version: 66.03
glider: 148
mission: 6
dive: 472
start: 10 9 108 8 22 54
data:
$ID,148
$MISSION,6
$DIVE,472
$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,-16213.558
$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,44
$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
$GPS1,081532,2249.943,-15748.258,36,1.8,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-60.5
$GPS2,082157,2249.959,-15748.335,13,1.2,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT3
$TGT_LATLONG,2251.000,-15748.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.165,0.130
$KALMAN_X,-429639.5,-55.7,-153.8,444588.4,-1414.6
$KALMAN_Y,-253474.7,74.0,-291.0,257151.4,360.7
$MHEAD_RNG_PITCHd_Wd,41.6,2011,-18.2,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.27,-103.2,0.0,0.0,0,89,0.00,0.00,-63.67,0.000,2,0.000,0.000,406,2146,2608
$GC,95,-1.31,-136.3,3.5,-4.0,11,134,11.90,2.12,-16.23,0.000,4,0.163,0.043,2629,3450,3307
$GC,175,-1.35,-136.3,14.1,-12.1,24,182,0.00,2.17,0.00,0.000,6,0.000,0.018,2629,2048,3308
$GC,383,-1.35,-136.3,42.0,-13.6,53,387,0.00,2.20,0.00,0.000,4,0.000,0.030,2629,654,3308
$GC,425,-1.42,-136.3,47.5,-12.5,56,429,0.00,2.15,0.00,0.000,6,0.000,0.018,2629,2059,3308
$GC,629,-1.50,-136.3,68.5,-9.0,75,631,0.15,0.00,0.00,0.000,6,0.046,0.000,2576,2059,3309
$GC,819,-1.45,-136.3,92.2,-12.0,93,824,0.12,2.25,0.00,0.000,4,0.104,0.030,2601,648,3309
$GC,868,-1.54,-136.3,97.0,-10.4,96,874,0.00,2.15,0.00,0.000,6,0.000,0.026,2601,2050,3309
$GC,1067,-1.57,-136.3,117.7,-11.2,115,1071,0.10,2.20,0.00,0.000,4,0.061,0.028,2560,3440,3309
$GC,1145,-1.57,-136.3,127.2,-11.3,121,1151,0.00,2.15,0.00,0.000,6,0.000,0.018,2559,2042,3310
$GC,1343,-1.53,-136.3,152.0,-13.1,140,1348,0.12,2.20,0.00,0.000,4,0.106,0.030,2585,649,3311
$GC,1373,-1.53,-136.3,155.6,-13.0,142,1376,0.00,2.15,0.00,0.000,6,0.000,0.018,2585,2049,3311
$GC,1699,-1.58,-136.3,187.9,-8.9,172,1703,0.00,2.22,0.00,0.000,4,0.000,0.031,2585,652,3311
$GC,1733,-1.65,-136.3,190.9,-8.4,174,1740,0.10,2.15,0.00,0.000,6,0.058,0.019,2541,2052,3311
$GC,2068,-1.62,-136.3,225.3,-10.4,189,2073,0.12,2.22,0.00,0.000,4,0.105,0.030,2566,656,3311
$GC,2130,-1.73,-136.3,231.7,-10.0,190,2134,0.00,2.15,0.00,0.000,6,0.000,0.019,2566,2056,3311
$GC,2479,-1.78,-136.3,265.3,-10.1,199,2483,0.15,2.25,0.00,0.000,4,0.047,0.040,2512,654,3311
$GC,2528,-1.78,-136.3,271.5,-12.4,200,2533,0.10,2.15,0.00,0.000,6,0.116,0.021,2531,2048,3311
$GC,2844,-1.78,-136.3,305.2,-10.4,208,2848,0.00,2.25,0.00,0.000,4,0.000,0.038,2531,655,3311
$GC,2911,-1.81,-136.3,313.1,-11.1,209,2915,0.00,2.17,0.00,0.000,6,0.000,0.024,2531,2054,3311
