version: 66.03
glider: 148
mission: 6
dive: 191
start: 9 5 108 23 21 34
data:
$ID,148
$MISSION,6
$DIVE,191
$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,-10152.897
$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,36
$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
$GPS1,231037,2248.541,-15748.753,11,1.0,27,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-60.0
$GPS2,232038,2248.535,-15748.787,9,1.0,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.069,0.142
$KALMAN_X,-126358.8,120.5,471.1,139725.5,-1187.3
$KALMAN_Y,-127073.2,525.4,695.9,126665.7,-2684.2
$MHEAD_RNG_PITCHd_Wd,15.9,1056,-25.2,-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,17,begin dive
$GC,19,-1.65,-56.4,0.0,0.0,0,106,0.00,0.00,-84.57,0.000,2,0.000,0.000,415,2109,2749
$GC,109,-1.70,-100.3,3.5,-4.1,11,135,11.32,2.22,-9.20,0.000,4,0.160,0.047,2540,3456,3161
$GC,178,-1.58,-100.3,17.5,-21.0,21,187,0.12,2.22,0.00,0.000,6,0.126,0.018,2567,2037,3161
$GC,384,-1.50,-100.3,61.7,-22.0,44,389,0.12,2.20,0.00,0.000,4,0.137,0.034,2589,647,3162
$GC,439,-1.58,-100.3,72.6,-17.8,48,448,0.00,2.22,0.00,0.000,6,0.000,0.021,2589,2059,3162
$GC,639,-1.64,-100.3,106.3,-17.2,67,644,0.12,2.22,0.00,0.000,4,0.054,0.038,2544,654,3162
$GC,738,-1.64,-100.3,125.3,-19.6,75,742,0.00,2.17,0.00,0.000,6,0.000,0.021,2544,2055,3162
$GC,934,-1.64,-100.3,163.7,-18.1,93,938,0.00,2.22,0.00,0.000,4,0.000,0.028,2544,643,3162
$GC,1013,-1.64,-100.3,177.2,-16.3,99,1022,0.00,2.20,0.00,0.000,6,0.000,0.020,2544,2048,3162
$GC,1341,-1.68,-100.3,222.5,-13.3,119,1345,0.00,2.22,0.00,0.000,4,0.000,0.031,2544,645,3163
$GC,1419,-1.75,-100.3,232.3,-12.8,120,1425,0.00,2.17,0.00,0.000,6,0.000,0.020,2544,2057,3163
$GC,1749,-1.83,-100.3,270.8,-11.1,129,1753,0.00,2.22,0.00,0.000,4,0.000,0.037,2544,655,3163
$GC,1880,-1.93,-100.3,285.5,-10.1,132,1885,0.17,2.17,0.00,0.000,6,0.045,0.021,2487,2057,3163
$GC,2209,-1.93,-100.3,329.9,-14.0,140,2213,0.00,2.25,0.00,0.000,4,0.000,0.037,2487,660,3163
$GC,2281,-1.93,-100.3,340.3,-15.4,141,2285,0.00,2.17,0.00,0.000,6,0.000,0.028,2487,2047,3163
$GC,2617,-1.93,-100.3,385.4,-13.2,150,2621,0.00,2.25,0.00,0.000,4,0.000,0.041,2487,663,3162
$GC,2874,-1.93,-100.3,420.4,-13.9,155,2880,0.00,2.22,0.00,0.000,6,0.000,0.037,2487,2039,3160
$GC,3205,-1.93,-100.3,462.9,-12.6,164,3208,0.00,2.28,0.00,0.000,4,0.000,0.049,2487,657,3158
$GC,3461,-1.93,-100.3,498.5,-13.7,169,3466,0.00,2.28,0.00,0.000,6,0.000,0.041,2487,2045,3156
$STATE,3553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3553,begin apogee
$GC,3557,-0.31,0.0,510.5,13.0,172,3643,1.70,0.00,81.78,0.903,6,0.106,0.000,2847,2045,2749
$STATE,3644,end apogee,CONTROL_FINISHED_OK
$STATE,3644,begin climb
$GC,3646,1.70,100.3,513.4,0.0,174,3734,1.85,0.00,83.62,0.882,6,0.044,0.000,3292,2045,2339
$GC,4052,1.43,100.3,470.7,12.6,184,4057,0.28,2.40,0.00,0.000,4,0.122,0.052,3235,616,2329
$GC,4281,1.23,100.3,440.8,13.9,189,4285,0.22,2.25,0.00,0.000,6,0.118,0.028,3191,2010,2326
$GC,4600,1.16,100.3,403.5,11.8,197,4604,0.00,2.30,0.00,0.000,4,0.000,0.045,3191,614,2324
$GC,4633,1.04,100.3,399.4,12.2,197,4638,0.22,2.22,0.00,0.000,6,0.122,0.031,3148,2007,2323
