version: 66.03
glider: 148
mission: 6
dive: 222
start: 9 9 108 17 8 24
data:
$ID,148
$MISSION,6
$DIVE,222
$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,-10799.008
$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,41
$R_STBD_OVSHOOT,35
$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
$GPS1,165217,2248.235,-15748.354,9,7.0,28,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-62.8
$GPS2,170729,2248.145,-15748.424,10,99.0,29,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.131,0.128
$KALMAN_X,-166474.6,166.1,373.2,180512.9,-2551.6
$KALMAN_Y,-166077.9,-516.7,35.6,166655.9,-1798.6
$MHEAD_RNG_PITCHd_Wd,35.7,1019,-21.5,-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,-1.44,-76.4,0.0,0.0,0,91,0.00,0.00,-69.93,0.000,2,0.000,0.000,406,2107,2815
$GC,94,-1.50,-132.0,3.6,-4.3,9,128,11.60,2.17,-10.00,0.000,4,0.160,0.044,2584,3451,3290
$GC,153,-1.22,-132.0,16.8,-21.4,17,162,0.30,2.20,0.00,0.000,6,0.108,0.019,2649,2048,3291
$GC,366,-1.22,-132.0,53.8,-16.3,42,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2044,3291
$GC,555,-1.26,-132.0,82.8,-13.9,60,559,0.00,2.20,0.00,0.000,4,0.000,0.030,2650,645,3291
$GC,583,-1.32,-132.0,86.8,-14.0,62,587,0.00,2.17,0.00,0.000,6,0.000,0.020,2649,2057,3292
$GC,780,-1.39,-132.0,112.9,-13.4,80,785,0.15,2.22,0.00,0.000,4,0.050,0.033,2593,3452,3292
$GC,823,-1.33,-132.0,119.2,-17.5,83,828,0.17,2.17,0.00,0.000,6,0.101,0.019,2628,2044,3292
$GC,1024,-1.38,-132.0,147.3,-12.8,101,1028,0.00,2.17,0.00,0.000,4,0.000,0.030,2629,653,3292
$GC,1057,-1.44,-132.0,152.3,-13.1,103,1063,0.00,2.15,0.00,0.000,6,0.000,0.019,2629,2054,3292
$GC,1382,-1.53,-132.0,194.7,-12.4,134,1384,0.17,0.00,0.00,0.000,6,0.045,0.000,2564,2056,3292
$GC,1708,-1.53,-132.0,240.8,-12.9,145,1712,0.10,2.22,0.00,0.000,4,0.112,0.038,2583,654,3293
$GC,1774,-1.60,-132.0,249.0,-11.8,146,1778,0.00,2.15,0.00,0.000,6,0.000,0.021,2583,2056,3293
$GC,2116,-1.65,-132.0,290.8,-12.9,155,2120,0.00,2.22,0.00,0.000,4,0.000,0.034,2583,656,3293
$GC,2222,-1.74,-132.0,303.6,-11.3,157,2227,0.17,2.15,0.00,0.000,6,0.044,0.023,2521,2035,3293
$GC,2565,-1.69,-132.0,346.7,-12.7,166,2570,0.15,2.22,0.00,0.000,4,0.105,0.037,2555,658,3293
$GC,2604,-1.73,-132.0,351.4,-11.2,167,2608,0.00,2.20,0.00,0.000,6,0.000,0.031,2555,2059,3293
$GC,2928,-1.73,-132.0,389.4,-12.1,175,2932,0.00,2.28,0.00,0.000,4,0.000,0.046,2555,664,3291
$GC,2995,-1.78,-132.0,398.3,-13.3,176,2999,0.00,2.20,0.00,0.000,6,0.000,0.029,2555,2055,3291
$GC,3337,-1.81,-132.0,441.9,-12.5,185,3342,0.12,2.28,0.00,0.000,4,0.059,0.044,2513,665,3288
$GC,3482,-1.78,-132.0,463.8,-15.0,188,3486,0.00,2.22,0.00,0.000,6,0.000,0.039,2513,2048,3287
$GC,3795,-1.73,-132.0,505.4,-13.4,196,3800,0.12,2.30,0.00,0.000,4,0.118,0.052,2537,656,3284
$STATE,3832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3832,begin apogee
$GC,3839,-0.31,0.0,510.4,12.3,197,3950,1.48,0.00,106.68,0.910,6,0.107,0.000,2849,2004,2749
$STATE,3950,end apogee,CONTROL_FINISHED_OK
$STATE,3951,begin climb
$GC,3953,1.50,132.0,512.7,0.0,199,4068,1.67,0.00,109.47,0.887,6,0.046,0.000,3252,2004,2209
$GC,4400,1.22,132.0,454.3,15.8,210,4405,0.30,2.33,0.00,0.000,4,0.114,0.051,3188,615,2199
$GC,4473,1.03,132.0,444.2,13.3,211,4477,0.22,2.25,0.00,0.000,6,0.118,0.029,3145,2005,2198
