version: 66.03
glider: 148
mission: 6
dive: 180
start: 9 4 108 13 57 58
data:
$ID,148
$MISSION,6
$DIVE,180
$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,548.98138
$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,-9939.9336
$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,45
$R_STBD_OVSHOOT,34
$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
$GPS1,134207,2248.011,-15748.726,12,1.1,28,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.2
$GPS2,135703,2247.872,-15748.761,11,1.0,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.144,0.190
$KALMAN_X,-114619.2,125.6,325.7,128172.9,-2352.0
$KALMAN_Y,-110961.5,-43.6,-91.3,110687.5,-2322.4
$MHEAD_RNG_PITCHd_Wd,27.2,472,-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,-136.3,0.0,0.0,0,92,0.00,0.00,-70.00,0.000,2,0.000,0.000,409,2025,2805
$GC,94,-1.14,-136.3,3.4,-4.2,9,128,12.05,2.33,-10.82,0.000,4,0.163,0.048,2665,3443,3308
$GC,187,-0.99,-136.3,20.1,-16.3,23,196,0.15,2.17,0.00,0.000,6,0.102,0.018,2700,2042,3309
$GC,398,-0.92,-136.3,52.6,-15.2,47,402,0.00,2.28,0.00,0.000,4,0.000,0.031,2699,3464,3309
$GC,440,-0.83,-136.3,59.1,-15.6,50,445,0.17,2.17,0.00,0.000,6,0.106,0.020,2734,2054,3309
$GC,637,-0.91,-136.3,82.4,-9.8,68,641,0.00,2.20,0.00,0.000,4,0.000,0.031,2734,651,3309
$GC,675,-1.04,-136.3,85.6,-10.0,71,680,0.17,2.20,0.00,0.000,6,0.038,0.021,2662,2068,3309
$GC,876,-0.97,-136.3,108.4,-12.1,89,880,0.17,2.20,0.00,0.000,4,0.091,0.031,2702,3456,3309
$GC,964,-1.01,-136.3,117.9,-9.6,96,973,0.00,2.20,0.00,0.000,6,0.000,0.018,2702,2046,3310
$GC,1166,-1.05,-136.3,135.7,-8.9,115,1170,0.00,2.22,0.00,0.000,4,0.000,0.031,2703,3447,3310
$GC,1204,-1.05,-136.3,139.8,-10.0,118,1208,0.00,2.15,0.00,0.000,6,0.000,0.018,2703,2044,3310
$GC,1404,-1.09,-136.3,157.4,-8.7,136,1408,0.00,2.17,0.00,0.000,4,0.000,0.031,2702,657,3310
$GC,1432,-1.17,-136.3,160.2,-9.5,138,1436,0.15,2.17,0.00,0.000,6,0.045,0.021,2641,2062,3310
$GC,1764,-1.09,-136.3,197.6,-10.3,169,1768,0.15,2.20,0.00,0.000,4,0.094,0.032,2678,3447,3310
$GC,1849,-1.12,-136.3,205.1,-8.0,173,1853,0.00,2.15,0.00,0.000,6,0.000,0.018,2678,2041,3310
$GC,2181,-1.17,-136.3,231.3,-7.8,181,2184,0.00,2.25,0.00,0.000,4,0.000,0.031,2678,3454,3310
$GC,2197,-1.20,-136.3,232.8,-7.9,181,2200,0.00,2.15,0.00,0.000,6,0.000,0.018,2678,2045,3310
$GC,2544,-1.27,-136.3,261.3,-8.5,190,2549,0.15,2.25,0.00,0.000,4,0.046,0.039,2611,3454,3310
$GC,2565,-1.27,-136.3,263.8,-11.2,190,2570,0.10,2.17,0.00,0.000,6,0.084,0.024,2639,2055,3310
$GC,2908,-1.27,-136.3,298.5,-10.1,199,2912,0.00,2.22,0.00,0.000,4,0.000,0.044,2638,660,3310
$GC,2928,-1.27,-136.3,300.5,-9.2,199,2933,0.00,2.17,0.00,0.000,6,0.000,0.021,2638,2041,3310
