version: 66.03
glider: 148
mission: 6
dive: 423
start: 10 3 108 10 43 56
data:
$ID,148
$MISSION,6
$DIVE,423
$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,-15131.978
$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,27
$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
$GPS1,103738,2248.170,-15748.110,39,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-60.1
$GPS2,104302,2248.149,-15748.130,9,1.0,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.147,0.004
$KALMAN_X,-369054.1,78.8,209.7,383844.2,-2522.5
$KALMAN_Y,-265678.7,-395.3,174.2,266005.2,-307.1
$MHEAD_RNG_PITCHd_Wd,78.2,1510,-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,20,begin dive
$GC,23,-1.75,-49.4,0.0,0.0,0,88,0.00,0.00,-62.83,0.000,2,0.000,0.000,411,2006,2574
$GC,94,-1.80,-88.4,3.2,-4.0,11,126,11.25,0.00,-13.15,0.000,6,0.160,0.000,2523,2007,3110
$GC,329,-1.80,-88.4,44.9,-18.9,45,333,0.00,2.17,0.00,0.000,4,0.000,0.032,2523,634,3111
$GC,387,-1.86,-88.4,55.9,-16.9,50,391,0.00,2.20,0.00,0.000,6,0.000,0.018,2523,2056,3111
$GC,585,-1.95,-88.4,85.9,-13.1,68,589,0.12,2.28,0.00,0.000,4,0.058,0.029,2483,627,3112
$GC,703,-2.00,-88.4,104.7,-15.3,78,707,0.00,2.20,0.00,0.000,6,0.000,0.017,2483,2059,3112
$GC,901,-2.07,-88.4,135.0,-14.2,96,905,0.00,2.25,0.00,0.000,4,0.000,0.030,2483,634,3113
$GC,998,-2.14,-88.4,148.9,-15.5,104,1002,0.12,2.17,0.00,0.000,6,0.056,0.017,2442,2050,3113
$GC,1197,-2.14,-88.4,178.7,-15.1,122,1201,0.00,2.25,0.00,0.000,4,0.000,0.030,2442,630,3113
$GC,1274,-2.14,-88.4,190.9,-14.8,128,1280,0.00,2.17,0.00,0.000,6,0.000,0.017,2442,2053,3113
$GC,1588,-2.17,-88.4,230.8,-12.2,141,1592,0.00,2.25,0.00,0.000,4,0.000,0.031,2442,635,3114
$GC,1846,-2.20,-88.4,267.1,-15.0,146,1852,0.00,2.17,0.00,0.000,6,0.000,0.018,2442,2053,3115
$GC,2178,-2.27,-88.4,308.9,-12.1,155,2182,0.00,2.28,0.00,0.000,4,0.000,0.038,2442,637,3115
$GC,2436,-2.34,-88.4,341.8,-11.5,160,2442,0.15,2.20,0.00,0.000,6,0.052,0.021,2394,2051,3115
$GC,2767,-2.34,-88.4,383.5,-12.3,169,2771,0.00,2.28,0.00,0.000,4,0.000,0.041,2394,644,3113
$GC,3024,-2.34,-88.4,417.8,-12.4,174,3029,0.00,2.22,0.00,0.000,6,0.000,0.031,2394,2055,3112
$GC,3356,-2.34,-88.4,461.4,-13.6,182,3360,0.00,2.33,0.00,0.000,4,0.000,0.046,2394,646,3109
$GC,3614,-2.34,-88.4,501.2,-14.8,187,3620,0.00,2.25,0.00,0.000,6,0.000,0.031,2395,2045,3108
$STATE,3698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3699,begin apogee
$GC,3706,-0.31,0.0,513.3,14.2,190,3783,2.12,0.00,72.50,0.919,6,0.104,0.000,2848,1970,2749
$STATE,3784,end apogee,CONTROL_FINISHED_OK
$STATE,3784,begin climb
$GC,3787,1.80,88.4,515.6,0.0,192,3869,1.88,2.50,72.97,0.897,4,0.028,0.059,3323,3408,2386
$GC,4071,1.40,88.4,479.7,16.8,198,4077,0.50,2.25,0.00,0.000,6,0.127,0.030,3226,2024,2381
$GC,4416,1.19,88.4,436.5,11.9,207,4421,0.20,2.42,0.00,0.000,4,0.127,0.061,3183,596,2378
$GC,4674,1.00,88.4,405.9,11.7,212,4680,0.22,2.25,0.00,0.000,6,0.128,0.031,3141,2001,2375
$GC,5006,0.94,88.4,377.0,8.6,221,5010,0.00,2.35,0.00,0.000,4,0.000,0.050,3141,594,2374
