version: 66.03
glider: 148
mission: 6
dive: 234
start: 9 11 108 3 37 57
data:
$ID,148
$MISSION,6
$DIVE,234
$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,-11046.856
$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,40
$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
$GPS1,032155,2248.828,-15748.523,32,1.4,37,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-64.0
$GPS2,033703,2248.816,-15748.603,12,1.4,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.070,0.130
$KALMAN_X,-180798.9,150.8,45.8,194876.7,-1322.1
$KALMAN_Y,-181715.4,792.2,474.6,181780.9,-2710.0
$MHEAD_RNG_PITCHd_Wd,18.1,1657,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.75,-49.4,0.0,0.0,0,91,0.00,0.00,-69.07,0.000,2,0.000,0.000,410,2012,2787
$GC,94,-1.79,-86.6,3.6,-4.2,9,119,11.23,2.30,-6.95,0.000,4,0.160,0.042,2522,3461,3104
$GC,140,-1.24,-86.6,13.8,-21.4,15,148,0.55,2.22,0.00,0.000,6,0.115,0.018,2645,2033,3104
$GC,350,-1.39,-86.6,46.8,-15.2,42,354,0.12,2.17,0.00,0.000,4,0.054,0.028,2602,648,3105
$GC,371,-1.50,-86.6,51.2,-17.2,43,379,0.00,2.22,0.00,0.000,6,0.000,0.020,2602,2059,3105
$GC,568,-1.64,-86.6,83.5,-14.1,62,570,0.17,0.00,0.00,0.000,6,0.046,0.000,2545,2060,3106
$GC,759,-1.64,-86.6,115.6,-17.4,80,763,0.00,2.20,0.00,0.000,4,0.000,0.028,2545,657,3106
$GC,825,-1.69,-86.6,125.9,-16.0,85,828,0.00,2.17,0.00,0.000,6,0.000,0.029,2545,2058,3106
$GC,1026,-1.74,-86.6,156.8,-14.2,103,1030,0.00,2.22,0.00,0.000,4,0.000,0.028,2545,647,3106
$GC,1061,-1.82,-86.6,162.5,-15.1,105,1069,0.00,2.20,0.00,0.000,6,0.000,0.020,2545,2055,3106
$GC,1413,-1.91,-86.6,213.1,-14.5,133,1418,0.17,2.22,0.00,0.000,4,0.045,0.029,2485,648,3107
$GC,1602,-1.91,-86.6,240.3,-12.6,137,1606,0.00,2.17,0.00,0.000,6,0.000,0.018,2485,2066,3107
$GC,1915,-1.91,-86.6,275.8,-11.2,145,1919,0.00,2.22,0.00,0.000,4,0.000,0.031,2485,660,3106
$GC,2121,-1.91,-86.6,301.3,-13.3,149,2125,0.00,2.17,0.00,0.000,6,0.000,0.022,2485,2041,3107
$GC,2458,-1.94,-86.6,344.8,-12.6,158,2462,0.00,2.22,0.00,0.000,4,0.000,0.044,2485,663,3107
$GC,2643,-1.98,-86.6,369.3,-12.8,162,2647,0.00,2.20,0.00,0.000,6,0.000,0.028,2485,2049,3106
$GC,2962,-2.02,-86.6,405.5,-11.1,170,2965,0.00,2.25,0.00,0.000,4,0.000,0.042,2485,666,3104
$GC,3146,-2.06,-86.6,427.7,-11.7,174,3150,0.00,2.20,0.00,0.000,6,0.000,0.035,2485,2051,3102
$GC,3472,-2.11,-86.6,465.8,-12.1,182,3477,0.10,2.28,0.00,0.000,4,0.069,0.049,2453,667,3100
$GC,3616,-2.11,-86.6,486.6,-13.9,185,3621,0.00,2.22,0.00,0.000,6,0.000,0.040,2453,2048,3098
$STATE,3805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3805,begin apogee
$GC,3811,-0.31,0.0,510.3,12.2,190,3888,1.85,0.00,70.62,0.911,6,0.106,0.000,2847,2048,2748
$STATE,3889,end apogee,CONTROL_FINISHED_OK
$STATE,3889,begin climb
$GC,3891,1.79,86.6,511.7,0.0,192,3974,1.95,2.40,71.55,0.889,4,0.044,0.068,3316,3401,2395
$GC,3979,1.50,86.6,505.9,10.3,194,3984,0.35,2.25,0.00,0.000,6,0.121,0.028,3248,2022,2394
$GC,4299,1.32,86.6,469.1,11.1,202,4301,0.20,0.00,0.00,0.000,6,0.120,0.000,3209,2022,2388
$GC,4622,1.22,88.7,440.4,8.3,210,4627,0.12,2.33,0.00,0.000,4,0.129,0.045,3186,3408,2386
$GC,4638,1.13,92.2,439.0,8.1,210,4648,0.00,2.28,4.35,0.595,6,0.000,0.033,3187,1995,2373
$GC,4987,1.08,92.2,411.2,8.5,219,4992,0.15,2.38,0.00,0.000,4,0.124,0.061,3155,597,2370
