version: 66.03
glider: 148
mission: 6
dive: 471
start: 10 9 108 4 56 33
data:
$ID,148
$MISSION,6
$DIVE,471
$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,-16194.372
$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,40
$R_STBD_OVSHOOT,60
$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
$GPS1,044932,2248.729,-15747.892,41,1.4,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-62.9
$GPS2,045539,2248.715,-15747.925,14,1.1,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT3
$TGT_LATLONG,2251.000,-15748.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.107,0.213
$KALMAN_X,-428031.3,176.7,2.0,443286.4,-1362.7
$KALMAN_Y,-253793.9,496.6,-129.7,254588.0,119.3
$MHEAD_RNG_PITCHd_Wd,16.6,4233,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.14,-136.0,0.0,0.0,0,91,0.00,0.00,-63.62,0.000,2,0.000,0.000,406,2084,2594
$GC,97,-1.14,-136.3,3.4,-4.3,11,136,11.98,2.17,-16.77,0.000,4,0.159,0.043,2664,3429,3305
$GC,178,-1.20,-136.3,12.8,-10.4,24,184,0.00,2.15,0.00,0.000,6,0.000,0.018,2664,2044,3306
$GC,392,-1.20,-136.3,36.2,-10.9,57,395,0.00,2.20,0.00,0.000,4,0.000,0.031,2664,653,3306
$GC,436,-1.28,-136.3,40.6,-10.8,60,440,0.10,2.12,0.00,0.000,6,0.058,0.017,2619,2044,3306
$GC,634,-1.21,-136.3,65.6,-11.0,78,639,0.17,2.20,0.00,0.000,4,0.095,0.026,2658,3442,3306
$GC,652,-1.21,-136.3,67.5,-10.8,79,656,0.00,2.15,0.00,0.000,6,0.000,0.018,2659,2045,3306
$GC,850,-1.28,-136.3,84.7,-9.9,97,854,0.00,2.20,0.00,0.000,4,0.000,0.031,2658,651,3307
$GC,936,-1.43,-136.3,92.5,-9.0,104,941,0.20,2.15,0.00,0.000,6,0.036,0.017,2572,2058,3307
$GC,1135,-1.32,-136.3,117.9,-13.2,122,1140,0.25,2.17,0.00,0.000,4,0.091,0.027,2628,3443,3308
$GC,1163,-1.32,-136.3,121.3,-11.1,124,1167,0.00,2.15,0.00,0.000,6,0.000,0.018,2628,2051,3309
$GC,1361,-1.32,-136.3,141.4,-10.3,142,1365,0.00,2.20,0.00,0.000,4,0.000,0.031,2628,657,3308
$GC,1417,-1.42,-136.3,146.5,-8.2,146,1424,0.00,2.15,0.00,0.000,6,0.000,0.025,2628,2050,3309
$GC,1616,-1.48,-136.3,160.7,-7.2,165,1617,0.15,0.00,0.00,0.000,6,0.045,0.000,2563,2050,3309
$GC,1933,-1.41,-136.3,193.4,-10.3,195,1938,0.20,2.22,0.00,0.000,4,0.091,0.031,2609,655,3309
$GC,2007,-1.50,-136.3,199.4,-7.5,201,2011,0.00,2.15,0.00,0.000,6,0.000,0.018,2609,2055,3309
$GC,2352,-1.56,-136.3,226.1,-8.1,210,2353,0.12,0.00,0.00,0.000,6,0.051,0.000,2557,2056,3310
$GC,2675,-1.50,-136.3,257.9,-9.4,218,2679,0.17,2.25,0.00,0.000,4,0.095,0.038,2594,651,3309
$GC,2703,-1.54,-136.3,260.3,-8.5,218,2707,0.00,2.15,0.00,0.000,6,0.000,0.024,2594,2046,3309
$GC,3036,-1.58,-136.3,286.7,-8.3,226,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2046,3309