$GC,4803,0.96,132.0,406.9,11.0,219,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2005,2195
$GC,5129,0.90,132.0,371.1,10.5,227,5133,0.15,2.30,0.00,0.000,4,0.123,0.047,3112,614,2191
$GC,5160,0.90,132.0,367.7,10.3,227,5167,0.00,2.25,0.00,0.000,6,0.000,0.033,3113,2001,2190
$GC,5492,0.92,149.4,341.5,7.2,236,5511,0.00,2.45,12.57,0.772,4,0.000,0.060,3113,3400,2138
$GC,5552,0.97,163.4,337.3,7.5,237,5571,0.00,2.22,13.48,0.765,6,0.000,0.033,3113,2014,2081
$GC,5904,1.02,178.6,311.5,7.4,246,5924,0.12,2.38,13.30,0.752,4,0.061,0.044,3151,3393,2020
$GC,5941,0.97,178.6,308.1,9.6,246,5947,0.00,2.25,0.00,0.000,6,0.000,0.032,3151,1992,2019
$GC,6272,0.93,178.6,274.0,10.8,255,6276,0.15,2.35,0.00,0.000,4,0.110,0.044,3117,3400,2016
$GC,6287,0.93,178.6,272.3,10.9,255,6291,0.00,2.28,0.00,0.000,6,0.000,0.029,3117,1996,2015
$GC,6635,0.99,178.6,240.4,9.0,264,6639,0.00,2.28,0.00,0.000,4,0.000,0.052,3117,603,2014
$GC,6719,1.05,178.6,232.4,9.5,265,6726,0.12,2.22,0.00,0.000,6,0.058,0.028,3159,2021,2014
$GC,7050,1.06,191.0,204.7,7.6,274,7066,0.00,2.35,10.90,0.659,4,0.000,0.038,3159,591,1970
$GC,7098,1.06,191.0,200.6,8.6,275,7103,0.00,2.25,0.00,0.000,6,0.000,0.030,3159,1995,1969
$GC,7433,1.06,191.0,172.1,9.6,304,7437,0.00,2.30,0.00,0.000,4,0.000,0.048,3159,3405,1967
$GC,7466,1.06,191.0,168.6,9.7,306,7475,0.00,2.25,0.00,0.000,6,0.000,0.027,3159,1990,1965
$GC,7795,1.07,195.7,140.0,8.1,337,7807,0.00,2.22,5.40,0.507,4,0.000,0.042,3159,605,1950
$GC,7857,1.07,195.7,134.2,8.7,342,7867,0.00,2.20,0.00,0.000,6,0.000,0.028,3159,1987,1950
$GC,8059,1.07,195.7,116.9,9.3,361,8063,0.00,2.22,0.00,0.000,4,0.000,0.040,3159,604,1949
$GC,8089,1.07,195.7,113.8,10.5,363,8093,0.00,2.20,0.00,0.000,6,0.000,0.027,3159,2012,1949
$GC,8291,1.10,195.7,92.8,11.3,381,8295,0.00,2.25,0.00,0.000,4,0.000,0.048,3159,3400,1949
$GC,8336,1.15,195.7,87.3,11.9,384,8344,0.00,2.20,0.00,0.000,6,0.000,0.028,3159,2003,1948
$GC,8535,1.20,195.7,67.1,9.3,403,8537,0.10,0.00,0.00,0.000,6,0.062,0.000,3196,2003,1948
$GC,8726,1.21,204.0,50.2,7.9,421,8740,0.00,2.30,8.88,0.505,4,0.000,0.041,3196,604,1916
$GC,8904,1.22,209.6,35.4,8.1,436,8916,0.00,2.20,6.60,0.459,6,0.000,0.020,3196,2000,1892
$GC,9120,1.22,209.6,17.2,9.3,468,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2000,1892
$STATE,9277,end climb,SURFACE_DEPTH_REACHED
$STATE,9277,begin surface coast
$FINISH,0.6,1.010228
$STATE,9313,end surface coast,CONTROL_FINISHED_OK
$STATE,9313,begin surface
$SM_CCo,9334,177.57,0.506,0,0,511,548.98
$SM_GC,1.43,0.00,0.00,177.57,0.000,0.000,0.506,414,2076,511,-11.53,0.74,548.98
$IRIDIUM_FIX,2241.69,-15749.78,041297,171713
$TT8_MAMPS,0.026078
$HUMID,1660
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.60
$XPDR_PINGS,158
$24V_AH,23.8,35.962
$10V_AH,10.1,32.804
$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,28.750,98.700,287.275,177.575,0.000,143.001,404.740,0.000,39.500,0.000,0.000,31.546,997.113,6335.646,549.161,1743.523,800.377,33.354,1227.087,0.000,1784.377,0.000,0.470
$DEVICE_MAMPS,160.303,115.050,910.429,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.272,328.780,597.908,468.040,954.751,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38253,501
$CAP_FILE_SIZE,206562,0
$CFSIZE,260165632,243351552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090908,194808,2248.171,-15748.457,34,1.1,34,10.1