version: 66.03
glider: 148
mission: 6
dive: 263
start: 9 14 108 15 38 24
data:
$ID,148
$MISSION,6
$DIVE,263
$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,-11682.17
$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,46
$R_STBD_OVSHOOT,47
$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
$GPS1,153047,2248.580,-15748.148,7,2.6,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-64.4
$GPS2,153730,2248.550,-15748.147,14,2.6,33,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.141,0.043
$KALMAN_X,-209655.9,-89.5,-220.5,225020.3,-734.8
$KALMAN_Y,-215075.9,246.8,-96.9,215766.6,-1232.5
$MHEAD_RNG_PITCHd_Wd,277.0,1776,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.75,-49.4,0.0,0.0,0,108,0.00,0.00,-85.05,0.000,2,0.000,0.000,410,2073,2750
$GC,112,-1.80,-87.3,3.4,-4.1,11,138,11.27,2.25,-7.82,0.000,4,0.160,0.041,2521,652,3105
$GC,170,-1.61,-87.3,16.0,-20.8,19,177,0.20,2.20,0.00,0.000,6,0.129,0.029,2562,2044,3106
$GC,382,-1.61,-87.3,58.5,-19.4,44,386,0.00,2.22,0.00,0.000,4,0.000,0.029,2563,643,3106
$GC,436,-1.66,-87.3,67.6,-16.8,48,440,0.00,2.20,0.00,0.000,6,0.000,0.021,2563,2055,3106
$GC,633,-1.71,-87.3,99.3,-15.4,66,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2055,3107
$GC,824,-1.78,-87.3,126.5,-13.9,84,829,0.12,2.22,0.00,0.000,4,0.053,0.028,2520,650,3107
$GC,901,-1.78,-87.3,140.1,-18.4,90,910,0.00,2.20,0.00,0.000,6,0.000,0.020,2520,2052,3107
$GC,1101,-1.78,-87.3,170.3,-15.4,109,1105,0.00,2.20,0.00,0.000,4,0.000,0.028,2520,652,3108
$GC,1119,-1.78,-87.3,173.2,-14.3,110,1123,0.00,2.17,0.00,0.000,6,0.000,0.018,2520,2063,3108
$GC,1438,-1.78,-87.3,219.5,-14.8,131,1441,0.00,2.22,0.00,0.000,4,0.000,0.029,2520,647,3108
$GC,1639,-1.85,-87.3,248.6,-12.9,135,1643,0.00,2.17,0.00,0.000,6,0.000,0.020,2520,2062,3108
$GC,1987,-1.93,-87.3,290.5,-11.2,144,1991,0.00,2.25,0.00,0.000,4,0.000,0.036,2519,652,3109
$GC,2194,-2.03,-87.3,316.4,-12.4,148,2199,0.17,2.17,0.00,0.000,6,0.049,0.022,2467,2045,3109
$GC,2526,-2.03,-87.3,362.5,-14.0,156,2530,0.00,2.25,0.00,0.000,4,0.000,0.046,2467,655,3108
$GC,2598,-2.03,-87.3,373.0,-13.4,157,2602,0.00,2.20,0.00,0.000,6,0.000,0.025,2467,2057,3108
$GC,2935,-2.03,-87.3,411.8,-11.5,166,2939,0.00,2.28,0.00,0.000,4,0.000,0.044,2467,664,3107
$GC,3158,-2.03,-87.3,442.8,-14.1,171,3162,0.00,2.22,0.00,0.000,6,0.000,0.031,2468,2039,3105
$GC,3483,-2.03,-87.3,487.3,-14.4,179,3487,0.00,2.25,0.00,0.000,4,0.000,0.051,2467,665,3103
$GC,3560,-2.03,-87.3,497.7,-13.2,180,3567,0.00,2.25,0.00,0.000,6,0.000,0.031,2467,2048,3102
$STATE,3686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3686,begin apogee
$GC,3691,-0.31,0.0,514.3,13.1,184,3769,1.83,0.00,71.32,0.916,6,0.110,0.000,2850,2049,2749
$STATE,3770,end apogee,CONTROL_FINISHED_OK
$STATE,3770,begin climb
$GC,3772,1.80,87.3,516.2,0.0,186,3855,1.92,2.35,72.50,0.890,4,0.044,0.061,3314,3401,2392
$GC,3890,1.47,87.3,506.8,13.8,188,3895,0.38,2.25,0.00,0.000,6,0.121,0.028,3241,2017,2389
$GC,4223,1.29,87.3,466.5,11.5,196,4225,0.20,0.00,0.00,0.000,6,0.123,0.000,3203,2017,2386
$GC,4546,1.20,87.3,433.1,10.3,204,4551,0.12,2.33,0.00,0.000,4,0.132,0.051,3181,3402,2381
$GC,4618,1.13,87.3,425.8,10.9,205,4622,0.00,2.25,0.00,0.000,6,0.000,0.031,3181,1998,2381
$GC,4949,1.07,87.3,393.8,9.4,213,4954,0.15,2.38,0.00,0.000,4,0.129,0.060,3149,596,2379
