version: 66.03
glider: 148
mission: 6
dive: 407
start: 10 1 108 13 53 38
data:
$ID,148
$MISSION,6
$DIVE,407
$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,-14838.04
$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,36
$R_STBD_OVSHOOT,39
$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
$GPS1,134715,2248.338,-15748.064,10,1.6,10,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-58.6
$GPS2,135245,2248.297,-15748.102,15,1.6,15,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.141,-0.042
$KALMAN_X,-347592.3,111.7,110.0,362493.3,-2691.5
$KALMAN_Y,-262728.1,27.4,-425.4,263502.0,-197.8
$MHEAD_RNG_PITCHd_Wd,96.5,1629,-27.0,-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,22,-1.75,-49.4,0.0,0.0,0,87,0.00,0.00,-62.38,0.000,2,0.000,0.000,410,2005,2567
$GC,91,-1.81,-98.3,3.1,-2.9,8,124,11.27,2.20,-14.00,0.000,4,0.162,0.047,2516,644,3150
$GC,174,-1.86,-98.3,17.5,-18.1,20,183,0.00,2.22,0.00,0.000,6,0.000,0.019,2516,2063,3151
$GC,380,-1.86,-98.3,57.6,-19.6,44,384,0.00,2.25,0.00,0.000,4,0.000,0.038,2516,644,3152
$GC,487,-1.92,-98.3,76.7,-17.1,53,491,0.00,2.17,0.00,0.000,6,0.000,0.018,2516,2053,3152
$GC,688,-2.04,-98.3,104.3,-11.6,71,692,0.15,2.25,0.00,0.000,4,0.051,0.031,2463,644,3153
$GC,846,-2.08,-98.3,129.5,-17.1,84,854,0.00,2.17,0.00,0.000,6,0.000,0.018,2463,2043,3153
$GC,1046,-2.13,-98.3,158.8,-13.4,103,1050,0.00,2.22,0.00,0.000,4,0.000,0.030,2463,640,3154
$GC,1158,-2.20,-98.3,174.2,-13.8,112,1162,0.00,2.17,0.00,0.000,6,0.000,0.016,2463,2065,3154
$GC,1488,-2.27,-98.3,215.5,-12.6,134,1492,0.15,2.25,0.00,0.000,4,0.051,0.031,2415,645,3155
$GC,1716,-2.27,-98.3,250.7,-15.8,139,1720,0.00,2.15,0.00,0.000,6,0.000,0.018,2415,2045,3156
$GC,2041,-2.27,-98.3,295.3,-13.9,147,2045,0.00,2.25,0.00,0.000,4,0.000,0.038,2416,645,3156
$GC,2299,-2.27,-98.3,332.0,-13.4,152,2305,0.00,2.17,0.00,0.000,6,0.000,0.020,2416,2048,3156
$GC,2631,-2.31,-98.3,374.7,-12.6,161,2635,0.00,2.30,0.00,0.000,4,0.000,0.041,2415,642,3155
$GC,2888,-2.31,-98.3,412.9,-15.5,166,2895,0.00,2.22,0.00,0.000,6,0.000,0.031,2415,2053,3154
$GC,3221,-2.35,-98.3,460.2,-14.0,175,3224,0.00,2.30,0.00,0.000,4,0.000,0.054,2416,655,3152
$GC,3479,-2.39,-98.3,496.3,-12.7,180,3483,0.00,2.22,0.00,0.000,6,0.000,0.032,2416,2045,3150
$STATE,3605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3605,begin apogee
$GC,3611,-0.31,0.0,511.7,12.2,183,3696,2.03,0.00,80.38,0.917,6,0.104,0.000,2848,2045,2748
$STATE,3696,end apogee,CONTROL_FINISHED_OK
$STATE,3697,begin climb
$GC,3699,1.81,98.3,512.7,0.0,185,3790,1.92,2.38,81.15,0.892,4,0.031,0.055,3328,3395,2347
$GC,3981,1.41,98.3,471.1,17.9,191,3986,0.52,2.25,0.00,0.000,6,0.130,0.028,3226,2011,2341
$GC,4324,1.19,98.3,424.8,12.9,200,4329,0.20,2.42,0.00,0.000,4,0.130,0.067,3184,597,2338
$GC,4346,0.98,98.3,422.0,12.0,200,4351,0.25,2.25,0.00,0.000,6,0.132,0.026,3137,1998,2337
$GC,4686,0.93,98.3,391.6,8.6,209,4690,0.00,2.35,0.00,0.000,4,0.000,0.048,3137,593,2334
$GC,4944,0.83,98.3,366.7,9.6,214,4950,0.17,2.25,0.00,0.000,6,0.134,0.031,3104,2005,2333