$GC,3248,-1.81,-136.3,349.6,-10.4,218,3252,0.00,2.28,0.00,0.000,4,0.000,0.044,2531,656,3309
$GC,3288,-1.84,-136.3,353.7,-10.4,219,3292,0.00,2.20,0.00,0.000,6,0.000,0.022,2531,2059,3309
$GC,3613,-1.84,-136.3,387.2,-10.3,227,3617,0.00,2.28,0.00,0.000,4,0.000,0.048,2531,667,3307
$GC,3731,-1.88,-136.3,399.8,-9.8,229,3735,0.00,2.17,0.00,0.000,6,0.000,0.025,2531,2049,3307
$GC,4062,-1.88,-136.3,432.5,-10.3,237,4066,0.00,2.28,0.00,0.000,4,0.000,0.044,2531,668,3304
$GC,4096,-1.91,-136.3,436.0,-10.7,237,4102,0.12,2.20,0.00,0.000,6,0.055,0.035,2487,2052,3304
$GC,4430,-1.84,-136.3,474.5,-11.8,246,4435,0.15,2.30,0.00,0.000,4,0.107,0.052,2518,666,3301
$GC,4584,-1.84,-136.3,492.3,-11.4,249,4588,0.00,2.22,0.00,0.000,6,0.000,0.031,2518,2052,3300
$STATE,4761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4761,begin apogee
$GC,4768,-0.31,0.0,512.3,10.9,254,4884,1.52,0.00,110.30,0.937,6,0.091,0.000,2851,2053,2748
$STATE,4884,end apogee,CONTROL_FINISHED_OK
$STATE,4885,begin climb
$GC,4888,1.31,136.3,515.6,0.0,257,5011,1.45,2.38,112.68,0.908,4,0.028,0.058,3218,3396,2192
$GC,5058,0.89,136.3,501.3,16.7,261,5063,0.52,2.25,0.00,0.000,6,0.114,0.035,3113,2017,2187
$GC,5383,0.66,136.3,460.5,12.5,269,5388,0.22,2.45,0.00,0.000,4,0.110,0.066,3065,594,2182
$GC,5433,0.51,136.3,454.6,12.2,270,5438,0.17,2.28,0.00,0.000,6,0.110,0.028,3031,2000,2181
$GC,5749,0.46,136.3,427.6,8.5,278,5753,0.00,2.35,0.00,0.000,4,0.000,0.052,3031,596,2179
$GC,5766,0.39,136.5,425.6,8.5,278,5771,0.12,2.28,0.00,0.000,6,0.107,0.031,3006,2011,2178
$GC,6111,0.42,166.0,401.1,6.9,287,6140,0.00,2.40,24.10,0.850,4,0.000,0.060,3006,3398,2071
$GC,6188,0.48,184.6,395.6,7.5,288,6211,0.00,2.28,17.15,0.818,6,0.000,0.033,3006,1993,1996
$GC,6527,0.54,229.9,374.0,6.0,297,6572,0.12,2.40,39.80,0.843,4,0.054,0.048,3049,3399,1810
$GC,6624,0.54,229.9,365.1,10.5,299,6628,0.00,2.28,0.00,0.000,6,0.000,0.031,3049,2000,1803
$GC,6975,0.50,229.9,330.0,9.8,308,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2000,1801
$GC,7298,0.50,229.9,298.8,9.5,316,7302,0.00,2.33,0.00,0.000,4,0.000,0.048,3049,3398,1799
$GC,7314,0.47,229.9,297.0,9.9,316,7319,0.12,2.25,0.00,0.000,6,0.107,0.031,3025,1997,1797
$GC,7658,0.51,229.9,265.6,9.4,325,7662,0.00,2.33,0.00,0.000,4,0.000,0.038,3025,3403,1797
$GC,7691,0.55,229.9,262.3,9.8,325,7697,0.00,2.25,0.00,0.000,6,0.000,0.027,3025,1998,1795
$GC,8023,0.63,255.1,236.5,7.1,334,8049,0.12,2.35,20.10,0.734,4,0.051,0.044,3075,3399,1707
$GC,8083,0.63,255.1,231.3,9.4,335,8087,0.00,2.25,0.00,0.000,6,0.000,0.028,3074,1996,1703