$GC,5182,0.85,88.4,361.3,9.4,225,5187,0.17,2.25,0.00,0.000,6,0.129,0.025,3107,2004,2373
$GC,5511,0.85,92.2,334.7,8.1,233,5515,0.00,2.35,0.00,0.000,4,0.000,0.048,3107,590,2371
$GC,5572,0.86,99.2,329.5,7.7,234,5585,0.00,2.25,7.40,0.707,6,0.000,0.023,3107,2008,2343
$GC,5922,0.93,128.9,310.0,5.1,243,5949,0.00,0.00,26.02,0.798,6,0.000,0.000,3107,2008,2222
$GC,6244,1.00,134.7,286.3,7.8,251,6256,0.12,2.38,6.03,0.637,4,0.060,0.047,3145,592,2198
$GC,6341,0.95,134.7,275.9,11.9,253,6345,0.00,2.25,0.00,0.000,6,0.000,0.021,3145,2005,2197
$GC,6654,0.95,134.7,243.7,10.2,261,6658,0.00,2.35,0.00,0.000,4,0.000,0.049,3145,590,2195
$GC,6744,0.91,134.7,234.0,10.6,263,6749,0.15,2.25,0.00,0.000,6,0.120,0.021,3117,2012,2194
$GC,7065,0.98,141.1,207.8,7.8,271,7073,0.00,0.00,6.22,0.601,6,0.000,0.000,3117,2012,2173
$GC,7376,1.07,144.3,183.8,8.1,292,7389,0.15,2.38,4.40,0.503,4,0.054,0.042,3169,584,2160
$GC,7503,1.01,144.3,170.3,9.8,303,7508,0.15,2.25,0.00,0.000,6,0.120,0.025,3141,2004,2159
$GC,7830,1.05,144.3,141.4,8.7,333,7834,0.00,2.33,0.00,0.000,4,0.000,0.041,3140,578,2159
$GC,7949,1.06,146.2,130.8,8.3,343,7953,0.00,2.25,0.00,0.000,6,0.000,0.025,3141,2004,2159
$GC,8147,1.11,146.2,115.2,8.6,361,8151,0.00,2.30,0.00,0.000,4,0.000,0.044,3141,586,2159
$GC,8303,1.13,157.1,103.0,7.2,374,8321,0.10,2.22,12.35,0.591,6,0.064,0.025,3176,2008,2108
$GC,8512,1.13,157.1,84.6,8.7,394,8516,0.00,2.33,0.00,0.000,4,0.000,0.037,3175,577,2106
$GC,8709,1.14,164.4,67.6,7.7,411,8722,0.00,2.25,7.43,0.511,6,0.000,0.021,3175,2008,2078
$GC,8913,1.17,167.2,52.6,8.2,430,8925,0.00,2.30,3.80,0.379,4,0.000,0.041,3175,3391,2066
$GC,9021,1.25,182.8,43.6,6.7,439,9042,0.00,2.22,14.88,0.544,6,0.000,0.030,3175,1970,2002
$GC,9240,1.32,195.2,28.5,7.1,461,9259,0.12,2.35,11.50,0.512,4,0.055,0.036,3215,3408,1951
$GC,9277,1.33,201.1,25.4,7.8,467,9290,0.00,2.22,6.28,0.446,6,0.000,0.031,3215,1992,1929
$GC,9498,1.29,201.1,5.4,11.4,505,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1992,1927
$STATE,9514,end climb,SURFACE_DEPTH_REACHED
$STATE,9514,begin surface coast
$FINISH,0.9,1.023281
$STATE,9538,end surface coast,CONTROL_FINISHED_OK
$STATE,9538,begin surface
$SM_CCo,9561,130.48,0.517,0,0,954,440.07
$SM_GC,1.74,0.00,0.00,130.48,0.000,0.000,0.517,412,2107,954,-11.54,1.58,440.07
$IRIDIUM_FIX,2241.69,-15748.90,281297,080849
$TT8_MAMPS,0.026845
$HUMID,1802
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.40
$XPDR_PINGS,96
$24V_AH,23.7,55.183
$10V_AH,10.1,52.905
$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,28.975,91.075,251.775,130.475,0.000,30.556,27.230,141.038,24.000,0.000,0.000,15.692,1060.385,6297.955,483.443,1581.487,590.575,33.360,1247.819,0.000,1673.467,0.000,0.468
$DEVICE_MAMPS,160.303,74.399,918.866,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.768,344.119,666.890,513.057,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38183,512
$CAP_FILE_SIZE,216275,0
$CFSIZE,260165632,229928960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031008,132620,2248.067,-15748.164,10,1.5,10,10.1