version: 66.03
glider: 148
mission: 6
dive: 466
start: 10 8 108 14 7 4
data:
$ID,148
$MISSION,6
$DIVE,466
$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,-16084.147
$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,41
$R_STBD_OVSHOOT,69
$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
$GPS1,135623,2248.618,-15748.941,10,2.9,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-61.0
$GPS2,140608,2248.616,-15748.959,37,1.0,37,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.167,-0.102
$KALMAN_X,-424263.2,158.6,195.5,437579.1,-2072.1
$KALMAN_Y,-256753.4,-423.9,241.3,257898.0,90.5
$MHEAD_RNG_PITCHd_Wd,111.3,1143,-19.9,-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,-1.35,-88.0,0.0,0.0,0,89,0.00,0.00,-63.83,0.000,2,0.000,0.000,412,2086,2601
$GC,96,-1.41,-136.3,3.4,-4.0,11,134,11.73,2.35,-16.75,0.000,4,0.163,0.051,2606,650,3307
$GC,142,-0.93,-136.3,9.5,-11.1,18,149,0.50,2.15,0.00,0.000,6,0.087,0.018,2714,2041,3307
$GC,356,-1.20,-136.3,25.6,-7.0,55,363,0.20,2.22,0.00,0.000,4,0.036,0.029,2630,3441,3308
$GC,388,-1.36,-136.3,28.9,-9.5,60,395,0.00,2.17,0.00,0.000,6,0.000,0.020,2629,2045,3308
$GC,594,-1.40,-136.3,55.1,-12.7,80,598,0.00,2.20,0.00,0.000,4,0.000,0.030,2629,652,3308
$GC,623,-1.48,-136.3,58.7,-12.7,82,628,0.15,2.15,0.00,0.000,6,0.044,0.018,2570,2049,3308
$GC,821,-1.48,-136.3,89.0,-14.5,100,825,0.12,2.22,0.00,0.000,4,0.104,0.030,2594,653,3308
$GC,869,-1.58,-136.3,94.6,-11.9,104,873,0.00,2.15,0.00,0.000,6,0.000,0.026,2594,2050,3309
$GC,1067,-1.66,-136.3,116.5,-10.1,122,1069,0.15,0.00,0.00,0.000,6,0.045,0.000,2536,2051,3309
$GC,1258,-1.62,-136.3,138.5,-12.3,140,1263,0.15,2.22,0.00,0.000,4,0.101,0.029,2571,651,3309
$GC,1280,-1.62,-136.3,141.3,-11.6,141,1286,0.00,2.15,0.00,0.000,6,0.000,0.018,2571,2052,3310
$GC,1478,-1.69,-136.3,162.6,-10.9,160,1482,0.00,2.22,0.00,0.000,4,0.000,0.031,2570,653,3310
$GC,1526,-1.78,-136.3,167.7,-11.2,163,1533,0.17,2.15,0.00,0.000,6,0.040,0.018,2505,2057,3310
$GC,1848,-1.71,-136.3,211.2,-13.8,188,1852,0.15,2.25,0.00,0.000,4,0.102,0.030,2541,647,3310
$GC,1920,-1.78,-136.3,220.2,-10.7,189,1924,0.00,2.15,0.00,0.000,6,0.000,0.018,2541,2052,3310
$GC,2258,-1.84,-136.3,256.0,-10.5,198,2262,0.00,2.22,0.00,0.000,4,0.000,0.038,2541,654,3310
$GC,2321,-1.94,-136.3,262.9,-10.3,199,2325,0.20,2.15,0.00,0.000,6,0.039,0.020,2470,2047,3310
$GC,2672,-1.86,-136.3,307.3,-12.8,208,2676,0.17,2.25,0.00,0.000,4,0.103,0.035,2509,654,3310
$GC,2777,-1.86,-136.3,320.8,-12.0,210,2782,0.00,2.17,0.00,0.000,6,0.000,0.021,2509,2050,3310
