version: 66.03
glider: 148
mission: 6
dive: 445
start: 10 6 108 1 21 52
data:
$ID,148
$MISSION,6
$DIVE,445
$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,-15622.151
$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
$GPS1,011456,2248.628,-15748.208,6,1.2,11,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.2
$GPS2,012059,2248.621,-15748.223,11,3.5,30,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.129,-0.070
$KALMAN_X,-402346.8,425.6,248.0,416590.7,-2339.4
$KALMAN_Y,-263932.2,83.3,218.6,264601.8,-589.7
$MHEAD_RNG_PITCHd_Wd,108.3,1757,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.75,-49.4,0.0,0.0,0,91,0.00,0.00,-63.67,0.000,2,0.000,0.000,407,2146,2597
$GC,97,-1.79,-86.5,3.3,-4.2,11,130,11.27,2.40,-12.45,0.000,4,0.160,0.044,2522,651,3101
$GC,143,-1.47,-86.5,10.0,-13.1,18,151,0.30,2.20,0.00,0.000,6,0.110,0.017,2594,2065,3102
$GC,358,-1.65,-86.5,39.0,-13.8,50,363,0.15,2.28,0.00,0.000,4,0.049,0.029,2538,644,3103
$GC,401,-1.74,-86.5,45.1,-16.5,53,405,0.00,2.17,0.00,0.000,6,0.000,0.018,2538,2052,3103
$GC,600,-1.85,-86.5,77.2,-14.1,71,604,0.00,2.22,0.00,0.000,4,0.000,0.028,2538,648,3103
$GC,673,-2.04,-86.5,86.9,-12.9,77,680,0.28,2.17,0.00,0.000,6,0.038,0.018,2456,2065,3104
$GC,871,-2.04,-86.5,118.9,-15.4,96,875,0.00,2.25,0.00,0.000,4,0.000,0.030,2457,648,3104
$GC,918,-2.04,-86.5,126.1,-15.9,100,922,0.00,2.15,0.00,0.000,6,0.000,0.017,2457,2051,3105
$GC,1116,-2.08,-86.5,156.5,-14.6,118,1120,0.00,2.22,0.00,0.000,4,0.000,0.031,2456,651,3105
$GC,1246,-2.12,-86.5,175.0,-12.9,129,1252,0.00,2.17,0.00,0.000,6,0.000,0.018,2456,2053,3106
$GC,1566,-2.19,-86.5,216.9,-12.9,151,1570,0.00,2.22,0.00,0.000,4,0.000,0.031,2456,652,3107
$GC,1673,-2.25,-86.5,232.7,-14.1,153,1677,0.12,2.15,0.00,0.000,6,0.056,0.017,2415,2063,3107
$GC,2017,-2.25,-86.5,279.5,-13.1,162,2021,0.00,2.25,0.00,0.000,4,0.000,0.031,2415,651,3107
$GC,2237,-2.25,-86.5,308.9,-13.1,167,2241,0.00,2.15,0.00,0.000,6,0.000,0.019,2414,2045,3107
$GC,2561,-2.25,-86.5,351.5,-13.7,175,2565,0.00,2.25,0.00,0.000,4,0.000,0.045,2415,658,3107
$GC,2818,-2.25,-86.5,386.2,-13.4,180,2824,0.00,2.17,0.00,0.000,6,0.000,0.029,2415,2053,3106
$GC,3150,-2.29,-86.5,425.9,-11.8,189,3154,0.00,2.30,0.00,0.000,4,0.000,0.047,2415,657,3103
$GC,3407,-2.29,-86.5,457.0,-12.1,194,3414,0.00,2.20,0.00,0.000,6,0.000,0.030,2415,2045,3102
$GC,3740,-2.34,-86.5,494.4,-11.8,203,3744,0.00,2.30,0.00,0.000,4,0.000,0.043,2415,3458,3100
$STATE,3860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3860,begin apogee
$GC,3869,-0.31,0.0,510.5,12.6,205,3944,2.00,0.00,70.70,0.923,6,0.107,0.000,2851,2006,2749
$STATE,3945,end apogee,CONTROL_FINISHED_OK
$STATE,3945,begin climb
$GC,3949,1.79,86.5,512.3,0.0,207,4031,1.88,2.42,71.43,0.900,4,0.031,0.054,3318,606,2395
$GC,4285,1.35,86.5,464.1,18.0,214,4291,0.50,2.25,0.00,0.000,6,0.122,0.028,3218,1994,2389
$GC,4625,1.14,86.5,421.2,12.1,223,4629,0.22,2.33,0.00,0.000,4,0.124,0.047,3171,599,2385
$GC,4883,0.96,86.5,393.9,9.9,228,4890,0.22,2.25,0.00,0.000,6,0.133,0.028,3130,2005,2384
$GC,5218,0.92,86.5,365.6,8.5,237,5222,0.00,2.33,0.00,0.000,4,0.000,0.041,3130,603,2381
