version: 66.03
glider: 148
mission: 6
dive: 328
start: 9 22 108 9 51 15
data:
$ID,148
$MISSION,6
$DIVE,328
$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,-13105.827
$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,42
$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
$GPS1,094529,2247.561,-15748.791,11,2.4,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-64.5
$GPS2,095020,2247.550,-15748.833,10,1.2,15,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.165,0.089
$KALMAN_X,-272407.5,280.4,211.1,285794.5,-2261.5
$KALMAN_Y,-283650.3,-496.6,105.5,283048.9,-245.4
$MHEAD_RNG_PITCHd_Wd,51.6,880,-20.9,-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,-1.40,-80.6,0.0,0.0,0,85,0.00,0.00,-61.85,0.000,2,0.000,0.000,407,2010,2558
$GC,89,-1.47,-136.3,3.0,-2.9,8,121,11.70,0.00,-18.25,0.000,6,0.161,0.000,2593,2010,3306
$GC,332,-1.31,-136.3,50.3,-20.8,40,341,0.20,0.00,0.00,0.000,6,0.116,0.000,2632,2011,3308
$GC,532,-1.31,-136.3,82.5,-14.0,59,536,0.00,2.17,0.00,0.000,4,0.000,0.037,2632,637,3309
$GC,565,-1.36,-136.3,87.8,-14.3,61,572,0.00,2.20,0.00,0.000,6,0.000,0.021,2632,2054,3309
$GC,763,-1.40,-136.3,115.0,-12.8,80,767,0.00,2.22,0.00,0.000,4,0.000,0.031,2633,3454,3309
$GC,819,-1.46,-136.3,122.7,-13.0,84,827,0.10,2.20,0.00,0.000,6,0.039,0.018,2588,2046,3310
$GC,1021,-1.42,-136.3,151.4,-14.7,103,1025,0.10,2.20,0.00,0.000,4,0.117,0.028,2607,648,3310
$GC,1087,-1.51,-136.3,161.6,-13.6,108,1095,0.00,2.20,0.00,0.000,6,0.000,0.021,2608,2047,3311
$GC,1415,-1.56,-136.3,200.7,-11.6,139,1420,0.12,2.20,0.00,0.000,4,0.053,0.030,2563,3448,3311
$GC,1430,-1.56,-136.3,203.4,-12.8,139,1434,0.00,2.15,0.00,0.000,6,0.000,0.018,2562,2044,3311
$GC,1778,-1.56,-136.3,250.2,-12.7,148,1782,0.00,2.17,0.00,0.000,4,0.000,0.031,2562,665,3312
$GC,1863,-1.56,-136.3,261.9,-14.3,150,1867,0.00,2.15,0.00,0.000,6,0.000,0.019,2562,2054,3312
$GC,2187,-1.56,-136.3,306.1,-13.3,158,2191,0.00,2.22,0.00,0.000,4,0.000,0.042,2562,667,3312
$GC,2243,-1.60,-136.3,313.3,-13.0,159,2247,0.00,2.15,0.00,0.000,6,0.000,0.031,2562,2048,3312
$GC,2591,-1.60,-136.3,353.2,-11.2,168,2595,0.00,2.22,0.00,0.000,4,0.000,0.039,2562,669,3311
$GC,2652,-1.64,-136.3,360.2,-11.0,169,2656,0.00,2.17,0.00,0.000,6,0.000,0.025,2562,2050,3311
$GC,2999,-1.64,-136.3,397.9,-11.0,178,3003,0.00,2.25,0.00,0.000,4,0.000,0.047,2563,672,3309
$GC,3090,-1.64,-136.3,408.7,-12.7,180,3094,0.00,2.17,0.00,0.000,6,0.000,0.034,2563,2049,3309
$GC,3408,-1.64,-136.3,441.6,-10.0,188,3412,0.00,2.28,0.00,0.000,4,0.000,0.044,2562,668,3306
$GC,3525,-1.69,-136.3,453.4,-9.8,190,3529,0.00,2.20,0.00,0.000,6,0.000,0.035,2563,2049,3305
$GC,3857,-1.72,-136.3,486.9,-10.1,198,3861,0.00,2.28,0.00,0.000,4,0.000,0.046,2563,674,3303
$GC,3886,-1.76,-136.3,490.3,-13.1,198,3891,0.12,2.22,0.00,0.000,6,0.056,0.032,2522,2058,3303
$STATE,4052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4052,begin apogee
$GC,4057,-0.31,0.0,512.5,13.2,202,4175,1.52,0.00,110.72,0.928,6,0.100,0.000,2847,2058,2748
$STATE,4175,end apogee,CONTROL_FINISHED_OK
$STATE,4175,begin climb
$GC,4178,1.47,136.3,516.2,0.0,205,4303,1.65,2.47,112.50,0.904,4,0.046,0.054,3240,627,2192
$GC,4331,1.13,136.3,504.9,15.7,208,4336,0.35,2.25,0.00,0.000,6,0.114,0.037,3171,1996,2188
$GC,4669,0.95,136.3,464.6,12.0,217,4671,0.22,0.00,0.00,0.000,6,0.116,0.000,3128,1996,2182
$GC,4992,0.86,136.3,433.1,9.5,225,4996,0.00,2.42,0.00,0.000,4,0.000,0.064,3128,3409,2179
$GC,5014,0.76,136.3,430.8,10.3,225,5019,0.20,2.22,0.00,0.000,6,0.114,0.030,3088,2024,2178