$GC,3121,-1.86,-136.3,363.7,-12.7,219,3125,0.00,2.28,0.00,0.000,4,0.000,0.044,2509,655,3309
$GC,3206,-1.86,-136.3,374.3,-12.8,221,3210,0.00,2.20,0.00,0.000,6,0.000,0.029,2509,2056,3308
$GC,3530,-1.86,-136.3,412.2,-11.6,229,3534,0.00,2.30,0.00,0.000,4,0.000,0.043,2509,657,3306
$GC,3598,-1.90,-136.3,420.2,-11.4,230,3602,0.00,2.20,0.00,0.000,6,0.000,0.028,2509,2048,3306
$GC,3940,-1.90,-136.3,456.5,-10.5,239,3944,0.00,2.28,0.00,0.000,4,0.000,0.053,2509,662,3303
$GC,4031,-1.94,-136.3,465.4,-10.4,241,4035,0.00,2.22,0.00,0.000,6,0.000,0.031,2509,2053,3302
$GC,4356,-1.97,-136.3,496.0,-9.1,249,4360,0.00,2.30,0.00,0.000,4,0.000,0.052,2509,665,3300
$GC,4488,-2.02,-136.3,508.8,-9.8,251,4494,0.12,2.22,0.00,0.000,6,0.058,0.033,2468,2050,3299
$STATE,4532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4532,begin apogee
$GC,4539,-0.31,0.0,514.1,10.3,253,4656,1.75,0.00,109.93,0.937,6,0.096,0.000,2848,2049,2749
$STATE,4657,end apogee,CONTROL_FINISHED_OK
$STATE,4657,begin climb
$GC,4660,1.41,136.3,516.5,0.0,256,4780,1.58,2.47,113.28,0.909,4,0.028,0.051,3245,616,2192
$GC,4798,0.94,136.3,505.3,17.4,259,4804,0.60,2.28,0.00,0.000,6,0.116,0.032,3126,2006,2189
$GC,5138,0.73,136.3,461.5,12.3,268,5143,0.20,2.35,0.00,0.000,4,0.116,0.051,3083,611,2181
$GC,5284,0.57,136.3,444.1,11.3,271,5289,0.17,2.25,0.00,0.000,6,0.112,0.029,3047,2005,2180
$GC,5632,0.54,136.3,410.8,10.1,280,5636,0.00,2.35,0.00,0.000,4,0.000,0.059,3048,3403,2177
$GC,5660,0.49,136.3,407.8,10.9,280,5664,0.00,2.25,0.00,0.000,6,0.000,0.025,3047,2003,2176
$GC,5992,0.44,136.3,375.7,9.5,288,5997,0.15,2.33,0.00,0.000,4,0.110,0.045,3017,3406,2174
$GC,6032,0.48,137.6,372.2,8.4,289,6036,0.00,2.28,0.00,0.000,6,0.000,0.033,3017,1994,2173
$GC,6360,0.53,154.8,346.8,7.4,297,6379,0.00,2.40,13.62,0.797,4,0.000,0.055,3017,608,2117
$GC,6471,0.55,165.4,337.5,7.8,299,6487,0.10,2.25,10.55,0.760,6,0.062,0.030,3054,2017,2074
$GC,6812,0.55,165.4,307.5,8.9,307,6816,0.00,2.38,0.00,0.000,4,0.000,0.051,3055,597,2069
$GC,6863,0.50,165.4,302.7,9.7,308,6868,0.12,2.25,0.00,0.000,6,0.110,0.024,3031,2013,2068
$GC,7179,0.56,182.4,278.7,7.4,316,7199,0.00,2.35,15.00,0.761,4,0.000,0.055,3030,3392,2004
$GC,7273,0.66,221.0,272.6,6.0,318,7313,0.15,2.25,34.25,0.778,6,0.048,0.030,3080,1991,1848
$GC,7633,0.66,221.0,239.0,10.1,327,7638,0.00,2.33,0.00,0.000,4,0.000,0.048,3079,595,1841
$GC,7650,0.62,221.0,237.1,10.1,327,7655,0.12,2.25,0.00,0.000,6,0.106,0.023,3055,2010,1841
$GC,7996,0.66,221.0,205.3,9.1,336,8000,0.00,2.30,0.00,0.000,4,0.000,0.047,3055,3391,1838
