version: 66.03
glider: 148
mission: 6
dive: 446
start: 10 6 108 4 12 34
data:
$ID,148
$MISSION,6
$DIVE,446
$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,-15636.564
$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,42
$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
$GPS1,040607,2248.091,-15748.170,30,0.9,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.4
$GPS2,041139,2248.078,-15748.201,12,0.9,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.107,-0.101
$KALMAN_X,-403461.0,335.3,-27.1,418109.9,-2053.9
$KALMAN_Y,-263351.4,-171.4,-250.2,263743.2,519.2
$MHEAD_RNG_PITCHd_Wd,123.4,1371,-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,22,-1.75,-49.4,0.0,0.0,0,88,0.00,0.00,-63.55,0.000,2,0.000,0.000,409,2004,2589
$GC,94,-1.80,-88.6,3.3,-4.0,11,127,11.25,2.17,-12.38,0.000,4,0.160,0.052,2524,651,3111
$GC,160,-1.86,-88.6,13.6,-15.7,21,166,0.00,2.17,0.00,0.000,6,0.000,0.015,2524,2085,3111
$GC,365,-1.86,-88.6,49.7,-17.8,48,369,0.00,2.30,0.00,0.000,4,0.000,0.030,2524,642,3112
$GC,450,-1.86,-88.6,66.6,-21.3,55,454,0.00,2.15,0.00,0.000,6,0.000,0.018,2524,2029,3112
$GC,648,-1.98,-88.6,96.7,-14.1,73,652,0.15,2.22,0.00,0.000,4,0.053,0.031,2474,639,3113
$GC,732,-2.04,-88.6,110.1,-15.6,80,738,0.00,2.17,0.00,0.000,6,0.000,0.018,2475,2055,3113
$GC,930,-2.10,-88.6,137.1,-13.5,99,934,0.00,2.25,0.00,0.000,4,0.000,0.031,2474,645,3113
$GC,1055,-2.17,-88.6,154.0,-14.2,109,1062,0.12,2.15,0.00,0.000,6,0.058,0.018,2434,2054,3114
$GC,1389,-2.17,-88.6,206.7,-15.9,138,1393,0.00,2.25,0.00,0.000,4,0.000,0.031,2434,640,3115
$GC,1574,-2.17,-88.6,238.4,-17.4,142,1578,0.00,2.17,0.00,0.000,6,0.000,0.018,2434,2057,3115
$GC,1888,-2.22,-88.6,279.3,-12.1,150,1892,0.00,2.25,0.00,0.000,4,0.000,0.031,2434,644,3116
$GC,2035,-2.25,-88.6,296.7,-12.2,153,2039,0.00,2.17,0.00,0.000,6,0.000,0.019,2434,2058,3116
$GC,2385,-2.32,-88.6,336.2,-11.3,162,2388,0.00,2.28,0.00,0.000,4,0.000,0.042,2434,654,3115
$GC,2644,-2.38,-88.6,368.9,-12.4,167,2651,0.15,2.17,0.00,0.000,6,0.053,0.023,2388,2055,3115
$GC,2976,-2.38,-88.6,414.4,-14.1,176,2980,0.00,2.30,0.00,0.000,4,0.000,0.051,2387,660,3113
$GC,3233,-2.38,-88.6,451.3,-13.8,181,3239,0.00,2.20,0.00,0.000,6,0.000,0.033,2387,2048,3112
$GC,3564,-2.38,-88.6,494.5,-13.5,190,3568,0.00,2.30,0.00,0.000,4,0.000,0.048,2387,659,3109
$STATE,3667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3667,begin apogee
$GC,3677,-0.31,0.0,510.1,15.4,192,3754,2.15,0.00,72.53,0.923,6,0.110,0.000,2850,1999,2749
$STATE,3755,end apogee,CONTROL_FINISHED_OK
$STATE,3755,begin climb
$GC,3758,1.80,88.6,511.9,0.0,194,3841,1.88,2.42,73.47,0.897,4,0.031,0.060,3317,3408,2385
$GC,4060,1.42,88.6,472.9,15.6,200,4066,0.43,2.28,0.00,0.000,6,0.126,0.035,3234,2012,2380
$GC,4394,1.18,88.6,430.2,12.0,209,4399,0.25,2.42,0.00,0.000,4,0.123,0.061,3181,596,2376
$GC,4652,0.97,88.6,400.3,11.6,214,4659,0.25,2.28,0.00,0.000,6,0.127,0.030,3134,2011,2374
