version: 66.03
glider: 148
mission: 6
dive: 303
start: 9 19 108 10 4 30
data:
$ID,148
$MISSION,6
$DIVE,303
$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,-12531.381
$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,43
$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
$GPS1,095837,2248.372,-15748.538,10,1.2,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-62.7
$GPS2,100337,2248.379,-15748.556,16,1.3,32,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.151,0.184
$KALMAN_X,-233361.8,355.0,402.9,246956.5,-2685.9
$KALMAN_Y,-274107.1,129.3,817.3,273686.2,-3024.5
$MHEAD_RNG_PITCHd_Wd,29.2,1033,-15.6,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.14,-136.3,0.0,0.0,0,94,0.00,0.00,-69.47,0.000,2,0.000,0.000,413,2003,2793
$GC,97,-1.14,-136.3,3.8,-4.4,9,131,12.02,2.35,-10.65,0.000,4,0.161,0.044,2666,3446,3308
$GC,237,-1.02,-136.3,27.9,-14.9,31,244,0.10,2.20,0.00,0.000,6,0.105,0.018,2690,2044,3309
$GC,445,-0.92,-136.3,58.3,-14.5,51,453,0.15,0.00,0.00,0.000,6,0.119,0.000,2719,2042,3310
$GC,642,-0.92,-136.3,83.9,-11.8,70,646,0.00,2.25,0.00,0.000,4,0.000,0.031,2719,3447,3310
$GC,675,-0.92,-136.3,87.7,-10.6,72,684,0.00,2.20,0.00,0.000,6,0.000,0.018,2719,2043,3310
$GC,877,-0.95,-136.3,107.6,-9.2,91,881,0.00,2.17,0.00,0.000,4,0.000,0.030,2719,656,3311
$GC,931,-1.11,-136.3,112.5,-9.2,95,935,0.17,2.15,0.00,0.000,6,0.041,0.020,2650,2053,3311
$GC,1133,-1.02,-136.3,137.8,-11.7,114,1138,0.20,2.22,0.00,0.000,4,0.092,0.031,2691,3456,3312
$GC,1184,-1.07,-136.3,142.6,-9.2,118,1188,0.00,2.17,0.00,0.000,6,0.000,0.018,2691,2045,3312
$GC,1385,-1.15,-136.3,159.6,-7.8,136,1389,0.00,2.22,0.00,0.000,4,0.000,0.031,2692,3446,3312
$GC,1437,-1.24,-136.3,164.4,-9.6,140,1442,0.17,2.15,0.00,0.000,6,0.041,0.018,2626,2048,3313
$GC,1762,-1.18,-136.3,197.1,-11.2,170,1767,0.17,2.20,0.00,0.000,4,0.094,0.031,2667,654,3313
$GC,1822,-1.29,-136.3,202.8,-8.7,173,1827,0.12,2.15,0.00,0.000,6,0.051,0.018,2616,2056,3314
$GC,2166,-1.22,-136.3,239.6,-11.2,182,2168,0.17,0.00,0.00,0.000,6,0.089,0.000,2653,2057,3314
$GC,2490,-1.25,-136.3,268.3,-8.8,190,2494,0.00,2.20,0.00,0.000,4,0.000,0.033,2653,3443,3314
$GC,2551,-1.30,-136.3,273.9,-8.8,191,2555,0.00,2.15,0.00,0.000,6,0.000,0.020,2653,2054,3314
$GC,2900,-1.33,-136.3,299.8,-7.1,200,2905,0.10,2.25,0.00,0.000,4,0.058,0.040,2609,654,3312
$GC,2955,-1.33,-136.3,304.7,-8.8,201,2959,0.00,2.17,0.00,0.000,6,0.000,0.030,2609,2047,3312
$GC,3268,-1.28,-136.3,330.7,-8.4,209,3273,0.15,2.25,0.00,0.000,4,0.093,0.038,2645,3453,3311
$GC,3335,-1.33,-136.3,335.7,-6.9,210,3340,0.00,2.17,0.00,0.000,6,0.000,0.028,2645,2054,3310
