version: 66.03
glider: 148
mission: 6
dive: 196
start: 9 6 108 13 55 24
data:
$ID,148
$MISSION,6
$DIVE,196
$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,-10275.717
$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,40
$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
$GPS1,133859,2248.689,-15748.434,12,99.0,31,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-62.4
$GPS2,135429,2248.649,-15748.488,13,99.0,32,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.103,0.106
$KALMAN_X,-130834.7,-164.4,557.8,144908.5,-2082.6
$KALMAN_Y,-134457.3,-229.2,331.6,135376.7,-2442.1
$MHEAD_RNG_PITCHd_Wd,34.1,1486,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.75,-49.4,0.0,0.0,0,90,0.00,0.00,-69.22,0.000,2,0.000,0.000,410,2001,2791
$GC,93,-1.79,-85.5,3.6,-4.3,9,118,11.25,2.28,-6.65,0.000,4,0.162,0.037,2519,3454,3098
$GC,133,-1.02,-85.5,12.9,-20.2,14,142,0.82,2.20,0.00,0.000,6,0.116,0.018,2691,2046,3099
$GC,345,-1.27,-85.5,39.7,-12.0,44,347,0.20,0.00,0.00,0.000,6,0.044,0.000,2626,2045,3099
$GC,536,-1.39,-85.5,68.9,-15.2,62,540,0.00,2.20,0.00,0.000,4,0.000,0.031,2626,645,3099
$GC,566,-1.51,-85.5,73.4,-15.7,64,571,0.15,2.17,0.00,0.000,6,0.047,0.029,2572,2051,3099
$GC,764,-1.55,-85.5,107.2,-17.4,82,767,0.00,2.20,0.00,0.000,4,0.000,0.028,2571,654,3099
$GC,807,-1.63,-85.5,114.5,-17.7,85,811,0.00,2.15,0.00,0.000,6,0.000,0.020,2571,2055,3099
$GC,1008,-1.71,-85.5,146.4,-16.1,103,1013,0.10,2.22,0.00,0.000,4,0.058,0.030,2522,648,3100
$GC,1104,-1.68,-85.5,165.2,-19.8,111,1109,0.15,2.15,0.00,0.000,6,0.123,0.018,2550,2056,3100
$GC,1444,-1.76,-85.5,217.5,-13.7,134,1448,0.00,2.22,0.00,0.000,4,0.000,0.030,2550,647,3100
$GC,1568,-1.87,-85.5,234.4,-13.7,136,1575,0.15,2.15,0.00,0.000,6,0.050,0.019,2498,2054,3100
$GC,1899,-1.90,-85.5,283.0,-14.6,145,1903,0.00,2.22,0.00,0.000,4,0.000,0.032,2498,650,3101
$GC,2128,-1.95,-85.5,314.8,-13.9,150,2132,0.00,2.15,0.00,0.000,6,0.000,0.022,2498,2041,3101
$GC,2448,-2.01,-85.5,351.7,-11.6,158,2452,0.00,2.22,0.00,0.000,4,0.000,0.039,2498,665,3101
$GC,2639,-2.07,-85.5,376.8,-12.3,162,2644,0.12,2.17,0.00,0.000,6,0.054,0.026,2455,2057,3100
$GC,2987,-2.07,-85.5,421.0,-12.4,171,2991,0.00,2.28,0.00,0.000,4,0.000,0.044,2455,665,3098
$GC,3244,-2.07,-85.5,456.8,-13.2,176,3251,0.00,2.22,0.00,0.000,6,0.000,0.036,2455,2048,3096
$GC,3575,-2.07,-85.5,495.2,-11.6,185,3579,0.00,2.28,0.00,0.000,4,0.000,0.051,2455,668,3093
$STATE,3690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3690,begin apogee
$GC,3699,-0.31,0.0,510.6,12.8,187,3772,1.85,0.00,69.47,0.905,6,0.114,0.000,2843,2003,2749
$STATE,3773,end apogee,CONTROL_FINISHED_OK
$STATE,3773,begin climb
$GC,3775,1.79,85.5,512.2,0.0,189,3858,1.95,2.47,70.60,0.885,4,0.041,0.061,3315,3403,2399
$GC,3981,1.51,85.5,489.1,14.5,193,3986,0.32,2.25,0.00,0.000,6,0.124,0.030,3252,2020,2395
$GC,4318,1.35,85.5,448.2,11.9,202,4323,0.15,2.42,0.00,0.000,4,0.127,0.067,3219,596,2391
$GC,4558,1.21,85.5,420.5,10.3,207,4562,0.17,2.28,0.00,0.000,6,0.123,0.033,3186,2010,2389
$GC,4906,1.21,85.5,390.3,8.6,216,4910,0.00,2.35,0.00,0.000,4,0.000,0.049,3186,591,2386
