version: 66.03
glider: 148
mission: 6
dive: 252
start: 9 13 108 7 58 27
data:
$ID,148
$MISSION,6
$DIVE,252
$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,-11410.68
$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,48
$R_STBD_OVSHOOT,38
$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
$GPS1,074238,2249.000,-15748.320,32,1.0,32,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-60.6
$GPS2,075732,2248.917,-15748.395,9,1.4,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.087,0.119
$KALMAN_X,-200261.0,109.9,265.5,214515.7,-1910.9
$KALMAN_Y,-201559.6,287.2,411.2,202382.1,-2887.9
$MHEAD_RNG_PITCHd_Wd,26.3,1989,-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,17,begin dive
$GC,20,-1.75,-49.4,0.0,0.0,0,92,0.00,0.00,-69.68,0.000,2,0.000,0.000,408,2036,2822
$GC,95,-1.79,-83.7,3.6,-4.5,9,119,11.25,2.25,-5.65,0.000,4,0.161,0.050,2520,3452,3092
$GC,210,-1.67,-83.7,31.5,-23.2,27,218,0.12,2.20,0.00,0.000,6,0.125,0.021,2548,2044,3093
$GC,410,-1.67,-83.7,71.4,-17.9,46,414,0.00,2.17,0.00,0.000,4,0.000,0.032,2548,654,3093
$GC,464,-1.67,-83.7,80.3,-15.5,50,468,0.00,2.17,0.00,0.000,6,0.000,0.025,2548,2065,3093
$GC,661,-1.71,-83.7,110.6,-15.6,68,665,0.00,2.22,0.00,0.000,4,0.000,0.029,2548,657,3093
$GC,756,-1.76,-83.7,126.8,-17.5,76,760,0.00,2.17,0.00,0.000,6,0.000,0.021,2548,2057,3094
$GC,956,-1.83,-83.7,156.8,-14.6,94,961,0.12,2.20,0.00,0.000,4,0.058,0.028,2508,661,3094
$GC,1017,-1.83,-83.7,167.3,-17.6,99,1021,0.00,2.15,0.00,0.000,6,0.000,0.020,2508,2055,3094
$GC,1367,-1.83,-83.7,219.4,-14.9,123,1371,0.00,2.17,0.00,0.000,4,0.000,0.028,2508,661,3095
$GC,1624,-1.87,-83.7,253.8,-12.1,128,1628,0.00,2.15,0.00,0.000,6,0.000,0.018,2508,2064,3095
$GC,1961,-1.93,-83.7,295.0,-12.7,137,1965,0.00,2.22,0.00,0.000,4,0.000,0.040,2508,665,3095
$GC,2095,-2.02,-83.7,313.6,-13.6,140,2100,0.12,2.12,0.00,0.000,6,0.058,0.021,2468,2042,3095
$GC,2415,-2.02,-83.7,360.3,-14.9,148,2419,0.00,2.22,0.00,0.000,4,0.000,0.044,2468,664,3094
$GC,2661,-2.02,-83.7,394.6,-13.1,153,2666,0.00,2.17,0.00,0.000,6,0.000,0.025,2468,2052,3092
$GC,3004,-2.02,-83.7,433.5,-11.1,162,3008,0.00,2.28,0.00,0.000,4,0.000,0.050,2468,664,3091
$GC,3260,-2.02,-83.7,465.5,-12.2,167,3266,0.00,2.20,0.00,0.000,6,0.000,0.030,2468,2045,3088
$GC,3592,-2.02,-83.7,504.0,-11.2,176,3596,0.00,2.28,0.00,0.000,4,0.000,0.052,2468,666,3086
$STATE,3639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3639,begin apogee
$GC,3646,-0.31,0.0,510.3,12.6,177,3718,1.77,0.00,68.03,0.913,6,0.114,0.000,2847,2001,2748
$STATE,3719,end apogee,CONTROL_FINISHED_OK
$STATE,3719,begin climb
$GC,3722,1.79,83.7,511.5,0.0,179,3799,1.95,2.42,69.20,0.889,4,0.047,0.062,3313,3400,2405
$GC,3917,1.49,83.7,488.1,16.9,182,3922,0.35,2.22,0.00,0.000,6,0.133,0.035,3246,2025,2401
$GC,4255,1.31,83.7,447.5,11.3,191,4257,0.20,0.00,0.00,0.000,6,0.122,0.000,3208,2025,2397
$GC,4578,1.22,83.7,416.7,9.3,199,4583,0.12,2.42,0.00,0.000,4,0.129,0.064,3185,600,2396
$GC,4835,1.12,83.7,394.2,8.9,204,4841,0.00,2.25,0.00,0.000,6,0.000,0.031,3185,2003,2393
$GC,5166,1.09,91.3,368.2,7.6,213,5177,0.15,2.35,5.12,0.637,4,0.125,0.048,3153,590,2375
