version: 66.03
glider: 148
mission: 6
dive: 465
start: 10 8 108 11 9 57
data:
$ID,148
$MISSION,6
$DIVE,465
$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,-16044.969
$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,43
$R_STBD_OVSHOOT,41
$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
$GPS1,110335,2247.627,-15749.258,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-61.9
$GPS2,110902,2247.658,-15749.279,11,1.1,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.154,0.095
$KALMAN_X,-422759.7,38.5,115.4,435732.5,-1376.0
$KALMAN_Y,-257926.7,78.6,252.6,256799.3,-520.5
$MHEAD_RNG_PITCHd_Wd,48.1,792,-21.7,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.45,-75.0,0.0,0.0,0,88,0.00,0.00,-63.03,0.000,2,0.000,0.000,406,2013,2573
$GC,94,-1.52,-130.8,3.4,-4.2,11,132,11.62,2.33,-16.90,0.000,4,0.161,0.048,2585,3446,3284
$GC,168,-1.57,-130.8,14.2,-15.1,23,175,0.00,2.20,0.00,0.000,6,0.000,0.018,2585,2045,3285
$GC,380,-1.57,-130.8,48.0,-15.9,51,384,0.00,2.20,0.00,0.000,4,0.000,0.029,2585,654,3285
$GC,448,-1.65,-130.8,58.8,-14.4,56,455,0.10,2.17,0.00,0.000,6,0.062,0.019,2548,2058,3285
$GC,648,-1.65,-130.8,88.4,-13.5,75,652,0.00,2.22,0.00,0.000,4,0.000,0.029,2548,657,3285
$GC,678,-1.65,-130.8,92.5,-13.6,77,682,0.00,2.15,0.00,0.000,6,0.000,0.018,2548,2053,3285
$GC,876,-1.68,-130.8,118.0,-12.4,95,880,0.00,2.22,0.00,0.000,4,0.000,0.029,2548,651,3286
$GC,899,-1.73,-130.8,120.7,-11.4,96,905,0.00,2.15,0.00,0.000,6,0.000,0.018,2548,2053,3286
$GC,1098,-1.77,-130.8,142.9,-11.5,115,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2055,3286
$GC,1288,-1.83,-130.8,164.8,-11.0,133,1293,0.12,2.22,0.00,0.000,4,0.054,0.029,2494,655,3287
$GC,1372,-1.83,-130.8,176.0,-13.2,140,1377,0.12,2.15,0.00,0.000,6,0.120,0.019,2518,2048,3287
$GC,1696,-1.83,-130.8,216.3,-12.9,162,1700,0.00,2.22,0.00,0.000,4,0.000,0.031,2518,651,3288
$GC,1753,-1.88,-130.8,223.5,-13.1,163,1757,0.00,2.15,0.00,0.000,6,0.000,0.018,2518,2052,3288
$GC,2104,-1.93,-130.8,261.1,-10.4,172,2108,0.00,2.22,0.00,0.000,4,0.000,0.033,2518,660,3288
$GC,2211,-2.00,-130.8,273.2,-10.2,174,2216,0.15,2.15,0.00,0.000,6,0.049,0.019,2467,2053,3288
$GC,2564,-1.95,-130.8,317.9,-13.8,183,2568,0.12,2.25,0.00,0.000,4,0.113,0.043,2491,662,3288
$GC,2641,-1.95,-130.8,329.4,-13.0,184,2647,0.00,2.15,0.00,0.000,6,0.000,0.021,2491,2045,3288
$GC,2973,-1.95,-130.8,369.9,-11.9,193,2977,0.00,2.25,0.00,0.000,4,0.000,0.038,2491,665,3286
$GC,3188,-2.00,-130.8,394.0,-11.4,197,3194,0.00,2.17,0.00,0.000,6,0.000,0.026,2491,2047,3285
$GC,3519,-2.00,-130.8,431.5,-11.6,206,3523,0.00,2.28,0.00,0.000,4,0.000,0.044,2491,668,3283
$GC,3712,-2.04,-130.8,455.5,-13.2,210,3717,0.00,2.20,0.00,0.000,6,0.000,0.036,2491,2044,3282
$GC,4063,-2.08,-130.8,498.7,-12.2,219,4068,0.12,2.30,0.00,0.000,4,0.059,0.048,2447,667,3279
$STATE,4138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4138,begin apogee
$GC,4148,-0.31,0.0,510.2,14.4,220,4259,1.85,0.00,106.18,0.930,6,0.106,0.000,2850,1998,2748
$STATE,4259,end apogee,CONTROL_FINISHED_OK
$STATE,4260,begin climb
$GC,4263,1.52,130.8,513.3,0.0,223,4379,1.62,2.45,108.18,0.903,4,0.031,0.064,3261,3401,2214
$GC,4387,1.07,130.8,504.6,17.2,225,4393,0.52,2.28,0.00,0.000,6,0.120,0.036,3158,2017,2211
$GC,4710,0.84,130.8,455.7,14.9,233,4715,0.25,2.45,0.00,0.000,4,0.118,0.063,3105,594,2205
$GC,4834,0.67,130.8,439.0,11.8,235,4841,0.20,2.28,0.00,0.000,6,0.114,0.028,3066,2007,2204