$GC,3680,-1.37,-136.3,360.8,-7.8,219,3682,0.10,0.00,0.00,0.000,6,0.062,0.000,2606,2053,3308
$GC,4003,-1.32,-136.3,393.5,-10.4,227,4008,0.12,2.28,0.00,0.000,4,0.097,0.043,2633,655,3306
$GC,4035,-1.32,-136.3,396.9,-9.5,227,4042,0.00,2.20,0.00,0.000,6,0.000,0.031,2633,2049,3306
$GC,4367,-1.32,-136.3,423.1,-7.7,236,4371,0.00,2.28,0.00,0.000,4,0.000,0.052,2633,3441,3303
$GC,4400,-1.32,-136.3,426.0,-8.0,236,4406,0.00,2.17,0.00,0.000,6,0.000,0.025,2633,2053,3303
$GC,4732,-1.32,-136.3,453.1,-8.3,245,4736,0.00,2.30,0.00,0.000,4,0.000,0.048,2633,3440,3301
$GC,4772,-1.32,-136.3,456.5,-8.0,246,4776,0.00,2.20,0.00,0.000,6,0.000,0.028,2632,2048,3301
$GC,5097,-1.35,-136.3,480.9,-7.2,254,5101,0.00,2.33,0.00,0.000,4,0.000,0.056,2633,3439,3299
$GC,5130,-1.35,-136.3,483.2,-6.5,254,5136,0.00,2.20,0.00,0.000,6,0.000,0.032,2633,2048,3299
$GC,5462,-1.39,-136.3,502.4,-5.6,263,5466,0.00,2.30,0.00,0.000,4,0.000,0.050,2633,655,3297
$GC,5507,-1.46,-136.3,505.1,-6.3,264,5511,0.15,2.22,0.00,0.000,6,0.049,0.030,2578,2044,3296
$STATE,5578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5579,begin apogee
$GC,5584,-0.31,0.0,510.7,7.8,266,5701,1.25,0.00,109.43,0.945,6,0.094,0.000,2849,2043,2747
$STATE,5702,end apogee,CONTROL_FINISHED_OK
$STATE,5702,begin climb
$GC,5704,1.14,136.3,511.6,0.0,269,5829,1.35,2.50,112.90,0.915,4,0.048,0.057,3173,604,2192
$GC,5868,0.80,136.3,498.6,13.8,272,5875,0.38,2.30,0.00,0.000,6,0.110,0.033,3099,2005,2187
$GC,6201,0.64,136.3,467.7,8.6,281,6206,0.15,2.35,0.00,0.000,4,0.114,0.049,3064,609,2181
$GC,6222,0.55,161.0,465.9,7.5,281,6249,0.12,2.28,20.70,0.862,6,0.112,0.028,3040,2008,2091
$GC,6564,0.60,205.7,443.4,6.6,290,6608,0.00,2.47,39.00,0.885,4,0.000,0.062,3040,3400,1909
$GC,6672,0.63,229.4,435.1,7.5,292,6698,0.00,2.28,20.90,0.849,6,0.000,0.027,3040,1997,1813
$GC,7019,0.66,255.0,408.8,7.4,301,7048,0.10,2.47,21.92,0.847,4,0.064,0.047,3074,3406,1708
$GC,7162,0.66,255.0,395.4,9.6,304,7166,0.00,2.28,0.00,0.000,6,0.000,0.034,3075,1999,1701
$GC,7474,0.61,255.0,364.7,10.1,312,7478,0.00,2.35,0.00,0.000,4,0.000,0.044,3074,3400,1700
$GC,7547,0.61,255.0,357.1,10.5,313,7551,0.00,2.28,0.00,0.000,6,0.000,0.031,3074,1988,1697
$GC,7879,0.57,255.0,325.2,9.6,321,7883,0.15,2.35,0.00,0.000,4,0.102,0.051,3044,3402,1697
$GC,7934,0.62,255.0,320.2,8.6,322,7938,0.00,2.25,0.00,0.000,6,0.000,0.031,3043,1995,1695
$GC,8247,0.64,266.4,295.1,8.0,330,8261,0.00,2.38,9.52,0.732,4,0.000,0.042,3044,3402,1661
$GC,8370,0.71,267.3,284.8,8.5,332,8375,0.12,2.25,0.00,0.000,6,0.058,0.032,3085,1998,1658
$GC,8702,0.68,274.8,256.4,8.2,340,8716,0.00,2.40,8.50,0.692,4,0.000,0.050,3084,3398,1627
$GC,8746,0.63,274.8,252.6,8.7,341,8750,0.12,2.25,0.00,0.000,6,0.106,0.027,3060,1996,1626
