version: 66.03
glider: 148
mission: 6
dive: 449
start: 10 6 108 12 43 3
data:
$ID,148
$MISSION,6
$DIVE,449
$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,-15697.434
$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,37
$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
$GPS1,123638,2248.048,-15747.841,26,2.0,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-64.1
$GPS2,124209,2248.044,-15747.896,12,2.0,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.048,-0.139
$KALMAN_X,-407493.7,-73.7,283.2,422759.6,-2074.9
$KALMAN_Y,-262146.6,-12.5,161.3,261906.4,493.7
$MHEAD_RNG_PITCHd_Wd,150.7,1887,-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,-49.4,0.0,0.0,0,88,0.00,0.00,-62.45,0.000,2,0.000,0.000,412,2075,2558
$GC,93,-1.79,-86.6,3.3,-4.2,11,127,11.23,2.30,-13.40,0.000,4,0.160,0.044,2523,637,3103
$GC,193,-1.86,-86.6,19.8,-18.9,27,200,0.00,2.22,0.00,0.000,6,0.000,0.020,2523,2062,3104
$GC,397,-1.86,-86.6,56.9,-18.9,50,401,0.00,2.28,0.00,0.000,4,0.000,0.031,2523,639,3104
$GC,502,-1.96,-86.6,73.9,-12.5,59,507,0.12,2.20,0.00,0.000,6,0.056,0.018,2481,2063,3105
$GC,703,-2.01,-86.6,101.0,-11.7,77,707,0.00,2.28,0.00,0.000,4,0.000,0.031,2481,635,3105
$GC,803,-2.09,-86.6,115.9,-15.5,85,809,0.00,2.17,0.00,0.000,6,0.000,0.018,2481,2062,3106
$GC,1001,-2.17,-86.6,144.7,-14.4,104,1006,0.15,2.28,0.00,0.000,4,0.053,0.031,2427,635,3106
$GC,1091,-2.13,-86.6,159.6,-16.4,111,1098,0.12,2.17,0.00,0.000,6,0.119,0.017,2451,2062,3107
$GC,1417,-2.17,-86.6,206.3,-14.5,139,1421,0.00,2.25,0.00,0.000,4,0.000,0.031,2451,645,3108
$GC,1566,-2.22,-86.6,227.0,-12.8,142,1570,0.00,2.15,0.00,0.000,6,0.000,0.024,2451,2053,3108
$GC,1916,-2.31,-86.6,261.5,-9.3,151,1920,0.15,2.25,0.00,0.000,4,0.050,0.030,2395,642,3108
$GC,2033,-2.28,-86.6,277.3,-13.2,153,2038,0.12,2.15,0.00,0.000,6,0.121,0.018,2419,2050,3108
$GC,2368,-2.32,-86.6,318.5,-12.1,161,2372,0.00,2.25,0.00,0.000,4,0.000,0.035,2419,650,3108
$GC,2627,-2.32,-86.6,352.6,-13.9,166,2633,0.00,2.17,0.00,0.000,6,0.000,0.022,2419,2040,3107
$GC,2959,-2.37,-86.6,395.1,-12.8,175,2962,0.00,2.28,0.00,0.000,4,0.000,0.044,2419,652,3105
$GC,3096,-2.37,-86.6,412.5,-12.3,178,3100,0.00,2.20,0.00,0.000,6,0.000,0.031,2418,2054,3105
$GC,3417,-2.42,-86.6,449.8,-11.4,186,3422,0.12,2.33,0.00,0.000,4,0.060,0.047,2377,650,3103
$GC,3675,-2.37,-86.6,483.9,-12.9,191,3680,0.12,2.22,0.00,0.000,6,0.129,0.029,2400,2044,3101
$STATE,3922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3922,begin apogee
$GC,3929,-0.31,0.0,512.0,11.0,197,4005,2.12,0.00,70.95,0.925,6,0.107,0.000,2851,2045,2749
$STATE,4006,end apogee,CONTROL_FINISHED_OK
$STATE,4006,begin climb
$GC,4010,1.79,86.6,512.7,0.0,199,4092,1.88,2.35,71.50,0.901,4,0.031,0.058,3321,3390,2394
$GC,4233,1.39,86.6,486.5,15.4,204,4238,0.47,2.25,0.00,0.000,6,0.128,0.035,3228,2013,2390
$GC,4555,1.17,86.6,452.9,10.0,212,4560,0.22,2.42,0.00,0.000,4,0.126,0.065,3180,596,2386
$GC,4768,0.97,86.6,429.6,11.0,216,4775,0.25,2.25,0.00,0.000,6,0.127,0.031,3133,1998,2384
