC,2308,-1.22,-136.3,247.1,-7.1,187,2312,0.00,2.17,0.00,0.000,6,0.000,0.018,2669,1937,3309
$GC,2646,-1.29,-136.3,270.3,-6.9,196,2650,0.12,2.28,0.00,0.000,4,0.051,0.039,2617,3362,3309
$GC,2666,-1.29,-136.3,272.3,-9.2,196,2671,0.08,2.20,0.00,0.000,6,0.084,0.023,2639,1953,3309
$GC,3013,-1.29,-136.3,305.0,-9.3,205,3017,0.00,2.25,0.00,0.000,4,0.000,0.038,2639,3355,3309
$GC,3102,-1.29,-136.3,312.9,-8.8,207,3106,0.00,2.20,0.00,0.000,6,0.000,0.024,2639,1956,3309
$GC,3426,-1.29,-136.3,335.3,-6.4,215,3430,0.00,2.28,0.00,0.000,4,0.000,0.048,2639,3360,3306
$GC,3482,-1.29,-136.3,339.0,-6.9,216,3485,0.00,2.20,0.00,0.000,6,0.000,0.030,2639,1951,3307
$GC,3794,-1.29,-136.3,361.9,-7.7,224,3798,0.00,2.28,0.00,0.000,4,0.000,0.050,2639,3350,3305
$GC,3815,-1.29,-136.3,363.9,-8.7,224,3820,0.00,2.22,0.00,0.000,6,0.000,0.024,2639,1948,3305
$GC,4158,-1.32,-136.3,394.0,-8.9,233,4162,0.00,2.30,0.00,0.000,4,0.000,0.048,2639,3349,3302
$GC,4225,-1.35,-136.3,400.5,-9.4,234,4229,0.00,2.20,0.00,0.000,6,0.000,0.028,2639,1947,3302
$GC,4569,-1.40,-136.3,428.8,-8.1,243,4573,0.00,2.33,0.00,0.000,4,0.000,0.048,2639,3353,3299
$GC,4618,-1.44,-136.3,432.9,-7.9,244,4623,0.15,2.22,0.00,0.000,6,0.049,0.031,2584,1939,3299
$GC,4932,-1.36,-136.3,464.8,-10.6,252,4937,0.15,2.35,0.00,0.000,4,0.100,0.056,2619,3348,3297
$GC,4975,-1.36,-136.3,469.2,-9.3,253,4979,0.00,2.20,0.00,0.000,6,0.000,0.030,2620,1948,3296
$GC,5299,-1.36,-136.3,497.0,-8.6,261,5303,0.00,2.30,0.00,0.000,4,0.000,0.052,2619,3346,3294
$GC,5343,-1.36,-136.3,500.8,-8.8,262,5347,0.00,2.22,0.00,0.000,6,0.000,0.034,2619,1943,3294
$STATE,5461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5461,begin apogee
$GC,5466,-0.31,0.0,511.1,8.6,265,5577,1.05,0.00,108.35,0.917,6,0.091,0.000,2848,1943,2749
$STATE,5578,end apogee,CONTROL_FINISHED_OK
$STATE,5578,begin climb
$GC,5580,1.14,136.3,513.0,0.0,267,5703,1.38,2.47,113.07,0.894,4,0.054,0.058,3169,504,2191
$GC,5760,0.83,136.3,501.2,13.3,271,5765,0.32,2.25,0.00,0.000,6,0.114,0.037,3104,1891,2186
$GC,6072,0.67,136.3,470.6,9.5,279,6077,0.17,2.40,0.00,0.000,4,0.114,0.059,3067,3312,2181
$GC,6195,0.59,136.3,460.1,8.6,281,6201,0.00,2.28,0.00,0.000,6,0.000,0.034,3067,1900,2178
$GC,6526,0.57,176.4,436.4,6.8,290,6569,0.12,2.42,32.92,0.859,4,0.119,0.049,3043,3305,2027
$GC,6641,0.63,228.4,429.1,6.3,292,6691,0.00,2.30,45.20,0.854,6,0.000,0.028,3043,1903,1817
$GC,7024,0.67,263.2,403.3,7.0,302,7059,0.10,2.40,30.02,0.833,4,0.066,0.052,3078,3308,1674
$GC,7255,0.64,263.2,379.4,11.3,306,7259,0.00,2.28,0.00,0.000,6,0.000,0.027,3079,1899,1665
$GC,7569,0.60,263.2,347.7,9.9,314,7573,0.15,2.35,0.00,0.000,4,0.103,0.041,3045,3313,1664
$GC,7686,0.64,264.8,337.7,8.4,316,7690,0.00,2.28,0.00,0.000,6,0.000,0.027,3045,1891,1662