$GC,5152,1.15,87.4,367.6,8.3,221,5156,0.00,2.25,0.00,0.000,6,0.000,0.025,3186,2004,2384
$GC,5494,1.17,102.3,342.8,6.8,230,5513,0.00,2.40,12.15,0.778,4,0.000,0.047,3186,597,2331
$GC,5700,1.14,116.3,328.0,6.9,234,5719,0.00,2.25,12.90,0.767,6,0.000,0.026,3186,2010,2273
$GC,6044,1.14,116.3,300.6,8.7,243,6048,0.00,2.35,0.00,0.000,4,0.000,0.048,3186,593,2269
$GC,6053,1.14,116.3,299.7,8.9,243,6058,0.00,2.28,0.00,0.000,6,0.000,0.030,3186,2008,2268
$GC,6367,1.18,116.3,269.7,9.5,251,6371,0.00,2.33,0.00,0.000,4,0.000,0.047,3186,596,2268
$GC,6484,1.18,116.3,259.4,9.0,253,6488,0.00,2.25,0.00,0.000,6,0.000,0.022,3186,2005,2266
$GC,6821,1.25,138.4,238.5,6.0,262,6845,0.00,2.38,18.52,0.720,4,0.000,0.040,3186,594,2184
$GC,7043,1.25,138.4,219.6,8.8,267,7047,0.00,2.22,0.00,0.000,6,0.000,0.028,3186,2008,2180
$GC,7364,1.32,144.5,191.7,7.8,280,7376,0.00,2.30,5.97,0.568,4,0.000,0.047,3186,3400,2159
$GC,7389,1.40,151.6,189.6,7.7,282,7404,0.15,2.25,8.07,0.599,6,0.054,0.023,3232,1976,2130
$GC,7720,1.40,151.6,160.2,9.0,313,7724,0.00,2.33,0.00,0.000,4,0.000,0.039,3232,3399,2128
$GC,7741,1.40,151.6,158.1,8.8,314,7748,0.00,2.22,0.00,0.000,6,0.000,0.028,3232,2003,2127
$GC,8070,1.40,151.6,128.5,9.9,345,8074,0.00,2.25,0.00,0.000,4,0.000,0.044,3232,594,2127
$GC,8328,1.40,151.6,99.9,9.9,367,8335,0.00,2.20,0.00,0.000,6,0.000,0.021,3232,1990,2127
$GC,8526,1.41,162.0,84.7,7.3,386,8541,0.00,2.30,9.85,0.535,4,0.000,0.041,3232,591,2088
$GC,8610,1.41,162.0,77.8,8.9,393,8614,0.00,2.22,0.00,0.000,6,0.000,0.028,3232,2009,2088
$GC,8810,1.49,186.9,65.4,5.6,411,8842,0.00,2.35,22.05,0.553,4,0.000,0.035,3232,598,1985
$GC,8849,1.55,206.8,62.9,6.2,414,8872,0.08,2.22,17.98,0.537,6,0.045,0.021,3268,1994,1906
$GC,9073,1.55,206.8,39.0,11.4,435,9077,0.00,2.25,0.00,0.000,4,0.000,0.035,3268,597,1902
$GC,9139,1.55,206.8,31.2,10.7,440,9143,0.00,2.20,0.00,0.000,6,0.000,0.021,3268,2001,1901
$GC,9352,1.55,206.8,6.4,11.4,475,9360,0.00,2.30,0.00,0.000,4,0.000,0.037,3268,596,1900
$GC,9380,1.55,206.8,3.2,10.6,479,9389,0.00,2.22,0.00,0.000,6,0.000,0.025,3269,1992,1900
$STATE,9395,end climb,SURFACE_DEPTH_REACHED
$STATE,9395,begin surface coast
$FINISH,0.6,1.022852
$STATE,9421,end surface coast,CONTROL_FINISHED_OK
$STATE,9421,begin surface
$SM_CCo,9441,176.98,0.503,0,0,510,548.98
$SM_GC,1.44,0.00,0.00,176.98,0.000,0.000,0.503,410,2081,510,-11.55,0.88,548.98
$IRIDIUM_FIX,2241.69,-15751.94,011297,131302
$TT8_MAMPS,0.027612
$HUMID,1649
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.60
$XPDR_PINGS,173
$24V_AH,23.8,33.226
$10V_AH,10.1,30.162
$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,29.225,103.875,247.575,176.975,0.000,139.554,421.989,0.000,43.250,0.000,0.000,36.041,1033.213,6193.501,502.625,2009.809,809.638,33.357,1297.555,0.000,2024.679,0.000,0.470
$DEVICE_MAMPS,161.837,85.904,905.060,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.102,318.085,564.194,439.665,902.536,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38270,485
$CAP_FILE_SIZE,206466,0
$CFSIZE,260165632,245084160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,060908,163701,2248.171,-15748.887,36,1.1,41,10.1