$GC,5276,0.84,107.7,341.9,7.4,223,5289,0.00,2.42,6.45,0.686,4,0.000,0.048,3104,592,2308
$GC,5374,0.84,107.7,333.8,9.3,225,5378,0.00,2.25,0.00,0.000,6,0.000,0.024,3104,2001,2307
$GC,5690,0.89,120.4,311.0,7.0,233,5708,0.00,2.42,11.45,0.755,4,0.000,0.044,3104,596,2257
$GC,5893,0.89,122.9,293.1,8.2,237,5898,0.00,2.25,0.00,0.000,6,0.000,0.022,3104,2013,2256
$GC,6234,0.96,126.8,267.1,8.1,246,6247,0.10,2.42,6.38,0.644,4,0.068,0.048,3135,596,2232
$GC,6422,0.96,126.8,246.7,10.6,250,6426,0.00,2.20,0.00,0.000,6,0.000,0.021,3135,1996,2231
$GC,6741,0.97,135.8,221.0,7.5,258,6755,0.00,2.38,8.98,0.668,4,0.000,0.048,3136,594,2195
$GC,6834,0.93,135.8,213.0,8.8,260,6838,0.00,2.22,0.00,0.000,6,0.000,0.022,3135,2003,2193
$GC,7162,0.97,139.4,188.2,8.1,277,7173,0.00,2.33,4.35,0.502,4,0.000,0.051,3135,3405,2180
$GC,7283,1.03,151.5,178.8,7.1,287,7302,0.00,2.25,11.88,0.655,6,0.000,0.025,3135,1985,2131
$GC,7621,1.10,166.3,154.0,6.8,319,7643,0.10,2.33,13.77,0.639,4,0.064,0.041,3169,598,2069
$GC,7753,1.07,166.3,140.9,10.5,330,7762,0.00,2.22,0.00,0.000,6,0.000,0.021,3169,1996,2068
$GC,7955,1.07,166.3,123.4,9.0,349,7959,0.00,2.28,0.00,0.000,4,0.000,0.044,3169,3399,2067
$GC,7973,1.07,166.3,121.3,9.6,350,7977,0.00,2.22,0.00,0.000,6,0.000,0.025,3169,1993,2066
$GC,8171,1.07,171.1,102.6,7.9,368,8185,0.00,2.28,5.20,0.482,4,0.000,0.044,3169,605,2050
$GC,8317,1.07,171.1,88.7,9.1,380,8324,0.00,2.20,0.00,0.000,6,0.000,0.019,3169,2000,2049
$GC,8517,1.11,171.1,71.9,9.7,399,8521,0.00,2.25,0.00,0.000,4,0.000,0.036,3169,598,2049
$GC,8736,1.11,171.1,54.0,8.9,418,8744,0.00,2.20,0.00,0.000,6,0.000,0.027,3169,1997,2049
$GC,8937,1.18,180.5,39.3,7.4,437,8952,0.00,2.33,9.27,0.506,4,0.000,0.041,3169,3397,2013
$GC,8982,1.23,186.9,35.8,7.8,440,8993,0.00,2.22,7.12,0.471,6,0.000,0.021,3169,1997,1987
$GC,9206,1.29,187.5,15.6,8.4,473,9215,0.15,2.28,0.00,0.000,4,0.048,0.036,3225,600,1985
$GC,9243,1.24,187.5,11.4,10.5,478,9250,0.12,2.20,0.00,0.000,6,0.102,0.019,3196,1997,1985
$STATE,9322,end climb,SURFACE_DEPTH_REACHED
$STATE,9322,begin surface coast
$FINISH,0.6,1.001186
$STATE,9359,end surface coast,CONTROL_FINISHED_OK
$STATE,9359,begin surface
$SM_CCo,9382,131.80,0.513,0,0,954,440.07
$SM_GC,1.75,0.00,0.00,131.80,0.000,0.000,0.513,414,2002,954,-11.53,-1.36,440.07
$IRIDIUM_FIX,2241.69,-15749.78,261297,111130
$TT8_MAMPS,0.027612
$HUMID,1768
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.40
$XPDR_PINGS,129
$24V_AH,23.7,53.752
$10V_AH,10.1,51.615
$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,28.525,99.600,246.375,131.800,0.000,30.335,36.023,135.861,32.250,0.000,0.000,16.903,1049.612,5692.623,463.697,2057.078,577.261,33.362,1278.760,0.000,2139.453,0.000,0.469
$DEVICE_MAMPS,161.837,66.729,916.565,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.211,319.932,629.057,470.909,935.893,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38246,497
$CAP_FILE_SIZE,212346,0
$CFSIZE,260165632,231010304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011008,163331,2248.223,-15747.934,37,1.1,37,10.1