version: 66.03
glider: 148
mission: 6
dive: 289
start: 9 17 108 18 48 26
data:
$ID,148
$MISSION,6
$DIVE,289
$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,-12196.965
$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,41
$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
$GPS1,184238,2248.863,-15749.241,37,0.8,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-63.3
$GPS2,184732,2248.852,-15749.261,10,1.5,10,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.004,0.147
$KALMAN_X,-218896.9,-335.5,-103.9,232493.5,484.7
$KALMAN_Y,-256737.3,609.3,544.7,256979.8,-3105.7
$MHEAD_RNG_PITCHd_Wd,348.3,1639,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.75,-49.4,0.0,0.0,0,85,0.00,0.00,-61.78,0.000,2,0.000,0.000,408,1995,2550
$GC,89,-1.81,-97.9,3.1,-2.9,8,123,11.30,2.33,-14.82,0.000,4,0.161,0.038,2519,3456,3148
$GC,228,-1.70,-97.9,30.7,-23.2,30,233,0.15,2.17,0.00,0.000,6,0.132,0.018,2546,2036,3149
$GC,433,-1.64,-97.9,78.6,-22.9,49,437,0.00,2.17,0.00,0.000,4,0.000,0.027,2546,646,3149
$GC,465,-1.64,-97.9,85.0,-21.1,51,469,0.00,2.17,0.00,0.000,6,0.000,0.019,2546,2055,3150
$GC,664,-1.64,-97.9,123.4,-19.6,69,668,0.00,2.20,0.00,0.000,4,0.000,0.026,2546,654,3151
$GC,696,-1.72,-97.9,129.4,-15.6,71,703,0.00,2.15,0.00,0.000,6,0.000,0.018,2546,2053,3151
$GC,894,-1.79,-97.9,158.2,-14.2,90,898,0.00,2.20,0.00,0.000,4,0.000,0.029,2546,655,3151
$GC,968,-1.87,-97.9,169.4,-15.1,96,973,0.15,2.15,0.00,0.000,6,0.051,0.018,2500,2052,3151
$GC,1297,-1.87,-97.9,218.1,-13.9,118,1301,0.00,2.20,0.00,0.000,4,0.000,0.028,2499,656,3152
$GC,1415,-1.91,-97.9,235.5,-13.3,120,1418,0.00,2.15,0.00,0.000,6,0.000,0.018,2499,2057,3152
$GC,1752,-1.95,-97.9,280.1,-13.2,129,1756,0.00,2.22,0.00,0.000,4,0.000,0.033,2500,660,3152
$GC,1837,-1.99,-97.9,292.0,-13.9,131,1841,0.00,2.15,0.00,0.000,6,0.000,0.021,2499,2046,3153
$GC,2161,-2.04,-97.9,335.1,-13.4,139,2166,0.10,2.25,0.00,0.000,4,0.065,0.043,2466,654,3153
$GC,2279,-2.04,-97.9,352.6,-14.1,141,2283,0.00,2.17,0.00,0.000,6,0.000,0.029,2466,2043,3152
$GC,2610,-2.04,-97.9,397.2,-13.4,149,2614,0.00,2.25,0.00,0.000,4,0.000,0.040,2466,659,3150
$GC,2636,-2.04,-97.9,401.0,-14.0,149,2640,0.00,2.20,0.00,0.000,6,0.000,0.027,2466,2050,3150
$GC,2973,-2.04,-97.9,444.6,-12.8,158,2977,0.00,2.28,0.00,0.000,4,0.000,0.048,2466,664,3148
$GC,3230,-2.04,-97.9,481.9,-14.7,163,3236,0.00,2.22,0.00,0.000,6,0.000,0.039,2466,2050,3147
$STATE,3478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3478,begin apogee
$GC,3483,-0.31,0.0,514.2,13.0,170,3567,1.83,0.00,79.90,0.919,6,0.114,0.000,2845,2050,2748
$STATE,3568,end apogee,CONTROL_FINISHED_OK
$STATE,3568,begin climb
$GC,3570,1.81,97.9,515.9,0.0,172,3661,1.95,2.40,81.05,0.897,4,0.050,0.070,3318,3395,2349
$GC,3773,1.51,97.9,490.0,18.8,176,3778,0.35,2.25,0.00,0.000,6,0.130,0.034,3251,2016,2344
$GC,4105,1.35,97.9,442.9,14.0,184,4109,0.15,2.45,0.00,0.000,4,0.130,0.067,3218,590,2340
$GC,4283,1.22,97.9,419.0,13.8,188,4288,0.15,2.28,0.00,0.000,6,0.123,0.033,3190,2005,2338
$GC,4604,1.18,97.9,386.7,9.8,196,4608,0.00,2.35,0.00,0.000,4,0.000,0.047,3190,596,2336
$GC,4649,1.11,97.9,381.7,10.1,197,4653,0.12,2.25,0.00,0.000,6,0.128,0.026,3167,2001,2335