$GC,5037,1.08,93.2,386.6,7.8,215,5047,0.00,2.25,3.15,0.446,6,0.000,0.031,3149,2004,2371
$GC,5364,1.09,105.6,363.7,7.1,223,5383,0.00,2.42,12.45,0.787,4,0.000,0.042,3149,594,2318
$GC,5636,1.09,105.6,340.2,9.3,229,5640,0.00,2.25,0.00,0.000,6,0.000,0.031,3149,2001,2314
$GC,5960,1.09,105.6,312.3,8.7,237,5964,0.00,2.35,0.00,0.000,4,0.000,0.055,3149,3401,2312
$GC,6090,1.10,107.1,301.2,8.3,240,6094,0.00,2.22,0.00,0.000,6,0.000,0.025,3149,1990,2311
$GC,6421,1.14,108.5,273.9,8.3,248,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1990,2310
$GC,6745,1.21,118.3,249.8,7.4,256,6761,0.15,2.33,10.90,0.709,4,0.058,0.056,3198,607,2265
$GC,6806,1.14,123.8,245.1,7.9,257,6818,0.15,2.22,5.97,0.610,6,0.122,0.028,3170,2011,2244
$GC,7151,1.15,132.7,218.1,7.5,266,7165,0.00,2.38,8.68,0.655,4,0.000,0.045,3170,603,2208
$GC,7221,1.15,132.7,211.3,10.3,267,7226,0.00,2.25,0.00,0.000,6,0.000,0.023,3170,2000,2207
$GC,7542,1.21,146.0,185.9,7.0,288,7560,0.00,2.35,12.85,0.668,4,0.000,0.053,3170,3401,2152
$GC,7566,1.27,164.8,184.5,6.3,289,7595,0.12,2.25,17.48,0.667,6,0.061,0.029,3208,1985,2076
$GC,7914,1.27,164.8,150.0,11.1,322,7918,0.00,2.22,0.00,0.000,4,0.000,0.036,3208,600,2071
$GC,7936,1.27,164.8,146.9,12.5,323,7943,0.00,2.22,0.00,0.000,6,0.000,0.029,3208,2008,2071
$GC,8133,1.27,164.8,123.9,11.6,342,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2009,2070
$GC,8324,1.27,164.8,104.9,10.1,360,8328,0.00,2.28,0.00,0.000,4,0.000,0.039,3208,599,2070
$GC,8376,1.27,164.8,99.6,10.5,364,8380,0.00,2.20,0.00,0.000,6,0.000,0.022,3208,2000,2070
$GC,8574,1.28,165.2,81.8,8.5,382,8578,0.00,2.25,0.00,0.000,4,0.000,0.038,3208,600,2070
$GC,8602,1.28,165.2,79.3,9.0,384,8606,0.00,2.20,0.00,0.000,6,0.000,0.022,3208,2002,2070
$GC,8802,1.32,171.4,64.0,7.8,402,8811,0.00,0.00,5.88,0.476,6,0.000,0.000,3208,2002,2050
$GC,9003,1.41,191.6,49.1,6.2,421,9030,0.00,2.33,18.73,0.554,4,0.000,0.040,3208,598,1967
$GC,9069,1.46,195.7,44.6,8.0,426,9084,0.12,2.22,4.97,0.423,6,0.053,0.021,3252,2009,1950
$GC,9278,1.46,195.7,24.5,10.4,449,9286,0.00,2.30,0.00,0.000,4,0.000,0.041,3252,3399,1947
$GC,9294,1.46,195.7,22.5,10.6,451,9303,0.00,2.22,0.00,0.000,6,0.000,0.021,3251,1993,1946
$STATE,9474,end climb,SURFACE_DEPTH_REACHED
$STATE,9474,begin surface coast
$FINISH,0.6,1.006348
$STATE,9505,end surface coast,CONTROL_FINISHED_OK
$STATE,9505,begin surface
$SM_CCo,9526,129.85,0.516,0,0,955,440.07
$SM_GC,1.49,0.00,0.00,129.85,0.000,0.000,0.516,409,2123,955,-11.55,2.04,440.07
$IRIDIUM_FIX,2241.69,-15746.73,091297,121228
$TT8_MAMPS,0.027612
$HUMID,1707
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.20
$XPDR_PINGS,142
$24V_AH,23.8,40.090
$10V_AH,10.1,36.976
$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,28.575,99.300,244.875,129.850,0.000,28.559,29.579,213.675,35.500,0.000,0.000,37.050,1001.347,6212.937,464.382,1828.239,552.392,33.361,1201.798,0.000,1877.261,0.000,0.468
$DEVICE_MAMPS,160.303,72.865,915.798,516.191,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.488,311.284,585.922,455.258,905.950,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38235,487
$CAP_FILE_SIZE,205991,0
$CFSIZE,260165632,240660480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140908,182038,2248.604,-15748.989,39,0.8,39,10.1