version: 66.03
glider: 148
mission: 6
dive: 206
start: 9 7 108 19 16 12
data:
$ID,148
$MISSION,6
$DIVE,206
$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,-10495.347
$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,39
$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
$GPS1,190009,2248.220,-15748.538,13,1.7,13,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-59.7
$GPS2,191517,2248.064,-15748.782,11,99.0,30,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.150,0.089
$KALMAN_X,-145493.3,66.3,-146.6,159542.8,-2174.9
$KALMAN_Y,-147448.0,193.4,-478.0,147678.7,-1183.5
$MHEAD_RNG_PITCHd_Wd,49.3,390,-22.6,-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,19,-1.50,-69.5,0.0,0.0,0,90,0.00,0.00,-69.07,0.000,2,0.000,0.000,410,2114,2797
$GC,93,-1.57,-125.6,3.4,-3.9,9,127,11.45,2.17,-10.18,0.000,4,0.160,0.047,2568,3454,3264
$GC,136,-0.78,-125.6,12.4,-18.6,14,144,0.82,2.20,0.00,0.000,6,0.106,0.018,2746,2047,3265
$GC,348,-1.03,-125.6,37.0,-10.3,45,350,0.22,0.00,0.00,0.000,6,0.038,0.000,2671,2045,3266
$GC,539,-1.16,-125.6,63.5,-12.9,63,543,0.00,2.22,0.00,0.000,4,0.000,0.032,2671,3451,3266
$GC,558,-1.29,-125.6,66.2,-13.9,64,563,0.12,2.15,0.00,0.000,6,0.051,0.018,2618,2050,3265
$GC,755,-1.33,-125.6,96.3,-14.9,82,759,0.00,2.20,0.00,0.000,4,0.000,0.028,2618,644,3266
$GC,777,-1.38,-125.6,100.0,-15.6,83,783,0.00,2.20,0.00,0.000,6,0.000,0.020,2618,2064,3266
$GC,974,-1.43,-125.6,127.1,-13.4,102,978,0.00,2.22,0.00,0.000,4,0.000,0.029,2617,653,3266
$GC,1007,-1.50,-125.6,131.8,-14.0,104,1016,0.08,2.20,0.00,0.000,6,0.040,0.021,2574,2053,3266
$GC,1204,-1.50,-125.6,162.1,-16.4,123,1208,0.00,2.20,0.00,0.000,4,0.000,0.031,2574,3449,3266
$GC,1223,-1.46,-125.6,164.9,-16.5,124,1228,0.12,2.15,0.00,0.000,6,0.107,0.018,2599,2046,3267
$GC,1574,-1.53,-125.6,218.7,-14.8,148,1577,0.00,2.17,0.00,0.000,4,0.000,0.031,2599,659,3267
$GC,1613,-1.63,-125.6,224.3,-13.8,149,1618,0.15,2.15,0.00,0.000,6,0.047,0.018,2541,2059,3267
$GC,1937,-1.63,-125.6,272.6,-13.8,157,1942,0.10,2.20,0.00,0.000,4,0.117,0.031,2561,661,3267
$GC,2009,-1.70,-125.6,281.5,-11.7,158,2013,0.00,2.15,0.00,0.000,6,0.000,0.021,2561,2055,3268
$GC,2340,-1.74,-125.6,319.3,-11.6,166,2344,0.00,2.22,0.00,0.000,4,0.000,0.042,2561,660,3268
$GC,2553,-1.81,-125.6,345.9,-12.3,170,2557,0.15,2.17,0.00,0.000,6,0.048,0.027,2509,2047,3267
$GC,2891,-1.77,-125.6,395.5,-15.2,179,2896,0.12,2.25,0.00,0.000,4,0.114,0.048,2533,669,3265
$GC,3074,-1.77,-125.6,423.3,-15.2,183,3079,0.00,2.22,0.00,0.000,6,0.000,0.032,2533,2049,3264
$GC,3393,-1.77,-125.6,468.6,-14.2,191,3397,0.00,2.28,0.00,0.000,4,0.000,0.046,2533,668,3262
$GC,3499,-1.81,-125.6,483.7,-14.4,193,3503,0.00,2.20,0.00,0.000,6,0.000,0.035,2533,2048,3261
$STATE,3716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3716,begin apogee
$GC,3721,-0.31,0.0,511.8,12.8,199,3827,1.48,0.00,102.12,0.899,6,0.100,0.000,2850,2048,2749
$STATE,3828,end apogee,CONTROL_FINISHED_OK
$STATE,3828,begin climb
$GC,3830,1.57,125.6,514.0,0.0,201,3943,1.77,2.47,104.12,0.880,4,0.046,0.053,3269,626,2235
$GC,3949,1.25,125.6,505.2,13.9,204,3954,0.38,2.25,0.00,0.000,6,0.113,0.036,3195,2003,2234
$GC,4281,1.11,125.6,459.5,14.1,212,4285,0.15,2.33,0.00,0.000,4,0.124,0.049,3163,613,2226
$GC,4330,1.01,125.6,452.4,14.1,213,4335,0.12,2.25,0.00,0.000,6,0.128,0.033,3141,2008,2225
