version: 66.03
glider: 148
mission: 6
dive: 192
start: 9 6 108 2 16 33
data:
$ID,148
$MISSION,6
$DIVE,192
$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,-10193.017
$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,44
$R_STBD_OVSHOOT,59
$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
$GPS1,020017,2248.495,-15748.622,8,99.0,27,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-62.6
$GPS2,021538,2248.418,-15748.648,38,0.9,38,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.107,0.151
$KALMAN_X,-127100.3,315.5,439.4,140540.8,-1881.9
$KALMAN_Y,-128196.1,443.8,2.2,128347.1,-2578.1
$MHEAD_RNG_PITCHd_Wd,25.3,980,-21.2,-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,16,begin dive
$GC,19,-1.42,-78.3,0.0,0.0,0,90,0.00,0.00,-69.30,0.000,2,0.000,0.000,412,2082,2801
$GC,93,-1.49,-134.7,3.5,-4.4,9,127,11.60,2.20,-10.62,0.000,4,0.162,0.054,2587,3433,3300
$GC,180,-1.35,-134.7,22.0,-20.9,22,189,0.12,2.17,0.00,0.000,6,0.104,0.020,2617,2045,3301
$GC,393,-1.26,-134.7,63.9,-19.6,44,398,0.15,2.17,0.00,0.000,4,0.117,0.028,2650,653,3301
$GC,426,-1.26,-134.7,71.1,-17.1,46,435,0.00,2.17,0.00,0.000,6,0.000,0.022,2649,2028,3302
$GC,626,-1.30,-134.7,100.8,-14.7,65,630,0.00,2.17,0.00,0.000,4,0.000,0.037,2650,649,3302
$GC,671,-1.40,-134.7,107.6,-14.1,68,678,0.12,2.20,0.00,0.000,6,0.036,0.021,2591,2051,3302
$GC,870,-1.33,-134.7,140.5,-17.1,87,875,0.17,2.20,0.00,0.000,4,0.100,0.036,2626,653,3302
$GC,910,-1.38,-134.7,147.1,-14.5,90,918,0.00,2.20,0.00,0.000,6,0.000,0.021,2627,2054,3302
$GC,1109,-1.44,-134.7,173.1,-12.2,109,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2056,3303
$GC,1422,-1.53,-134.7,209.3,-11.2,133,1427,0.17,2.22,0.00,0.000,4,0.044,0.030,2565,650,3303
$GC,1448,-1.53,-134.7,213.1,-13.9,133,1453,0.10,2.20,0.00,0.000,6,0.119,0.021,2584,2069,3303
$GC,1785,-1.53,-134.7,253.7,-12.2,142,1789,0.00,2.25,0.00,0.000,4,0.000,0.032,2584,654,3303
$GC,1829,-1.60,-134.7,259.5,-13.6,143,1833,0.00,2.17,0.00,0.000,6,0.000,0.031,2584,2052,3303
$GC,2153,-1.65,-134.7,302.7,-13.4,151,2158,0.10,2.22,0.00,0.000,4,0.062,0.033,2540,657,3303
$GC,2179,-1.65,-134.7,306.8,-15.3,151,2184,0.00,2.20,0.00,0.000,6,0.000,0.023,2540,2048,3303
$GC,2517,-1.65,-134.7,354.2,-13.6,160,2521,0.00,2.25,0.00,0.000,4,0.000,0.044,2540,659,3303
$GC,2639,-1.65,-134.7,371.6,-14.9,162,2646,0.00,2.20,0.00,0.000,6,0.000,0.031,2540,2055,3302
$GC,2970,-1.65,-134.7,414.6,-13.2,171,2974,0.00,2.28,0.00,0.000,4,0.000,0.044,2541,662,3301
$GC,3054,-1.65,-134.7,425.4,-12.2,173,3058,0.00,2.20,0.00,0.000,6,0.000,0.029,2540,2053,3300
$GC,3383,-1.65,-134.7,462.9,-11.2,181,3387,0.00,2.28,0.00,0.000,4,0.000,0.047,2540,664,3297
$GC,3454,-1.65,-134.7,471.5,-12.2,182,3458,0.00,2.22,0.00,0.000,6,0.000,0.038,2540,2056,3297
$GC,3791,-1.65,-134.7,509.4,-11.1,191,3795,0.00,2.15,0.00,0.000,3,0.000,0.047,2540,744,3294
$STATE,3795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3796,begin apogee
$GC,3802,-0.31,0.0,510.1,11.1,191,3919,1.40,0.00,108.45,0.909,6,0.100,0.000,2843,2006,2748
$STATE,3920,end apogee,CONTROL_FINISHED_OK
$STATE,3920,begin climb
$GC,3922,1.49,134.7,513.1,0.0,194,4045,1.67,2.47,111.45,0.886,4,0.044,0.071,3250,3394,2197
$GC,4051,1.17,134.7,503.9,13.9,197,4056,0.38,2.25,0.00,0.000,6,0.116,0.033,3176,2019,2196
$GC,4369,1.01,134.7,463.9,12.2,205,4374,0.15,2.45,0.00,0.000,4,0.122,0.065,3144,591,2188
$GC,4458,0.90,134.7,453.3,11.9,207,4463,0.15,2.28,0.00,0.000,6,0.121,0.035,3116,1994,2186
