version: 66.03
glider: 148
mission: 6
dive: 478
start: 10 10 108 2 15 26
data:
$ID,148
$MISSION,6
$DIVE,478
$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,-16302.994
$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,42
$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
$GPS1,020802,2250.300,-15749.323,37,1.2,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-62.0
$GPS2,021432,2250.334,-15749.345,10,1.3,15,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT5
$TGT_LATLONG,2251.500,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.237,0.027
$KALMAN_X,-436654.7,814.0,26.8,448818.1,-1502.3
$KALMAN_Y,-249659.4,368.0,292.5,253151.9,189.4
$MHEAD_RNG_PITCHd_Wd,266.4,18311,-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,-136.3,0.0,0.0,0,92,0.00,0.00,-63.70,0.000,2,0.000,0.000,410,2008,2599
$GC,98,-1.14,-136.3,3.5,-4.4,11,137,11.88,2.22,-16.25,0.000,4,0.156,0.052,2666,652,3305
$GC,241,-1.18,-136.3,20.0,-10.6,35,247,0.00,2.17,0.00,0.000,6,0.000,0.018,2666,2062,3307
$GC,446,-1.12,-136.3,44.1,-11.7,61,450,0.00,2.25,0.00,0.000,4,0.000,0.031,2666,649,3307
$GC,470,-1.07,-136.3,47.0,-11.4,62,476,0.00,2.15,0.00,0.000,6,0.000,0.017,2666,2052,3307
$GC,668,-1.07,-136.3,69.8,-10.2,81,672,0.00,2.25,0.00,0.000,4,0.000,0.030,2666,638,3308
$GC,678,-1.07,-136.3,71.1,-10.1,81,685,0.00,2.17,0.00,0.000,6,0.000,0.015,2666,2053,3308
$GC,876,-1.07,-136.3,88.1,-9.0,100,880,0.00,2.25,0.00,0.000,4,0.000,0.031,2666,642,3308
$GC,919,-1.15,-136.3,92.0,-10.0,103,924,0.00,2.15,0.00,0.000,6,0.000,0.017,2666,2041,3308
$GC,1118,-1.21,-136.3,111.8,-9.7,121,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2041,3309
$GC,1310,-1.28,-136.3,126.1,-5.8,139,1311,0.12,0.00,0.00,0.000,6,0.051,0.000,2615,2042,3309
$GC,1500,-1.25,-136.3,142.7,-8.8,157,1505,0.15,2.22,0.00,0.000,4,0.094,0.031,2651,648,3310
$GC,1579,-1.36,-136.3,149.5,-8.0,163,1586,0.12,2.15,0.00,0.000,6,0.048,0.018,2585,2052,3310
$GC,1778,-1.27,-136.3,169.6,-9.7,182,1780,0.25,0.00,0.00,0.000,6,0.087,0.000,2639,2053,3310
$GC,2095,-1.32,-136.3,197.0,-9.0,212,2099,0.00,2.25,0.00,0.000,4,0.000,0.032,2639,643,3310
$GC,2149,-1.42,-136.3,201.7,-8.6,215,2153,0.12,2.17,0.00,0.000,6,0.049,0.018,2577,2062,3311
$GC,2464,-1.33,-136.3,234.3,-10.5,223,2469,0.20,2.25,0.00,0.000,4,0.094,0.031,2624,651,3310
$GC,2560,-1.41,-136.3,243.7,-8.8,225,2564,0.00,2.15,0.00,0.000,6,0.000,0.018,2624,2053,3310
$GC,2882,-1.45,-136.3,269.9,-8.6,233,2886,0.00,2.25,0.00,0.000,4,0.000,0.035,2624,647,3310
$GC,2911,-1.50,-136.3,272.6,-8.6,233,2915,0.15,2.17,0.00,0.000,6,0.041,0.019,2549,2056,3310
$GC,3250,-1.39,-136.3,308.9,-10.7,242,3255,0.28,2.28,0.00,0.000,4,0.091,0.038,2613,648,3309