$GC,3271,-1.27,-136.3,328.9,-8.0,208,3275,0.00,2.25,0.00,0.000,4,0.000,0.044,2638,3447,3309
$GC,3309,-1.27,-136.3,332.3,-8.9,208,3316,0.00,2.17,0.00,0.000,6,0.000,0.021,2639,2061,3309
$GC,3640,-1.27,-136.3,360.0,-8.5,217,3644,0.00,2.28,0.00,0.000,4,0.000,0.048,2638,3451,3307
$GC,3695,-1.27,-136.3,365.4,-9.3,218,3699,0.00,2.22,0.00,0.000,6,0.000,0.023,2638,2047,3307
$GC,4009,-1.30,-136.3,392.0,-8.1,226,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2047,3305
$GC,4334,-1.34,-136.3,414.1,-6.4,234,4338,0.00,2.30,0.00,0.000,4,0.000,0.051,2638,3441,3303
$GC,4373,-1.34,-136.3,416.6,-6.7,235,4377,0.00,2.17,0.00,0.000,6,0.000,0.025,2638,2051,3303
$GC,4698,-1.38,-136.3,440.7,-7.9,243,4702,0.00,2.30,0.00,0.000,4,0.000,0.048,2638,3440,3300
$GC,4730,-1.38,-136.3,443.8,-9.4,243,4737,0.00,2.20,0.00,0.000,6,0.000,0.025,2638,2057,3300
$GC,5062,-1.43,-136.3,472.4,-8.6,252,5066,0.12,2.33,0.00,0.000,4,0.054,0.051,2588,3446,3297
$GC,5088,-1.38,-136.3,475.2,-10.9,252,5093,0.15,2.20,0.00,0.000,6,0.098,0.029,2620,2053,3297
$GC,5419,-1.38,-136.3,507.3,-9.9,260,5423,0.00,2.30,0.00,0.000,4,0.000,0.055,2620,3443,3295
$STATE,5443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5443,begin apogee
$GC,5450,-0.31,0.0,510.1,9.8,260,5563,1.02,0.00,108.97,0.921,6,0.093,0.000,2846,1993,2749
$STATE,5563,end apogee,CONTROL_FINISHED_OK
$STATE,5563,begin climb
$GC,5565,1.14,136.3,513.8,0.0,263,5690,1.38,2.40,113.12,0.898,4,0.051,0.053,3172,603,2192
$GC,5695,0.82,136.3,510.2,9.3,266,5700,0.38,2.28,0.00,0.000,6,0.110,0.030,3097,1988,2190
$GC,6013,0.69,158.4,486.5,7.6,274,6038,0.12,2.47,18.62,0.848,4,0.119,0.064,3074,3394,2102
$GC,6083,0.61,159.4,480.8,8.5,275,6087,0.00,2.25,0.00,0.000,6,0.000,0.028,3074,2003,2099
$GC,6425,0.52,159.4,450.5,9.1,284,6430,0.17,2.35,0.00,0.000,4,0.113,0.044,3035,3406,2095
$GC,6451,0.53,162.9,448.1,8.3,284,6463,0.00,2.28,4.32,0.599,6,0.000,0.028,3035,1997,2083
$GC,6788,0.58,207.8,424.5,6.6,293,6832,0.00,2.40,39.72,0.867,4,0.000,0.050,3035,3404,1901
$GC,6912,0.69,266.6,417.1,6.0,295,6969,0.15,2.28,50.62,0.855,6,0.051,0.034,3082,1998,1662
$GC,7282,0.65,288.8,388.6,7.6,305,7306,0.00,2.42,19.15,0.816,4,0.000,0.048,3082,3412,1570
$GC,7402,0.62,288.8,378.5,9.2,307,7407,0.12,2.28,0.00,0.000,6,0.112,0.027,3058,1999,1564
$GC,7733,0.62,288.8,350.6,9.1,315,7737,0.00,2.35,0.00,0.000,4,0.000,0.041,3058,3412,1562
$GC,7821,0.62,288.8,341.8,9.6,317,7826,0.00,2.28,0.00,0.000,6,0.000,0.031,3058,1993,1559
$GC,8146,0.63,293.6,313.8,8.3,325,8150,0.00,2.35,0.00,0.000,4,0.000,0.047,3058,3414,1559
$GC,8258,0.70,315.7,305.1,7.6,327,8287,0.00,2.25,22.35,0.780,6,0.000,0.030,3058,1997,1461
