version: 66.03
glider: 148
mission: 6
dive: 412
start: 10 2 108 3 43 26
data:
$ID,148
$MISSION,6
$DIVE,412
$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,-14939.605
$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,43
$R_STBD_OVSHOOT,37
$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
$GPS1,033655,2248.225,-15748.287,23,0.9,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-62.0
$GPS2,034233,2248.184,-15748.342,13,1.0,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,-0.047
$KALMAN_X,-352712.4,496.3,-263.6,367201.7,-2150.7
$KALMAN_Y,-263975.2,-350.1,-400.1,264893.4,5.8
$MHEAD_RNG_PITCHd_Wd,98.4,1174,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.75,-49.4,0.0,0.0,0,89,0.00,0.00,-63.33,0.000,2,0.000,0.000,408,2123,2604
$GC,95,-1.79,-82.5,3.3,-4.7,11,128,11.27,2.38,-11.45,0.000,4,0.160,0.047,2523,654,3087
$GC,209,-1.86,-82.5,21.9,-17.2,30,216,0.00,2.20,0.00,0.000,6,0.000,0.017,2523,2067,3088
$GC,413,-1.86,-82.5,56.7,-18.1,53,417,0.00,2.28,0.00,0.000,4,0.000,0.030,2523,641,3089
$GC,527,-1.93,-82.5,77.1,-16.5,62,534,0.12,2.17,0.00,0.000,6,0.056,0.019,2481,2048,3089
$GC,725,-1.98,-82.5,107.1,-14.3,81,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2050,3089
$GC,917,-2.06,-82.5,131.7,-12.6,99,921,0.00,2.22,0.00,0.000,4,0.000,0.030,2481,648,3090
$GC,1035,-2.15,-82.5,147.3,-12.7,109,1040,0.12,2.17,0.00,0.000,6,0.056,0.026,2439,2066,3090
$GC,1238,-2.15,-82.5,176.0,-14.5,128,1242,0.00,2.25,0.00,0.000,4,0.000,0.031,2439,651,3091
$GC,1415,-2.18,-82.5,201.6,-14.0,143,1419,0.00,2.15,0.00,0.000,6,0.000,0.018,2439,2052,3091
$GC,1748,-2.23,-82.5,243.1,-12.1,151,1752,0.00,2.22,0.00,0.000,4,0.000,0.031,2439,651,3091
$GC,1925,-2.28,-82.5,265.1,-11.8,155,1929,0.00,2.15,0.00,0.000,6,0.000,0.018,2439,2053,3092
$GC,2252,-2.35,-82.5,302.0,-11.2,163,2256,0.15,2.25,0.00,0.000,4,0.051,0.035,2385,655,3091
$GC,2511,-2.30,-82.5,336.5,-13.4,168,2515,0.17,2.15,0.00,0.000,6,0.117,0.022,2420,2043,3091
$GC,2844,-2.34,-82.5,374.6,-11.7,176,2848,0.00,2.25,0.00,0.000,4,0.000,0.046,2420,658,3089
$GC,3103,-2.34,-82.5,410.5,-14.2,181,3109,0.00,2.17,0.00,0.000,6,0.000,0.030,2420,2045,3088
$GC,3435,-2.39,-82.5,450.6,-11.7,190,3439,0.00,2.28,0.00,0.000,4,0.000,0.051,2420,657,3086
$GC,3692,-2.39,-82.5,481.4,-11.9,195,3696,0.00,2.22,0.00,0.000,6,0.000,0.034,2419,2051,3084
$STATE,3980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3980,begin apogee
$GC,3987,-0.31,0.0,513.4,10.9,202,4063,2.03,0.00,67.78,0.926,6,0.106,0.000,2850,2051,2749
$STATE,4063,end apogee,CONTROL_FINISHED_OK
$STATE,4064,begin climb
$GC,4066,1.79,82.5,514.4,0.0,204,4142,1.88,2.33,68.47,0.904,4,0.031,0.060,3320,3396,2411
$GC,4356,1.40,82.5,478.6,13.9,209,4361,0.47,2.25,0.00,0.000,6,0.130,0.028,3228,2017,2405
$GC,4690,1.17,82.5,441.5,10.9,217,4695,0.25,2.45,0.00,0.000,4,0.126,0.061,3176,590,2402
$GC,4948,0.97,82.5,417.7,9.0,222,4954,0.22,2.28,0.00,0.000,6,0.134,0.031,3135,2007,2400
$GC,5282,0.93,86.4,391.8,8.0,231,5286,0.00,2.35,0.00,0.000,4,0.000,0.050,3135,596,2398
