version: 66.03
glider: 148
mission: 6
dive: 429
start: 10 4 108 3 55 10
data:
$ID,148
$MISSION,6
$DIVE,429
$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,-15264.065
$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,45
$R_STBD_OVSHOOT,44
$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
$GPS1,034759,2247.767,-15748.003,7,2.5,26,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-59.6
$GPS2,035417,2247.775,-15748.071,13,3.4,32,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,0.046
$KALMAN_X,-379325.3,671.7,148.1,393683.4,-3114.2
$KALMAN_Y,-264990.1,167.0,-381.5,264621.4,-91.4
$MHEAD_RNG_PITCHd_Wd,61.8,1639,-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,23,-1.75,-49.4,0.0,0.0,0,83,0.00,0.00,-57.97,0.000,2,0.000,0.000,407,2141,2453
$GC,87,-1.80,-90.6,3.0,-3.8,10,125,11.23,0.00,-18.17,0.000,6,0.159,0.000,2525,2141,3119
$GC,326,-1.80,-90.6,42.4,-18.9,46,330,0.00,2.38,0.00,0.000,4,0.000,0.030,2524,648,3120
$GC,369,-1.85,-90.6,50.0,-18.3,49,373,0.00,2.17,0.00,0.000,6,0.000,0.018,2525,2058,3120
$GC,567,-1.95,-90.6,83.5,-13.8,67,571,0.12,2.25,0.00,0.000,4,0.056,0.030,2483,648,3120
$GC,679,-2.01,-90.6,99.8,-14.1,76,685,0.00,2.17,0.00,0.000,6,0.000,0.017,2483,2052,3121
$GC,879,-2.09,-90.6,126.4,-13.8,95,882,0.00,2.22,0.00,0.000,4,0.000,0.031,2483,652,3121
$GC,980,-2.17,-90.6,141.5,-14.9,103,987,0.15,2.15,0.00,0.000,6,0.051,0.018,2435,2056,3122
$GC,1177,-2.17,-90.6,170.5,-13.6,122,1181,0.00,2.22,0.00,0.000,4,0.000,0.030,2435,652,3123
$GC,1335,-2.17,-90.6,195.1,-15.9,135,1341,0.00,2.12,0.00,0.000,6,0.000,0.017,2435,2055,3123
$GC,1658,-2.20,-90.6,241.3,-13.8,146,1662,0.00,2.25,0.00,0.000,4,0.000,0.031,2435,646,3123
$GC,1851,-2.23,-90.6,268.7,-14.0,150,1855,0.00,2.15,0.00,0.000,6,0.000,0.017,2435,2053,3124
$GC,2200,-2.29,-90.6,313.0,-12.1,159,2204,0.00,2.25,0.00,0.000,4,0.000,0.035,2435,654,3124
$GC,2353,-2.33,-90.6,331.3,-10.8,162,2358,0.10,2.15,0.00,0.000,6,0.065,0.028,2401,2045,3123
$GC,2698,-2.33,-90.6,372.3,-12.2,171,2701,0.00,2.28,0.00,0.000,4,0.000,0.044,2400,652,3122
$GC,2956,-2.33,-90.6,410.4,-14.9,176,2962,0.00,2.20,0.00,0.000,6,0.000,0.028,2400,2053,3120
$GC,3287,-2.33,-90.6,454.7,-13.1,185,3291,0.00,2.28,0.00,0.000,4,0.000,0.048,2400,3450,3118
$GC,3519,-2.33,-90.6,484.6,-12.4,190,3523,0.00,2.22,0.00,0.000,6,0.000,0.031,2400,2050,3117
$STATE,3753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3754,begin apogee
$GC,3761,-0.31,0.0,510.6,10.8,196,3840,2.12,0.00,73.95,0.920,6,0.107,0.000,2851,1975,2749
$STATE,3840,end apogee,CONTROL_FINISHED_OK
$STATE,3840,begin climb
$GC,3843,1.80,90.6,510.6,0.0,198,3926,1.90,2.50,75.00,0.894,4,0.033,0.055,3330,3393,2378
$GC,3968,1.41,90.6,497.0,17.7,200,3975,0.52,2.22,0.00,0.000,6,0.130,0.029,3228,2035,2374
$GC,4300,1.18,90.6,447.8,13.6,209,4305,0.22,2.47,0.00,0.000,4,0.127,0.066,3181,593,2371
$GC,4317,0.98,90.6,445.6,13.5,209,4322,0.25,2.25,0.00,0.000,6,0.127,0.032,3134,1991,2370
$GC,4662,0.93,90.6,414.4,8.7,218,4666,0.00,2.35,0.00,0.000,4,0.000,0.044,3134,590,2368
