version: 66.03
glider: 148
mission: 6
dive: 439
start: 10 5 108 8 10 15
data:
$ID,148
$MISSION,6
$DIVE,439
$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,-15478.626
$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,36
$R_STBD_OVSHOOT,63
$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
$GPS1,080356,2248.019,-15748.019,37,1.3,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-61.3
$GPS2,080921,2248.041,-15748.074,10,1.8,10,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.105,-0.103
$KALMAN_X,-395537.8,400.5,49.9,410259.2,-2683.6
$KALMAN_Y,-264423.3,-493.8,-38.9,264857.7,1023.8
$MHEAD_RNG_PITCHd_Wd,124.5,1582,-27.0,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.75,-49.4,0.0,0.0,0,89,0.00,0.00,-63.80,0.000,2,0.000,0.000,415,2083,2604
$GC,95,-1.79,-81.2,3.5,-4.8,11,128,11.18,2.35,-11.60,0.000,4,0.160,0.050,2525,653,3084
$GC,161,-1.88,-81.2,13.3,-15.2,21,167,0.00,2.15,0.00,0.000,6,0.000,0.018,2525,2051,3084
$GC,371,-1.93,-81.2,51.3,-17.2,48,376,0.12,2.25,0.00,0.000,4,0.059,0.026,2487,630,3084
$GC,393,-1.93,-81.2,55.7,-18.6,49,399,0.00,2.17,0.00,0.000,6,0.000,0.016,2487,2057,3085
$GC,591,-1.93,-81.2,91.4,-17.9,68,595,0.00,2.28,0.00,0.000,4,0.000,0.031,2487,633,3085
$GC,724,-1.99,-81.2,113.2,-15.1,79,731,0.00,2.17,0.00,0.000,6,0.000,0.018,2487,2046,3086
$GC,922,-2.08,-81.2,139.6,-12.4,98,926,0.00,2.25,0.00,0.000,4,0.000,0.031,2487,634,3086
$GC,1012,-2.17,-81.2,150.8,-12.5,105,1019,0.17,2.17,0.00,0.000,6,0.049,0.017,2432,2057,3087
$GC,1338,-2.17,-81.2,196.7,-13.0,136,1342,0.00,2.25,0.00,0.000,4,0.000,0.031,2432,643,3087
$GC,1472,-2.17,-81.2,215.5,-14.0,141,1476,0.00,2.15,0.00,0.000,6,0.000,0.017,2432,2052,3088
$GC,1791,-2.22,-81.2,256.1,-12.6,149,1795,0.00,2.25,0.00,0.000,4,0.000,0.030,2432,635,3088
$GC,1877,-2.26,-81.2,268.0,-13.9,151,1881,0.00,2.17,0.00,0.000,6,0.000,0.017,2433,2059,3088
$GC,2202,-2.33,-81.2,308.6,-11.5,159,2206,0.00,2.28,0.00,0.000,4,0.000,0.042,2432,645,3088
$GC,2344,-2.38,-81.2,325.3,-10.5,162,2349,0.12,2.15,0.00,0.000,6,0.057,0.028,2393,2044,3088
$GC,2662,-2.38,-81.2,365.0,-12.9,170,2666,0.00,2.28,0.00,0.000,4,0.000,0.047,2393,643,3088
$GC,2920,-2.38,-81.2,399.4,-13.9,175,2924,0.00,2.20,0.00,0.000,6,0.000,0.025,2392,2049,3086
$GC,3252,-2.38,-81.2,439.1,-12.7,183,3256,0.00,2.30,0.00,0.000,4,0.000,0.045,2392,652,3085
$GC,3262,-2.38,-81.2,440.4,-12.7,183,3266,0.00,2.20,0.00,0.000,6,0.000,0.032,2392,2047,3085
$GC,3610,-2.38,-81.2,485.5,-12.6,192,3614,0.00,2.28,0.00,0.000,4,0.000,0.049,2393,3450,3082
$GC,3677,-2.38,-81.2,493.5,-11.3,193,3681,0.00,2.22,0.00,0.000,6,0.000,0.035,2393,2050,3081
$STATE,3854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3854,begin apogee
$GC,3861,-0.31,0.0,513.4,11.1,198,3937,2.15,0.00,67.65,0.926,6,0.108,0.000,2849,1973,2748
$STATE,3937,end apogee,CONTROL_FINISHED_OK
$STATE,3937,begin climb
$GC,3940,1.79,81.2,513.8,0.0,200,4016,1.88,2.47,67.10,0.900,4,0.027,0.049,3325,3390,2416
$GC,4083,1.39,81.2,498.1,16.6,203,4088,0.50,2.22,0.00,0.000,6,0.129,0.029,3227,2030,2413
$GC,4434,1.16,81.2,452.7,12.0,212,4439,0.25,2.45,0.00,0.000,4,0.127,0.064,3175,597,2408
$GC,4687,0.97,81.2,424.7,10.7,217,4692,0.22,2.25,0.00,0.000,6,0.128,0.026,3133,1994,2406
$GC,5019,0.93,84.8,396.7,8.1,225,5023,0.00,2.33,0.00,0.000,4,0.000,0.049,3132,594,2404
