version: 66.03
glider: 148
mission: 6
dive: 184
start: 9 5 108 2 2 52
data:
$ID,148
$MISSION,6
$DIVE,184
$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,-10018.803
$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,2050
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,41
$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
$GPS1,014702,2248.452,-15748.417,37,1.1,37,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-61.8
$GPS2,020157,2248.408,-15748.453,11,1.0,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.080,0.134
$KALMAN_X,-118800.3,104.9,376.8,132844.4,-1883.3
$KALMAN_Y,-116143.9,202.1,-125.3,116645.1,-2356.2
$MHEAD_RNG_PITCHd_Wd,20.7,1200,-25.5,-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,19,-1.66,-55.2,0.0,0.0,0,90,0.00,0.00,-69.55,0.000,2,0.000,0.000,411,2038,2801
$GC,93,-1.71,-96.5,3.5,-4.2,9,118,11.38,2.28,-7.50,0.000,4,0.162,0.046,2542,3457,3143
$GC,178,-1.60,-96.5,22.1,-22.2,22,186,0.10,2.20,0.00,0.000,6,0.124,0.019,2564,2053,3145
$GC,388,-1.53,-96.5,68.4,-22.2,44,392,0.12,2.17,0.00,0.000,4,0.133,0.034,2586,653,3145
$GC,459,-1.58,-96.5,84.4,-19.8,50,468,0.00,2.20,0.00,0.000,6,0.000,0.021,2587,2055,3145
$GC,661,-1.62,-96.5,116.9,-16.9,69,664,0.00,2.22,0.00,0.000,4,0.000,0.039,2586,650,3146
$GC,805,-1.72,-96.5,139.0,-15.1,81,809,0.17,2.17,0.00,0.000,6,0.048,0.030,2530,2050,3146
$GC,1003,-1.69,-96.5,171.6,-16.7,99,1008,0.10,2.20,0.00,0.000,4,0.122,0.029,2548,653,3146
$GC,1035,-1.69,-96.5,176.7,-14.4,101,1042,0.00,2.17,0.00,0.000,6,0.000,0.018,2548,2050,3147
$GC,1374,-1.73,-96.5,221.1,-12.9,122,1378,0.00,2.20,0.00,0.000,4,0.000,0.031,2548,655,3147
$GC,1631,-1.81,-96.5,255.5,-12.0,127,1638,0.10,2.15,0.00,0.000,6,0.063,0.028,2510,2054,3147
$GC,1962,-1.81,-96.5,300.6,-14.0,136,1966,0.00,2.20,0.00,0.000,4,0.000,0.040,2510,658,3147
$GC,2084,-1.81,-96.5,317.8,-14.3,138,2088,0.00,2.15,0.00,0.000,6,0.000,0.022,2510,2043,3147
$GC,2421,-1.85,-96.5,360.7,-12.2,147,2425,0.00,2.25,0.00,0.000,4,0.000,0.047,2510,657,3147
$GC,2628,-1.91,-96.5,388.6,-13.2,151,2632,0.00,2.20,0.00,0.000,6,0.000,0.031,2510,2055,3146
$GC,2964,-1.97,-96.5,429.5,-12.4,160,2968,0.00,2.28,0.00,0.000,4,0.000,0.045,2510,665,3144
$GC,3088,-2.03,-96.5,445.3,-12.2,162,3095,0.15,2.20,0.00,0.000,6,0.053,0.032,2463,2049,3143
$GC,3419,-2.03,-96.5,489.7,-13.2,171,3422,0.00,2.28,0.00,0.000,4,0.000,0.048,2463,662,3141
$STATE,3567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3567,begin apogee
$GC,3574,-0.31,0.0,510.4,13.1,174,3657,1.80,0.00,78.43,0.900,6,0.118,0.000,2846,1994,2748
$STATE,3658,end apogee,CONTROL_FINISHED_OK
$STATE,3658,begin climb
$GC,3660,1.71,96.5,512.2,0.0,176,3749,1.88,2.53,80.00,0.880,4,0.044,0.068,3296,3409,2354
$GC,3755,1.42,96.5,505.6,11.8,178,3760,0.32,2.28,0.00,0.000,6,0.130,0.037,3234,2020,2353
$GC,4103,1.26,96.5,460.8,12.8,187,4108,0.17,2.45,0.00,0.000,4,0.123,0.061,3197,590,2346
$GC,4281,1.13,96.5,440.2,11.3,191,4286,0.15,2.30,0.00,0.000,6,0.127,0.034,3170,2010,2344
$GC,4605,1.14,103.1,412.8,7.8,199,4612,0.00,0.00,4.60,0.607,6,0.000,0.000,3170,2010,2327
$GC,4930,1.15,113.5,389.0,7.4,207,4944,0.00,2.38,9.85,0.771,4,0.000,0.051,3169,594,2285
$GC,4973,1.11,113.5,385.2,9.4,208,4977,0.00,2.28,0.00,0.000,6,0.000,0.033,3169,2007,2285