$GC,5071,1.08,92.2,403.4,9.3,221,5075,0.00,2.25,0.00,0.000,6,0.000,0.027,3155,2002,2369
$GC,5394,1.08,92.2,374.6,9.1,229,5398,0.00,2.33,0.00,0.000,4,0.000,0.047,3155,595,2367
$GC,5482,1.08,92.2,365.9,10.0,231,5486,0.00,2.28,0.00,0.000,6,0.000,0.029,3155,2001,2366
$GC,5807,1.10,103.6,339.9,7.2,239,5822,0.00,2.35,9.77,0.757,4,0.000,0.045,3155,592,2326
$GC,5935,1.11,115.2,331.0,7.2,241,5951,0.00,2.25,11.12,0.759,6,0.000,0.028,3155,2003,2278
$GC,6266,1.17,128.0,308.5,7.0,250,6284,0.00,2.45,11.65,0.750,4,0.000,0.064,3155,3396,2227
$GC,6297,1.21,132.3,305.9,8.0,250,6309,0.12,2.25,5.47,0.617,6,0.061,0.030,3192,1995,2209
$GC,6634,1.21,132.3,271.0,10.6,259,6638,0.00,2.33,0.00,0.000,4,0.000,0.051,3192,603,2206
$GC,6728,1.18,132.3,259.6,11.4,261,6732,0.00,2.22,0.00,0.000,6,0.000,0.022,3192,2004,2205
$GC,7047,1.18,132.3,229.6,9.7,269,7051,0.00,2.30,0.00,0.000,4,0.000,0.044,3192,599,2204
$GC,7208,1.19,140.0,215.4,7.6,272,7220,0.00,2.22,7.05,0.624,6,0.000,0.028,3191,2012,2178
$GC,7529,1.19,140.0,188.8,9.0,288,7532,0.00,2.30,0.00,0.000,4,0.000,0.039,3192,597,2177
$GC,7591,1.19,140.0,183.1,9.5,293,7595,0.00,2.22,0.00,0.000,6,0.000,0.031,3192,2005,2176
$GC,7916,1.25,155.6,158.1,6.7,323,7938,0.00,0.00,14.27,0.641,6,0.000,0.000,3192,2005,2116
$GC,8257,1.30,155.6,128.4,9.7,355,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2005,2115
$GC,8448,1.36,155.6,108.7,9.7,373,8453,0.10,2.28,0.00,0.000,4,0.064,0.041,3229,595,2115
$GC,8480,1.30,155.6,105.1,10.5,375,8487,0.12,2.20,0.00,0.000,6,0.116,0.022,3206,2001,2114
$GC,8678,1.35,155.8,87.0,8.5,394,8682,0.00,2.28,0.00,0.000,4,0.000,0.041,3206,588,2114
$GC,8723,1.35,161.7,83.6,7.8,397,8741,0.00,2.20,7.07,0.512,6,0.000,0.028,3205,2002,2088
$GC,8933,1.43,177.3,68.7,6.7,417,8959,0.12,2.35,14.25,0.552,4,0.055,0.048,3250,3397,2024
$GC,8975,1.40,188.2,65.8,7.2,420,8992,0.12,2.20,10.93,0.525,6,0.120,0.025,3227,1988,1980
$GC,9194,1.47,201.8,48.8,6.9,440,9209,0.00,0.00,12.73,0.525,6,0.000,0.000,3227,1987,1926
$GC,9398,1.52,201.8,30.8,9.3,459,9400,0.10,0.00,0.00,0.000,6,0.062,0.000,3266,1988,1923
$GC,9603,1.48,201.8,9.1,10.3,494,9611,0.12,0.00,0.00,0.000,6,0.113,0.000,3242,1988,1922
$STATE,9657,end climb,SURFACE_DEPTH_REACHED
$STATE,9657,begin surface coast
$FINISH,0.7,1.022546
$STATE,9687,end surface coast,CONTROL_FINISHED_OK
$STATE,9687,begin surface
$SM_CCo,9708,184.55,0.509,0,0,509,548.98
$SM_GC,1.43,0.00,0.00,184.55,0.000,0.000,0.509,406,2125,509,-11.56,2.09,548.98
$IRIDIUM_FIX,2239.35,-15745.45,061297,030302
$TT8_MAMPS,0.026845
$HUMID,1669
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.40
$XPDR_PINGS,167
$24V_AH,23.8,37.172
$10V_AH,10.1,34.027
$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,29.275,94.875,250.850,184.550,0.000,146.736,414.850,0.000,41.750,0.000,0.000,13.558,1041.270,6515.930,517.758,1890.949,834.537,33.356,1267.897,0.000,1954.811,0.000,0.469
$DEVICE_MAMPS,159.536,68.263,911.196,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,375.222,318.823,607.976,460.489,936.437,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38266,508
$CAP_FILE_SIZE,212039,0
$CFSIZE,260165632,242556928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110908,062408,2249.082,-15748.591,40,1.0,40,10.1