$GC,8064,0.72,224.2,199.2,8.3,337,8068,0.00,2.22,0.00,0.000,6,0.000,0.025,3055,1992,1835
$GC,8390,0.76,224.2,171.9,8.7,367,8394,0.12,2.28,0.00,0.000,4,0.053,0.045,3105,595,1835
$GC,8406,0.76,224.2,170.2,9.0,368,8412,0.00,2.22,0.00,0.000,6,0.000,0.028,3106,2009,1835
$GC,8732,0.71,224.2,135.7,10.9,399,8737,0.15,2.30,0.00,0.000,4,0.104,0.041,3075,597,1835
$GC,8794,0.71,224.2,129.3,9.8,404,8798,0.00,2.22,0.00,0.000,6,0.000,0.023,3075,2009,1835
$GC,8992,0.71,224.2,110.1,9.6,422,8996,0.00,2.25,0.00,0.000,4,0.000,0.039,3075,3401,1835
$GC,9015,0.74,224.2,107.8,9.8,424,9020,0.00,2.20,0.00,0.000,6,0.000,0.022,3075,1995,1834
$GC,9221,0.79,224.2,90.4,8.6,443,9225,0.00,2.25,0.00,0.000,4,0.000,0.038,3075,596,1834
$GC,9251,0.83,224.2,87.7,9.4,445,9256,0.12,2.20,0.00,0.000,6,0.054,0.020,3127,2003,1834
$GC,9449,0.79,224.2,70.1,8.6,463,9451,0.17,0.00,0.00,0.000,6,0.104,0.000,3092,2004,1834
$GC,9640,0.89,264.7,57.8,5.9,481,9687,0.10,2.33,35.00,0.578,4,0.060,0.044,3137,3392,1668
$GC,9701,0.86,264.7,52.4,10.1,486,9706,0.15,2.22,0.00,0.000,6,0.104,0.025,3108,1991,1666
$GC,9899,0.88,275.9,35.6,7.8,504,9915,0.00,2.28,10.77,0.510,4,0.000,0.035,3108,3395,1622
$GC,9944,0.95,295.3,32.7,7.2,507,9967,0.00,2.22,17.35,0.528,6,0.000,0.023,3108,1992,1544
$GC,10170,0.95,295.3,12.4,8.8,543,10177,0.00,2.22,0.00,0.000,4,0.000,0.035,3108,601,1541
$GC,10189,0.95,295.3,10.3,10.1,546,10196,0.00,2.17,0.00,0.000,6,0.000,0.025,3108,2006,1541
$STATE,10257,end climb,SURFACE_DEPTH_REACHED
$STATE,10257,begin surface coast
$FINISH,0.9,1.010998
$STATE,10287,end surface coast,CONTROL_FINISHED_OK
$STATE,10287,begin surface
$SM_CCo,10309,84.82,0.518,0,0,954,440.07
$SM_GC,1.69,0.00,0.00,84.82,0.000,0.000,0.518,411,2010,954,-11.54,-1.16,440.07
$IRIDIUM_FIX,2239.35,-15746.73,020198,141420
$TT8_MAMPS,0.026845
$HUMID,1843
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.50
$XPDR_PINGS,150
$24V_AH,23.6,59.172
$10V_AH,10.1,56.074
$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,30.475,130.475,359.750,84.825,0.000,53.679,57.939,247.892,37.500,0.000,0.000,38.549,1128.148,6974.390,551.152,1480.418,843.077,33.368,1310.334,0.000,1587.127,0.000,0.469
$DEVICE_MAMPS,162.604,59.059,936.507,517.725,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,427.680,365.658,732.687,589.029,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41300,563
$CAP_FILE_SIZE,243597,0
$CFSIZE,260165632,226918400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081008,170108,2248.128,-15748.187,7,1.8,7,10.1