version: 66.03
glider: 148
mission: 6
dive: 195
start: 9 6 108 10 50 27
data:
$ID,148
$MISSION,6
$DIVE,195
$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,-10239.043
$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,37
$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
$GPS1,104338,2248.477,-15748.759,30,1.0,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-58.9
$GPS2,104932,2248.438,-15748.799,13,1.0,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.106,0.161
$KALMAN_X,-130102.9,62.6,314.8,143666.9,-1618.1
$KALMAN_Y,-133182.9,-343.0,665.0,133494.0,-2735.3
$MHEAD_RNG_PITCHd_Wd,23.4,880,-20.2,-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,19,-1.37,-85.5,0.0,0.0,0,106,0.00,0.00,-85.03,0.000,2,0.000,0.000,415,2005,2748
$GC,110,-1.43,-136.3,3.3,-3.9,11,143,11.70,2.35,-12.00,0.000,4,0.162,0.045,2600,3447,3305
$GC,226,-1.31,-136.3,28.4,-23.0,29,235,0.12,2.20,0.00,0.000,6,0.105,0.021,2630,2049,3307
$GC,425,-1.25,-136.3,67.4,-17.0,48,429,0.00,2.20,0.00,0.000,4,0.000,0.029,2630,650,3307
$GC,457,-1.25,-136.3,72.8,-14.8,50,466,0.00,2.20,0.00,0.000,6,0.000,0.027,2630,2055,3306
$GC,658,-1.25,-136.3,100.8,-14.2,69,662,0.00,2.22,0.00,0.000,4,0.000,0.028,2630,647,3307
$GC,688,-1.25,-136.3,104.7,-12.5,71,692,0.00,2.17,0.00,0.000,6,0.000,0.020,2630,2055,3307
$GC,889,-1.25,-136.3,129.1,-12.6,89,893,0.00,2.22,0.00,0.000,4,0.000,0.030,2630,651,3308
$GC,910,-1.25,-136.3,132.4,-13.2,90,919,0.00,2.20,0.00,0.000,6,0.000,0.020,2630,2054,3308
$GC,1111,-1.25,-136.3,156.3,-11.9,109,1115,0.00,2.22,0.00,0.000,4,0.000,0.030,2630,650,3308
$GC,1133,-1.28,-136.3,159.4,-12.0,110,1139,0.00,2.17,0.00,0.000,6,0.000,0.021,2630,2054,3308
$GC,1458,-1.33,-136.3,193.4,-9.9,141,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2055,3307
$GC,1765,-1.41,-136.3,227.9,-11.4,153,1769,0.00,2.22,0.00,0.000,4,0.000,0.034,2630,651,3308
$GC,1781,-1.50,-136.3,230.0,-11.9,153,1786,0.15,2.15,0.00,0.000,6,0.048,0.018,2574,2054,3308
$GC,2123,-1.50,-136.3,277.4,-13.6,162,2127,0.00,2.25,0.00,0.000,4,0.000,0.035,2574,647,3308
$GC,2178,-1.50,-136.3,285.4,-14.3,163,2183,0.00,2.17,0.00,0.000,6,0.000,0.026,2573,2043,3308
$GC,2491,-1.50,-136.3,323.8,-11.6,171,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2043,3308
$GC,2816,-1.50,-136.3,356.1,-9.9,179,2820,0.00,2.25,0.00,0.000,4,0.000,0.042,2574,657,3308
$GC,2888,-1.53,-136.3,363.4,-9.8,180,2892,0.00,2.20,0.00,0.000,6,0.000,0.027,2573,2054,3307
$GC,3218,-1.53,-136.3,394.3,-9.2,188,3222,0.00,2.28,0.00,0.000,4,0.000,0.041,2574,659,3305
$GC,3245,-1.57,-136.3,397.0,-10.4,188,3249,0.00,2.22,0.00,0.000,6,0.000,0.027,2574,2049,3306
$GC,3581,-1.57,-136.3,426.8,-8.6,197,3585,0.00,2.28,0.00,0.000,4,0.000,0.042,2574,661,3302
$GC,3664,-1.62,-136.3,434.6,-8.7,198,3670,0.00,2.22,0.00,0.000,6,0.000,0.031,2574,2050,3302
$GC,3995,-1.66,-136.3,464.4,-9.3,207,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2050,3299
$GC,4320,-1.70,-136.3,496.3,-9.9,215,4325,0.10,2.30,0.00,0.000,4,0.064,0.048,2533,662,3297
$GC,4409,-1.66,-136.3,507.3,-13.7,217,4413,0.12,2.22,0.00,0.000,6,0.118,0.041,2557,2046,3296
$STATE,4427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4428,begin apogee
$GC,4432,-0.31,0.0,510.1,13.2,217,4545,1.33,0.00,109.28,0.915,6,0.100,0.000,2844,2047,2749
$STATE,4546,end apogee,CONTROL_FINISHED_OK
$STATE,4546,begin climb
$GC,4548,1.43,136.3,512.3,0.0,220,4670,1.62,0.00,113.03,0.891,6,0.048,0.000,3235,2047,2192
$GC,4994,1.13,136.3,458.2,14.5,231,4999,0.30,2.42,0.00,0.000,4,0.113,0.047,3171,608,2182
