version: 66.03
glider: 148
mission: 6
dive: 159
start: 9 1 108 13 54 23
data:
$ID,148
$MISSION,6
$DIVE,159
$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,-9487.4248
$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,68
$R_STBD_OVSHOOT,42
$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
$GPS1,134628,2247.462,-15749.100,9,3.7,28,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-54.5
$GPS2,135329,2247.343,-15749.170,10,3.6,29,10.1
$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,-86086.7,-309.6,-266.6,99975.0,-1713.5
$KALMAN_Y,-62627.2,-140.5,-756.0,62134.5,-1811.7
$MHEAD_RNG_PITCHd_Wd,29.2,1250,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.14,-136.3,0.0,0.0,0,106,0.00,0.00,-84.35,0.000,2,0.000,0.000,416,1863,2715
$GC,109,-1.14,-136.3,3.2,-3.7,11,143,11.95,2.33,-13.12,0.000,4,0.160,0.055,2665,3296,3306
$GC,185,-1.00,-136.3,17.7,-19.9,22,194,0.10,2.15,0.00,0.000,6,0.099,0.025,2691,1915,3306
$GC,391,-0.95,-136.3,46.5,-11.9,47,396,0.10,2.22,0.00,0.000,4,0.113,0.035,2710,3299,3307
$GC,477,-0.95,-136.3,57.3,-12.3,54,481,0.00,2.15,0.00,0.000,6,0.000,0.020,2710,1910,3307
$GC,676,-0.99,-136.3,76.6,-9.6,72,680,0.00,2.22,0.00,0.000,4,0.000,0.034,2710,3309,3307
$GC,724,-1.05,-136.3,81.8,-10.5,76,733,0.00,2.22,0.00,0.000,6,0.000,0.028,2710,1898,3307
$GC,926,-1.12,-136.3,100.4,-8.8,95,931,0.15,2.25,0.00,0.000,4,0.046,0.031,2648,3309,3307
$GC,1003,-1.05,-136.3,109.5,-11.3,101,1008,0.20,2.20,0.00,0.000,6,0.090,0.020,2690,1886,3307
$GC,1204,-1.10,-136.3,128.9,-9.0,119,1208,0.00,2.25,0.00,0.000,4,0.000,0.031,2690,3302,3308
$GC,1248,-1.14,-136.3,133.4,-8.7,122,1257,0.00,2.17,0.00,0.000,6,0.000,0.020,2690,1909,3308
$GC,1449,-1.20,-136.3,150.5,-8.9,141,1454,0.15,2.22,0.00,0.000,4,0.045,0.030,2628,3308,3308
$GC,1535,-1.11,-136.3,160.8,-12.0,148,1540,0.22,2.17,0.00,0.000,6,0.089,0.019,2677,1897,3308
$GC,1865,-1.17,-136.3,189.1,-7.9,179,1869,0.00,2.22,0.00,0.000,4,0.000,0.031,2677,3300,3308
$GC,1983,-1.21,-136.3,199.4,-8.7,189,1987,0.00,2.17,0.00,0.000,6,0.000,0.020,2677,1895,3308
$GC,2325,-1.27,-136.3,229.6,-9.0,198,2330,0.15,2.25,0.00,0.000,4,0.047,0.031,2611,3307,3308
$GC,2436,-1.18,-136.3,244.1,-12.7,200,2441,0.22,2.17,0.00,0.000,6,0.091,0.020,2659,1896,3308
$GC,2773,-1.23,-136.3,273.6,-8.1,209,2777,0.00,2.25,0.00,0.000,4,0.000,0.035,2659,3309,3308
$GC,2858,-1.28,-136.3,280.8,-8.5,211,2862,0.00,2.20,0.00,0.000,6,0.000,0.024,2659,1894,3308
$GC,3181,-1.35,-136.3,307.6,-7.9,219,3186,0.15,2.25,0.00,0.000,4,0.047,0.043,2590,3298,3308
$GC,3282,-1.26,-136.3,318.5,-10.6,221,3287,0.25,2.17,0.00,0.000,6,0.087,0.026,2644,1896,3308
$GC,3629,-1.31,-136.3,348.4,-9.0,230,3633,0.00,2.28,0.00,0.000,4,0.000,0.045,2643,3302,3306
$GC,3706,-1.35,-136.3,356.0,-9.7,231,3712,0.00,2.20,0.00,0.000,6,0.000,0.030,2644,1897,3306
$GC,4037,-1.39,-136.3,388.3,-10.1,240,4042,0.12,2.30,0.00,0.000,4,0.052,0.044,2587,3302,3304
$GC,4121,-1.31,-136.3,398.2,-12.6,242,4126,0.22,2.20,0.00,0.000,6,0.090,0.023,2635,1898,3303
$GC,4446,-1.34,-136.3,426.6,-8.3,250,4450,0.00,2.30,0.00,0.000,4,0.000,0.053,2635,3289,3301
$GC,4551,-1.38,-136.3,435.8,-8.0,252,4556,0.00,2.17,0.00,0.000,6,0.000,0.026,2635,1898,3301
$GC,4865,-1.42,-136.3,460.0,-7.6,260,4869,0.12,2.33,0.00,0.000,4,0.054,0.055,2580,3296,3298
$GC,4965,-1.34,-136.3,469.7,-10.5,262,4970,0.22,2.20,0.00,0.000,6,0.095,0.029,2628,1900,3298
$GC,5278,-1.38,-136.3,493.3,-7.4,270,5282,0.00,2.30,0.00,0.000,4,0.000,0.050,2628,3291,3295
$GC,5385,-1.41,-136.3,502.2,-8.4,272,5389,0.00,2.20,0.00,0.000,6,0.000,0.028,2628,1903,3295
$STATE,5481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5481,begin apogee