$GC,5541,0.83,92.5,368.4,7.8,236,5555,0.17,2.25,6.85,0.713,6,0.131,0.025,3102,2008,2372
$GC,5879,0.85,107.0,345.3,6.8,245,5898,0.00,2.42,13.70,0.795,4,0.000,0.050,3102,597,2312
$GC,6084,0.85,107.0,327.6,8.8,249,6088,0.00,2.25,0.00,0.000,6,0.000,0.025,3102,2008,2310
$GC,6422,0.91,119.1,303.6,7.1,258,6438,0.00,2.38,11.12,0.747,4,0.000,0.047,3102,596,2262
$GC,6578,0.91,119.1,289.5,9.5,261,6583,0.00,2.25,0.00,0.000,6,0.000,0.022,3102,2012,2260
$GC,6916,0.98,124.1,261.0,7.9,270,6927,0.12,2.38,5.15,0.595,4,0.060,0.043,3141,591,2242
$GC,7019,0.93,124.1,250.8,10.2,272,7023,0.00,2.22,0.00,0.000,6,0.000,0.024,3141,1997,2241
$GC,7367,0.93,124.1,219.7,8.9,281,7371,0.00,2.33,0.00,0.000,4,0.000,0.043,3141,586,2240
$GC,7533,0.89,124.3,204.8,8.5,284,7538,0.12,2.25,0.00,0.000,6,0.120,0.022,3117,2012,2240
$GC,7855,0.99,153.3,185.7,5.1,308,7887,0.00,2.38,25.80,0.697,4,0.000,0.044,3117,590,2122
$GC,7934,1.02,153.3,179.9,8.5,315,7939,0.10,2.25,0.00,0.000,6,0.066,0.028,3152,2005,2120
$GC,8259,1.02,153.3,148.7,9.6,345,8263,0.00,2.33,0.00,0.000,4,0.000,0.044,3152,585,2118
$GC,8321,1.02,153.3,142.3,10.5,350,8326,0.00,2.25,0.00,0.000,6,0.000,0.025,3152,2007,2117
$GC,8519,1.04,168.0,126.3,6.8,368,8541,0.00,2.38,12.77,0.612,4,0.000,0.037,3152,588,2063
$GC,8700,1.04,168.0,111.4,8.7,384,8704,0.00,2.22,0.00,0.000,6,0.000,0.029,3152,2000,2062
$GC,8898,1.09,168.0,94.3,8.6,402,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2001,2060
$GC,9090,1.16,168.0,76.3,9.3,420,9094,0.00,2.30,0.00,0.000,4,0.000,0.037,3152,581,2060
$GC,9145,1.16,168.0,71.2,8.9,424,9151,0.00,2.22,0.00,0.000,6,0.000,0.028,3152,2001,2061
$GC,9344,1.26,185.2,57.3,6.5,443,9365,0.17,2.38,15.52,0.556,4,0.046,0.042,3210,587,1993
$GC,9517,1.20,188.8,44.8,8.1,458,9528,0.15,2.22,4.62,0.414,6,0.224,0.020,3181,2013,1978
$GC,9725,1.24,188.8,27.7,9.1,479,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2012,1977
$GC,9936,1.29,207.3,10.0,6.4,516,9959,0.00,2.35,17.20,0.511,4,0.000,0.036,3181,577,1902
$STATE,9997,end climb,SURFACE_DEPTH_REACHED
$STATE,9997,begin surface coast
$FINISH,0.9,1.023189
$STATE,10019,end surface coast,CONTROL_FINISHED_OK
$STATE,10019,begin surface
$SM_CCo,10044,125.10,0.515,0,0,954,440.07
$SM_GC,1.80,0.00,0.00,125.10,0.000,0.000,0.515,412,2077,954,-11.54,0.76,440.07
$IRIDIUM_FIX,2239.35,-15749.78,271297,010109
$TT8_MAMPS,0.027612
$HUMID,1787
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.70
$XPDR_PINGS,110
$24V_AH,23.7,54.203
$10V_AH,10.1,52.115
$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,28.950,95.525,249.000,125.100,0.000,29.816,28.026,148.302,27.500,0.000,0.000,19.230,1101.653,6618.982,466.102,1694.526,621.811,33.364,1284.812,0.000,1794.545,0.000,0.469
$DEVICE_MAMPS,223.964,61.360,925.769,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.612,343.861,675.165,530.284,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38169,530
$CAP_FILE_SIZE,224193,0
$CFSIZE,260165632,230666240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021008,063407,2248.041,-15748.201,30,1.1,30,10.1