$GC,5168,0.95,136.3,437.0,12.0,235,5173,0.22,2.28,0.00,0.000,6,0.118,0.031,3127,2009,2179
$GC,5495,0.88,146.9,410.9,7.8,243,5509,0.00,2.38,7.85,0.737,4,0.000,0.049,3127,616,2150
$GC,5549,0.78,148.8,406.3,8.4,244,5554,0.17,2.22,0.00,0.000,6,0.117,0.031,3093,2005,2149
$GC,5862,0.83,189.1,387.7,5.8,252,5904,0.00,2.47,37.05,0.841,4,0.000,0.058,3093,3404,1977
$GC,5937,0.85,204.9,382.6,7.4,253,5957,0.00,2.25,14.88,0.786,6,0.000,0.026,3093,2009,1913
$GC,6276,0.85,204.9,354.7,8.8,262,6280,0.00,2.30,0.00,0.000,4,0.000,0.048,3093,3400,1906
$GC,6333,0.90,204.9,349.2,9.4,263,6337,0.10,2.25,0.00,0.000,6,0.067,0.032,3124,1996,1904
$GC,6646,0.87,204.9,310.9,12.8,271,6650,0.00,2.35,0.00,0.000,4,0.000,0.056,3124,597,1904
$GC,6679,0.87,204.9,306.2,13.1,271,6685,0.00,2.25,0.00,0.000,6,0.000,0.027,3124,2007,1903
$GC,7010,0.87,204.9,267.4,11.0,280,7014,0.00,2.33,0.00,0.000,4,0.000,0.051,3124,3405,1901
$GC,7082,0.87,204.9,259.6,10.7,281,7086,0.00,2.25,0.00,0.000,6,0.000,0.028,3124,1992,1899
$GC,7424,0.87,204.9,224.4,11.1,290,7428,0.00,2.33,0.00,0.000,4,0.000,0.046,3124,3400,1899
$GC,7479,0.91,204.9,217.8,11.7,291,7483,0.00,2.22,0.00,0.000,6,0.000,0.032,3125,1995,1897
$GC,7802,0.91,204.9,185.0,8.6,309,7806,0.00,2.25,0.00,0.000,4,0.000,0.041,3124,601,1897
$GC,7823,0.92,211.5,183.3,8.1,310,7833,0.00,2.22,4.55,0.510,6,0.000,0.021,3125,2012,1885
$GC,8159,0.96,216.7,158.1,8.2,342,8172,0.00,2.25,5.82,0.542,4,0.000,0.041,3124,3384,1865
$GC,8201,1.02,216.7,154.3,9.1,345,8209,0.00,2.20,0.00,0.000,6,0.000,0.030,3125,2000,1864
$GC,8526,1.10,239.4,128.8,7.0,376,8552,0.15,2.33,20.10,0.617,4,0.048,0.044,3181,604,1772
$GC,8592,1.06,239.4,122.4,10.2,381,8599,0.15,2.20,0.00,0.000,6,0.109,0.025,3153,2002,1770
$GC,8789,1.08,257.0,107.2,7.3,400,8813,0.00,2.33,15.70,0.582,4,0.000,0.042,3153,3395,1700
$GC,8830,1.08,261.9,104.1,8.2,403,8841,0.00,2.20,5.78,0.478,6,0.000,0.028,3153,1992,1680
$GC,9033,1.14,273.8,87.9,7.7,422,9050,0.00,2.28,11.52,0.544,4,0.000,0.043,3152,610,1631
$GC,9074,1.19,274.0,84.5,8.5,425,9081,0.12,2.17,0.00,0.000,6,0.056,0.021,3197,2004,1631
$GC,9273,1.16,274.0,65.1,10.8,444,9278,0.12,2.25,0.00,0.000,4,0.105,0.045,3172,3393,1629
$GC,9294,1.16,274.0,62.7,10.0,445,9303,0.00,2.20,0.00,0.000,6,0.000,0.025,3172,2002,1628
$GC,9494,1.16,274.0,44.1,9.9,464,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2002,1628
$GC,9688,1.16,274.0,24.4,11.1,486,9696,0.00,2.28,0.00,0.000,4,0.000,0.037,3172,3389,1627
$GC,9717,1.16,274.0,21.4,10.7,490,9725,0.00,2.17,0.00,0.000,6,0.000,0.021,3172,2006,1627
$STATE,9902,end climb,SURFACE_DEPTH_REACHED
$STATE,9902,begin surface coast
$FINISH,0.7,1.019248
$STATE,9933,end surface coast,CONTROL_FINISHED_OK
$STATE,9933,begin surface
$SM_CCo,9952,89.47,0.503,0,0,954,440.07
$SM_GC,1.44,0.00,0.00,89.47,0.000,0.000,0.503,410,2001,954,-11.55,-1.39,440.07
$IRIDIUM_FIX,2239.35,-15747.62,011297,080809
$TT8_MAMPS,0.027612
$HUMID,1684
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,24.00
$XPDR_PINGS,134
$24V_AH,23.8,33.118
$10V_AH,10.1,30.057
$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,27.775,112.575,345.550,89.475,0.000,25.544,26.234,198.654,33.500,0.000,0.000,15.020,1031.070,6562.156,529.466,1765.626,509.942,33.358,1260.714,0.000,1838.301,0.000,0.469
$DEVICE_MAMPS,161.837,57.525,915.031,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.072,337.334,635.808,465.833,951.126,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41495,527
$CAP_FILE_SIZE,218688,0
$CFSIZE,260165632,245157888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060908,133859,2248.689,-15748.434,12,99.0,31,10.1