version: 66.03
glider: 148
mission: 6
dive: 213
start: 9 8 108 15 22 43
data:
$ID,148
$MISSION,6
$DIVE,213
$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,-10618.257
$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,45
$R_STBD_OVSHOOT,50
$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
$GPS1,151515,2248.530,-15748.453,9,1.8,9,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-56.8
$GPS2,152150,2248.506,-15748.472,11,1.9,29,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.119,0.109
$KALMAN_X,-154558.3,142.8,373.7,168537.4,-2321.0
$KALMAN_Y,-155600.6,-281.5,131.4,156509.5,-2237.0
$MHEAD_RNG_PITCHd_Wd,37.4,1300,-24.6,-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,-1.61,-59.0,0.0,0.0,0,107,0.00,0.00,-84.82,0.000,2,0.000,0.000,405,2067,2769
$GC,111,-1.67,-104.5,3.4,-4.1,11,136,11.43,2.25,-8.57,0.000,4,0.161,0.043,2548,3442,3178
$GC,146,-0.68,-104.5,12.1,-18.9,15,155,1.00,2.17,0.00,0.000,6,0.101,0.017,2764,2039,3179
$GC,366,-1.07,-116.1,31.9,-7.4,51,372,0.30,2.25,-0.50,0.000,4,0.032,0.044,2661,3436,3224
$GC,398,-1.25,-116.1,35.1,-11.9,53,402,0.00,2.12,0.00,0.000,6,0.000,0.027,2661,2059,3224
$GC,598,-1.35,-116.1,63.4,-14.3,71,606,0.15,0.00,0.00,0.000,6,0.046,0.000,2609,2056,3224
$GC,795,-1.40,-116.1,100.1,-17.0,90,799,0.00,2.20,0.00,0.000,4,0.000,0.028,2609,652,3224
$GC,884,-1.52,-116.1,114.6,-16.2,97,890,0.00,2.17,0.00,0.000,6,0.000,0.022,2609,2049,3225
$GC,1081,-1.61,-116.1,145.0,-15.3,116,1086,0.17,2.20,0.00,0.000,4,0.045,0.028,2547,655,3225
$GC,1109,-1.61,-116.1,149.9,-17.8,118,1114,0.10,2.15,0.00,0.000,6,0.126,0.018,2564,2057,3225
$GC,1308,-1.61,-116.1,182.8,-16.8,136,1312,0.00,2.20,0.00,0.000,4,0.000,0.028,2564,655,3226
$GC,1383,-1.65,-116.1,193.7,-14.0,142,1387,0.00,2.15,0.00,0.000,6,0.000,0.018,2565,2053,3226
$GC,1716,-1.74,-116.1,238.3,-13.5,153,1721,0.10,2.22,0.00,0.000,4,0.061,0.029,2524,647,3226
$GC,1770,-1.74,-116.1,246.7,-16.0,154,1775,0.00,2.17,0.00,0.000,6,0.000,0.018,2523,2049,3227
$GC,2084,-1.74,-116.1,288.6,-12.9,162,2088,0.00,2.22,0.00,0.000,4,0.000,0.038,2524,652,3227
$GC,2217,-1.77,-116.1,308.3,-15.0,165,2221,0.00,2.17,0.00,0.000,6,0.000,0.031,2523,2047,3227
$GC,2543,-1.81,-116.1,352.0,-13.6,173,2547,0.00,2.22,0.00,0.000,4,0.000,0.045,2524,661,3227
$GC,2666,-1.86,-116.1,368.9,-13.2,175,2670,0.00,2.17,0.00,0.000,6,0.000,0.031,2523,2049,3226
$GC,2998,-1.91,-116.1,408.8,-12.0,183,3001,0.00,2.25,0.00,0.000,4,0.000,0.042,2524,665,3224
$GC,3064,-1.97,-116.1,417.2,-11.9,184,3069,0.15,2.17,0.00,0.000,6,0.051,0.033,2474,2046,3223
$GC,3414,-1.94,-116.1,465.8,-14.4,193,3418,0.12,2.28,0.00,0.000,4,0.120,0.051,2498,666,3221
$GC,3597,-1.94,-116.1,491.5,-13.9,197,3601,0.00,2.25,0.00,0.000,6,0.000,0.039,2497,2038,3219
$STATE,3752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3752,begin apogee
$GC,3757,-0.31,0.0,511.4,12.7,201,3855,1.65,0.00,94.00,0.906,6,0.101,0.000,2851,2038,2749
$STATE,3856,end apogee,CONTROL_FINISHED_OK
$STATE,3856,begin climb
$GC,3858,1.68,116.1,513.4,0.0,203,3963,1.88,2.47,96.95,0.882,4,0.045,0.054,3296,615,2274
$GC,3969,1.36,116.1,505.3,10.8,206,3974,0.40,2.28,0.00,0.000,6,0.118,0.038,3217,2004,2273
$GC,4316,1.22,116.1,455.6,14.0,215,4321,0.15,2.33,0.00,0.000,4,0.121,0.048,3185,613,2265
$GC,4355,1.11,116.1,450.3,13.0,216,4360,0.12,2.25,0.00,0.000,6,0.133,0.029,3163,2001,2264