$GC,4967,1.11,97.9,354.0,8.7,205,4971,0.00,2.38,0.00,0.000,4,0.000,0.061,3167,3405,2334
$GC,5078,1.12,100.6,344.7,8.2,207,5082,0.00,2.25,0.00,0.000,6,0.000,0.025,3167,1992,2333
$GC,5421,1.13,112.6,320.0,7.1,216,5436,0.00,2.35,10.45,0.750,4,0.000,0.060,3167,606,2288
$GC,5459,1.13,113.7,316.8,8.4,217,5464,0.00,2.25,0.00,0.000,6,0.000,0.031,3167,2007,2287
$GC,5784,1.17,114.0,289.5,8.5,225,5788,0.00,2.33,0.00,0.000,4,0.000,0.056,3167,3395,2286
$GC,5800,1.17,114.0,287.8,8.6,225,5804,0.00,2.22,0.00,0.000,6,0.000,0.026,3168,1999,2285
$GC,6148,1.22,114.0,255.2,9.6,234,6152,0.00,2.33,0.00,0.000,4,0.000,0.048,3167,3400,2285
$GC,6234,1.26,116.8,247.5,8.2,236,6243,0.12,2.22,4.07,0.523,6,0.062,0.030,3204,1991,2272
$GC,6564,1.27,127.6,222.4,7.2,244,6579,0.00,2.35,10.73,0.690,4,0.000,0.041,3205,3402,2227
$GC,6670,1.27,127.6,212.2,10.2,246,6674,0.00,2.22,0.00,0.000,6,0.000,0.030,3204,1997,2225
$GC,6990,1.29,143.2,184.9,6.7,267,7013,0.00,2.35,14.02,0.677,4,0.000,0.046,3204,604,2165
$GC,7210,1.30,148.1,168.2,7.9,286,7222,0.00,2.22,5.60,0.549,6,0.000,0.021,3204,2019,2145
$GC,7542,1.33,148.1,139.9,9.8,317,7546,0.00,2.28,0.00,0.000,4,0.000,0.040,3204,600,2143
$GC,7591,1.33,148.1,134.6,12.0,321,7595,0.00,2.20,0.00,0.000,6,0.000,0.023,3204,1997,2143
$GC,7793,1.41,172.1,118.5,5.7,339,7819,0.10,0.00,21.42,0.627,6,0.063,0.000,3240,1997,2046
$GC,8012,1.42,179.1,104.4,7.7,360,8026,0.00,0.00,6.53,0.519,6,0.000,0.000,3240,1997,2019
$GC,8218,1.42,179.1,85.2,9.5,379,8222,0.00,2.25,0.00,0.000,4,0.000,0.035,3240,598,2019
$GC,8239,1.42,179.1,82.9,9.2,380,8248,0.00,2.22,0.00,0.000,6,0.000,0.024,3240,1992,2018
$GC,8439,1.46,185.2,66.8,7.8,399,8453,0.00,2.30,7.25,0.504,4,0.000,0.039,3240,3409,1991
$GC,8536,1.47,194.8,58.7,7.4,407,8551,0.00,2.22,9.70,0.522,6,0.000,0.025,3240,1986,1954
$GC,8741,1.51,195.8,42.3,8.4,426,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1986,1952
$GC,8936,1.55,195.8,25.2,9.2,448,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1986,1952
$GC,9152,1.55,195.8,4.3,9.9,485,9160,0.00,2.33,0.00,0.000,4,0.000,0.038,3240,3396,1952
$STATE,9168,end climb,SURFACE_DEPTH_REACHED
$STATE,9168,begin surface coast
$FINISH,1.2,1.023034
$STATE,9182,end surface coast,CONTROL_FINISHED_OK
$STATE,9182,begin surface
$SM_CCo,9205,130.90,0.516,0,0,954,440.07
$SM_GC,1.64,0.00,0.00,130.90,0.000,0.000,0.516,410,2036,954,-11.54,-0.42,440.07
$IRIDIUM_FIX,2239.35,-15747.62,121297,161629
$TT8_MAMPS,0.026845
$HUMID,1708
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.50
$XPDR_PINGS,107
$24V_AH,23.7,42.709
$10V_AH,10.1,39.635
$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,28.025,99.025,250.725,130.900,0.000,30.029,34.495,120.296,26.750,0.000,0.000,12.000,1004.270,5907.776,459.800,1789.122,468.290,33.362,1173.785,0.000,1869.853,0.000,0.469
$DEVICE_MAMPS,161.070,69.797,918.866,516.191,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.039,314.207,609.635,465.464,915.661,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38216,489
$CAP_FILE_SIZE,204291,0
$CFSIZE,260165632,238927872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170908,212507,2249.361,-15749.009,9,1.6,25,10.1