$GC,9070,0.66,274.8,225.9,8.5,349,9074,0.00,2.33,0.00,0.000,4,0.000,0.046,3060,3403,1625
$GC,9143,0.72,282.1,219.4,8.2,350,9155,0.00,2.25,7.68,0.648,6,0.000,0.030,3060,1989,1598
$GC,9461,0.77,322.5,195.1,6.8,363,9511,0.12,2.42,35.85,0.714,4,0.054,0.044,3106,3400,1432
$GC,9582,0.77,322.5,183.5,10.2,373,9586,0.00,2.25,0.00,0.000,6,0.000,0.030,3106,1993,1428
$GC,9909,0.77,322.5,150.9,9.2,403,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1993,1426
$GC,10227,0.77,322.5,122.4,9.2,433,10232,0.00,2.33,0.00,0.000,4,0.000,0.038,3106,3413,1425
$GC,10284,0.80,322.5,117.0,9.0,437,10290,0.00,2.22,0.00,0.000,6,0.000,0.029,3106,1995,1423
$GC,10482,0.83,347.5,101.0,7.4,456,10509,0.00,2.30,21.15,0.606,4,0.000,0.036,3106,611,1331
$GC,10522,0.84,358.5,97.8,8.0,459,10542,0.00,2.22,10.98,0.561,6,0.000,0.028,3106,2025,1287
$GC,10736,0.90,375.0,81.2,7.8,479,10756,0.00,2.33,15.60,0.569,4,0.000,0.039,3106,3403,1220
$GC,10783,0.95,376.6,77.2,8.4,483,10787,0.00,2.22,0.00,0.000,6,0.000,0.024,3106,1994,1217
$GC,10983,1.06,406.8,61.6,7.2,501,11019,0.20,2.33,28.55,0.564,4,0.043,0.038,3176,3401,1089
$GC,11037,0.98,406.8,55.4,12.5,505,11045,0.17,2.22,0.00,0.000,6,0.084,0.025,3135,2004,1086
$GC,11237,0.98,406.8,35.9,10.0,524,11241,0.00,2.28,0.00,0.000,4,0.000,0.044,3134,3397,1085
$GC,11280,1.01,406.8,31.9,10.1,527,11284,0.00,2.20,0.00,0.000,6,0.000,0.020,3134,1991,1084
$GC,11496,1.01,406.8,10.7,10.5,562,11504,0.00,2.30,0.00,0.000,4,0.000,0.035,3134,3390,1084
$GC,11536,1.01,406.8,6.3,10.7,568,11544,0.00,2.20,0.00,0.000,6,0.000,0.020,3134,1993,1083
$STATE,11569,end climb,SURFACE_DEPTH_REACHED
$STATE,11569,begin surface coast
$FINISH,0.6,1.023136
$STATE,11599,end surface coast,CONTROL_FINISHED_OK
$STATE,11600,begin surface
$SM_CCo,11621,27.95,0.509,0,0,954,440.07
$SM_GC,1.43,0.00,0.00,27.95,0.000,0.000,0.509,412,2103,954,-11.54,1.50,440.07
$IRIDIUM_FIX,2239.35,-15747.62,141297,070720
$TT8_MAMPS,0.027612
$HUMID,1775
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.50
$XPDR_PINGS,144
$24V_AH,23.7,44.087
$10V_AH,10.1,41.043
$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,29.200,136.025,462.675,27.950,0.000,24.972,28.748,114.593,36.000,0.000,0.000,33.605,1155.880,7716.404,544.494,2001.225,529.275,33.362,1399.377,0.000,2074.166,0.000,0.469
$DEVICE_MAMPS,161.070,74.399,944.944,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,434.794,367.280,692.516,505.781,1001.249,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44463,578
$CAP_FILE_SIZE,243186,0
$CFSIZE,260165632,237944832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190908,131947,2248.463,-15748.522,8,99.0,27,10.1