$GC,4984,0.93,88.6,368.8,9.5,223,4988,0.00,2.38,0.00,0.000,4,0.000,0.044,3134,590,2372
$GC,5215,0.83,88.6,345.2,10.2,228,5220,0.17,2.25,0.00,0.000,6,0.132,0.024,3101,2005,2370
$GC,5530,0.84,98.7,321.1,7.3,236,5539,0.00,0.00,6.68,0.686,6,0.000,0.000,3102,2005,2346
$GC,5854,0.92,129.3,302.3,5.0,244,5888,0.00,2.45,26.80,0.801,4,0.000,0.043,3101,594,2221
$GC,6141,0.92,129.3,276.4,10.2,250,6146,0.00,2.25,0.00,0.000,6,0.000,0.029,3101,2006,2216
$GC,6487,1.01,134.7,246.4,7.9,259,6498,0.15,2.38,5.10,0.583,4,0.054,0.047,3146,586,2198
$GC,6712,0.96,136.2,226.2,8.3,264,6716,0.00,2.25,0.00,0.000,6,0.000,0.024,3145,2007,2197
$GC,7031,0.96,136.2,200.0,8.6,272,7035,0.00,2.33,0.00,0.000,4,0.000,0.041,3145,589,2196
$GC,7075,0.92,136.2,196.1,8.7,273,7083,0.10,2.25,0.00,0.000,6,0.111,0.023,3122,1997,2195
$GC,7401,0.99,147.1,173.3,7.2,304,7418,0.00,2.33,11.50,0.651,4,0.000,0.042,3122,3399,2148
$GC,7453,1.07,147.1,169.0,9.1,308,7458,0.12,2.25,0.00,0.000,6,0.060,0.026,3161,1986,2147
$GC,7778,1.07,147.1,136.8,9.4,338,7782,0.00,2.25,0.00,0.000,4,0.000,0.038,3161,596,2146
$GC,8026,1.04,150.1,114.4,8.1,359,8032,0.00,2.20,0.00,0.000,6,0.000,0.021,3161,2005,2145
$GC,8224,1.06,166.4,100.5,6.6,378,8247,0.00,2.35,17.25,0.603,4,0.000,0.044,3162,3402,2069
$GC,8320,1.09,166.4,92.1,9.0,386,8327,0.00,2.22,0.00,0.000,6,0.000,0.025,3161,1989,2067
$GC,8519,1.13,166.4,75.1,8.9,405,8523,0.00,2.25,0.00,0.000,4,0.000,0.038,3161,597,2067
$GC,8778,1.18,204.4,59.2,4.1,427,8820,0.00,2.17,32.50,0.574,6,0.000,0.025,3161,2010,1914
$GC,9011,1.26,206.3,43.2,8.3,449,9015,0.15,2.30,0.00,0.000,4,0.047,0.034,3217,596,1911
$GC,9120,1.20,206.3,29.7,14.1,458,9127,0.17,2.17,0.00,0.000,6,0.108,0.019,3183,1990,1910
$GC,9333,1.23,206.3,7.6,8.6,495,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1990,1909
$STATE,9378,end climb,SURFACE_DEPTH_REACHED
$STATE,9378,begin surface coast
$FINISH,0.9,1.023261
$STATE,9412,end surface coast,CONTROL_FINISHED_OK
$STATE,9413,begin surface
$SM_CCo,9436,116.50,0.515,0,0,954,440.07
$SM_GC,1.74,0.00,0.00,116.50,0.000,0.000,0.515,413,2149,954,-11.53,2.80,440.07
$IRIDIUM_FIX,2239.35,-15747.62,311297,010143
$TT8_MAMPS,0.027612
$HUMID,1807
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.60
$XPDR_PINGS,99
$24V_AH,23.7,57.255
$10V_AH,10.1,54.591
$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,28.775,90.400,245.825,116.500,0.000,23.938,29.633,148.570,24.750,0.000,0.000,13.783,1055.945,6135.791,457.049,1639.880,594.126,33.363,1247.904,0.000,1743.627,0.000,0.469
$DEVICE_MAMPS,160.303,70.564,922.701,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.426,330.830,683.768,515.361,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38325,509
$CAP_FILE_SIZE,214789,0
$CFSIZE,260165632,228347904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061008,065259,2247.625,-15748.391,10,99.0,29,10.1