$GC,4829,0.84,90.6,397.3,10.3,221,4836,0.15,2.25,0.00,0.000,6,0.133,0.024,3105,2002,2367
$GC,5161,0.84,90.6,368.0,9.0,230,5165,0.00,2.35,0.00,0.000,4,0.000,0.044,3106,593,2365
$GC,5303,0.84,90.6,354.9,9.5,233,5307,0.00,2.22,0.00,0.000,6,0.000,0.023,3106,2004,2364
$GC,5622,0.84,92.3,327.4,8.3,241,5626,0.00,2.35,0.00,0.000,4,0.000,0.045,3105,592,2362
$GC,5879,0.86,110.2,308.9,6.4,246,5898,0.00,2.25,14.43,0.772,6,0.000,0.023,3106,2013,2299
$GC,6216,0.93,120.7,284.1,7.3,255,6230,0.00,2.40,9.95,0.722,4,0.000,0.043,3105,590,2255
$GC,6482,0.93,120.7,262.2,9.1,261,6487,0.00,2.25,0.00,0.000,6,0.000,0.021,3106,2011,2252
$GC,6802,1.00,120.7,234.2,9.2,269,6807,0.15,2.35,0.00,0.000,4,0.055,0.041,3155,589,2251
$GC,6992,0.94,126.5,216.8,7.8,273,7003,0.15,2.22,5.57,0.588,6,0.121,0.028,3127,2000,2233
$GC,7313,1.01,149.3,194.9,5.9,285,7339,0.00,2.38,20.83,0.701,4,0.000,0.044,3127,580,2139
$GC,7366,1.01,149.3,190.5,9.6,289,7373,0.00,2.28,0.00,0.000,6,0.000,0.029,3127,2004,2137
$GC,7694,1.08,155.6,162.4,7.8,320,7706,0.12,2.40,6.55,0.570,4,0.060,0.044,3166,587,2113
$GC,7955,1.04,155.6,138.7,10.6,343,7959,0.00,2.25,0.00,0.000,6,0.000,0.028,3167,2011,2111
$GC,8153,1.04,155.6,120.4,10.5,361,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2012,2110
$GC,8344,1.04,155.6,102.8,8.6,379,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2012,2110
$GC,8536,1.05,164.7,87.8,7.5,397,8551,0.00,2.38,8.65,0.548,4,0.000,0.042,3167,587,2077
$GC,8604,1.06,167.8,82.5,8.1,403,8616,0.00,2.22,4.20,0.421,6,0.000,0.025,3166,2006,2064
$GC,8809,1.11,167.8,67.1,8.6,422,8813,0.00,2.33,0.00,0.000,4,0.000,0.044,3166,576,2063
$GC,9065,1.12,178.5,48.8,7.3,444,9080,0.00,2.22,10.40,0.525,6,0.000,0.022,3166,2006,2021
$GC,9280,1.19,180.3,34.7,8.3,464,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2006,2019
$GC,9479,1.25,180.3,15.0,9.9,495,9486,0.10,2.22,0.00,0.000,4,0.062,0.044,3204,3391,2019
$GC,9500,1.28,180.3,12.8,10.6,498,9507,0.00,2.20,0.00,0.000,6,0.000,0.028,3204,1977,2019
$STATE,9584,end climb,SURFACE_DEPTH_REACHED
$STATE,9584,begin surface coast
$FINISH,1.0,1.023184
$STATE,9614,end surface coast,CONTROL_FINISHED_OK
$STATE,9614,begin surface
$SM_CCo,9637,139.82,0.516,0,0,954,440.07
$SM_GC,1.70,0.00,0.00,139.82,0.000,0.000,0.516,411,2108,954,-11.54,1.64,440.07
$IRIDIUM_FIX,2239.35,-15749.78,291297,010141
$TT8_MAMPS,0.026845
$HUMID,1801
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.50
$XPDR_PINGS,100
$24V_AH,23.7,55.709
$10V_AH,10.1,53.348
$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,28.600,90.950,229.525,139.825,0.000,28.665,36.214,167.100,25.000,0.000,0.000,34.524,1071.810,6378.624,465.144,1620.512,614.473,33.363,1239.093,0.000,1684.940,0.000,0.469
$DEVICE_MAMPS,158.769,113.516,920.400,516.191,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.068,349.893,666.821,498.922,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38226,518
$CAP_FILE_SIZE,216856,0
$CFSIZE,260165632,229511168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041008,063926,2247.606,-15748.080,37,1.4,37,10.1