version: 66.03
glider: 148
mission: 6
dive: 452
start: 10 6 108 21 23 10
data:
$ID,148
$MISSION,6
$DIVE,452
$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,-15759.815
$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
$GPS1,211647,2248.112,-15748.890,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-56.8
$GPS2,212217,2248.156,-15748.914,9,99.0,28,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.148,-0.044
$KALMAN_X,-410980.8,530.5,-145.2,424341.4,-1923.7
$KALMAN_Y,-262930.2,-141.7,-84.9,263272.1,242.1
$MHEAD_RNG_PITCHd_Wd,96.5,324,-25.7,-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,-1.67,-54.3,0.0,0.0,0,84,0.00,0.00,-58.25,0.000,2,0.000,0.000,409,1996,2455
$GC,88,-1.73,-100.9,3.2,-3.6,10,126,11.32,2.17,-19.62,0.000,4,0.160,0.045,2538,642,3161
$GC,148,-1.79,-100.9,8.6,-10.1,19,155,0.00,2.20,0.00,0.000,6,0.000,0.017,2538,2067,3162
$GC,355,-1.79,-100.9,44.1,-17.8,49,359,0.00,2.25,0.00,0.000,4,0.000,0.029,2538,649,3163
$GC,404,-1.86,-100.9,52.4,-16.8,53,408,0.10,2.17,0.00,0.000,6,0.064,0.018,2504,2058,3163
$GC,606,-1.86,-100.9,86.4,-17.7,72,610,0.00,2.25,0.00,0.000,4,0.000,0.029,2504,642,3163
$GC,661,-1.91,-100.9,94.6,-15.4,76,665,0.00,2.17,0.00,0.000,6,0.000,0.018,2504,2050,3163
$GC,859,-1.97,-100.9,125.3,-14.7,94,863,0.00,2.22,0.00,0.000,4,0.000,0.030,2504,647,3164
$GC,902,-2.08,-100.9,131.0,-13.7,97,907,0.15,2.17,0.00,0.000,6,0.050,0.017,2453,2063,3164
$GC,1101,-2.08,-100.9,163.1,-15.5,115,1105,0.00,2.25,0.00,0.000,4,0.000,0.030,2453,647,3165
$GC,1258,-2.08,-100.9,187.6,-14.6,128,1264,0.00,2.15,0.00,0.000,6,0.000,0.018,2453,2050,3165
$GC,1604,-2.08,-100.9,234.8,-13.9,144,1608,0.00,2.22,0.00,0.000,4,0.000,0.030,2453,646,3165
$GC,1794,-2.12,-100.9,261.8,-13.3,148,1798,0.00,2.15,0.00,0.000,6,0.000,0.018,2453,2052,3166
$GC,2143,-2.17,-100.9,308.7,-13.3,157,2147,0.00,2.25,0.00,0.000,4,0.000,0.042,2452,652,3166
$GC,2401,-2.24,-100.9,344.5,-13.5,162,2407,0.00,2.17,0.00,0.000,6,0.000,0.021,2453,2054,3166
$GC,2734,-2.31,-100.9,383.8,-11.3,171,2738,0.15,2.28,0.00,0.000,4,0.050,0.047,2398,659,3164
$GC,2993,-2.25,-100.9,419.7,-14.0,176,3000,0.15,2.17,0.00,0.000,6,0.119,0.031,2427,2045,3163
$GC,3325,-2.29,-100.9,461.8,-13.1,185,3329,0.00,2.30,0.00,0.000,4,0.000,0.048,2427,660,3161
$GC,3583,-2.29,-100.9,500.1,-15.5,190,3589,0.00,2.22,0.00,0.000,6,0.000,0.031,2427,2050,3160
$STATE,3668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3668,begin apogee
$GC,3674,-0.31,0.0,511.7,13.4,193,3761,1.98,0.00,82.55,0.920,6,0.105,0.000,2849,2051,2749
$STATE,3762,end apogee,CONTROL_FINISHED_OK
$STATE,3762,begin climb
$GC,3765,1.73,100.9,513.4,0.0,195,3856,1.83,2.33,83.32,0.898,4,0.031,0.060,3309,3403,2337
$GC,3952,1.32,100.9,491.1,18.2,199,3957,0.50,2.28,0.00,0.000,6,0.128,0.028,3211,2009,2331
$GC,4305,1.09,100.9,439.1,14.4,208,4310,0.22,2.42,0.00,0.000,4,0.125,0.061,3164,596,2327
$GC,4345,0.89,100.9,433.3,12.7,209,4350,0.25,2.28,0.00,0.000,6,0.123,0.031,3116,2005,2326
$GC,4672,0.85,105.1,403.8,8.1,217,4676,0.00,2.35,0.00,0.000,4,0.000,0.044,3116,596,2324
$GC,4808,0.75,105.1,391.0,9.7,220,4813,0.17,2.25,0.00,0.000,6,0.122,0.024,3082,2003,2323
$GC,5129,0.76,112.1,365.9,7.8,228,5143,0.00,2.40,7.82,0.729,4,0.000,0.046,3082,597,2291