$GC,4963,1.04,100.3,369.3,8.9,205,4967,0.00,2.30,0.00,0.000,4,0.000,0.042,3148,613,2321
$GC,5063,1.05,101.7,360.7,8.4,207,5067,0.00,2.20,0.00,0.000,6,0.000,0.025,3148,2004,2320
$GC,5376,1.11,128.2,341.6,5.8,215,5400,0.00,0.00,20.58,0.801,6,0.000,0.000,3148,2004,2226
$GC,5745,1.17,135.4,314.3,7.8,224,5759,0.12,2.38,7.28,0.684,4,0.063,0.041,3186,610,2196
$GC,5804,1.12,135.4,308.4,10.2,225,5808,0.12,2.22,0.00,0.000,6,0.123,0.031,3164,2003,2194
$GC,6118,1.15,135.4,279.7,9.0,233,6122,0.00,2.35,0.00,0.000,4,0.000,0.054,3164,3402,2192
$GC,6158,1.18,135.4,276.1,9.4,234,6162,0.00,2.22,0.00,0.000,6,0.000,0.026,3164,2003,2191
$GC,6483,1.22,135.4,247.1,8.9,242,6487,0.10,2.30,0.00,0.000,4,0.069,0.046,3197,604,2190
$GC,6640,1.16,135.4,230.9,10.4,245,6645,0.12,2.20,0.00,0.000,6,0.120,0.028,3174,2009,2190
$GC,6977,1.21,135.4,200.9,8.9,254,6981,0.00,2.30,0.00,0.000,4,0.000,0.041,3174,594,2189
$GC,6993,1.21,139.5,199.6,8.1,254,7002,0.00,2.20,3.78,0.457,6,0.000,0.029,3174,1998,2179
$GC,7323,1.29,160.9,175.1,6.3,284,7348,0.10,2.38,19.60,0.663,4,0.067,0.040,3211,593,2093
$GC,7422,1.25,160.9,166.2,9.6,292,7428,0.00,2.22,0.00,0.000,6,0.000,0.028,3211,2005,2090
$GC,7750,1.25,160.9,137.9,9.4,323,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2005,2089
$GC,7947,1.25,160.9,119.2,8.8,342,7951,0.00,2.28,0.00,0.000,4,0.000,0.041,3211,597,2089
$GC,8059,1.25,160.9,107.7,10.4,351,8066,0.00,2.22,0.00,0.000,6,0.000,0.029,3211,2005,2089
$GC,8257,1.27,176.4,92.6,6.9,370,8280,0.00,2.35,14.00,0.567,4,0.000,0.042,3211,3406,2027
$GC,8295,1.28,184.6,90.0,7.7,373,8310,0.00,2.22,8.45,0.521,6,0.000,0.029,3210,1981,1995
$GC,8511,1.33,193.9,73.8,7.6,393,8526,0.00,2.28,9.07,0.518,4,0.000,0.042,3210,604,1958
$GC,8665,1.38,199.8,60.9,7.9,406,8679,0.00,2.17,6.50,0.469,6,0.000,0.019,3211,2003,1934
$GC,8869,1.44,200.7,44.5,8.4,425,8873,0.00,2.25,0.00,0.000,4,0.000,0.035,3210,604,1933
$GC,8888,1.49,200.7,42.8,8.9,426,8892,0.15,2.17,0.00,0.000,6,0.048,0.021,3264,2002,1933
$GC,9093,1.45,200.7,20.7,10.8,451,9102,0.15,2.28,0.00,0.000,4,0.108,0.034,3230,604,1933
$GC,9122,1.45,200.7,17.7,11.1,455,9131,0.00,2.20,0.00,0.000,6,0.000,0.021,3230,1992,1933
$STATE,9279,end climb,SURFACE_DEPTH_REACHED
$STATE,9279,begin surface coast
$FINISH,0.5,1.010580
$STATE,9315,end surface coast,CONTROL_FINISHED_OK
$STATE,9315,begin surface
$SM_CCo,9335,121.68,0.504,0,0,955,440.07
$SM_GC,1.56,0.00,0.00,121.68,0.000,0.000,0.504,412,2081,955,-11.54,0.88,440.07
$IRIDIUM_FIX,2241.69,-15749.78,301197,232358
$TT8_MAMPS,0.027612
$HUMID,1655
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.80
$XPDR_PINGS,177
$24V_AH,23.8,32.675
$10V_AH,10.1,29.654
$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,28.400,98.900,254.650,121.675,0.000,59.991,56.507,317.170,44.250,0.000,0.000,16.208,1000.149,6059.526,468.144,1838.075,695.105,33.358,1212.613,0.000,1898.750,0.000,0.469
$DEVICE_MAMPS,160.303,82.069,902.759,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.995,317.686,585.682,440.058,900.450,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38205,488
$CAP_FILE_SIZE,210305,0
$CFSIZE,260165632,245432320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060908,020017,2248.495,-15748.622,8,99.0,27,10.1