version: 66.03
glider: 148
mission: 6
dive: 266
start: 9 15 108 0 22 28
data:
$ID,148
$MISSION,6
$DIVE,266
$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,-11726.855
$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,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
$GPS1,000701,2248.371,-15748.842,36,1.0,36,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.3
$GPS2,002133,2248.192,-15748.854,8,1.4,8,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.093,0.140
$KALMAN_X,-211256.5,335.3,18.3,224749.6,-1362.3
$KALMAN_Y,-219183.9,251.8,-499.2,219613.4,-2033.2
$MHEAD_RNG_PITCHd_Wd,23.5,434,-23.6,-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,-1.55,-64.1,0.0,0.0,0,92,0.00,0.00,-69.38,0.000,2,0.000,0.000,414,1999,2800
$GC,95,-1.61,-114.3,3.3,-4.0,9,129,11.40,2.17,-9.40,0.000,4,0.160,0.041,2558,648,3218
$GC,256,-1.54,-114.3,35.7,-19.8,33,261,0.12,2.20,0.00,0.000,6,0.127,0.022,2580,2058,3219
$GC,456,-1.48,-114.3,72.4,-15.4,51,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2058,3220
$GC,648,-1.48,-114.3,101.3,-14.7,69,652,0.00,2.22,0.00,0.000,4,0.000,0.028,2580,651,3220
$GC,678,-1.48,-114.3,106.0,-15.5,71,682,0.00,2.17,0.00,0.000,6,0.000,0.024,2580,2055,3220
$GC,879,-1.48,-114.3,133.3,-12.9,89,883,0.00,2.22,0.00,0.000,4,0.000,0.028,2580,644,3220
$GC,896,-1.48,-114.3,136.0,-12.5,90,900,0.00,2.17,0.00,0.000,6,0.000,0.018,2581,2061,3220
$GC,1094,-1.48,-114.3,161.8,-13.3,108,1097,0.00,2.17,0.00,0.000,4,0.000,0.030,2580,3446,3221
$GC,1113,-1.48,-114.3,164.2,-13.7,109,1117,0.00,2.15,0.00,0.000,6,0.000,0.018,2580,2043,3221
$GC,1437,-1.54,-114.3,206.9,-14.0,136,1441,0.00,2.17,0.00,0.000,4,0.000,0.029,2581,653,3221
$GC,1532,-1.63,-114.3,220.6,-13.9,138,1536,0.00,2.15,0.00,0.000,6,0.000,0.020,2580,2048,3221
$GC,1847,-1.72,-114.3,258.6,-11.1,146,1851,0.15,2.20,0.00,0.000,4,0.048,0.038,2525,661,3221
$GC,1901,-1.72,-114.3,266.7,-15.7,147,1906,0.10,2.15,0.00,0.000,6,0.117,0.021,2544,2049,3221
$GC,2214,-1.72,-114.3,305.2,-12.8,155,2218,0.00,2.22,0.00,0.000,4,0.000,0.034,2544,655,3221
$GC,2326,-1.78,-114.3,318.0,-11.3,157,2330,0.00,2.17,0.00,0.000,6,0.000,0.023,2544,2052,3221
$GC,2662,-1.81,-114.3,355.4,-11.7,166,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2053,3219
$GC,2987,-1.87,-114.3,393.2,-11.4,174,2992,0.15,2.25,0.00,0.000,4,0.051,0.047,2497,670,3217
$GC,3008,-1.87,-114.3,396.0,-12.7,174,3013,0.00,2.17,0.00,0.000,6,0.000,0.026,2497,2053,3217
$GC,3345,-1.83,-114.3,443.0,-13.9,183,3350,0.12,2.28,0.00,0.000,4,0.115,0.042,2521,668,3214
$GC,3433,-1.83,-114.3,454.9,-13.0,185,3437,0.00,2.20,0.00,0.000,6,0.000,0.036,2521,2044,3213
$GC,3757,-1.83,-114.3,492.7,-10.8,193,3761,0.00,2.25,0.00,0.000,4,0.000,0.051,2521,672,3211
$GC,3858,-1.86,-114.3,504.5,-11.8,195,3862,0.00,2.22,0.00,0.000,6,0.000,0.034,2521,2052,3210
$STATE,3924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3924,begin apogee
$GC,3930,-0.31,0.0,512.4,11.5,197,4026,1.52,0.00,92.12,0.917,6,0.100,0.000,2848,2052,2749
$STATE,4026,end apogee,CONTROL_FINISHED_OK
$STATE,4026,begin climb
$GC,4029,1.61,114.3,513.9,0.0,199,4132,1.80,2.47,94.95,0.893,4,0.044,0.047,3275,626,2282
$GC,4148,1.26,114.3,504.9,13.8,202,4153,0.40,2.25,0.00,0.000,6,0.117,0.037,3197,1997,2279
$GC,4492,1.08,114.3,465.5,11.0,211,4496,0.17,2.30,0.00,0.000,4,0.124,0.044,3160,621,2272
$GC,4536,0.95,114.3,460.6,10.1,212,4540,0.17,2.25,0.00,0.000,6,0.127,0.032,3127,2008,2271
$GC,4854,0.90,114.3,431.5,9.4,220,4857,0.00,2.38,0.00,0.000,4,0.000,0.059,3127,3412,2267
