version: 66.03
glider: 148
mission: 6
dive: 276
start: 9 16 108 5 32 34
data:
$ID,148
$MISSION,6
$DIVE,276
$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,-11944.937
$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,44
$R_STBD_OVSHOOT,51
$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
$GPS1,051615,2248.312,-15749.033,10,1.4,10,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-61.1
$GPS2,053139,2248.313,-15749.038,11,1.5,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.022,0.145
$KALMAN_X,-215852.5,427.8,-165.6,229114.1,253.9
$KALMAN_Y,-233601.0,145.9,105.9,233752.7,-1723.0
$MHEAD_RNG_PITCHd_Wd,341.1,583,-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,20,-1.75,-49.4,0.0,0.0,0,93,0.00,0.00,-69.90,0.000,2,0.000,0.000,415,2074,2830
$GC,96,-1.79,-81.7,3.7,-4.8,9,121,11.27,2.20,-5.30,0.000,4,0.163,0.043,2521,3434,3080
$GC,210,-1.69,-81.7,30.5,-21.9,27,214,0.15,2.15,0.00,0.000,6,0.128,0.018,2548,2044,3081
$GC,409,-1.69,-81.7,69.8,-17.8,45,413,0.00,2.17,0.00,0.000,4,0.000,0.034,2548,655,3082
$GC,439,-1.69,-81.7,74.8,-17.5,47,443,0.00,2.15,0.00,0.000,6,0.000,0.029,2548,2043,3082
$GC,640,-1.69,-81.7,107.1,-16.0,65,644,0.00,2.20,0.00,0.000,4,0.000,0.037,2548,652,3083
$GC,703,-1.74,-81.7,117.4,-15.3,70,707,0.00,2.17,0.00,0.000,6,0.000,0.019,2548,2059,3083
$GC,900,-1.80,-81.7,147.5,-15.5,88,904,0.00,2.22,0.00,0.000,4,0.000,0.028,2548,650,3083
$GC,932,-1.86,-81.7,152.8,-15.6,90,942,0.12,2.20,0.00,0.000,6,0.037,0.020,2501,2051,3083
$GC,1259,-1.86,-81.7,200.8,-13.9,121,1263,0.00,2.22,0.00,0.000,4,0.000,0.030,2500,647,3084
$GC,1445,-1.86,-81.7,226.5,-13.9,125,1449,0.00,2.15,0.00,0.000,6,0.000,0.018,2501,2065,3084
$GC,1765,-1.91,-81.7,262.6,-10.8,133,1769,0.00,2.25,0.00,0.000,4,0.000,0.031,2501,649,3084
$GC,1883,-1.95,-81.7,277.9,-12.8,135,1887,0.00,2.15,0.00,0.000,6,0.000,0.023,2501,2046,3084
$GC,2214,-2.01,-81.7,315.7,-11.4,143,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2046,3084
$GC,2539,-2.08,-81.7,352.4,-10.8,151,2544,0.15,2.22,0.00,0.000,4,0.055,0.045,2449,665,3083
$GC,2797,-2.03,-81.7,387.5,-13.9,156,2802,0.15,2.17,0.00,0.000,6,0.126,0.031,2477,2052,3081
$GC,3128,-2.03,-81.7,428.2,-12.3,164,3132,0.00,2.28,0.00,0.000,4,0.000,0.044,2477,665,3079
$GC,3284,-2.03,-81.7,449.8,-13.5,167,3288,0.00,2.22,0.00,0.000,6,0.000,0.034,2477,2035,3078
$GC,3627,-2.06,-81.7,493.2,-11.9,176,3631,0.00,2.25,0.00,0.000,4,0.000,0.048,2477,664,3075
$STATE,3764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3764,begin apogee
$GC,3771,-0.31,0.0,510.3,11.6,179,3841,1.73,0.00,65.75,0.913,6,0.114,0.000,2846,1996,2748
$STATE,3842,end apogee,CONTROL_FINISHED_OK
$STATE,3842,begin climb
$GC,3845,1.79,81.7,511.9,0.0,180,3920,1.95,2.45,67.57,0.889,4,0.045,0.060,3314,3402,2415
$GC,3949,1.46,81.7,503.6,13.3,182,3955,0.38,2.25,0.00,0.000,6,0.123,0.030,3240,2020,2412
$GC,4293,1.30,81.7,462.9,11.2,191,4298,0.15,2.45,0.00,0.000,4,0.125,0.061,3208,590,2408
$GC,4348,1.16,81.7,456.4,10.8,192,4353,0.17,2.28,0.00,0.000,6,0.123,0.031,3176,2001,2407
$GC,4698,1.13,81.7,424.5,9.0,201,4702,0.00,2.33,0.00,0.000,4,0.000,0.048,3175,596,2404
$GC,4843,1.06,81.7,409.9,9.7,204,4848,0.12,2.25,0.00,0.000,6,0.136,0.032,3154,2005,2403
$GC,5157,1.06,85.3,383.8,8.1,212,5161,0.00,2.33,0.00,0.000,4,0.000,0.051,3154,3399,2401