$GC,5356,0.76,136.3,402.3,8.8,234,5360,0.00,2.40,0.00,0.000,4,0.000,0.058,3088,603,2175
$GC,5411,0.76,136.3,397.0,9.6,235,5415,0.00,2.25,0.00,0.000,6,0.000,0.029,3088,2007,2175
$GC,5724,0.76,136.3,368.9,9.1,243,5728,0.00,2.38,0.00,0.000,4,0.000,0.059,3088,3404,2173
$GC,5764,0.76,136.3,365.0,9.9,244,5768,0.00,2.28,0.00,0.000,6,0.000,0.031,3088,1989,2172
$GC,6088,0.76,136.3,335.6,9.0,252,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1989,2171
$GC,6413,0.76,136.3,306.0,9.1,260,6417,0.00,2.35,0.00,0.000,4,0.000,0.041,3089,3399,2170
$GC,6513,0.79,136.3,296.6,9.6,262,6517,0.00,2.25,0.00,0.000,6,0.000,0.033,3088,1989,2170
$GC,6862,0.82,161.3,270.1,6.7,271,6882,0.00,0.00,18.65,0.763,6,0.000,0.000,3088,1989,2091
$GC,7187,0.91,197.9,250.1,5.9,279,7228,0.12,2.42,31.83,0.756,4,0.057,0.055,3129,595,1941
$GC,7251,0.91,197.9,244.9,9.2,280,7255,0.00,2.25,0.00,0.000,6,0.000,0.022,3129,2008,1940
$GC,7593,0.91,197.9,214.2,8.8,289,7597,0.00,2.33,0.00,0.000,4,0.000,0.049,3128,3395,1934
$GC,7632,0.91,197.9,210.5,9.3,290,7636,0.00,2.22,0.00,0.000,6,0.000,0.031,3129,1996,1933
$GC,7954,0.91,197.9,180.7,8.7,312,7958,0.00,2.30,0.00,0.000,4,0.000,0.042,3129,3393,1933
$GC,8000,0.93,208.1,177.2,7.8,315,8013,0.00,2.22,8.82,0.617,6,0.000,0.030,3129,2001,1900
$GC,8333,0.93,208.1,147.1,9.0,346,8337,0.00,2.28,0.00,0.000,4,0.000,0.038,3129,3395,1898
$GC,8386,0.96,208.1,142.0,9.9,350,8390,0.00,2.20,0.00,0.000,6,0.000,0.028,3129,1997,1896
$GC,8583,0.96,208.1,123.3,9.7,368,8587,0.00,2.22,0.00,0.000,4,0.000,0.038,3129,603,1896
$GC,8650,0.96,208.1,116.7,10.2,374,8654,0.00,2.20,0.00,0.000,6,0.000,0.029,3129,2001,1896
$GC,8848,1.00,208.1,97.8,9.6,392,8852,0.00,2.28,0.00,0.000,4,0.000,0.044,3129,3404,1896
$GC,8926,1.05,208.1,90.4,8.7,398,8934,0.00,2.22,0.00,0.000,6,0.000,0.021,3129,1998,1896
$GC,9126,1.13,228.4,76.0,7.1,417,9147,0.15,0.00,18.52,0.578,6,0.048,0.000,3180,1998,1817
$GC,9336,1.13,228.4,55.5,8.7,437,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1998,1814
$GC,9527,1.13,230.0,38.6,8.4,455,9531,0.00,2.28,0.00,0.000,4,0.000,0.037,3180,3399,1814
$GC,9562,1.13,230.0,35.2,10.0,458,9566,0.00,2.17,0.00,0.000,6,0.000,0.022,3180,1999,1812
$GC,9777,1.13,230.0,17.2,9.8,489,9785,0.00,2.30,0.00,0.000,4,0.000,0.035,3180,3398,1812
$GC,9800,1.13,230.0,14.9,10.1,492,9808,0.00,2.20,0.00,0.000,6,0.000,0.021,3180,2000,1812
$STATE,9917,end climb,SURFACE_DEPTH_REACHED
$STATE,9918,begin surface coast
$FINISH,0.8,1.010387
$STATE,9949,end surface coast,CONTROL_FINISHED_OK
$STATE,9949,begin surface
$SM_CCo,9970,104.43,0.515,0,0,955,440.07
$SM_GC,1.64,0.00,0.00,104.43,0.000,0.000,0.515,406,2114,955,-11.56,1.81,440.07
$IRIDIUM_FIX,2239.35,-15746.73,171297,070740
$TT8_MAMPS,0.026845
$HUMID,1748
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.40
$XPDR_PINGS,124
$24V_AH,23.7,46.504
$10V_AH,10.1,43.558
$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,27.850,103.500,301.050,104.425,0.000,29.313,27.409,115.581,31.000,0.000,0.000,16.636,1022.535,6602.471,484.995,1758.841,497.951,33.359,1186.836,0.000,1843.305,0.000,0.469
$DEVICE_MAMPS,161.070,75.933,928.070,514.657,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,381.323,326.311,625.650,468.485,945.838,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38219,517
$CAP_FILE_SIZE,208906,0
$CFSIZE,260165632,236269568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220908,124031,2248.239,-15748.317,36,1.1,41,10.1