$GC,8017,0.71,281.0,311.4,7.8,324,8038,0.12,2.38,14.68,0.759,4,0.057,0.047,3090,3303,1601
$GC,8172,0.67,281.0,296.6,9.6,327,8176,0.12,2.25,0.00,0.000,6,0.109,0.031,3065,1899,1598
$GC,8521,0.68,290.1,268.6,8.1,336,8535,0.00,2.38,8.43,0.677,4,0.000,0.041,3065,3305,1565
$GC,8722,0.72,290.1,251.8,8.9,340,8726,0.00,2.25,0.00,0.000,6,0.000,0.025,3065,1888,1561
$GC,9065,0.78,306.9,223.8,7.8,349,9086,0.10,2.35,15.40,0.696,4,0.063,0.038,3105,3307,1496
$GC,9265,0.78,306.9,206.2,8.9,353,9270,0.00,2.25,0.00,0.000,6,0.000,0.025,3104,1907,1492
$GC,9588,0.78,306.9,175.3,8.9,377,9592,0.00,2.28,0.00,0.000,4,0.000,0.035,3104,3313,1492
$GC,9704,0.78,306.9,164.9,9.0,387,9708,0.00,2.22,0.00,0.000,6,0.000,0.028,3104,1893,1491
$GC,10032,0.78,306.9,135.3,9.5,417,10036,0.00,2.30,0.00,0.000,4,0.000,0.041,3105,3320,1490
$GC,10152,0.78,306.9,123.7,9.8,427,10156,0.00,2.22,0.00,0.000,6,0.000,0.023,3104,1899,1490
$GC,10354,0.78,306.9,104.8,9.2,445,10358,0.00,2.28,0.00,0.000,4,0.000,0.035,3104,3313,1490
$GC,10439,0.78,306.9,96.6,9.4,452,10443,0.00,2.22,0.00,0.000,6,0.000,0.029,3104,1890,1490
$GC,10636,0.78,310.8,80.4,8.3,470,10640,0.00,2.30,0.00,0.000,4,0.000,0.035,3104,3321,1490
$GC,10690,0.82,318.5,76.2,8.2,474,10707,0.00,2.20,10.77,0.535,6,0.000,0.029,3104,1901,1449
$GC,10908,0.94,373.0,60.2,6.2,494,10963,0.00,2.33,47.03,0.562,4,0.000,0.039,3104,3321,1228
$GC,11047,1.06,391.2,49.9,7.7,505,11070,0.15,2.25,16.70,0.524,6,0.035,0.022,3159,1908,1152
$GC,11267,1.01,391.2,26.1,11.2,528,11276,0.00,2.30,0.00,0.000,4,0.000,0.036,3159,3309,1150
$GC,11346,0.97,391.2,16.5,11.7,541,11355,0.10,2.22,0.00,0.000,6,0.087,0.023,3134,1909,1147
$STATE,11475,end climb,SURFACE_DEPTH_REACHED
$STATE,11475,begin surface coast
$FINISH,0.6,1.016760
$STATE,11507,end surface coast,CONTROL_FINISHED_OK
$STATE,11507,begin surface
$SM_CCo,11527,102.93,0.507,0,0,510,548.98
$SM_GC,1.35,0.00,0.00,102.93,0.000,0.000,0.507,410,1963,510,-11.55,0.40,548.98
$IRIDIUM_FIX,2237.01,-15750.66,281197,171739
$TT8_MAMPS,0.027612
$HUMID,1669
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,23.50
$XPDR_PINGS,192
$24V_AH,23.8,30.674
$10V_AH,10.1,27.860
$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,28.625,131.600,442.575,102.925,0.000,147.470,409.149,0.000,48.000,0.000,0.000,33.117,1189.147,7745.936,591.441,2190.441,837.004,33.373,1506.818,0.000,2232.316,0.000,0.469
$DEVICE_MAMPS,161.070,90.506,917.332,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.198,338.557,643.729,484.748,986.052,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44619,568
$CAP_FILE_SIZE,241164,0
$CFSIZE,260165632,246620160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030908,205501,2247.304,-15749.677,35,1.0,41,10.1