$GC,8426,0.60,255.1,196.5,11.0,344,8431,0.12,2.30,0.00,0.000,4,0.107,0.047,3050,597,1702
$GC,8448,0.60,255.1,193.9,11.4,345,8454,0.00,2.22,0.00,0.000,6,0.000,0.021,3050,2015,1701
$GC,8773,0.60,255.1,161.5,9.2,376,8777,0.00,2.22,0.00,0.000,4,0.000,0.037,3050,3392,1701
$GC,8803,0.60,255.1,158.8,9.3,378,8807,0.00,2.22,0.00,0.000,6,0.000,0.026,3050,1989,1698
$GC,9129,0.65,267.0,131.7,7.8,408,9144,0.00,2.33,10.35,0.598,4,0.000,0.035,3050,3402,1660
$GC,9170,0.71,268.9,128.5,8.4,411,9177,0.10,2.22,0.00,0.000,6,0.058,0.028,3094,1999,1657
$GC,9368,0.67,268.9,109.4,9.4,430,9370,0.15,0.00,0.00,0.000,6,0.097,0.000,3064,1999,1657
$GC,9560,0.72,273.5,92.7,8.2,448,9572,0.00,2.33,7.25,0.529,4,0.000,0.037,3064,601,1632
$GC,9589,0.75,273.5,90.0,9.0,450,9596,0.00,2.20,0.00,0.000,6,0.000,0.021,3063,2010,1632
$GC,9788,0.80,274.1,73.2,8.5,469,9793,0.12,2.22,0.00,0.000,4,0.051,0.041,3120,3400,1632
$GC,9810,0.80,274.1,71.0,9.4,470,9817,0.12,2.20,0.00,0.000,6,0.108,0.024,3095,1995,1630
$GC,10008,0.80,274.1,51.8,9.7,489,10012,0.00,2.25,0.00,0.000,4,0.000,0.040,3095,3395,1631
$GC,10099,0.87,303.3,44.7,6.9,496,10130,0.00,2.17,26.42,0.557,6,0.000,0.021,3095,2000,1511
$GC,10328,0.87,303.3,25.8,9.0,521,10334,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2000,1508
$GC,10538,0.87,303.3,6.5,9.6,558,10544,0.00,2.25,0.00,0.000,4,0.000,0.035,3096,3401,1508
$GC,10572,0.91,303.3,3.4,9.9,563,10579,0.10,2.17,0.00,0.000,6,0.058,0.020,3139,1998,1505
$STATE,10583,end climb,SURFACE_DEPTH_REACHED
$STATE,10583,begin surface coast
$FINISH,1.0,1.023358
$STATE,10612,end surface coast,CONTROL_FINISHED_OK
$STATE,10612,begin surface
$SM_CCo,10636,80.25,0.517,0,0,954,440.07
$SM_GC,1.78,0.00,0.00,80.25,0.000,0.000,0.517,413,1992,954,-11.53,-1.64,440.07
$IRIDIUM_FIX,2239.35,-15744.57,030198,050531
$TT8_MAMPS,0.027612
$HUMID,1844
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.50
$XPDR_PINGS,114
$24V_AH,23.6,59.816
$10V_AH,10.1,56.529
$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,29.350,125.650,368.150,80.250,0.000,24.330,27.877,183.028,28.500,0.000,0.000,18.551,1113.307,7316.509,541.218,1429.713,695.392,33.365,1301.005,0.000,1552.597,0.000,0.469
$DEVICE_MAMPS,162.604,65.962,936.507,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,413.155,348.289,745.900,579.293,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41352,570
$CAP_FILE_SIZE,239475,0
$CFSIZE,260165632,226484224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091008,112237,2251.038,-15748.252,24,1.2,24,10.1