$GC,4643,1.01,125.6,418.2,10.7,221,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2008,2222
$GC,4967,1.01,125.6,386.7,9.2,229,4971,0.00,2.30,0.00,0.000,4,0.000,0.047,3141,620,2219
$GC,5022,0.97,125.6,381.0,10.5,230,5026,0.00,2.20,0.00,0.000,6,0.000,0.025,3141,2004,2218
$GC,5334,0.97,125.6,353.0,8.6,238,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2004,2216
$GC,5660,0.97,125.9,325.9,8.5,246,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2005,2214
$GC,5985,0.98,132.1,299.2,8.0,254,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2004,2214
$GC,6310,1.01,160.0,277.6,6.2,262,6341,0.00,2.33,26.20,0.762,4,0.000,0.048,3141,619,2095
$GC,6587,1.01,160.0,256.8,8.6,268,6591,0.00,2.20,0.00,0.000,6,0.000,0.023,3141,2009,2091
$GC,6901,1.05,160.0,229.9,9.1,276,6905,0.00,2.30,0.00,0.000,4,0.000,0.046,3141,611,2088
$GC,6927,1.05,160.0,227.3,9.6,276,6932,0.00,2.22,0.00,0.000,6,0.000,0.029,3141,2004,2088
$GC,7249,1.11,160.0,196.9,8.9,286,7253,0.00,2.30,0.00,0.000,4,0.000,0.048,3141,3405,2087
$GC,7326,1.19,169.2,190.3,7.7,292,7343,0.15,2.20,7.47,0.599,6,0.053,0.029,3187,2007,2058
$GC,7662,1.19,173.8,163.7,8.1,324,7676,0.00,2.30,5.57,0.530,4,0.000,0.037,3187,602,2039
$GC,7723,1.15,173.8,157.9,9.7,329,7726,0.00,2.20,0.00,0.000,6,0.000,0.025,3187,2002,2038
$GC,8052,1.15,173.8,126.6,9.6,360,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2002,2038
$GC,8244,1.15,173.8,108.6,9.3,378,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2002,2038
$GC,8435,1.16,177.4,91.4,8.2,396,8449,0.00,2.30,4.55,0.436,4,0.000,0.037,3187,600,2025
$GC,8454,1.16,183.9,89.9,8.0,397,8473,0.00,2.17,7.35,0.510,6,0.000,0.021,3187,2002,1998
$GC,8663,1.19,204.9,74.1,6.8,417,8689,0.00,2.28,19.48,0.561,4,0.000,0.036,3187,600,1912
$GC,8695,1.26,231.6,72.0,6.3,419,8727,0.00,2.22,23.23,0.555,6,0.000,0.028,3187,1997,1802
$GC,8919,1.32,239.2,55.0,7.9,440,8934,0.00,2.28,7.07,0.469,4,0.000,0.047,3187,3396,1772
$GC,8961,1.39,241.1,51.6,8.3,443,8965,0.15,2.20,0.00,0.000,6,0.047,0.024,3242,1993,1769
$GC,9160,1.33,241.1,29.7,11.7,461,9169,0.17,2.33,0.00,0.000,4,0.101,0.038,3207,3398,1769
$GC,9177,1.27,241.1,27.8,11.6,463,9186,0.00,2.20,0.00,0.000,6,0.000,0.021,3207,2000,1768
$GC,9394,1.27,241.1,5.2,10.6,500,9402,0.00,2.30,0.00,0.000,4,0.000,0.038,3207,3397,1768
$STATE,9414,end climb,SURFACE_DEPTH_REACHED
$STATE,9414,begin surface coast
$FINISH,0.6,1.023153
$STATE,9433,end surface coast,CONTROL_FINISHED_OK
$STATE,9433,begin surface
$SM_CCo,9455,166.40,0.503,0,0,511,548.98
$SM_GC,1.38,0.00,0.00,166.40,0.000,0.000,0.503,406,2028,511,-11.56,-0.62,548.98
$IRIDIUM_FIX,2241.69,-15749.78,021297,191959
$TT8_MAMPS,0.027612
$HUMID,1677
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,23.70
$XPDR_PINGS,155
$24V_AH,23.8,34.304
$10V_AH,10.1,31.191
$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,28.925,98.225,307.175,166.400,0.000,139.324,406.317,0.000,38.750,0.000,0.000,32.425,998.332,6410.041,562.342,1773.547,787.329,33.362,1264.075,0.000,1825.456,0.000,0.469
$DEVICE_MAMPS,159.536,52.923,898.924,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.729,317.663,609.816,473.331,964.054,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38267,506
$CAP_FILE_SIZE,209064,0
$CFSIZE,260165632,244412416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070908,215737,2248.491,-15748.509,25,1.2,25,10.1