$GC,3312,-1.47,-136.3,314.2,-7.2,243,3316,0.00,2.15,0.00,0.000,6,0.000,0.028,2612,2048,3309
$GC,3663,-1.52,-136.3,339.6,-7.6,252,3667,0.10,2.28,0.00,0.000,4,0.059,0.046,2563,651,3308
$GC,3713,-1.49,-136.3,344.8,-10.5,253,3718,0.15,2.17,0.00,0.000,6,0.095,0.030,2594,2048,3307
$GC,4029,-1.49,-136.3,368.4,-7.0,261,4033,0.00,2.28,0.00,0.000,4,0.000,0.048,2594,657,3306
$GC,4107,-1.53,-136.3,374.8,-7.6,262,4113,0.00,2.17,0.00,0.000,6,0.000,0.026,2595,2045,3305
$GC,4440,-1.53,-136.3,400.8,-7.8,271,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2045,3303
$GC,4764,-1.53,-136.3,427.4,-8.4,279,4768,0.00,2.28,0.00,0.000,4,0.000,0.049,2595,661,3301
$GC,4803,-1.57,-136.3,431.0,-8.8,279,4809,0.00,2.20,0.00,0.000,6,0.000,0.032,2595,2050,3301
$GC,5135,-1.57,-136.3,455.2,-6.9,288,5139,0.00,2.30,0.00,0.000,4,0.000,0.051,2595,657,3299
$GC,5192,-1.63,-136.3,459.4,-7.4,289,5197,0.12,2.22,0.00,0.000,6,0.054,0.030,2545,2052,3298
$GC,5544,-1.54,-136.3,494.9,-10.8,298,5549,0.15,2.33,0.00,0.000,4,0.099,0.053,2580,654,3296
$GC,5684,-1.54,-136.3,509.6,-9.9,301,5688,0.00,2.25,0.00,0.000,6,0.000,0.037,2581,2052,3295
$STATE,5692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5692,begin apogee
$GC,5700,-0.31,0.0,510.5,9.4,301,5813,1.20,0.00,109.20,0.943,6,0.087,0.000,2847,1969,2749
$STATE,5814,end apogee,CONTROL_FINISHED_OK
$STATE,5814,begin climb
$GC,5817,1.14,136.3,513.2,0.0,304,5943,1.33,2.30,112.85,0.914,4,0.034,0.058,3178,651,2192
$GC,5994,0.72,136.3,499.3,15.2,308,5999,0.50,2.20,0.00,0.000,6,0.108,0.028,3077,2003,2189
$GC,6317,0.54,136.3,466.1,9.8,316,6322,0.15,2.30,0.00,0.000,4,0.115,0.044,3043,635,2183
$GC,6368,0.42,137.6,461.3,8.4,317,6373,0.15,2.20,0.00,0.000,6,0.109,0.027,3013,2003,2182
$GC,6681,0.46,203.4,442.7,5.7,325,6743,0.00,2.33,56.35,0.890,4,0.000,0.050,3013,641,1918
$GC,6780,0.48,218.0,436.4,7.9,327,6799,0.00,2.20,13.75,0.811,6,0.000,0.031,3013,2003,1860
$GC,7134,0.54,261.4,412.5,6.7,336,7177,0.10,2.45,36.78,0.863,4,0.060,0.051,3052,3395,1682
$GC,7212,0.48,261.4,405.5,9.4,337,7216,0.12,2.20,0.00,0.000,6,0.104,0.034,3027,2039,1677
$GC,7543,0.48,261.4,375.0,9.5,345,7547,0.00,2.25,0.00,0.000,4,0.000,0.039,3027,3402,1674
$GC,7570,0.48,261.4,372.2,10.3,345,7574,0.00,2.28,0.00,0.000,6,0.000,0.030,3027,1993,1672
$GC,7902,0.48,261.4,341.4,9.2,353,7906,0.00,2.35,0.00,0.000,4,0.000,0.051,3027,596,1672
$GC,7924,0.48,261.4,339.2,9.6,353,7929,0.00,2.25,0.00,0.000,6,0.000,0.023,3026,2008,1671
$GC,8262,0.52,289.7,312.6,7.3,362,8291,0.00,2.35,24.40,0.799,4,0.000,0.044,3026,3396,1567
$GC,8338,0.61,310.8,306.8,7.6,363,8363,0.10,2.28,19.35,0.775,6,0.060,0.028,3064,1991,1481
$GC,8678,0.56,310.8,269.2,12.2,372,8682,0.10,2.33,0.00,0.000,4,0.107,0.043,3043,3392,1475
