version: 66.03
glider: 148
mission: 6
dive: 438
start: 10 5 108 5 19 3
data:
$ID,148
$MISSION,6
$DIVE,438
$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,-15466.5
$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,41
$R_STBD_OVSHOOT,40
$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
$GPS1,051238,2248.246,-15747.778,11,1.4,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-58.1
$GPS2,051809,2248.247,-15747.830,11,1.2,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.120,-0.086
$KALMAN_X,-394031.2,631.6,97.7,408885.1,-3033.6
$KALMAN_Y,-265027.9,-131.8,-463.5,265905.6,300.3
$MHEAD_RNG_PITCHd_Wd,115.6,2049,-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,23,-1.75,-49.4,0.0,0.0,0,89,0.00,0.00,-63.35,0.000,2,0.000,0.000,408,2146,2582
$GC,95,-1.79,-83.3,3.4,-4.6,11,128,11.30,2.40,-12.10,0.000,4,0.161,0.044,2525,649,3089
$GC,161,-1.87,-83.3,13.5,-15.4,21,167,0.00,2.17,0.00,0.000,6,0.000,0.018,2526,2064,3090
$GC,366,-1.87,-83.3,48.0,-17.5,48,370,0.00,2.28,0.00,0.000,4,0.000,0.030,2525,640,3091
$GC,407,-1.93,-83.3,55.5,-18.2,51,412,0.12,2.17,0.00,0.000,6,0.057,0.018,2486,2048,3091
$GC,605,-1.93,-83.3,90.5,-16.8,69,609,0.00,2.22,0.00,0.000,4,0.000,0.031,2486,649,3091
$GC,852,-1.99,-83.3,129.0,-14.1,90,859,0.00,2.15,0.00,0.000,6,0.000,0.016,2486,2062,3092
$GC,1050,-2.09,-83.3,154.0,-12.9,109,1054,0.00,2.25,0.00,0.000,4,0.000,0.031,2486,646,3093
$GC,1128,-2.19,-83.3,164.8,-13.8,115,1135,0.17,2.15,0.00,0.000,6,0.049,0.016,2431,2062,3093
$GC,1460,-2.19,-83.3,211.2,-13.4,141,1464,0.00,2.25,0.00,0.000,4,0.000,0.031,2431,650,3094
$GC,1718,-2.19,-83.3,245.6,-13.1,146,1724,0.00,2.15,0.00,0.000,6,0.000,0.018,2431,2053,3094
$GC,2050,-2.23,-83.3,286.9,-12.8,155,2054,0.00,2.25,0.00,0.000,4,0.000,0.034,2431,644,3094
$GC,2297,-2.26,-83.3,318.2,-11.7,160,2301,0.00,2.17,0.00,0.000,6,0.000,0.021,2431,2051,3094
$GC,2639,-2.32,-83.3,356.7,-11.2,169,2643,0.00,2.28,0.00,0.000,4,0.000,0.043,2431,650,3093
$GC,2897,-2.36,-83.3,390.8,-12.5,174,2904,0.12,2.17,0.00,0.000,6,0.061,0.030,2391,2049,3092
$GC,3229,-2.36,-83.3,436.5,-14.2,183,3233,0.00,2.22,0.00,0.000,4,0.000,0.044,2391,3442,3090
$GC,3475,-2.36,-83.3,468.7,-11.9,188,3479,0.00,2.20,0.00,0.000,6,0.000,0.033,2391,2055,3088
$GC,3818,-2.36,-83.3,505.0,-10.6,197,3822,0.00,2.33,0.00,0.000,4,0.000,0.050,2391,648,3086
$STATE,3859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3859,begin apogee
$GC,3868,-0.31,0.0,510.4,12.3,198,3945,2.12,0.00,68.25,0.926,6,0.114,0.000,2847,1990,2749
$STATE,3945,end apogee,CONTROL_FINISHED_OK
$STATE,3946,begin climb
$GC,3949,1.79,83.3,510.7,0.0,200,4026,1.90,2.45,68.93,0.901,4,0.032,0.060,3319,3408,2408
$GC,4162,1.40,83.3,483.8,15.3,204,4167,0.47,2.28,0.00,0.000,6,0.127,0.028,3226,2009,2403
$GC,4489,1.17,83.3,443.9,11.8,212,4494,0.22,2.40,0.00,0.000,4,0.127,0.064,3180,598,2399
$GC,4748,0.97,83.3,417.4,9.3,217,4755,0.25,2.25,0.00,0.000,6,0.130,0.028,3133,2003,2397
$GC,5082,0.92,86.3,391.4,8.2,226,5086,0.00,2.35,0.00,0.000,4,0.000,0.045,3133,593,2395
