version: 66.03
glider: 148
mission: 6
dive: 260
start: 9 14 108 6 57 21
data:
$ID,148
$MISSION,6
$DIVE,260
$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,-11594.059
$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,47
$R_STBD_OVSHOOT,40
$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
$GPS1,064107,2249.179,-15748.349,38,2.0,43,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.3
$GPS2,065626,2249.174,-15748.316,9,1.9,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.093,0.114
$KALMAN_X,-207872.1,272.5,229.1,222133.2,-1514.5
$KALMAN_Y,-211275.3,41.1,694.8,212530.4,-2592.2
$MHEAD_RNG_PITCHd_Wd,29.2,2467,-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,-69.68,0.000,2,0.000,0.000,413,2005,2813
$GC,95,-1.79,-83.8,3.7,-4.5,9,119,11.27,2.28,-5.93,0.000,4,0.162,0.039,2523,3453,3091
$GC,186,-1.67,-83.8,25.5,-24.4,23,194,0.12,2.20,0.00,0.000,6,0.122,0.018,2550,2045,3092
$GC,389,-1.62,-83.8,68.6,-20.1,43,393,0.00,2.17,0.00,0.000,4,0.000,0.033,2551,655,3092
$GC,496,-1.67,-83.8,88.3,-15.5,52,505,0.00,2.17,0.00,0.000,6,0.000,0.020,2550,2044,3092
$GC,697,-1.72,-83.8,117.9,-13.8,71,701,0.00,2.20,0.00,0.000,4,0.000,0.028,2550,652,3093
$GC,738,-1.78,-83.8,124.4,-14.7,74,742,0.00,2.17,0.00,0.000,6,0.000,0.027,2550,2064,3093
$GC,935,-1.84,-83.8,153.4,-15.8,92,940,0.15,2.22,0.00,0.000,4,0.053,0.029,2500,657,3093
$GC,1023,-1.80,-83.8,169.8,-18.3,99,1030,0.10,2.17,0.00,0.000,6,0.110,0.019,2523,2048,3093
$GC,1356,-1.86,-83.8,215.7,-12.8,122,1360,0.00,2.20,0.00,0.000,4,0.000,0.029,2523,653,3093
$GC,1485,-1.95,-83.8,232.5,-13.0,125,1490,0.12,2.15,0.00,0.000,6,0.056,0.018,2482,2055,3094
$GC,1810,-1.95,-83.8,276.1,-13.2,133,1814,0.00,2.22,0.00,0.000,4,0.000,0.030,2482,648,3094
$GC,2067,-1.95,-83.8,313.7,-13.5,138,2073,0.00,2.15,0.00,0.000,6,0.000,0.020,2482,2045,3094
$GC,2398,-1.95,-83.8,353.4,-11.9,147,2402,0.00,2.22,0.00,0.000,4,0.000,0.038,2482,656,3093
$GC,2592,-1.95,-83.8,380.0,-13.6,151,2597,0.00,2.20,0.00,0.000,6,0.000,0.025,2482,2039,3092
$GC,2906,-1.99,-83.8,416.6,-11.8,159,2910,0.00,2.25,0.00,0.000,4,0.000,0.050,2482,666,3090
$GC,3163,-2.03,-83.8,448.3,-13.1,164,3170,0.00,2.20,0.00,0.000,6,0.000,0.035,2482,2048,3088
$GC,3495,-2.08,-83.8,488.8,-12.4,173,3499,0.00,2.28,0.00,0.000,4,0.000,0.052,2482,667,3086
$GC,3635,-2.12,-83.8,507.4,-13.4,176,3640,0.10,2.22,0.00,0.000,6,0.071,0.036,2452,2054,3085
$STATE,3654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3654,begin apogee
$GC,3660,-0.31,0.0,510.4,14.0,176,3732,1.83,0.00,68.20,0.918,6,0.108,0.000,2847,2055,2749
$STATE,3733,end apogee,CONTROL_FINISHED_OK
$STATE,3733,begin climb
$GC,3735,1.79,83.8,512.1,0.0,178,3809,1.95,0.00,69.62,0.896,6,0.044,0.000,3315,2054,2406
$GC,4103,1.54,83.8,470.2,14.0,187,4108,0.28,2.40,0.00,0.000,4,0.122,0.050,3257,620,2399
$GC,4360,1.28,83.8,435.7,13.7,192,4367,0.28,2.22,0.00,0.000,6,0.122,0.027,3203,2001,2397
$GC,4692,1.18,83.8,404.1,9.2,201,4696,0.12,2.28,0.00,0.000,4,0.132,0.041,3180,619,2394
$GC,4843,1.09,83.8,389.8,10.1,204,4848,0.12,2.22,0.00,0.000,6,0.137,0.027,3159,2011,2393