$GC,5296,1.11,113.5,356.8,8.9,216,5300,0.00,2.35,0.00,0.000,4,0.000,0.049,3169,590,2281
$GC,5368,1.07,113.5,349.6,10.0,217,5372,0.00,2.25,0.00,0.000,6,0.000,0.025,3169,2003,2280
$GC,5705,1.08,127.1,324.3,7.1,226,5723,0.00,2.42,11.75,0.760,4,0.000,0.043,3169,589,2230
$GC,5796,1.10,137.3,317.0,7.4,228,5811,0.00,2.28,10.07,0.732,6,0.000,0.023,3169,2017,2188
$GC,6121,1.13,137.3,286.7,10.4,236,6125,0.00,2.30,0.00,0.000,4,0.000,0.058,3169,3395,2185
$GC,6160,1.16,137.3,282.5,10.1,237,6164,0.00,2.25,0.00,0.000,6,0.000,0.026,3169,1985,2184
$GC,6484,1.20,137.3,253.2,8.8,245,6488,0.00,2.35,0.00,0.000,4,0.000,0.049,3169,3405,2183
$GC,6630,1.25,137.3,239.9,8.9,248,6635,0.10,2.22,0.00,0.000,6,0.068,0.031,3200,1995,2182
$GC,6977,1.25,137.3,207.6,9.1,257,6981,0.00,2.25,0.00,0.000,4,0.000,0.047,3201,602,2182
$GC,7017,1.20,137.3,204.1,9.3,258,7021,0.00,2.20,0.00,0.000,6,0.000,0.023,3200,2011,2181
$GC,7343,1.21,152.3,175.9,7.0,283,7366,0.00,2.35,12.95,0.640,4,0.000,0.038,3201,604,2128
$GC,7592,1.24,169.1,155.9,6.8,305,7616,0.00,2.20,15.48,0.626,6,0.000,0.029,3201,2006,2058
$GC,7935,1.27,169.1,128.7,8.7,337,7939,0.00,2.25,0.00,0.000,4,0.000,0.042,3200,3396,2055
$GC,7980,1.31,169.1,123.9,9.9,340,7989,0.00,2.22,0.00,0.000,6,0.000,0.024,3201,1991,2055
$GC,8181,1.35,169.1,105.7,8.8,359,8185,0.00,2.22,0.00,0.000,4,0.000,0.038,3200,597,2055
$GC,8248,1.35,169.1,99.0,8.9,364,8258,0.00,2.20,0.00,0.000,6,0.000,0.021,3200,1993,2055
$GC,8450,1.41,175.3,83.1,7.9,383,8463,0.10,2.25,6.30,0.482,4,0.063,0.042,3239,603,2033
$GC,8702,1.38,179.1,62.5,8.1,405,8716,0.00,2.17,5.18,0.436,6,0.000,0.028,3239,2000,2017
$GC,8906,1.38,181.4,46.4,8.3,424,8910,0.00,2.25,0.00,0.000,4,0.000,0.035,3239,597,2017
$GC,8925,1.38,181.4,44.6,8.5,425,8930,0.00,2.20,0.00,0.000,6,0.000,0.021,3239,2005,2016
$GC,9127,1.38,181.4,27.0,8.8,445,9135,0.00,2.28,0.00,0.000,4,0.000,0.035,3239,604,2016
$GC,9143,1.38,181.4,25.5,8.9,447,9152,0.00,2.20,0.00,0.000,6,0.000,0.021,3239,1995,2017
$GC,9359,1.39,189.6,7.5,7.6,484,9375,0.00,2.28,10.52,0.477,4,0.000,0.038,3239,3407,1974
$GC,9401,1.39,189.6,3.9,8.9,490,9410,0.00,2.22,0.00,0.000,6,0.000,0.021,3239,2002,1973
$STATE,9417,end climb,SURFACE_DEPTH_REACHED
$STATE,9417,begin surface coast
$FINISH,0.6,1.009628
$STATE,9448,end surface coast,CONTROL_FINISHED_OK
$STATE,9448,begin surface
$SM_CCo,9468,192.02,0.502,0,0,510,548.98
$SM_GC,1.41,0.00,0.00,192.02,0.000,0.000,0.502,408,2094,510,-11.55,1.24,548.98
$IRIDIUM_FIX,2241.69,-15749.78,301197,020254
$TT8_MAMPS,0.026845
$HUMID,1618
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,24.00
$XPDR_PINGS,172
$24V_AH,23.8,31.883
$10V_AH,10.1,28.927
$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,28.100,108.150,245.125,192.025,0.000,136.620,413.028,0.000,43.000,0.000,0.000,14.636,1034.437,6300.293,527.923,1912.645,780.545,33.365,1299.805,0.000,1964.023,0.000,0.469
$DEVICE_MAMPS,161.837,108.914,899.691,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.187,313.370,587.509,457.957,922.507,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38293,497
$CAP_FILE_SIZE,209632,0
$CFSIZE,260165632,245895168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050908,044507,2248.052,-15748.842,37,1.4,37,10.1