$GC,4905,0.85,114.3,426.6,9.8,221,4909,0.00,2.22,0.00,0.000,6,0.000,0.025,3127,2021,2267
$GC,5223,0.82,114.5,398.2,8.5,229,5228,0.15,2.40,0.00,0.000,4,0.122,0.061,3094,604,2265
$GC,5308,0.82,117.6,391.2,8.2,231,5312,0.00,2.25,0.00,0.000,6,0.000,0.026,3094,2007,2264
$GC,5638,0.88,134.3,368.7,7.0,239,5657,0.00,2.40,14.52,0.805,4,0.000,0.055,3095,3405,2200
$GC,5685,0.91,134.3,364.7,8.5,240,5690,0.10,2.28,0.00,0.000,6,0.067,0.025,3125,1986,2199
$GC,6005,0.91,134.3,336.0,9.1,248,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1986,2197
$GC,6328,0.91,134.3,304.0,10.0,256,6332,0.00,2.35,0.00,0.000,4,0.000,0.048,3125,3401,2196
$GC,6406,0.91,134.3,296.8,8.8,257,6412,0.00,2.22,0.00,0.000,6,0.000,0.023,3125,1997,2195
$GC,6738,0.92,140.9,271.7,7.9,266,6749,0.00,2.33,6.10,0.638,4,0.000,0.056,3125,608,2174
$GC,6815,0.92,140.9,265.2,8.5,267,6822,0.00,2.22,0.00,0.000,6,0.000,0.022,3125,2013,2172
$GC,7147,0.92,140.9,237.1,8.7,276,7151,0.00,2.30,0.00,0.000,4,0.000,0.046,3125,605,2172
$GC,7258,0.92,140.9,226.8,8.6,278,7263,0.00,2.20,0.00,0.000,6,0.000,0.025,3125,1998,2171
$GC,7602,0.99,168.2,204.0,6.1,287,7631,0.00,2.38,24.05,0.704,4,0.000,0.049,3125,3399,2062
$GC,7671,1.07,185.4,199.4,7.0,288,7692,0.12,2.22,15.73,0.671,6,0.058,0.025,3164,1999,1993
$GC,8013,1.07,185.4,166.9,10.1,319,8017,0.00,2.25,0.00,0.000,4,0.000,0.036,3165,599,1988
$GC,8054,1.07,185.4,162.4,11.0,322,8058,0.00,2.22,0.00,0.000,6,0.000,0.025,3165,2004,1987
$GC,8379,1.07,185.4,128.6,10.3,352,8383,0.00,2.28,0.00,0.000,4,0.000,0.047,3164,3400,1986
$GC,8489,1.07,185.4,117.5,9.7,361,8493,0.00,2.20,0.00,0.000,6,0.000,0.025,3165,1993,1985
$GC,8690,1.07,185.4,97.9,9.3,379,8694,0.00,2.22,0.00,0.000,4,0.000,0.038,3165,606,1985
$GC,8707,1.07,185.4,95.7,10.1,380,8711,0.00,2.20,0.00,0.000,6,0.000,0.029,3165,2004,1984
$GC,8907,1.10,185.9,77.0,8.4,398,8911,0.00,2.28,0.00,0.000,4,0.000,0.046,3164,3403,1984
$GC,8983,1.14,187.2,70.1,8.4,404,8987,0.00,2.20,0.00,0.000,6,0.000,0.028,3165,1993,1984
$GC,9183,1.24,213.7,55.1,6.1,422,9211,0.10,0.00,24.50,0.562,6,0.059,0.000,3208,1993,1876
$GC,9400,1.24,213.7,37.4,8.6,442,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1993,1874
$GC,9597,1.24,213.7,18.6,9.7,470,9605,0.00,2.33,0.00,0.000,4,0.000,0.038,3207,3399,1873
$GC,9632,1.21,213.7,15.3,10.1,475,9639,0.08,2.20,0.00,0.000,6,0.103,0.021,3188,2006,1871
$STATE,9761,end climb,SURFACE_DEPTH_REACHED
$STATE,9761,begin surface coast
$FINISH,0.6,1.009137
$STATE,9796,end surface coast,CONTROL_FINISHED_OK
$STATE,9797,begin surface
$SM_CCo,9817,174.80,0.510,0,0,511,548.98
$SM_GC,1.48,0.00,0.00,174.80,0.000,0.000,0.510,412,2000,511,-11.54,-1.41,548.98
$IRIDIUM_FIX,2237.01,-15749.78,101297,000044
$TT8_MAMPS,0.027612
$HUMID,1694
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.50
$XPDR_PINGS,152
$24V_AH,23.8,40.410
$10V_AH,10.1,37.283
$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,27.900,107.750,271.975,174.800,0.000,130.119,397.235,0.000,38.000,0.000,0.000,10.178,1021.781,6760.554,521.708,1753.193,806.872,33.359,1221.093,0.000,1819.030,0.000,0.469
$DEVICE_MAMPS,159.536,60.593,916.565,510.055,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.494,333.641,590.190,458.318,916.987,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38272,503
$CAP_FILE_SIZE,207035,0
$CFSIZE,260165632,240447488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150908,031007,2248.485,-15748.774,28,1.0,28,10.1