$GC,5229,0.76,112.1,357.2,8.8,230,5233,0.00,2.25,0.00,0.000,6,0.000,0.028,3082,2004,2291
$GC,5544,0.81,123.5,333.9,7.3,238,5560,0.00,2.38,10.93,0.762,4,0.000,0.058,3082,3399,2244
$GC,5573,0.85,124.5,331.5,8.4,238,5577,0.10,2.28,0.00,0.000,6,0.067,0.032,3115,1988,2243
$GC,5904,0.85,124.5,300.0,9.6,246,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1988,2240
$GC,6229,0.87,140.3,274.6,6.8,254,6249,0.00,2.38,14.57,0.753,4,0.000,0.057,3115,599,2177
$GC,6331,0.84,140.3,266.8,9.4,256,6335,0.00,2.25,0.00,0.000,6,0.000,0.024,3115,2008,2174
$GC,6680,0.84,140.3,235.5,8.9,265,6684,0.00,2.33,0.00,0.000,4,0.000,0.043,3115,601,2173
$GC,6707,0.84,140.3,232.7,10.0,265,6711,0.00,2.22,0.00,0.000,6,0.000,0.023,3115,2004,2173
$GC,7039,0.84,140.3,203.0,8.7,273,7043,0.00,2.33,0.00,0.000,4,0.000,0.046,3115,590,2171
$GC,7055,0.84,142.7,201.5,8.2,273,7059,0.00,2.22,0.00,0.000,6,0.000,0.027,3115,2003,2172
$GC,7379,0.86,162.1,177.2,6.5,300,7404,0.00,2.38,19.17,0.683,4,0.000,0.041,3115,602,2087
$GC,7570,0.88,178.7,162.6,6.7,317,7592,0.00,2.20,14.90,0.652,6,0.000,0.021,3115,2003,2019
$GC,7912,0.96,178.7,132.3,9.4,349,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2004,2016
$GC,8103,1.04,179.9,117.6,8.4,367,8107,0.12,2.30,0.00,0.000,4,0.053,0.042,3158,593,2016
$GC,8169,1.00,179.9,111.5,8.8,372,8176,0.00,2.20,0.00,0.000,6,0.000,0.024,3158,1999,2015
$GC,8368,1.00,182.2,95.2,8.3,391,8380,0.00,2.33,3.65,0.393,4,0.000,0.042,3158,597,2006
$GC,8476,0.96,182.2,85.8,8.7,400,8483,0.15,2.20,0.00,0.000,6,0.114,0.028,3129,2008,2006
$GC,8674,1.04,183.3,69.1,8.4,419,8678,0.00,2.25,0.00,0.000,4,0.000,0.047,3130,3400,2005
$GC,8697,1.12,187.5,67.1,8.1,420,8709,0.15,2.20,6.35,0.489,6,0.050,0.029,3180,1988,1983
$GC,8901,1.12,187.5,47.4,8.7,439,8905,0.00,2.22,0.00,0.000,4,0.000,0.041,3180,601,1983
$GC,8923,1.12,187.5,45.4,8.6,440,8929,0.00,2.17,0.00,0.000,6,0.000,0.026,3180,2004,1983
$GC,9122,1.12,188.2,28.9,8.4,460,9129,0.00,2.25,0.00,0.000,4,0.000,0.035,3180,605,1983
$GC,9142,1.12,188.2,27.1,8.6,463,9148,0.00,2.20,0.00,0.000,6,0.000,0.021,3180,2000,1983
$GC,9354,1.12,188.2,8.0,8.7,500,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2000,1983
$STATE,9404,end climb,SURFACE_DEPTH_REACHED
$STATE,9404,begin surface coast
$FINISH,0.9,1.011321
$STATE,9439,end surface coast,CONTROL_FINISHED_OK
$STATE,9439,begin surface
$SM_CCo,9462,126.40,0.518,0,0,954,440.07
$SM_GC,1.68,0.00,0.00,126.40,0.000,0.000,0.518,406,2004,954,-11.56,-1.30,440.07
$IRIDIUM_FIX,2239.35,-15749.78,311297,181838
$TT8_MAMPS,0.027612
$HUMID,1801
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.30
$XPDR_PINGS,105
$24V_AH,23.7,57.793
$10V_AH,10.1,55.034
$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,28.575,103.625,243.275,126.400,0.000,23.267,27.495,133.897,26.250,0.000,0.000,30.720,1042.628,6321.513,475.859,1470.444,603.974,33.362,1207.823,0.000,1575.393,0.000,0.470
$DEVICE_MAMPS,159.536,60.593,920.400,517.725,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.556,321.483,686.821,539.500,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38108,515
$CAP_FILE_SIZE,216602,0
$CFSIZE,260165632,227934208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071008,000407,2248.511,-15748.412,25,1.2,25,10.1