$GC,5192,1.11,97.3,363.9,6.9,213,5204,0.00,0.00,9.88,0.772,6,0.000,0.000,3159,2011,2352
$GC,5515,1.12,104.6,338.6,7.7,221,5530,0.00,2.42,7.43,0.713,4,0.000,0.058,3159,3404,2322
$GC,5626,1.12,111.8,330.1,7.7,223,5640,0.00,2.22,7.40,0.709,6,0.000,0.031,3159,2011,2293
$GC,5973,1.13,113.2,300.6,8.3,232,5977,0.00,2.35,0.00,0.000,4,0.000,0.060,3159,606,2289
$GC,6089,1.13,113.2,288.9,10.5,234,6093,0.00,2.22,0.00,0.000,6,0.000,0.025,3159,2004,2288
$GC,6426,1.13,115.9,260.3,8.2,243,6436,0.00,2.35,4.40,0.554,4,0.000,0.042,3159,609,2276
$GC,6537,1.15,131.9,251.8,6.7,245,6560,0.00,2.20,14.88,0.736,6,0.000,0.028,3159,2003,2211
$GC,6885,1.20,133.0,224.2,8.4,254,6890,0.10,2.33,0.00,0.000,4,0.068,0.052,3189,3393,2208
$GC,6917,1.16,133.0,220.8,10.2,254,6924,0.00,2.22,0.00,0.000,6,0.000,0.030,3190,1990,2207
$GC,7233,1.16,133.0,189.6,9.4,270,7237,0.00,2.25,0.00,0.000,4,0.000,0.038,3189,599,2206
$GC,7431,1.16,133.0,171.3,9.0,287,7436,0.00,2.22,0.00,0.000,6,0.000,0.023,3190,2014,2206
$GC,7758,1.19,157.0,149.0,5.7,317,7785,0.00,2.30,21.92,0.658,4,0.000,0.040,3190,3388,2108
$GC,7808,1.20,166.7,145.8,7.4,321,7822,0.00,2.20,9.52,0.593,6,0.000,0.028,3190,1994,2068
$GC,8025,1.25,166.7,127.5,9.6,341,8029,0.00,2.30,0.00,0.000,4,0.000,0.044,3190,3401,2065
$GC,8055,1.25,166.7,124.1,10.6,343,8059,0.00,2.20,0.00,0.000,6,0.000,0.021,3190,1998,2064
$GC,8257,1.30,166.7,104.8,10.0,361,8261,0.00,2.28,0.00,0.000,4,0.000,0.043,3190,3399,2064
$GC,8342,1.35,166.7,95.7,10.6,368,8347,0.10,2.20,0.00,0.000,6,0.065,0.027,3225,1989,2063
$GC,8541,1.35,166.7,76.2,10.1,386,8545,0.00,2.22,0.00,0.000,4,0.000,0.043,3225,596,2064
$GC,8584,1.35,166.7,71.3,10.6,389,8594,0.00,2.22,0.00,0.000,6,0.000,0.021,3224,1997,2063
$GC,8785,1.37,180.3,57.2,6.9,408,8802,0.00,2.22,12.27,0.542,4,0.000,0.034,3225,606,2013
$GC,8961,1.37,181.3,43.0,8.4,423,8969,0.00,2.20,0.00,0.000,6,0.000,0.021,3225,1991,2012
$GC,9164,1.38,187.1,27.4,7.8,444,9173,0.00,0.00,6.90,0.464,6,0.000,0.000,3225,1991,1985
$GC,9381,1.41,190.0,9.4,8.2,481,9389,0.00,0.00,4.20,0.374,6,0.000,0.000,3225,1991,1974
$STATE,9448,end climb,SURFACE_DEPTH_REACHED
$STATE,9448,begin surface coast
$FINISH,0.7,1.010107
$STATE,9479,end surface coast,CONTROL_FINISHED_OK
$STATE,9479,begin surface
$SM_CCo,9500,191.07,0.513,0,0,510,548.98
$SM_GC,1.41,0.00,0.00,191.07,0.000,0.000,0.513,406,2093,510,-11.56,1.19,548.98
$IRIDIUM_FIX,2241.69,-15536.85,091297,070723
$TT8_MAMPS,0.027612
$HUMID,1673
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.60
$XPDR_PINGS,156
$24V_AH,23.8,39.800
$10V_AH,10.1,36.674
$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,28.100,94.050,236.625,191.075,0.000,149.282,415.860,0.000,39.000,0.000,0.000,16.389,1038.382,6272.457,514.612,1933.935,850.885,33.366,1272.974,0.000,1995.699,0.000,0.469
$DEVICE_MAMPS,161.837,79.001,918.099,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.200,337.260,605.903,467.647,934.878,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38396,497
$CAP_FILE_SIZE,207958,0
$CFSIZE,260165632,240840704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140908,093959,2249.172,-15748.005,8,99.0,27,10.1