$GC,8603,0.75,327.5,278.2,8.0,336,8622,0.10,2.42,11.38,0.718,4,0.061,0.048,3096,3409,1412
$GC,8727,0.75,327.5,264.7,10.6,338,8734,0.00,2.28,0.00,0.000,6,0.000,0.031,3096,2003,1408
$GC,9059,0.75,327.5,229.1,10.8,347,9063,0.00,2.33,0.00,0.000,4,0.000,0.046,3096,3417,1407
$GC,9147,0.75,327.5,219.6,10.4,349,9151,0.00,2.28,0.00,0.000,6,0.000,0.028,3096,1994,1405
$GC,9466,0.75,327.5,187.3,9.3,365,9470,0.00,2.30,0.00,0.000,4,0.000,0.037,3096,3411,1405
$GC,9563,0.75,327.5,178.6,8.7,373,9567,0.00,2.22,0.00,0.000,6,0.000,0.027,3096,1993,1404
$GC,9890,0.77,342.2,151.5,7.9,403,9911,0.00,2.40,12.40,0.617,4,0.000,0.038,3096,3420,1354
$GC,9984,0.86,362.5,144.0,7.6,411,10009,0.00,2.22,19.20,0.624,6,0.000,0.025,3096,2001,1270
$GC,10200,0.86,362.5,125.3,9.1,431,10204,0.00,2.30,0.00,0.000,4,0.000,0.044,3096,3412,1268
$GC,10255,0.92,362.5,119.5,9.8,435,10262,0.10,2.22,0.00,0.000,6,0.058,0.022,3138,1992,1266
$GC,10453,0.85,362.5,94.9,12.8,454,10458,0.15,2.33,0.00,0.000,4,0.099,0.041,3103,3415,1266
$GC,10508,0.91,362.5,88.5,10.5,458,10517,0.00,2.25,0.00,0.000,6,0.000,0.022,3103,1994,1265
$GC,10708,0.94,362.5,67.7,10.3,477,10712,0.00,2.30,0.00,0.000,4,0.000,0.044,3103,3413,1265
$GC,10785,1.00,362.5,60.4,9.4,483,10789,0.15,2.20,0.00,0.000,6,0.048,0.029,3157,2000,1265
$GC,10984,0.97,362.5,39.1,10.0,501,10986,0.12,0.00,0.00,0.000,6,0.102,0.000,3132,2000,1265
$GC,11182,0.97,362.5,19.1,9.8,528,11191,0.00,2.30,0.00,0.000,4,0.000,0.038,3132,3403,1264
$GC,11244,0.97,362.5,12.4,11.3,538,11252,0.00,2.20,0.00,0.000,6,0.000,0.022,3132,2007,1265
$STATE,11338,end climb,SURFACE_DEPTH_REACHED
$STATE,11339,begin surface coast
$FINISH,0.6,1.017886
$STATE,11374,end surface coast,CONTROL_FINISHED_OK
$STATE,11374,begin surface
$SM_CCo,11394,110.70,0.510,0,0,510,548.98
$SM_GC,1.35,0.00,0.00,110.70,0.000,0.000,0.510,408,2078,510,-11.55,0.82,548.98
$IRIDIUM_FIX,2239.35,-15751.94,291197,141402
$TT8_MAMPS,0.027612
$HUMID,1687
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.90
$XPDR_PINGS,173
$24V_AH,23.8,31.465
$10V_AH,10.1,28.521
$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,28.575,140.375,419.875,110.700,0.000,139.662,402.046,0.000,43.250,0.000,0.000,12.587,1145.841,7872.560,599.573,1975.069,805.426,33.379,1440.499,0.000,2021.676,0.000,0.469
$DEVICE_MAMPS,163.371,81.302,921.167,510.055,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,429.376,354.427,628.035,471.935,953.793,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41288,560
$CAP_FILE_SIZE,235919,0
$CFSIZE,260165632,246145024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040908,171102,2248.155,-15749.017,41,0.9,41,10.1