$GC,5269,1.06,85.8,373.8,8.4,214,5273,0.00,2.25,0.00,0.000,6,0.000,0.031,3154,1989,2400
$GC,5612,1.07,92.2,346.3,7.8,223,5625,0.00,2.40,7.35,0.715,4,0.000,0.039,3154,3402,2371
$GC,5682,1.07,95.1,340.7,8.2,224,5692,0.00,2.25,4.00,0.547,6,0.000,0.025,3154,1989,2360
$GC,6027,1.13,114.3,318.4,6.3,233,6051,0.00,2.42,17.42,0.792,4,0.000,0.054,3154,603,2282
$GC,6242,1.13,114.3,297.9,10.0,237,6249,0.00,2.25,0.00,0.000,6,0.000,0.025,3154,2015,2278
$GC,6574,1.18,114.3,268.3,8.5,246,6579,0.10,2.30,0.00,0.000,4,0.070,0.053,3184,3401,2277
$GC,6590,1.19,118.6,267.0,8.0,246,6600,0.00,2.25,3.90,0.511,6,0.000,0.029,3184,1987,2267
$GC,6937,1.19,118.6,236.8,8.5,255,6941,0.00,2.28,0.00,0.000,4,0.000,0.052,3184,607,2265
$GC,7104,1.19,118.9,223.4,8.5,258,7110,0.00,2.20,0.00,0.000,6,0.000,0.021,3184,2010,2264
$GC,7435,1.21,133.5,200.3,6.8,267,7454,0.00,2.38,14.02,0.689,4,0.000,0.038,3184,597,2203
$GC,7708,1.21,137.4,179.2,8.0,288,7717,0.00,2.22,4.43,0.499,6,0.000,0.021,3184,1997,2188
$GC,8036,1.28,152.9,155.9,6.7,319,8055,0.00,2.33,14.98,0.644,4,0.000,0.044,3184,3395,2124
$GC,8068,1.35,167.6,153.8,6.8,322,8090,0.12,2.22,13.95,0.627,6,0.061,0.021,3221,1988,2064
$GC,8408,1.35,167.6,120.8,9.3,354,8412,0.00,2.30,0.00,0.000,4,0.000,0.038,3221,3399,2059
$GC,8450,1.35,167.6,117.1,9.3,357,8454,0.00,2.20,0.00,0.000,6,0.000,0.023,3222,1995,2058
$GC,8651,1.35,167.6,98.6,9.0,375,8655,0.00,2.22,0.00,0.000,4,0.000,0.038,3222,607,2058
$GC,8728,1.35,167.6,91.0,9.5,381,8732,0.00,2.17,0.00,0.000,6,0.000,0.027,3221,1999,2058
$GC,8928,1.39,171.9,74.2,8.0,399,8942,0.00,2.30,3.97,0.399,4,0.000,0.041,3221,600,2047
$GC,8948,1.43,175.9,72.4,8.0,400,8960,0.00,2.22,5.53,0.463,6,0.000,0.026,3221,1995,2030
$GC,9161,1.50,189.6,58.3,6.9,420,9179,0.10,2.30,13.10,0.536,4,0.062,0.041,3258,3401,1975
$GC,9250,1.50,189.9,50.9,8.5,427,9254,0.00,2.20,0.00,0.000,6,0.000,0.021,3258,1992,1972
$GC,9450,1.50,189.9,33.1,9.2,445,9454,0.00,2.22,0.00,0.000,4,0.000,0.035,3258,596,1972
$GC,9469,1.50,189.9,31.3,9.1,446,9473,0.00,2.20,0.00,0.000,6,0.000,0.023,3258,2007,1972
$GC,9683,1.50,189.9,11.7,10.0,482,9691,0.00,2.28,0.00,0.000,4,0.000,0.034,3258,608,1972
$GC,9723,1.46,189.9,7.5,10.6,488,9730,0.00,2.17,0.00,0.000,6,0.000,0.019,3258,1990,1972
$STATE,9766,end climb,SURFACE_DEPTH_REACHED
$STATE,9766,begin surface coast
$FINISH,0.7,1.016862
$STATE,9796,end surface coast,CONTROL_FINISHED_OK
$STATE,9796,begin surface
$SM_CCo,9817,182.98,0.510,0,0,510,548.98
$SM_GC,1.41,0.00,0.00,182.98,0.000,0.000,0.510,407,2095,510,-11.56,1.27,548.98
$IRIDIUM_FIX,2241.69,-15741.52,111297,050533
$TT8_MAMPS,0.026845
$HUMID,1691
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.60
$XPDR_PINGS,157
$24V_AH,23.8,41.424
$10V_AH,10.1,38.318
$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,28.225,112.550,235.975,182.975,0.000,149.892,424.010,0.000,39.250,0.000,0.000,12.606,1051.337,6602.852,492.578,1910.053,867.247,33.357,1268.392,0.000,1963.565,0.000,0.470
$DEVICE_MAMPS,162.604,76.700,912.730,510.055,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,384.439,331.809,595.453,463.499,915.734,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38137,500
$CAP_FILE_SIZE,212009,0
$CFSIZE,260165632,239788032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160908,082032,2248.678,-15749.135,39,1.4,39,10.1