$GC,8699,0.56,310.8,266.4,12.3,372,8703,0.00,2.25,0.00,0.000,6,0.000,0.026,3043,1990,1473
$GC,9037,0.61,354.2,238.6,6.7,381,9081,0.00,2.40,38.38,0.750,4,0.000,0.041,3043,3392,1303
$GC,9118,0.69,366.6,232.6,8.0,382,9137,0.12,2.25,11.90,0.682,6,0.051,0.031,3092,1998,1253
$GC,9454,0.63,366.6,193.6,11.9,394,9459,0.15,2.30,0.00,0.000,4,0.101,0.045,3057,597,1249
$GC,9471,0.60,366.6,191.5,11.4,395,9476,0.00,2.22,0.00,0.000,6,0.000,0.022,3057,2011,1249
$GC,9802,0.60,366.6,157.5,9.9,426,9806,0.00,2.22,0.00,0.000,4,0.000,0.033,3057,3398,1247
$GC,9851,0.68,366.6,153.2,9.1,430,9855,0.00,2.22,0.00,0.000,6,0.000,0.030,3057,1989,1244
$GC,10182,0.71,366.6,126.1,9.3,461,10186,0.00,2.25,0.00,0.000,4,0.000,0.038,3057,600,1244
$GC,10211,0.76,366.6,123.2,10.5,463,10218,0.12,2.17,0.00,0.000,6,0.051,0.021,3103,1996,1244
$GC,10410,0.71,366.6,101.4,10.4,482,10414,0.15,2.28,0.00,0.000,4,0.094,0.043,3067,3399,1244
$GC,10462,0.80,366.6,96.9,8.8,486,10466,0.12,2.22,0.00,0.000,6,0.051,0.028,3116,1992,1243
$GC,10661,0.73,366.6,75.1,11.8,504,10665,0.15,2.22,0.00,0.000,4,0.096,0.044,3081,602,1243
$GC,10699,0.77,366.6,71.4,9.5,507,10703,0.00,2.20,0.00,0.000,6,0.000,0.025,3081,2011,1243
$GC,10898,0.84,384.9,55.4,7.7,525,10922,0.10,2.28,16.05,0.551,4,0.058,0.040,3124,3399,1177
$GC,10972,0.84,384.9,48.3,9.3,531,10979,0.00,2.20,0.00,0.000,6,0.000,0.030,3124,2000,1175
$GC,11171,0.79,384.9,29.7,9.5,550,11178,0.15,2.25,0.00,0.000,4,0.210,0.035,3093,597,1175
$GC,11203,0.79,384.9,26.7,9.4,555,11209,0.00,2.17,0.00,0.000,6,0.000,0.026,3093,2002,1175
$GC,11416,0.79,384.9,8.1,9.4,592,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2003,1174
$STATE,11479,end climb,SURFACE_DEPTH_REACHED
$STATE,11479,begin surface coast
$FINISH,0.9,1.013922
$STATE,11519,end surface coast,CONTROL_FINISHED_OK
$STATE,11519,begin surface
$SM_CCo,11541,46.10,0.518,0,0,954,440.07
$SM_GC,1.76,0.00,0.00,46.10,0.000,0.000,0.518,405,2007,954,-11.57,-1.22,440.07
$IRIDIUM_FIX,2241.69,-15749.78,030198,222204
$TT8_MAMPS,0.027612
$HUMID,1897
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.60
$XPDR_PINGS,124
$24V_AH,23.6,60.462
$10V_AH,10.1,56.980
$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,29.350,134.575,439.000,46.100,0.000,30.036,29.004,186.701,31.000,0.000,0.000,16.777,1207.270,7909.883,552.119,1547.903,752.725,33.375,1382.651,0.000,1686.713,0.000,0.469
$DEVICE_MAMPS,210.158,99.710,942.643,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,447.648,376.380,789.913,618.893,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44611,610
$CAP_FILE_SIZE,258130,0
$CFSIZE,260165632,226041856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101008,052947,2250.515,-15751.192,11,99.0,30,10.1