$GC,5476,0.84,91.1,343.6,8.0,242,5483,0.12,2.22,0.00,0.000,6,0.139,0.023,3108,2003,2380
$GC,5808,0.87,108.6,322.5,6.5,251,5832,0.00,2.38,16.75,0.796,4,0.000,0.048,3107,602,2306
$GC,6008,0.87,110.5,305.9,8.3,255,6012,0.00,2.22,0.00,0.000,6,0.000,0.029,3107,2002,2302
$GC,6357,0.94,129.1,283.2,6.4,264,6377,0.00,0.00,18.08,0.770,6,0.000,0.000,3107,2002,2222
$GC,6681,1.01,129.1,255.1,8.6,272,6686,0.15,2.33,0.00,0.000,4,0.056,0.041,3157,603,2218
$GC,6901,0.94,137.0,236.1,7.6,277,6916,0.15,2.22,7.30,0.649,6,0.123,0.021,3129,2003,2189
$GC,7233,0.99,138.5,211.5,8.3,285,7236,0.00,2.33,0.00,0.000,4,0.000,0.048,3129,3402,2188
$GC,7249,1.03,138.5,209.7,9.0,285,7253,0.00,2.25,0.00,0.000,6,0.000,0.027,3129,1992,2186
$GC,7576,1.08,141.2,183.7,8.2,306,7588,0.12,2.28,4.75,0.522,4,0.059,0.042,3169,599,2173
$GC,7628,1.01,141.2,178.2,10.8,310,7635,0.15,2.22,0.00,0.000,6,0.123,0.025,3142,2014,2173
$GC,7954,1.01,148.1,149.8,7.7,341,7967,0.00,2.40,7.53,0.584,4,0.000,0.042,3141,591,2144
$GC,8063,1.01,148.1,140.1,9.1,350,8069,0.00,2.20,0.00,0.000,6,0.000,0.027,3141,2000,2144
$GC,8263,1.07,153.0,124.5,7.9,369,8275,0.00,2.30,5.85,0.520,4,0.000,0.043,3141,596,2124
$GC,8412,1.07,153.0,110.6,8.9,382,8416,0.00,2.20,0.00,0.000,6,0.000,0.022,3141,2000,2124
$GC,8611,1.14,160.4,94.0,7.6,400,8624,0.12,2.33,7.90,0.542,4,0.057,0.044,3183,3394,2093
$GC,8641,1.14,160.4,91.3,9.0,402,8648,0.00,2.22,0.00,0.000,6,0.000,0.030,3184,1986,2093
$GC,8839,1.14,160.4,74.2,8.9,421,8843,0.00,2.28,0.00,0.000,4,0.000,0.037,3184,3396,2093
$GC,8868,1.16,170.8,72.1,7.3,423,8883,0.00,2.20,10.02,0.545,6,0.000,0.023,3184,1998,2052
$GC,9083,1.20,207.4,60.7,4.3,443,9119,0.00,2.30,31.80,0.576,4,0.000,0.041,3184,595,1902
$GC,9232,1.20,207.4,47.5,11.1,456,9236,0.00,2.20,0.00,0.000,6,0.000,0.026,3184,2002,1900
$GC,9433,1.24,207.4,26.3,10.8,477,9440,0.00,2.28,0.00,0.000,4,0.000,0.038,3184,599,1897
$GC,9461,1.24,207.4,22.8,12.2,481,9467,0.00,2.17,0.00,0.000,6,0.000,0.025,3184,1999,1898
$STATE,9613,end climb,SURFACE_DEPTH_REACHED
$STATE,9613,begin surface coast
$FINISH,0.9,1.015228
$STATE,9638,end surface coast,CONTROL_FINISHED_OK
$STATE,9638,begin surface
$SM_CCo,9660,121.45,0.518,0,0,953,440.07
$SM_GC,1.80,0.00,0.00,121.45,0.000,0.000,0.518,409,2004,953,-11.55,-1.33,440.07
$IRIDIUM_FIX,2237.01,-15749.78,301297,222222
$TT8_MAMPS,0.026845
$HUMID,1817
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.00
$XPDR_PINGS,110
$24V_AH,23.7,57.167
$10V_AH,10.1,54.517
$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,29.075,103.725,252.100,121.450,0.000,23.669,29.360,158.044,27.500,0.000,0.000,33.209,1064.148,6340.866,478.849,1621.685,634.518,33.365,1268.249,0.000,1702.498,0.000,0.468
$DEVICE_MAMPS,160.303,53.690,923.468,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.263,334.995,648.908,508.594,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38159,512
$CAP_FILE_SIZE,218269,0
$CFSIZE,260165632,228413440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061008,040607,2248.091,-15748.170,30,0.9,30,10.1