version: 66.03
glider: 148
mission: 6
dive: 418
start: 10 2 108 20 50 57
data:
$ID,148
$MISSION,6
$DIVE,418
$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,-15062.197
$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,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
$GPS1,204437,2248.905,-15748.587,40,1.3,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.2
$GPS2,205003,2248.919,-15748.627,13,1.9,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.170,-0.014
$KALMAN_X,-362606.1,485.9,129.5,376225.7,-2670.8
$KALMAN_Y,-265988.9,637.8,615.9,266256.0,-1526.6
$MHEAD_RNG_PITCHd_Wd,84.5,1817,-23.2,-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,22,-1.53,-65.8,0.0,0.0,0,88,0.00,0.00,-63.15,0.000,2,0.000,0.000,408,2124,2605
$GC,94,-1.60,-116.8,3.2,-4.1,11,132,11.52,2.40,-15.10,0.000,4,0.162,0.044,2565,652,3229
$GC,152,-1.60,-116.8,11.5,-12.9,20,158,0.00,2.17,0.00,0.000,6,0.000,0.018,2565,2060,3229
$GC,357,-1.60,-116.8,47.0,-17.5,48,361,0.00,2.25,0.00,0.000,4,0.000,0.029,2565,651,3230
$GC,396,-1.63,-116.8,54.1,-17.3,51,402,0.00,2.17,0.00,0.000,6,0.000,0.019,2565,2053,3230
$GC,594,-1.71,-116.8,81.4,-12.1,70,598,0.00,2.25,0.00,0.000,4,0.000,0.031,2565,648,3230
$GC,657,-1.86,-116.8,88.8,-11.4,75,662,0.22,2.17,0.00,0.000,6,0.041,0.018,2495,2060,3230
$GC,860,-1.86,-116.8,118.7,-14.2,94,864,0.00,2.22,0.00,0.000,4,0.000,0.029,2496,651,3231
$GC,913,-1.86,-116.8,127.1,-17.6,98,917,0.00,2.17,0.00,0.000,6,0.000,0.019,2496,2055,3231
$GC,1113,-1.86,-116.8,161.0,-16.4,116,1117,0.00,2.22,0.00,0.000,4,0.000,0.029,2496,649,3231
$GC,1175,-1.86,-116.8,171.2,-15.6,121,1179,0.00,2.17,0.00,0.000,6,0.000,0.018,2496,2063,3232
$GC,1505,-1.86,-116.8,216.1,-12.9,143,1509,0.00,2.25,0.00,0.000,4,0.000,0.031,2496,647,3232
$GC,1606,-1.91,-116.8,228.3,-12.9,145,1610,0.00,2.17,0.00,0.000,6,0.000,0.019,2496,2057,3232
$GC,1957,-1.96,-116.8,268.3,-11.3,154,1961,0.00,2.25,0.00,0.000,4,0.000,0.032,2496,653,3233
$GC,2152,-2.03,-116.8,293.4,-12.6,158,2156,0.00,2.17,0.00,0.000,6,0.000,0.019,2496,2062,3233
$GC,2501,-2.10,-116.8,330.1,-10.2,167,2506,0.15,2.28,0.00,0.000,4,0.050,0.042,2444,648,3232
$GC,2666,-2.06,-116.8,352.0,-13.2,170,2671,0.12,2.17,0.00,0.000,6,0.120,0.031,2467,2043,3231
$GC,2997,-2.06,-116.8,391.6,-11.7,178,3001,0.00,2.25,0.00,0.000,4,0.000,0.040,2467,659,3230
$GC,3255,-2.06,-116.8,425.6,-13.4,183,3261,0.00,2.20,0.00,0.000,6,0.000,0.033,2467,2052,3229
$GC,3587,-2.06,-116.8,468.4,-13.0,192,3591,0.00,2.30,0.00,0.000,4,0.000,0.054,2467,661,3226
$GC,3738,-2.06,-116.8,488.8,-13.5,195,3742,0.00,2.22,0.00,0.000,6,0.000,0.037,2467,2052,3226
$STATE,3956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3956,begin apogee
$GC,3963,-0.31,0.0,514.0,11.2,201,4063,1.77,0.00,95.25,0.923,6,0.100,0.000,2848,2052,2748
$STATE,4063,end apogee,CONTROL_FINISHED_OK
$STATE,4064,begin climb
$GC,4066,1.60,116.8,515.6,0.0,203,4172,1.73,2.38,96.78,0.897,4,0.029,0.064,3282,3399,2271
$GC,4307,1.19,116.8,485.6,17.8,208,4312,0.50,2.25,0.00,0.000,6,0.118,0.028,3182,2017,2264
$GC,4646,0.96,116.8,441.3,12.9,217,4648,0.25,0.00,0.00,0.000,6,0.120,0.000,3134,2018,2260
$GC,4970,0.83,116.8,407.0,10.3,225,4975,0.17,2.45,0.00,0.000,4,0.120,0.064,3097,589,2257