$GC,4776,0.87,141.3,425.5,8.0,215,4785,0.00,2.35,4.10,0.569,4,0.000,0.050,3116,597,2173
$GC,4803,0.84,152.9,423.3,7.6,215,4820,0.00,2.28,12.30,0.796,6,0.000,0.034,3116,2008,2125
$GC,5145,0.86,167.3,398.3,7.5,224,5164,0.00,2.42,12.82,0.797,4,0.000,0.061,3116,3394,2066
$GC,5197,0.86,167.3,393.0,10.3,225,5202,0.00,2.30,0.00,0.000,6,0.000,0.033,3116,1992,2064
$GC,5516,0.86,167.3,358.7,11.2,233,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1992,2061
$GC,5842,0.86,171.0,329.2,8.2,241,5846,0.00,2.33,0.00,0.000,4,0.000,0.061,3116,601,2060
$GC,5874,0.86,171.0,326.4,8.6,241,5880,0.00,2.28,0.00,0.000,6,0.000,0.026,3116,2008,2059
$GC,6205,0.88,181.8,302.6,7.7,250,6224,0.00,2.42,12.30,0.749,4,0.000,0.059,3116,3403,2007
$GC,6264,0.92,181.8,297.3,9.5,251,6269,0.00,2.28,0.00,0.000,6,0.000,0.030,3116,1986,2004
$GC,6612,0.96,181.8,264.9,9.0,260,6616,0.00,2.35,0.00,0.000,4,0.000,0.048,3116,3405,2003
$GC,6672,1.01,181.8,259.2,8.8,261,6677,0.10,2.22,0.00,0.000,6,0.067,0.028,3149,2002,2001
$GC,7020,1.02,183.3,230.2,8.4,270,7023,0.00,2.30,0.00,0.000,4,0.000,0.048,3149,3399,2001
$GC,7035,1.02,184.1,228.8,8.4,270,7039,0.00,2.25,0.00,0.000,6,0.000,0.024,3149,1976,2000
$GC,7348,1.02,184.1,201.6,9.2,278,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1976,2000
$GC,7665,1.02,184.1,169.0,10.3,305,7669,0.00,2.20,0.00,0.000,4,0.000,0.039,3149,599,2000
$GC,7681,1.02,184.1,167.2,10.9,306,7685,0.00,2.20,0.00,0.000,6,0.000,0.022,3149,2010,2000
$GC,8013,1.04,199.0,139.4,7.4,337,8034,0.00,0.00,15.43,0.617,6,0.000,0.000,3149,2010,1936
$GC,8224,1.04,199.0,121.5,9.3,357,8228,0.00,2.28,0.00,0.000,4,0.000,0.041,3149,590,1934
$GC,8286,1.04,199.0,115.1,10.2,362,8296,0.00,2.22,0.00,0.000,6,0.000,0.025,3149,1991,1933
$GC,8488,1.07,199.0,96.5,9.3,381,8492,0.00,2.28,0.00,0.000,4,0.000,0.045,3149,3397,1933
$GC,8550,1.12,199.0,90.3,9.3,386,8554,0.00,2.20,0.00,0.000,6,0.000,0.028,3149,1990,1932
$GC,8750,1.19,217.4,75.1,7.2,404,8777,0.12,2.28,16.65,0.557,4,0.054,0.044,3195,608,1861
$GC,8938,1.19,217.4,56.4,9.6,420,8942,0.00,2.17,0.00,0.000,6,0.000,0.028,3195,2001,1859
$GC,9137,1.19,218.4,39.7,8.4,438,9141,0.00,2.28,0.00,0.000,4,0.000,0.039,3195,3406,1859
$GC,9156,1.20,222.9,38.1,8.2,439,9170,0.00,2.20,5.82,0.441,6,0.000,0.023,3195,1996,1839
$GC,9366,1.20,222.9,18.5,9.6,468,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1996,1839
$STATE,9528,end climb,SURFACE_DEPTH_REACHED
$STATE,9528,begin surface coast
$FINISH,0.7,1.023114
$STATE,9565,end surface coast,CONTROL_FINISHED_OK
$STATE,9565,begin surface
$SM_CCo,9585,167.77,0.504,0,0,510,548.98
$SM_GC,1.43,0.00,0.00,167.77,0.000,0.000,0.504,409,2127,510,-11.55,2.18,548.98
$IRIDIUM_FIX,2241.69,-15744.57,011297,020215
$TT8_MAMPS,0.026845
$HUMID,1645
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.40
$XPDR_PINGS,175
$24V_AH,23.8,32.797
$10V_AH,10.1,29.755
$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,27.825,108.000,299.325,167.775,0.000,141.035,411.585,0.000,43.750,0.000,0.000,39.488,990.947,6615.560,551.498,1736.729,780.628,33.364,1256.013,0.000,1760.821,0.000,0.470
$DEVICE_MAMPS,161.837,74.399,908.895,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,376.492,319.561,578.274,439.297,903.904,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38224,502
$CAP_FILE_SIZE,204650,0
$CFSIZE,260165632,245358592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060908,045951,2248.163,-15748.658,7,1.7,7,10.1