$GC,5200,0.85,98.3,383.2,6.9,229,5220,0.15,2.25,13.35,0.805,6,0.130,0.030,3105,2004,2347
$GC,5528,0.87,112.2,362.1,6.9,237,5547,0.00,2.42,12.65,0.789,4,0.000,0.049,3104,595,2291
$GC,5582,0.87,112.2,357.3,9.5,238,5586,0.00,2.25,0.00,0.000,6,0.000,0.029,3104,2000,2289
$GC,5897,0.91,112.3,329.0,8.5,246,5901,0.00,2.35,0.00,0.000,4,0.000,0.048,3104,590,2287
$GC,6072,0.91,112.3,312.7,9.8,249,6077,0.00,2.25,0.00,0.000,6,0.000,0.028,3104,2005,2286
$GC,6403,0.96,112.3,283.8,8.6,258,6408,0.10,2.35,0.00,0.000,4,0.068,0.043,3136,589,2285
$GC,6536,0.90,112.3,270.9,9.6,261,6540,0.00,2.25,0.00,0.000,6,0.000,0.028,3135,2007,2284
$GC,6860,0.90,114.5,243.8,8.2,269,6864,0.00,2.30,0.00,0.000,4,0.000,0.054,3136,3395,2283
$GC,6955,0.91,123.7,236.9,7.4,271,6970,0.00,2.22,9.65,0.690,6,0.000,0.026,3136,1991,2244
$GC,7314,0.92,131.9,211.4,7.6,280,7328,0.00,2.35,8.15,0.640,4,0.000,0.050,3136,603,2210
$GC,7336,0.93,137.0,209.6,7.9,280,7347,0.00,2.22,6.10,0.588,6,0.000,0.023,3135,2007,2189
$GC,7667,0.99,158.7,184.9,6.0,302,7692,0.00,2.38,19.67,0.689,4,0.000,0.044,3135,606,2102
$GC,7714,1.00,167.4,181.8,7.5,306,7728,0.00,2.22,8.85,0.617,6,0.000,0.022,3136,2000,2066
$GC,8055,1.07,167.4,151.1,9.5,338,8059,0.00,2.30,0.00,0.000,4,0.000,0.043,3136,587,2061
$GC,8078,1.10,167.4,148.8,9.3,340,8083,0.10,2.25,0.00,0.000,6,0.063,0.028,3169,2008,2061
$GC,8276,1.10,167.4,129.1,11.2,358,8280,0.00,2.30,0.00,0.000,4,0.000,0.038,3169,596,2060
$GC,8317,1.10,167.4,124.1,12.5,361,8321,0.00,2.22,0.00,0.000,6,0.000,0.021,3169,2005,2060
$GC,8516,1.10,167.4,103.5,9.3,379,8520,0.00,2.30,0.00,0.000,4,0.000,0.038,3169,589,2059
$GC,8546,1.10,167.4,101.0,8.9,381,8550,0.00,2.22,0.00,0.000,6,0.000,0.027,3169,2008,2059
$GC,8744,1.12,180.7,87.4,7.0,399,8765,0.00,2.38,11.75,0.571,4,0.000,0.036,3169,596,2011
$GC,8828,1.12,180.7,80.2,8.8,406,8834,0.00,2.20,0.00,0.000,6,0.000,0.027,3169,2003,2011
$GC,9026,1.19,180.7,61.9,9.0,425,9030,0.00,2.30,0.00,0.000,4,0.000,0.038,3169,586,2010
$GC,9149,1.19,180.7,50.9,9.1,435,9155,0.00,2.20,0.00,0.000,6,0.000,0.027,3169,2001,2009
$GC,9347,1.26,191.6,36.0,7.2,454,9360,0.10,0.00,10.43,0.515,6,0.063,0.000,3203,2001,1967
$GC,9556,1.26,191.6,14.8,11.0,485,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2001,1966
$STATE,9665,end climb,SURFACE_DEPTH_REACHED
$STATE,9665,begin surface coast
$FINISH,1.0,1.023492
$STATE,9695,end surface coast,CONTROL_FINISHED_OK
$STATE,9695,begin surface
$SM_CCo,9717,132.60,0.520,0,0,955,440.07
$SM_GC,1.83,0.00,0.00,132.60,0.000,0.000,0.520,408,2005,955,-11.56,-1.27,440.07
$IRIDIUM_FIX,2239.35,-15747.62,301297,050524
$TT8_MAMPS,0.026845
$HUMID,1811
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.50
$XPDR_PINGS,106
$24V_AH,23.7,56.610
$10V_AH,10.1,54.078
$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,28.375,108.800,235.350,132.600,0.000,29.572,30.829,140.177,26.500,0.000,0.000,11.497,1048.362,6570.214,470.869,1485.889,598.697,33.368,1223.274,0.000,1592.028,0.000,0.469
$DEVICE_MAMPS,159.536,113.516,925.769,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.512,312.646,656.341,511.039,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38248,509
$CAP_FILE_SIZE,214394,0
$CFSIZE,260165632,228831232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051008,105535,2247.778,-15747.759,7,99.0,26,10.1