$GC,5165,0.73,116.8,386.1,10.5,229,5169,0.00,2.28,0.00,0.000,6,0.000,0.025,3097,2009,2255
$GC,5514,0.68,116.8,354.1,9.0,238,5519,0.15,2.35,0.00,0.000,4,0.116,0.048,3063,597,2253
$GC,5647,0.68,116.8,340.7,9.8,241,5652,0.00,2.25,0.00,0.000,6,0.000,0.025,3063,2012,2253
$GC,5967,0.68,116.8,311.4,9.1,249,5971,0.00,2.30,0.00,0.000,4,0.000,0.053,3064,3394,2251
$GC,5989,0.68,116.8,309.4,8.6,249,5993,0.00,2.25,0.00,0.000,6,0.000,0.032,3063,1986,2250
$GC,6329,0.73,126.1,282.6,7.7,258,6339,0.00,2.33,5.25,0.612,4,0.000,0.054,3064,606,2233
$GC,6361,0.76,147.0,280.2,6.7,258,6386,0.00,2.22,19.10,0.761,6,0.000,0.021,3063,2014,2150
$GC,6697,0.83,162.6,256.4,7.1,267,6717,0.15,2.38,14.38,0.729,4,0.054,0.042,3114,597,2086
$GC,6838,0.77,162.6,242.1,10.9,270,6842,0.12,2.22,0.00,0.000,6,0.115,0.028,3091,2001,2083
$GC,7163,0.77,162.6,213.1,8.5,278,7167,0.00,2.30,0.00,0.000,4,0.000,0.044,3091,602,2080
$GC,7208,0.77,162.6,208.7,9.4,279,7212,0.00,2.20,0.00,0.000,6,0.000,0.026,3091,2001,2081
$GC,7540,0.81,163.4,181.8,8.4,302,7544,0.00,2.30,0.00,0.000,4,0.000,0.046,3091,596,2079
$GC,7607,0.81,163.4,175.8,9.2,307,7613,0.00,2.22,0.00,0.000,6,0.000,0.029,3091,2010,2079
$GC,7932,0.89,188.8,153.9,6.3,338,7961,0.10,0.00,22.27,0.662,6,0.064,0.000,3128,2011,1978
$GC,8281,0.89,188.8,123.1,8.7,371,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2011,1974
$GC,8472,0.90,193.4,105.5,8.1,389,8483,0.00,2.33,4.82,0.470,4,0.000,0.044,3128,597,1960
$GC,8508,0.90,193.4,102.4,9.4,392,8512,0.00,2.22,0.00,0.000,6,0.000,0.028,3128,2007,1960
$GC,8705,0.91,202.2,86.5,7.7,410,8720,0.00,2.30,9.15,0.547,4,0.000,0.045,3128,3393,1924
$GC,8756,0.98,217.7,82.9,7.2,414,8776,0.00,2.20,14.90,0.573,6,0.000,0.023,3127,1994,1860
$GC,8978,1.05,228.8,66.7,7.5,435,8993,0.00,2.33,10.30,0.531,4,0.000,0.036,3128,3410,1815
$GC,9040,1.13,228.8,61.2,8.5,440,9047,0.17,2.22,0.00,0.000,6,0.048,0.022,3184,1992,1812
$GC,9239,1.08,228.8,39.9,11.0,459,9241,0.15,0.00,0.00,0.000,6,0.108,0.000,3155,1992,1813
$GC,9436,1.08,228.8,20.0,10.2,485,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1992,1813
$STATE,9601,end climb,SURFACE_DEPTH_REACHED
$STATE,9601,begin surface coast
$FINISH,1.0,1.023207
$STATE,9631,end surface coast,CONTROL_FINISHED_OK
$STATE,9631,begin surface
$SM_CCo,9654,113.72,0.515,0,0,953,440.07
$SM_GC,1.74,0.00,0.00,113.72,0.000,0.000,0.515,406,2125,953,-11.56,2.12,440.07
$IRIDIUM_FIX,2239.35,-15747.62,271297,181831
$TT8_MAMPS,0.027612
$HUMID,1796
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.50
$XPDR_PINGS,101
$24V_AH,23.7,54.739
$10V_AH,10.1,52.550
$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,28.475,94.850,292.200,113.725,0.000,28.627,27.870,143.982,25.250,0.000,0.000,14.640,1038.718,6506.601,490.978,1449.483,605.282,33.372,1223.305,0.000,1568.862,0.000,0.468
$DEVICE_MAMPS,161.837,71.331,922.701,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.184,324.997,678.351,497.824,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38049,519
$CAP_FILE_SIZE,214484,0
$CFSIZE,260165632,230264832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021008,233502,2248.921,-15748.455,35,1.6,35,10.1