$GC,4679,1.11,116.1,414.0,10.9,224,4683,0.00,2.33,0.00,0.000,4,0.000,0.047,3163,609,2261
$GC,4756,1.05,116.1,404.6,12.4,225,4763,0.00,2.25,0.00,0.000,6,0.000,0.032,3163,2007,2260
$GC,5087,1.05,116.1,368.8,10.4,234,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2007,2257
$GC,5413,1.05,116.6,339.2,8.4,242,5417,0.00,2.30,0.00,0.000,4,0.000,0.046,3163,615,2255
$GC,5452,1.01,117.3,335.7,8.4,243,5457,0.12,2.22,0.00,0.000,6,0.131,0.025,3141,2010,2255
$GC,5778,1.09,141.9,316.2,6.1,251,5802,0.00,2.40,19.00,0.785,4,0.000,0.058,3141,3398,2170
$GC,5831,1.14,145.3,312.2,8.2,252,5840,0.12,2.22,4.43,0.557,6,0.061,0.026,3178,2012,2156
$GC,6148,1.14,145.3,280.9,10.5,260,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2012,2152
$GC,6472,1.14,145.3,246.1,10.2,268,6476,0.00,2.33,0.00,0.000,4,0.000,0.048,3178,603,2151
$GC,6595,1.14,146.6,235.5,8.4,270,6601,0.00,2.25,0.00,0.000,6,0.000,0.022,3178,2010,2150
$GC,6926,1.15,156.3,211.8,7.6,279,6938,0.00,0.00,10.07,0.665,6,0.000,0.000,3178,2009,2111
$GC,7239,1.19,156.3,183.2,9.2,297,7243,0.00,2.30,0.00,0.000,4,0.000,0.040,3178,594,2108
$GC,7306,1.19,156.3,177.0,8.7,302,7313,0.00,2.22,0.00,0.000,6,0.000,0.021,3178,1991,2107
$GC,7631,1.25,170.2,155.1,7.2,333,7648,0.00,2.30,12.32,0.619,4,0.000,0.036,3178,591,2055
$GC,7717,1.27,179.2,148.7,7.6,340,7731,0.00,2.20,9.12,0.584,6,0.000,0.029,3178,2002,2018
$GC,7921,1.33,179.2,132.4,8.7,359,7926,0.12,2.28,0.00,0.000,4,0.055,0.037,3222,587,2016
$GC,8002,1.29,179.2,123.3,11.6,366,8006,0.10,2.22,0.00,0.000,6,0.117,0.029,3202,2000,2015
$GC,8198,1.29,179.2,102.8,9.8,384,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2000,2015
$GC,8389,1.29,179.2,83.0,10.3,402,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2000,2015
$GC,8584,1.37,196.1,67.0,6.9,420,8610,0.00,2.33,15.80,0.551,4,0.000,0.042,3202,594,1947
$GC,8672,1.44,196.1,59.4,9.0,427,8681,0.10,2.22,0.00,0.000,6,0.041,0.021,3245,1995,1947
$GC,8872,1.41,196.1,40.6,9.6,446,8876,0.00,2.25,0.00,0.000,4,0.000,0.035,3245,594,1945
$GC,8891,1.36,196.1,38.9,9.1,447,8896,0.15,2.22,0.00,0.000,6,0.110,0.030,3215,2009,1946
$GC,9097,1.36,196.1,19.7,10.1,474,9105,0.00,2.30,0.00,0.000,4,0.000,0.034,3215,593,1946
$GC,9131,1.36,196.1,16.2,10.3,479,9140,0.00,2.22,0.00,0.000,6,0.000,0.020,3215,2000,1945
$STATE,9260,end climb,SURFACE_DEPTH_REACHED
$STATE,9260,begin surface coast
$FINISH,0.6,0.998605
$STATE,9290,end surface coast,CONTROL_FINISHED_OK
$STATE,9290,begin surface
$SM_CCo,9311,127.45,0.508,0,0,954,440.07
$SM_GC,1.54,0.00,0.00,127.45,0.000,0.000,0.508,406,2083,954,-11.56,0.93,440.07
$IRIDIUM_FIX,2241.69,-15746.73,031297,121214
$TT8_MAMPS,0.027612
$HUMID,1699
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.80
$XPDR_PINGS,171
$24V_AH,23.8,35.021
$10V_AH,10.1,31.894
$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,29.800,98.775,261.700,127.450,0.000,29.527,30.806,215.533,42.750,0.000,0.000,30.968,1007.984,6019.087,506.668,1778.134,520.665,33.357,1182.021,0.000,1827.788,0.000,0.468
$DEVICE_MAMPS,161.070,115.050,905.827,507.754,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.237,329.916,611.715,486.458,984.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38347,506
$CAP_FILE_SIZE,212078,0
$CFSIZE,260165632,243961856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080908,180108,2248.427,-15748.415,29,1.0,29,10.1