$GC,5100,0.92,86.6,398.0,9.9,225,5104,0.00,2.35,0.00,0.000,4,0.000,0.045,3132,592,2382
$GC,5335,0.83,86.6,374.0,9.7,230,5340,0.17,2.25,0.00,0.000,6,0.130,0.029,3100,2001,2381
$GC,5685,0.84,95.2,347.1,7.5,239,5696,0.00,2.35,5.93,0.672,4,0.000,0.062,3100,3397,2360
$GC,5736,0.84,97.3,343.0,8.3,240,5740,0.00,2.25,0.00,0.000,6,0.000,0.032,3100,1992,2359
$GC,6052,0.89,112.4,320.4,6.8,248,6072,0.00,2.38,15.82,0.788,4,0.000,0.058,3099,604,2289
$GC,6320,0.89,112.4,295.8,10.0,254,6324,0.00,2.22,0.00,0.000,6,0.000,0.022,3100,2003,2286
$GC,6642,0.97,123.3,271.4,7.2,262,6657,0.12,2.35,9.57,0.714,4,0.058,0.044,3138,604,2246
$GC,6766,0.93,123.3,259.1,10.4,264,6770,0.00,2.22,0.00,0.000,6,0.000,0.028,3138,2000,2244
$GC,7098,0.94,136.7,231.0,7.0,272,7117,0.00,2.38,12.57,0.709,4,0.000,0.041,3138,605,2191
$GC,7288,0.92,143.8,217.4,7.7,276,7301,0.00,2.20,7.30,0.637,6,0.000,0.026,3138,2004,2162
$GC,7622,0.93,152.0,191.7,7.6,291,7637,0.00,2.38,8.40,0.634,4,0.000,0.049,3138,3395,2129
$GC,7706,0.97,152.0,184.1,9.1,298,7712,0.00,2.22,0.00,0.000,6,0.000,0.025,3138,1993,2127
$GC,8033,1.02,152.0,153.8,9.1,329,8037,0.00,2.25,0.00,0.000,4,0.000,0.038,3138,602,2126
$GC,8236,1.02,152.5,134.7,8.4,346,8242,0.00,2.20,0.00,0.000,6,0.000,0.020,3138,2015,2125
$GC,8435,1.08,152.5,118.3,9.2,365,8439,0.00,2.30,0.00,0.000,4,0.000,0.037,3138,599,2125
$GC,8465,1.08,152.5,115.5,9.8,367,8469,0.00,2.20,0.00,0.000,6,0.000,0.025,3138,2003,2125
$GC,8665,1.16,155.1,98.8,8.2,385,8673,0.15,0.00,3.85,0.413,6,0.050,0.000,3187,2003,2116
$GC,8864,1.18,177.3,84.8,5.9,404,8886,0.00,0.00,20.00,0.593,6,0.000,0.000,3187,2003,2026
$GC,9075,1.18,177.3,66.3,9.3,424,9079,0.00,2.30,0.00,0.000,4,0.000,0.043,3187,593,2023
$GC,9335,1.22,207.6,49.9,5.0,446,9366,0.00,2.20,26.45,0.561,6,0.000,0.027,3188,2001,1902
$GC,9568,1.25,207.6,31.3,9.5,468,9572,0.00,2.28,0.00,0.000,4,0.000,0.041,3187,600,1898
$GC,9673,1.25,207.6,18.3,12.8,484,9680,0.00,2.20,0.00,0.000,6,0.000,0.028,3187,1992,1898
$STATE,9793,end climb,SURFACE_DEPTH_REACHED
$STATE,9793,begin surface coast
$FINISH,0.9,1.003283
$STATE,9816,end surface coast,CONTROL_FINISHED_OK
$STATE,9816,begin surface
$SM_CCo,9840,126.20,0.519,0,0,954,440.07
$SM_GC,1.86,0.00,0.00,126.20,0.000,0.000,0.519,394,2144,954,-11.62,2.66,440.07
$IRIDIUM_FIX,2241.69,-15746.73,311297,090918
$TT8_MAMPS,0.026845
$HUMID,1820
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.60
$XPDR_PINGS,104
$24V_AH,23.7,57.520
$10V_AH,10.1,54.812
$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,28.850,94.975,252.350,126.200,0.000,26.346,28.076,148.785,26.000,0.000,0.000,14.356,1073.016,6527.641,468.746,1612.020,612.597,33.362,1255.742,0.000,1720.916,0.000,0.469
$DEVICE_MAMPS,159.536,69.797,925.002,519.259,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,373.779,318.758,665.259,519.188,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38272,509
$CAP_FILE_SIZE,215593,0
$CFSIZE,260165632,228147200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061008,153031,2247.099,-15747.849,30,1.1,40,10.1