version: 66.03
glider: 148
mission: 6
dive: 212
start: 9 8 108 12 31 22
data:
$ID,148
$MISSION,6
$DIVE,212
$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,-10586.661
$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,43
$R_STBD_OVSHOOT,34
$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
$GPS1,121538,2248.598,-15748.332,35,1.0,35,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-61.1
$GPS2,123027,2248.516,-15748.440,14,1.0,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.081,0.132
$KALMAN_X,-153393.6,253.7,86.8,167603.7,-1922.4
$KALMAN_Y,-154456.8,-261.4,537.1,154966.1,-2539.0
$MHEAD_RNG_PITCHd_Wd,21.4,1352,-25.7,-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,-1.67,-54.5,0.0,0.0,0,91,0.00,0.00,-69.88,0.000,2,0.000,0.000,414,2111,2818
$GC,94,-1.72,-95.5,3.4,-4.2,9,119,11.25,2.15,-7.03,0.000,4,0.160,0.045,2535,3463,3140
$GC,163,-1.58,-95.5,18.0,-20.5,19,171,0.15,2.22,0.00,0.000,6,0.119,0.019,2568,2043,3140
$GC,373,-1.53,-95.5,62.2,-18.9,42,377,0.00,2.17,0.00,0.000,4,0.000,0.031,2568,653,3140
$GC,418,-1.57,-95.5,71.5,-17.8,45,426,0.00,2.20,0.00,0.000,6,0.000,0.019,2568,2060,3140
$GC,615,-1.57,-95.5,102.7,-15.7,64,618,0.00,2.22,0.00,0.000,4,0.000,0.029,2568,654,3141
$GC,643,-1.61,-95.5,107.0,-15.1,66,647,0.00,2.17,0.00,0.000,6,0.000,0.020,2568,2058,3141
$GC,840,-1.65,-95.5,137.0,-14.7,84,844,0.00,2.22,0.00,0.000,4,0.000,0.030,2568,651,3141
$GC,936,-1.74,-95.5,152.4,-17.1,92,941,0.12,2.17,0.00,0.000,6,0.055,0.021,2526,2054,3141
$GC,1258,-1.74,-95.5,206.8,-16.0,119,1262,0.00,2.22,0.00,0.000,4,0.000,0.030,2526,650,3142
$GC,1359,-1.78,-95.5,222.9,-14.3,121,1362,0.00,2.17,0.00,0.000,6,0.000,0.019,2526,2061,3142
$GC,1672,-1.83,-95.5,259.6,-11.2,129,1676,0.00,2.22,0.00,0.000,4,0.000,0.031,2526,657,3142
$GC,1766,-1.90,-95.5,270.2,-11.5,131,1770,0.00,2.17,0.00,0.000,6,0.000,0.027,2526,2057,3142
$GC,2085,-1.96,-95.5,308.2,-12.7,139,2090,0.15,2.25,0.00,0.000,4,0.051,0.043,2478,657,3142
$GC,2258,-1.91,-95.5,335.5,-15.8,143,2263,0.12,2.17,0.00,0.000,6,0.123,0.027,2500,2049,3142
$GC,2583,-1.91,-95.5,378.2,-12.6,151,2587,0.00,2.25,0.00,0.000,4,0.000,0.040,2501,665,3140
$GC,2750,-1.91,-95.5,399.3,-12.3,154,2756,0.00,2.20,0.00,0.000,6,0.000,0.026,2500,2044,3140
$GC,3082,-1.95,-95.5,437.8,-11.6,163,3086,0.00,2.28,0.00,0.000,4,0.000,0.051,2501,657,3137
$GC,3289,-1.99,-95.5,463.4,-11.6,167,3293,0.00,2.22,0.00,0.000,6,0.000,0.035,2500,2050,3135
$GC,3620,-2.05,-95.5,501.2,-11.6,175,3625,0.12,2.30,0.00,0.000,4,0.062,0.051,2460,659,3133
$STATE,3684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3684,begin apogee
$GC,3691,-0.31,0.0,510.8,14.6,176,3773,1.80,0.00,77.38,0.905,6,0.112,0.000,2847,2005,2749
$STATE,3773,end apogee,CONTROL_FINISHED_OK
$STATE,3773,begin climb
$GC,3775,1.72,95.5,513.2,0.0,178,3863,1.88,2.42,79.57,0.883,4,0.045,0.061,3297,3402,2358
$GC,3898,1.41,95.5,503.9,14.4,181,3903,0.35,2.25,0.00,0.000,6,0.123,0.035,3229,2020,2354
$GC,4222,1.26,95.5,464.6,12.2,189,4227,0.15,2.42,0.00,0.000,4,0.126,0.065,3197,596,2350
$GC,4352,1.13,95.5,448.3,12.3,192,4357,0.15,2.28,0.00,0.000,6,0.127,0.027,3169,2005,2348
$GC,4675,1.13,95.5,412.7,10.9,200,4679,0.00,2.35,0.00,0.000,4,0.000,0.044,3168,593,2345
$GC,4780,1.07,95.5,400.6,11.0,202,4784,0.00,2.28,0.00,0.000,6,0.000,0.033,3168,2009,2344