$GC,5340,0.83,90.1,367.2,8.1,231,5350,0.17,2.25,4.35,0.593,6,0.136,0.031,3100,2002,2381
$GC,5679,0.85,112.3,346.9,5.9,240,5704,0.00,2.40,20.17,0.819,4,0.000,0.046,3100,589,2290
$GC,5790,0.85,112.3,338.1,8.6,242,5794,0.00,2.28,0.00,0.000,6,0.000,0.025,3100,2007,2289
$GC,6129,0.91,119.8,312.0,7.6,251,6143,0.00,2.42,7.03,0.693,4,0.000,0.048,3100,597,2259
$GC,6340,0.91,119.8,292.8,9.4,255,6344,0.00,2.25,0.00,0.000,6,0.000,0.022,3100,2010,2257
$GC,6672,1.01,142.8,270.8,5.9,263,6699,0.15,2.40,20.65,0.768,4,0.057,0.051,3150,591,2165
$GC,6716,0.95,142.8,267.1,9.6,264,6720,0.12,2.28,0.00,0.000,6,0.126,0.028,3127,2004,2164
$GC,7037,1.00,142.8,236.7,9.8,272,7041,0.00,2.35,0.00,0.000,4,0.000,0.042,3127,590,2161
$GC,7176,1.00,142.8,221.8,10.6,275,7180,0.00,2.25,0.00,0.000,6,0.000,0.027,3127,2010,2160
$GC,7493,1.06,156.4,198.1,6.9,283,7514,0.10,2.38,12.00,0.675,4,0.067,0.051,3160,3395,2110
$GC,7520,1.06,158.5,195.7,8.3,285,7527,0.00,2.25,0.00,0.000,6,0.000,0.031,3160,1989,2109
$GC,7847,1.06,158.5,164.8,10.5,316,7851,0.00,2.28,0.00,0.000,4,0.000,0.047,3160,590,2108
$GC,7989,1.06,158.5,149.5,10.0,328,7993,0.00,2.22,0.00,0.000,6,0.000,0.025,3160,2010,2107
$GC,8187,1.06,158.5,131.3,9.3,346,8191,0.00,2.30,0.00,0.000,4,0.000,0.041,3160,597,2107
$GC,8288,1.06,158.5,121.6,9.2,354,8294,0.00,2.17,0.00,0.000,6,0.000,0.026,3160,1998,2107
$GC,8486,1.08,169.6,105.7,7.2,373,8505,0.00,0.00,11.98,0.593,6,0.000,0.000,3160,1998,2056
$GC,8698,1.12,178.8,89.5,7.4,393,8708,0.00,0.00,9.05,0.550,6,0.000,0.000,3160,1998,2019
$GC,8899,1.17,178.8,73.3,8.6,412,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1998,2018
$GC,9089,1.28,200.4,59.7,6.0,430,9115,0.15,2.33,19.55,0.566,4,0.048,0.043,3216,597,1930
$GC,9373,1.20,200.4,29.2,12.9,455,9380,0.17,2.20,0.00,0.000,6,0.107,0.025,3182,2004,1929
$GC,9587,1.25,200.4,8.6,10.4,492,9593,0.00,2.28,0.00,0.000,4,0.000,0.036,3181,596,1928
$STATE,9639,end climb,SURFACE_DEPTH_REACHED
$STATE,9639,begin surface coast
$FINISH,0.8,1.023516
$STATE,9668,end surface coast,CONTROL_FINISHED_OK
$STATE,9668,begin surface
$SM_CCo,9692,120.22,0.517,0,0,955,440.07
$SM_GC,1.78,0.00,0.00,120.22,0.000,0.000,0.517,415,2083,955,-11.52,0.93,440.07
$IRIDIUM_FIX,2237.01,-15747.62,301297,020252
$TT8_MAMPS,0.027612
$HUMID,1826
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.10
$XPDR_PINGS,99
$24V_AH,23.7,56.522
$10V_AH,10.1,54.006
$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,28.950,95.325,241.950,120.225,0.000,30.712,29.488,146.010,24.750,0.000,0.000,12.560,1059.457,6399.170,457.977,1629.756,595.876,33.357,1252.326,0.000,1728.618,0.000,0.469
$DEVICE_MAMPS,161.070,64.428,925.769,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.539,309.392,652.663,499.305,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38130,506
$CAP_FILE_SIZE,213197,0
$CFSIZE,260165632,228900864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051008,080356,2248.019,-15748.019,37,1.3,37,10.1