$GC,5165,0.62,130.8,406.0,9.1,244,5169,0.00,2.35,0.00,0.000,4,0.000,0.056,3066,3401,2201
$GC,5188,0.57,130.8,403.9,8.9,244,5192,0.00,2.28,0.00,0.000,6,0.000,0.026,3066,1988,2200
$GC,5534,0.53,133.3,374.2,8.3,253,5539,0.15,2.35,0.00,0.000,4,0.115,0.061,3036,602,2198
$GC,5619,0.54,141.8,367.1,7.9,255,5633,0.00,2.25,7.57,0.723,6,0.000,0.030,3036,2013,2170
$GC,5952,0.61,168.7,345.7,6.5,263,5979,0.00,0.00,24.27,0.819,6,0.000,0.000,3036,2013,2061
$GC,6273,0.66,168.7,316.8,9.8,271,6277,0.12,2.38,0.00,0.000,4,0.057,0.044,3078,597,2055
$GC,6340,0.60,168.7,308.3,13.0,272,6345,0.12,2.22,0.00,0.000,6,0.112,0.025,3053,2005,2054
$GC,6683,0.60,168.7,271.9,10.1,281,6687,0.00,2.30,0.00,0.000,4,0.000,0.048,3053,3398,2052
$GC,6802,0.66,180.0,262.6,7.6,283,6818,0.00,2.22,9.62,0.709,6,0.000,0.031,3053,1993,2015
$GC,7146,0.73,194.2,238.1,7.4,292,7165,0.10,2.38,13.45,0.718,4,0.064,0.050,3089,608,1956
$GC,7194,0.69,194.2,233.3,10.8,293,7198,0.00,2.22,0.00,0.000,6,0.000,0.021,3089,2005,1956
$GC,7513,0.69,194.2,202.2,9.4,301,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2006,1952
$GC,7830,0.69,199.2,176.5,8.1,328,7841,0.00,2.30,5.35,0.548,4,0.000,0.044,3089,3408,1935
$GC,7848,0.69,199.8,174.8,8.5,329,7855,0.00,2.25,0.00,0.000,6,0.000,0.028,3089,1993,1934
$GC,8174,0.69,199.8,142.3,10.8,360,8178,0.00,2.28,0.00,0.000,4,0.000,0.045,3089,592,1934
$GC,8207,0.69,199.8,138.3,12.5,362,8213,0.00,2.20,0.00,0.000,6,0.000,0.021,3089,2008,1934
$GC,8406,0.70,201.6,119.3,8.4,381,8410,0.00,2.22,0.00,0.000,4,0.000,0.036,3089,3392,1934
$GC,8460,0.76,208.6,114.9,8.0,385,8475,0.00,2.20,9.43,0.581,6,0.000,0.023,3089,1997,1897
$GC,8675,0.82,224.8,99.0,7.3,405,8697,0.00,2.28,15.45,0.595,4,0.000,0.043,3089,603,1830
$GC,8756,0.88,224.8,91.6,9.6,412,8760,0.00,2.20,0.00,0.000,6,0.000,0.028,3089,2001,1829
$GC,8955,0.94,224.8,72.8,9.7,430,8959,0.15,2.28,0.00,0.000,4,0.044,0.040,3151,601,1828
$GC,9009,0.89,224.8,66.6,13.5,434,9014,0.17,2.20,0.00,0.000,6,0.106,0.027,3117,2011,1828
$GC,9209,0.93,230.3,49.9,8.1,452,9217,0.00,0.00,5.45,0.451,6,0.000,0.000,3117,2011,1809
$GC,9409,0.98,243.0,34.2,7.5,471,9431,0.00,2.33,12.07,0.520,4,0.000,0.035,3116,594,1757
$GC,9451,0.99,249.8,31.1,8.0,474,9462,0.00,2.22,7.18,0.466,6,0.000,0.021,3116,1996,1729
$GC,9670,0.99,249.8,11.7,9.2,511,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1996,1727
$STATE,9754,end climb,SURFACE_DEPTH_REACHED
$STATE,9755,begin surface coast
$FINISH,1.0,1.023067
$STATE,9784,end surface coast,CONTROL_FINISHED_OK
$STATE,9784,begin surface
$SM_CCo,9807,105.93,0.519,0,0,954,440.07
$SM_GC,1.68,0.00,0.00,105.93,0.000,0.000,0.519,412,2085,954,-11.54,0.99,440.07
$IRIDIUM_FIX,2237.01,-15749.78,020198,080856
$TT8_MAMPS,0.027612
$HUMID,1837
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.60
$XPDR_PINGS,104
$24V_AH,23.6,59.052
$10V_AH,10.1,55.995
$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,28.650,107.975,324.200,105.925,0.000,29.039,30.935,139.977,26.000,0.000,0.000,12.971,1055.638,6619.545,527.559,1394.465,642.476,33.370,1251.135,0.000,1528.533,0.000,0.471
$DEVICE_MAMPS,161.070,107.380,930.371,519.259,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,399.060,347.406,707.523,559.599,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38334,531
$CAP_FILE_SIZE,222472,0
$CFSIZE,260165632,227016704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081008,135623,2248.618,-15748.941,10,2.9,29,10.1