$GC,3360,-1.64,-136.3,311.6,-7.1,234,3364,0.15,2.22,0.00,0.000,4,0.045,0.044,2538,663,3308
$GC,3410,-1.59,-136.3,316.4,-10.4,235,3414,0.17,2.15,0.00,0.000,6,0.100,0.022,2573,2055,3308
$GC,3737,-1.59,-136.3,339.5,-6.8,243,3741,0.00,2.28,0.00,0.000,4,0.000,0.046,2573,657,3307
$GC,3771,-1.62,-136.3,342.1,-7.1,243,3777,0.00,2.17,0.00,0.000,6,0.000,0.025,2573,2055,3307
$GC,4103,-1.62,-136.3,365.3,-7.3,252,4107,0.00,2.28,0.00,0.000,4,0.000,0.041,2573,660,3305
$GC,4198,-1.68,-136.3,373.7,-8.7,254,4202,0.00,2.15,0.00,0.000,6,0.000,0.031,2573,2049,3304
$GC,4520,-1.71,-136.3,397.6,-7.2,262,4522,0.12,0.00,0.00,0.000,6,0.051,0.000,2523,2049,3302
$GC,4842,-1.63,-136.3,429.1,-10.0,270,4846,0.15,2.28,0.00,0.000,4,0.104,0.048,2557,666,3300
$GC,4864,-1.60,-136.3,431.1,-8.5,270,4868,0.00,2.17,0.00,0.000,6,0.000,0.027,2558,2045,3300
$GC,5207,-1.60,-136.3,459.0,-8.2,279,5211,0.00,2.28,0.00,0.000,4,0.000,0.045,2558,668,3297
$GC,5285,-1.60,-136.3,465.9,-8.5,280,5291,0.00,2.20,0.00,0.000,6,0.000,0.031,2558,2050,3297
$GC,5617,-1.60,-136.3,490.7,-7.3,289,5621,0.00,2.30,0.00,0.000,4,0.000,0.050,2558,661,3295
$GC,5690,-1.60,-136.3,496.5,-7.9,290,5694,0.00,2.22,0.00,0.000,6,0.000,0.029,2558,2052,3294
$STATE,5896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5896,begin apogee
$GC,5903,-0.31,0.0,511.5,7.1,295,6019,1.35,0.00,109.28,0.954,6,0.092,0.000,2853,2052,2748
$STATE,6020,end apogee,CONTROL_FINISHED_OK
$STATE,6020,begin climb
$GC,6023,1.14,136.3,513.9,0.0,298,6141,1.33,0.00,113.88,0.923,6,0.028,0.000,3189,2053,2193
$GC,6467,0.69,136.3,459.2,15.1,309,6472,0.55,2.45,0.00,0.000,4,0.110,0.050,3073,613,2182
$GC,6571,0.43,136.3,446.7,10.8,311,6576,0.28,2.25,0.00,0.000,6,0.103,0.031,3017,2004,2181
$GC,6920,0.35,153.0,418.4,7.8,320,6935,0.00,0.00,13.55,0.828,6,0.000,0.000,3017,2004,2125
$GC,7245,0.30,186.3,395.2,7.1,328,7280,0.15,2.42,29.45,0.860,4,0.100,0.060,2981,3400,1989
$GC,7337,0.34,220.6,388.9,7.1,329,7373,0.00,2.25,30.73,0.848,6,0.000,0.026,2981,2005,1848
$GC,7692,0.37,246.3,363.1,7.4,338,7721,0.00,2.42,21.85,0.823,4,0.000,0.045,2981,3401,1744
$GC,7751,0.43,259.9,358.5,7.9,339,7771,0.15,2.28,13.02,0.777,6,0.047,0.034,3031,1998,1688
$GC,8106,0.35,259.9,323.2,10.3,348,8110,0.15,2.33,0.00,0.000,4,0.096,0.048,2996,603,1682
$GC,8133,0.35,259.9,320.1,9.6,348,8137,0.00,2.25,0.00,0.000,6,0.000,0.024,2996,2010,1682
$GC,8470,0.35,259.9,288.3,9.8,357,8474,0.00,2.30,0.00,0.000,4,0.000,0.054,2996,3395,1679
$GC,8515,0.40,259.9,283.9,9.9,358,8519,0.00,2.25,0.00,0.000,6,0.000,0.027,2996,1994,1678
$GC,8834,0.40,262.1,256.2,8.4,366,8838,0.00,2.30,0.00,0.000,4,0.000,0.053,2996,594,1677