$GC,5486,-0.31,0.0,510.0,8.1,275,5598,1.02,0.00,109.03,0.912,6,0.096,0.000,2849,1643,2749
$STATE,5599,end apogee,CONTROL_FINISHED_OK
$STATE,5599,begin climb
$GC,5601,1.14,136.3,512.5,0.0,277,5724,1.35,2.40,113.05,0.890,4,0.049,0.067,3170,266,2192
$GC,5762,0.82,136.3,503.7,13.1,280,5769,0.30,2.28,0.00,0.000,6,0.109,0.031,3098,1645,2188
$GC,6094,0.67,136.3,473.1,9.1,289,6099,0.15,2.42,0.00,0.000,4,0.117,0.061,3068,3071,2181
$GC,6262,0.60,153.5,459.6,7.8,292,6281,0.00,2.28,14.12,0.816,6,0.000,0.029,3068,1669,2123
$GC,6596,0.54,164.1,433.0,8.1,301,6611,0.15,2.38,9.98,0.779,4,0.113,0.051,3039,3070,2079
$GC,6790,0.59,200.2,419.0,7.0,305,6827,0.00,2.30,32.35,0.846,6,0.000,0.035,3039,1668,1932
$GC,7134,0.62,231.3,393.8,7.2,314,7168,0.00,2.50,26.95,0.825,4,0.000,0.059,3038,251,1804
$GC,7266,0.70,246.7,383.9,7.9,317,7286,0.15,2.28,13.75,0.779,6,0.051,0.031,3089,1677,1743
$GC,7595,0.64,246.7,351.5,10.1,325,7599,0.15,2.38,0.00,0.000,4,0.103,0.051,3054,257,1736
$GC,7733,0.67,246.7,338.1,9.7,328,7737,0.00,2.25,0.00,0.000,6,0.000,0.025,3054,1675,1735
$GC,8052,0.68,259.2,310.7,8.0,336,8068,0.00,2.38,10.90,0.729,4,0.000,0.048,3054,259,1691
$GC,8157,0.79,297.1,303.2,6.9,338,8198,0.17,2.22,33.90,0.775,6,0.050,0.025,3110,1669,1536
$GC,8505,0.73,297.1,268.8,10.4,347,8510,0.15,2.35,0.00,0.000,4,0.105,0.044,3076,255,1529
$GC,8621,0.77,297.1,257.7,9.8,349,8625,0.00,2.22,0.00,0.000,6,0.000,0.023,3076,1666,1528
$GC,8957,0.77,297.1,227.0,9.0,358,8961,0.00,2.33,0.00,0.000,4,0.000,0.043,3076,255,1526
$GC,9046,0.88,307.3,219.2,8.1,360,9061,0.15,2.20,8.15,0.622,6,0.051,0.028,3127,1663,1495
$GC,9376,0.79,307.3,183.2,10.6,377,9380,0.15,2.30,0.00,0.000,4,0.103,0.043,3093,253,1493
$GC,9497,0.85,307.3,172.3,8.8,387,9506,0.00,2.22,0.00,0.000,6,0.000,0.022,3093,1659,1492
$GC,9821,0.85,307.3,145.0,8.9,418,9825,0.00,2.30,0.00,0.000,4,0.000,0.044,3093,245,1492
$GC,9919,0.91,307.3,136.0,8.9,426,9929,0.08,2.22,0.00,0.000,6,0.045,0.021,3135,1660,1492
$GC,10119,0.85,307.3,114.0,11.1,445,10123,0.15,2.22,0.00,0.000,4,0.100,0.038,3100,3055,1492
$GC,10302,0.85,307.3,96.0,9.7,461,10307,0.00,2.20,0.00,0.000,6,0.000,0.024,3101,1649,1489
$GC,10502,0.89,307.3,76.8,9.3,479,10506,0.00,2.28,0.00,0.000,4,0.000,0.040,3101,3065,1489
$GC,10634,0.97,324.5,65.5,7.8,490,10661,0.12,2.20,17.15,0.496,6,0.053,0.032,3146,1660,1426
$GC,10850,0.97,324.5,45.1,10.2,510,10854,0.00,2.25,0.00,0.000,4,0.000,0.036,3146,3054,1425
$GC,10998,0.97,324.5,34.2,8.6,523,11002,0.00,2.17,0.00,0.000,6,0.000,0.023,3146,1659,1422
$GC,11208,1.04,379.2,16.9,6.2,555,11264,0.00,2.33,47.35,0.518,4,0.000,0.043,3146,3054,1201
$STATE,11338,end climb,SURFACE_DEPTH_REACHED
$STATE,11338,begin surface coast
$FINISH,0.8,1.023147
$STATE,11361,end surface coast,CONTROL_FINISHED_OK
$STATE,11362,begin surface
$SM_CCo,11383,49.33,0.502,0,0,954,440.07
$SM_GC,1.43,0.00,0.00,49.33,0.000,0.000,0.502,413,1896,954,-11.53,-0.11,440.07
$IRIDIUM_FIX,2241.69,-15749.78,261197,101038
$TT8_MAMPS,0.026845
$HUMID,1667
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.70
$XPDR_PINGS,162
$24V_AH,23.8,28.638
$10V_AH,10.1,26.127
$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,29.825,130.850,436.675,49.325,0.000,28.501,27.417,240.960,40.500,0.000,0.000,32.113,1215.184,7251.145,535.537,2296.842,551.502,33.359,1488.866,0.000,2312.452,0.000,0.469
$DEVICE_MAMPS,160.303,66.729,911.963,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,438.662,367.942,658.937,498.263,1024.784,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44388,579
$CAP_FILE_SIZE,252508,0
$CFSIZE,260165632,247869440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010908,170608,2247.429,-15749.077,36,1.0,36,10.1