version: 66.03
glider: 148
mission: 6
dive: 157
start: 9 1 108 7 17 16
data:
$ID,148
$MISSION,6
$DIVE,157
$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,-9437.1396
$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,1900
$C_ROLL_CLIMB,1660
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,39
$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
$GPS1,071005,2248.750,-15749.217,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-58.0
$GPS2,071621,2248.749,-15749.219,15,1.2,15,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.119,0.182
$KALMAN_X,-83377.4,285.5,171.2,96144.6,-1057.6
$KALMAN_Y,-58389.8,301.2,883.4,58419.4,-3569.5
$MHEAD_RNG_PITCHd_Wd,23.2,1436,-17.5,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.23,-111.3,0.0,0.0,0,105,0.00,0.00,-85.05,0.000,2,0.000,0.000,411,1875,2779
$GC,109,-1.26,-136.3,3.5,-3.9,11,142,11.82,2.33,-11.45,0.000,4,0.160,0.046,2639,3298,3307
$GC,219,-1.12,-136.3,24.1,-17.2,28,228,0.12,2.17,0.00,0.000,6,0.102,0.021,2669,1919,3308
$GC,425,-1.07,-136.3,55.9,-15.7,49,428,0.00,2.22,0.00,0.000,4,0.000,0.035,2669,3308,3308
$GC,496,-1.01,-136.3,67.2,-15.4,55,501,0.15,2.20,0.00,0.000,6,0.115,0.029,2698,1890,3308
$GC,697,-1.08,-136.3,91.1,-10.6,73,701,0.00,2.28,0.00,0.000,4,0.000,0.035,2698,3306,3308
$GC,742,-1.14,-136.3,96.5,-11.5,76,749,0.08,2.20,0.00,0.000,6,0.042,0.020,2652,1900,3308
$GC,940,-1.14,-136.3,121.8,-12.7,95,944,0.00,2.22,0.00,0.000,4,0.000,0.034,2652,3303,3309
$GC,989,-1.14,-136.3,128.0,-12.8,99,993,0.00,2.17,0.00,0.000,6,0.000,0.020,2652,1895,3309
$GC,1185,-1.14,-136.3,153.8,-12.3,117,1189,0.00,2.25,0.00,0.000,4,0.000,0.031,2652,3312,3309
$GC,1239,-1.14,-136.3,160.0,-12.7,121,1243,0.00,2.20,0.00,0.000,6,0.000,0.020,2652,1889,3309
$GC,1566,-1.19,-136.3,197.2,-10.2,151,1570,0.00,2.25,0.00,0.000,4,0.000,0.031,2652,3306,3309
$GC,1657,-1.23,-136.3,207.0,-10.9,155,1661,0.00,2.17,0.00,0.000,6,0.000,0.019,2652,1893,3309
$GC,1976,-1.31,-136.3,238.7,-9.5,163,1980,0.00,2.25,0.00,0.000,4,0.000,0.031,2652,3312,3309
$GC,2041,-1.38,-136.3,245.0,-9.5,164,2046,0.15,2.20,0.00,0.000,6,0.044,0.028,2591,1893,3310
$GC,2383,-1.38,-136.3,285.7,-12.3,173,2388,0.12,2.25,0.00,0.000,4,0.107,0.040,2616,3304,3309
$GC,2493,-1.38,-136.3,298.8,-11.2,175,2498,0.00,2.20,0.00,0.000,6,0.000,0.024,2617,1903,3309
$GC,2836,-1.43,-136.3,331.8,-9.3,184,2840,0.00,2.25,0.00,0.000,4,0.000,0.038,2616,3299,3309
$GC,2875,-1.43,-136.3,335.6,-9.5,185,2879,0.00,2.20,0.00,0.000,6,0.000,0.026,2616,1892,3309
$GC,3199,-1.48,-136.3,362.2,-8.0,193,3203,0.00,2.30,0.00,0.000,4,0.000,0.048,2617,3306,3308
$GC,3227,-1.51,-136.3,364.5,-7.8,193,3232,0.12,2.20,0.00,0.000,6,0.051,0.028,2574,1902,3308
$GC,3559,-1.47,-136.3,397.9,-10.4,201,3563,0.12,2.30,0.00,0.000,4,0.109,0.042,2598,3304,3305
$GC,3597,-1.47,-136.3,402.1,-10.4,202,3601,0.00,2.20,0.00,0.000,6,0.000,0.023,2598,1900,3305
$GC,3920,-1.47,-136.3,433.2,-9.6,210,3924,0.00,2.30,0.00,0.000,4,0.000,0.051,2598,3302,3303
$GC,3946,-1.47,-136.3,435.8,-9.6,210,3951,0.00,2.22,0.00,0.000,6,0.000,0.025,2598,1907,3303
$GC,4284,-1.47,-136.3,464.8,-8.4,219,4288,0.00,2.28,0.00,0.000,4,0.000,0.046,2598,3294,3300
$GC,4350,-1.47,-136.3,470.7,-8.3,220,4354,0.00,2.22,0.00,0.000,6,0.000,0.033,2598,1905,3299
$GC,4699,-1.50,-136.3,499.5,-8.2,229,4703,0.00,2.30,0.00,0.000,4,0.000,0.044,2598,3302,3297
$GC,4754,-1.50,-136.3,504.5,-8.5,230,4758,0.00,2.25,0.00,0.000,6,0.000,0.028,2598,1907,3296
$STATE,4821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4821,begin apogee