$GC,8851,0.42,275.6,254.9,7.9,366,8870,0.00,2.22,13.82,0.736,6,0.000,0.028,2996,2005,1624
$GC,9203,0.48,289.9,226.9,7.9,375,9223,0.12,2.38,13.43,0.708,4,0.052,0.053,3045,3386,1567
$GC,9274,0.48,289.9,220.0,10.6,376,9278,0.00,2.22,0.00,0.000,6,0.000,0.030,3045,1993,1562
$GC,9594,0.43,289.9,189.7,9.2,391,9598,0.15,2.33,0.00,0.000,4,0.096,0.039,3014,3399,1561
$GC,9623,0.44,291.7,187.0,8.4,393,9627,0.00,2.22,0.00,0.000,6,0.000,0.031,3015,1997,1560
$GC,9949,0.50,314.5,163.8,7.5,423,9972,0.00,0.00,21.52,0.670,6,0.000,0.000,3014,1997,1466
$GC,10290,0.55,317.0,135.0,8.4,455,10295,0.10,2.28,0.00,0.000,4,0.058,0.041,3059,3395,1463
$GC,10346,0.55,317.0,129.3,9.9,459,10352,0.00,2.20,0.00,0.000,6,0.000,0.024,3059,1999,1459
$GC,10545,0.52,326.0,112.1,8.1,478,10562,0.12,0.00,10.75,0.582,6,0.099,0.000,3034,1999,1420
$GC,10755,0.58,353.3,97.8,7.3,498,10788,0.00,2.33,25.35,0.605,4,0.000,0.040,3034,3389,1307
$GC,10828,0.68,353.3,92.0,8.6,504,10835,0.15,2.20,0.00,0.000,6,0.043,0.030,3093,1995,1303
$GC,11026,0.60,353.3,70.4,11.3,523,11028,0.20,0.00,0.00,0.000,6,0.093,0.000,3051,1995,1303
$GC,11217,0.67,365.4,53.8,8.0,541,11233,0.00,2.30,11.35,0.529,4,0.000,0.034,3051,3403,1258
$GC,11293,0.76,365.4,47.5,9.1,547,11298,0.15,2.20,0.00,0.000,6,0.044,0.022,3110,1999,1254
$GC,11494,0.68,365.4,26.3,11.2,567,11500,0.17,0.00,0.00,0.000,6,0.091,0.000,3069,1999,1254
$GC,11707,0.68,371.5,6.7,8.2,604,11720,0.00,2.28,6.45,0.434,4,0.000,0.038,3069,3399,1233
$GC,11739,0.68,371.5,3.5,9.9,609,11745,0.00,2.20,0.00,0.000,6,0.000,0.028,3069,1989,1232
$STATE,11749,end climb,SURFACE_DEPTH_REACHED
$STATE,11750,begin surface coast
$FINISH,1.0,1.011474
$STATE,11786,end surface coast,CONTROL_FINISHED_OK
$STATE,11786,begin surface
$SM_CCo,11808,52.35,0.518,0,0,954,440.07
$SM_GC,1.86,0.00,0.00,52.35,0.000,0.000,0.518,406,2146,954,-11.56,2.71,440.07
$IRIDIUM_FIX,2239.35,-15746.73,030198,010121
$TT8_MAMPS,0.027612
$HUMID,1862
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.30
$XPDR_PINGS,106
$24V_AH,23.6,59.699
$10V_AH,10.1,56.452
$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,29.850,116.425,434.425,52.350,0.000,27.893,26.522,169.428,26.500,0.000,0.000,16.367,1192.779,8279.055,587.299,1451.597,708.789,33.374,1347.963,0.000,1600.285,0.000,0.469
$DEVICE_MAMPS,158.769,71.331,954.148,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,465.154,396.385,805.974,600.788,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44630,617
$CAP_FILE_SIZE,253762,0
$CFSIZE,260165632,226553856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091008,081532,2249.943,-15748.258,36,1.8,36,10.1