$GC,5128,1.07,95.5,367.2,9.4,211,5132,0.00,2.35,0.00,0.000,4,0.000,0.042,3168,587,2341
$GC,5273,1.01,95.5,353.8,10.1,214,5278,0.15,2.25,0.00,0.000,6,0.131,0.030,3141,2002,2340
$GC,5587,1.05,97.5,328.6,8.3,222,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2002,2338
$GC,5911,1.11,105.1,302.5,7.7,230,5918,0.00,0.00,5.50,0.630,6,0.000,0.000,3141,2002,2320
$GC,6236,1.18,119.3,279.4,7.0,238,6256,0.15,2.40,13.15,0.737,4,0.056,0.061,3186,3389,2261
$GC,6279,1.15,119.3,276.1,8.6,239,6283,0.00,2.25,0.00,0.000,6,0.000,0.025,3186,1986,2260
$GC,6604,1.15,123.1,249.0,8.1,247,6613,0.00,2.33,4.15,0.517,4,0.000,0.053,3186,596,2247
$GC,6737,1.15,123.1,238.0,9.2,250,6742,0.00,2.22,0.00,0.000,6,0.000,0.028,3186,2007,2246
$GC,7068,1.15,124.5,211.2,8.3,258,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2007,2245
$GC,7378,1.17,142.4,188.6,6.6,276,7402,0.00,2.33,17.60,0.675,4,0.000,0.041,3186,599,2167
$GC,7504,1.17,142.4,177.2,10.3,287,7508,0.00,2.22,0.00,0.000,6,0.000,0.027,3186,2007,2164
$GC,7829,1.23,156.2,152.3,7.1,317,7853,0.00,2.35,12.68,0.617,4,0.000,0.044,3186,3395,2111
$GC,7859,1.28,170.1,150.2,7.0,319,7878,0.00,2.22,12.98,0.608,6,0.000,0.023,3186,1985,2054
$GC,8068,1.37,194.3,136.6,6.0,339,8096,0.12,2.30,21.38,0.617,4,0.058,0.038,3225,601,1956
$GC,8191,1.37,194.3,125.3,9.2,350,8195,0.00,2.20,0.00,0.000,6,0.000,0.029,3225,1998,1954
$GC,8388,1.37,194.3,106.6,10.0,368,8392,0.00,2.30,0.00,0.000,4,0.000,0.043,3225,3405,1953
$GC,8407,1.37,194.3,105.0,9.9,369,8411,0.00,2.20,0.00,0.000,6,0.000,0.021,3225,1997,1951
$GC,8607,1.37,194.3,84.6,9.4,387,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1997,1951
$GC,8807,1.40,194.4,68.2,8.5,406,8811,0.00,2.22,0.00,0.000,4,0.000,0.043,3225,604,1951
$GC,8837,1.40,194.4,65.0,10.5,408,8841,0.00,2.20,0.00,0.000,6,0.000,0.027,3225,2012,1951
$GC,9037,1.43,194.4,47.5,8.9,426,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2013,1951
$GC,9229,1.47,194.4,28.2,10.5,445,9238,0.00,2.30,0.00,0.000,4,0.000,0.035,3225,600,1951
$GC,9258,1.47,194.4,25.6,9.2,449,9266,0.00,2.20,0.00,0.000,6,0.000,0.020,3225,2001,1951
$GC,9474,1.47,194.4,9.6,9.9,486,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2001,1950
$STATE,9545,end climb,SURFACE_DEPTH_REACHED
$STATE,9545,begin surface coast
$FINISH,0.6,1.010400
$STATE,9581,end surface coast,CONTROL_FINISHED_OK
$STATE,9581,begin surface
$SM_CCo,9601,183.98,0.502,0,0,510,548.98
$SM_GC,1.33,0.00,0.00,183.98,0.000,0.000,0.502,405,2066,510,-11.56,0.45,548.98
$IRIDIUM_FIX,2239.35,-15746.73,031297,121229
$TT8_MAMPS,0.027612
$HUMID,1639
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,24.00
$XPDR_PINGS,139
$24V_AH,23.8,34.920
$10V_AH,10.1,31.793
$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,28.100,99.125,244.375,183.975,0.000,144.242,396.700,0.000,34.750,0.000,0.000,15.748,1028.798,6467.354,508.744,1882.741,787.071,33.357,1251.748,0.000,1932.825,0.000,0.469
$DEVICE_MAMPS,159.536,183.313,905.060,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,376.344,321.127,591.193,455.164,932.083,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38230,504
$CAP_FILE_SIZE,210128,0
$CFSIZE,260165632,244011008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080908,151515,2248.530,-15748.453,9,1.8,9,10.1