$GC,4826,-0.31,0.0,510.3,8.3,232,4939,1.15,0.00,109.30,0.912,6,0.094,0.000,2848,1645,2749
$STATE,4940,end apogee,CONTROL_FINISHED_OK
$STATE,4940,begin climb
$GC,4942,1.26,136.3,511.7,0.0,234,5066,1.48,2.38,113.28,0.888,4,0.054,0.060,3195,273,2192
$GC,5138,0.92,136.3,493.9,14.7,238,5143,0.38,2.25,0.00,0.000,6,0.116,0.036,3122,1654,2187
$GC,5481,0.75,136.3,455.8,10.8,247,5486,0.17,2.38,0.00,0.000,4,0.120,0.060,3085,3062,2180
$GC,5649,0.66,136.3,439.6,9.5,250,5656,0.12,2.25,0.00,0.000,6,0.125,0.031,3062,1676,2177
$GC,5981,0.62,140.1,412.2,8.3,259,5985,0.00,2.30,0.00,0.000,4,0.000,0.049,3062,3061,2175
$GC,6210,0.60,151.7,393.2,7.9,264,6226,0.00,2.28,11.35,0.785,6,0.000,0.035,3062,1654,2130
$GC,6564,0.64,180.4,366.9,7.0,273,6594,0.00,2.40,25.80,0.822,4,0.000,0.046,3062,3070,2012
$GC,6780,0.66,198.1,350.1,7.6,278,6801,0.00,2.30,16.10,0.784,6,0.000,0.033,3062,1651,1941
$GC,7145,0.66,198.1,318.2,8.9,287,7149,0.00,2.35,0.00,0.000,4,0.000,0.044,3062,3068,1936
$GC,7363,0.67,209.8,298.7,7.9,292,7378,0.00,2.28,10.45,0.725,6,0.000,0.028,3063,1657,1893
$GC,7685,0.73,253.1,276.1,6.3,300,7728,0.00,2.40,37.25,0.764,4,0.000,0.044,3062,3068,1716
$GC,7908,0.80,269.7,260.6,7.6,305,7929,0.12,2.28,14.85,0.711,6,0.060,0.026,3102,1649,1649
$GC,8270,0.80,269.7,224.7,10.3,314,8274,0.00,2.28,0.00,0.000,4,0.000,0.049,3103,259,1643
$GC,8398,0.80,269.7,211.8,9.9,316,8405,0.00,2.25,0.00,0.000,6,0.000,0.025,3103,1673,1642
$GC,8715,0.80,269.7,183.5,8.9,335,8719,0.00,2.25,0.00,0.000,4,0.000,0.040,3102,3063,1641
$GC,8922,0.80,269.7,164.3,9.0,353,8926,0.00,2.22,0.00,0.000,6,0.000,0.033,3102,1655,1638
$GC,9249,0.80,269.7,134.5,9.1,383,9253,0.00,2.28,0.00,0.000,4,0.000,0.041,3103,3060,1638
$GC,9460,0.83,269.7,114.7,9.1,401,9464,0.00,2.20,0.00,0.000,6,0.000,0.032,3103,1659,1637
$GC,9661,0.87,269.7,96.3,9.1,419,9665,0.00,2.25,0.00,0.000,4,0.000,0.035,3103,3056,1638
$GC,9804,0.93,269.7,83.3,10.0,431,9808,0.00,2.20,0.00,0.000,6,0.000,0.026,3102,1652,1638
$GC,10004,1.03,287.5,66.7,7.6,449,10031,0.15,2.35,14.85,0.541,4,0.144,0.035,3162,3056,1576
$GC,10102,0.99,287.5,57.2,10.7,457,10107,0.12,2.22,0.00,0.000,6,0.104,0.025,3138,1650,1573
$GC,10307,0.99,287.5,37.7,9.1,476,10311,0.00,2.25,0.00,0.000,4,0.000,0.031,3139,3058,1573
$GC,10428,0.99,287.5,26.2,10.5,489,10436,0.00,2.22,0.00,0.000,6,0.000,0.024,3138,1658,1572
$GC,10644,0.99,287.5,6.5,11.8,526,10653,0.00,2.28,0.00,0.000,4,0.000,0.044,3138,3051,1572
$STATE,10677,end climb,SURFACE_DEPTH_REACHED
$STATE,10677,begin surface coast
$FINISH,0.6,1.023210
$STATE,10707,end surface coast,CONTROL_FINISHED_OK
$STATE,10707,begin surface
$SM_CCo,10729,87.68,0.502,0,0,954,440.07
$SM_GC,1.53,0.00,0.00,87.68,0.000,0.000,0.502,415,1881,954,-11.52,-0.57,440.07
$IRIDIUM_FIX,2241.69,-15749.78,261197,040431
$TT8_MAMPS,0.026845
$HUMID,1659
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.80
$XPDR_PINGS,171
$24V_AH,23.8,28.365
$10V_AH,10.1,25.898
$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,27.425,121.900,353.225,87.675,0.000,30.618,32.718,211.692,42.750,0.000,0.000,17.142,1130.624,6932.368,517.643,2107.091,507.252,33.353,1375.608,0.000,2133.708,0.000,0.470
$DEVICE_MAMPS,159.536,59.826,911.963,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.427,341.428,601.357,458.503,943.410,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41343,536
$CAP_FILE_SIZE,227436,0
$CFSIZE,260165632,248049664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,010908,101838,2248.634,-15748.982,29,0.9,29,10.1