$GC,5333,1.10,102.0,355.2,7.3,216,5348,0.00,2.28,10.18,0.767,6,0.000,0.031,3153,2011,2333
$GC,5663,1.14,106.4,329.6,8.0,225,5673,0.00,2.35,4.97,0.614,4,0.000,0.056,3153,3399,2315
$GC,5712,1.18,106.4,325.1,9.5,226,5716,0.00,2.25,0.00,0.000,6,0.000,0.025,3153,1991,2313
$GC,6031,1.22,108.7,298.6,8.2,234,6036,0.15,2.35,0.00,0.000,4,0.058,0.048,3196,3405,2312
$GC,6127,1.17,108.7,289.8,9.8,236,6131,0.12,2.22,0.00,0.000,6,0.125,0.030,3174,1998,2311
$GC,6439,1.17,112.1,264.6,8.1,244,6450,0.00,2.33,5.88,0.629,4,0.000,0.054,3174,605,2290
$GC,6651,1.17,112.1,245.5,9.2,248,6657,0.00,2.25,0.00,0.000,6,0.000,0.024,3174,2009,2289
$GC,6983,1.22,127.7,221.0,6.7,257,6999,0.00,0.00,14.20,0.706,6,0.000,0.000,3174,2009,2227
$GC,7308,1.30,150.7,201.1,5.8,265,7334,0.12,2.35,21.02,0.697,4,0.061,0.038,3212,599,2132
$GC,7508,1.27,150.7,181.1,11.0,280,7514,0.00,2.22,0.00,0.000,6,0.000,0.030,3212,2005,2128
$GC,7832,1.27,150.7,151.7,9.7,311,7836,0.00,2.30,0.00,0.000,4,0.000,0.045,3212,3403,2127
$GC,7899,1.27,150.7,144.8,10.1,316,7908,0.00,2.25,0.00,0.000,6,0.000,0.028,3212,1991,2126
$GC,8100,1.27,150.7,126.1,9.5,335,8104,0.00,2.22,0.00,0.000,4,0.000,0.044,3212,603,2126
$GC,8144,1.27,150.7,121.2,9.7,338,8153,0.00,2.22,0.00,0.000,6,0.000,0.024,3212,2000,2126
$GC,8346,1.27,150.7,103.6,9.4,357,8350,0.00,2.25,0.00,0.000,4,0.000,0.036,3212,603,2126
$GC,8568,1.27,152.4,83.1,8.3,376,8571,0.00,2.20,0.00,0.000,6,0.000,0.025,3212,2005,2126
$GC,8767,1.35,183.9,69.7,4.9,394,8806,0.00,2.33,27.38,0.578,4,0.000,0.038,3212,607,1998
$GC,8844,1.36,191.1,64.9,7.7,400,8858,0.00,2.17,7.72,0.497,6,0.000,0.029,3213,1998,1968
$GC,9048,1.46,200.2,50.3,7.4,419,9063,0.10,2.33,8.88,0.500,4,0.064,0.039,3249,601,1932
$GC,9090,1.46,200.2,46.6,9.8,422,9094,0.00,2.20,0.00,0.000,6,0.000,0.021,3249,2001,1931
$GC,9293,1.46,200.2,25.7,10.5,443,9301,0.00,2.30,0.00,0.000,4,0.000,0.041,3249,3396,1929
$GC,9338,1.46,200.2,20.7,11.0,450,9347,0.00,2.20,0.00,0.000,6,0.000,0.020,3249,1995,1928
$STATE,9494,end climb,SURFACE_DEPTH_REACHED
$STATE,9495,begin surface coast
$FINISH,0.7,1.012083
$STATE,9526,end surface coast,CONTROL_FINISHED_OK
$STATE,9526,begin surface
$SM_CCo,9546,177.02,0.512,0,0,510,548.98
$SM_GC,1.34,0.00,0.00,177.02,0.000,0.000,0.512,413,2133,510,-11.53,2.35,548.98
$IRIDIUM_FIX,2239.35,-15749.78,081297,080831
$TT8_MAMPS,0.026845
$HUMID,1687
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,23.30
$XPDR_PINGS,144
$24V_AH,23.8,38.999
$10V_AH,10.1,35.861
$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,28.250,98.900,242.575,177.025,0.000,144.878,397.002,0.000,36.000,0.000,0.000,15.511,1017.988,6353.488,492.810,1929.276,824.507,33.367,1271.284,0.000,1978.307,0.000,0.469
$DEVICE_MAMPS,161.070,73.632,913.497,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,384.798,332.985,583.965,437.680,878.032,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38364,482
$CAP_FILE_SIZE,202658,0
$CFSIZE,260165632,241369088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130908,104138,2248.659,-15748.583,28,1.3,28,10.1