version: 66.03
glider: 148
mission: 6
dive: 460
start: 10 7 108 20 54 40
data:
$ID,148
$MISSION,6
$DIVE,460
$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,-15952.916
$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,39
$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
$GPS1,204808,2247.868,-15748.375,31,1.0,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-61.5
$GPS2,205345,2247.900,-15748.414,12,1.2,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.001,-0.147
$KALMAN_X,-418130.7,317.5,-242.8,432649.0,-986.1
$KALMAN_Y,-259424.5,-555.7,-54.6,259680.7,1277.6
$MHEAD_RNG_PITCHd_Wd,170.3,1017,-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,-63.47,0.000,2,0.000,0.000,406,2134,2589
$GC,95,-1.79,-83.4,3.4,-4.6,11,128,11.20,2.38,-12.35,0.000,4,0.157,0.050,2526,649,3089
$GC,243,-1.87,-83.4,26.3,-16.3,36,250,0.00,2.17,0.00,0.000,6,0.000,0.018,2526,2060,3090
$GC,449,-1.91,-83.4,60.7,-16.8,57,453,0.10,2.25,0.00,0.000,4,0.064,0.029,2491,650,3090
$GC,558,-1.98,-83.4,77.9,-14.8,66,565,0.00,2.15,0.00,0.000,6,0.000,0.017,2492,2055,3091
$GC,759,-2.04,-83.4,105.8,-12.8,85,763,0.00,2.25,0.00,0.000,4,0.000,0.031,2492,640,3091
$GC,839,-2.12,-83.4,116.4,-12.7,91,845,0.15,2.17,0.00,0.000,6,0.051,0.018,2444,2059,3092
$GC,1036,-2.12,-83.4,148.8,-17.3,110,1040,0.00,2.25,0.00,0.000,4,0.000,0.031,2444,640,3092
$GC,1162,-2.12,-83.4,168.1,-14.2,121,1166,0.00,2.17,0.00,0.000,6,0.000,0.016,2444,2066,3093
$GC,1515,-2.12,-83.4,216.1,-13.1,145,1519,0.00,2.25,0.00,0.000,4,0.000,0.031,2444,651,3094
$GC,1712,-2.16,-83.4,242.3,-12.8,149,1716,0.00,2.12,0.00,0.000,6,0.000,0.017,2444,2049,3094
$GC,2055,-2.21,-83.4,286.2,-12.7,158,2059,0.00,2.25,0.00,0.000,4,0.000,0.041,2443,646,3094
$GC,2234,-2.28,-83.4,308.9,-12.1,162,2238,0.00,2.15,0.00,0.000,6,0.000,0.019,2444,2037,3094
$GC,2553,-2.36,-83.4,343.1,-10.3,170,2558,0.15,2.25,0.00,0.000,4,0.050,0.037,2391,648,3094
$GC,2656,-2.32,-83.4,356.0,-12.9,172,2661,0.10,2.17,0.00,0.000,6,0.129,0.020,2408,2054,3094
$GC,3007,-2.32,-83.4,397.1,-11.8,181,3011,0.00,2.28,0.00,0.000,4,0.000,0.050,2409,658,3092
$GC,3265,-2.32,-83.4,431.5,-13.5,186,3269,0.00,2.17,0.00,0.000,6,0.000,0.032,2409,2037,3090
$GC,3597,-2.36,-83.4,468.9,-11.1,194,3601,0.00,2.28,0.00,0.000,4,0.000,0.046,2408,661,3088
$GC,3854,-2.36,-83.4,499.9,-11.4,199,3860,0.00,2.22,0.00,0.000,6,0.000,0.036,2409,2050,3087
$STATE,3980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3980,begin apogee
$GC,3987,-0.31,0.0,513.8,11.0,203,4063,2.05,0.00,68.50,0.930,6,0.105,0.000,2847,2051,2749
$STATE,4063,end apogee,CONTROL_FINISHED_OK
$STATE,4063,begin climb
$GC,4066,1.79,83.4,513.9,0.0,205,4143,1.90,2.33,69.07,0.904,4,0.030,0.055,3324,3403,2408
$GC,4396,1.40,83.4,468.1,16.7,211,4401,0.50,2.28,0.00,0.000,6,0.127,0.034,3226,2006,2402
$GC,4734,1.17,83.4,427.2,11.3,220,4738,0.20,2.42,0.00,0.000,4,0.124,0.067,3183,593,2398
$GC,4756,0.97,83.4,424.7,10.2,220,4761,0.25,2.28,0.00,0.000,6,0.125,0.031,3136,2010,2398
$GC,5095,0.93,86.7,397.1,8.1,229,5099,0.00,2.35,0.00,0.000,4,0.000,0.048,3135,596,2396
$GC,5182,0.82,86.7,388.8,9.5,231,5186,0.17,2.25,0.00,0.000,6,0.125,0.029,3102,2000,2395
$GC,5511,0.84,100.2,365.1,6.9,239,5530,0.00,2.42,12.82,0.795,4,0.000,0.049,3102,594,2339
$GC,5785,0.85,110.3,344.3,7.3,245,5799,0.00,2.25,9.70,0.755,6,0.000,0.030,3102,2003,2299
$GC,6147,0.91,113.5,317.3,8.1,254,6156,0.00,2.40,3.92,0.536,4,0.000,0.051,3102,595,2285
$GC,6286,0.91,113.5,304.1,9.0,257,6290,0.00,2.25,0.00,0.000,6,0.000,0.023,3102,2003,2284
$GC,6611,0.99,127.5,280.3,6.9,265,6631,0.15,2.42,12.85,0.746,4,0.054,0.049,3153,596,2229
$GC,6712,0.92,127.5,271.7,9.6,267,6717,0.17,2.25,0.00,0.000,6,0.117,0.029,3119,2002,2227
$GC,7027,0.98,136.9,247.4,7.4,275,7041,0.00,2.40,9.07,0.684,4,0.000,0.043,3119,594,2190
$GC,7081,0.98,136.9,242.9,8.8,276,7085,0.00,2.25,0.00,0.000,6,0.000,0.026,3119,2007,2189
$GC,7395,1.06,151.8,219.4,6.8,284,7415,0.12,2.38,14.00,0.700,4,0.058,0.048,3161,593,2130
$GC,7647,1.02,151.8,196.7,10.8,291,7654,0.00,2.22,0.00,0.000,6,0.000,0.028,3161,2003,2127
$GC,7973,1.02,151.8,163.8,10.8,322,7977,0.00,2.30,0.00,0.000,4,0.000,0.044,3161,3403,2125
$GC,8002,1.02,151.8,160.6,10.9,324,8006,0.00,2.25,0.00,0.000,6,0.000,0.023,3160,1987,2124
$GC,8328,1.05,174.0,135.2,5.9,354,8353,0.00,2.33,19.27,0.642,4,0.000,0.041,3160,598,2039
$GC,8394,1.05,174.0,130.3,8.5,360,8398,0.00,2.22,0.00,0.000,6,0.000,0.028,3160,2003,2037
$GC,8593,1.05,174.0,113.4,9.0,378,8597,0.00,2.28,0.00,0.000,4,0.000,0.041,3160,3399,2035
$GC,8661,1.09,174.0,106.5,10.7,383,8668,0.00,2.22,0.00,0.000,6,0.000,0.029,3161,1987,2034
$GC,8860,1.14,181.1,88.4,7.7,402,8872,0.00,2.30,7.05,0.518,4,0.000,0.044,3161,604,2009
$GC,8931,1.14,187.4,83.0,7.8,408,8943,0.00,2.20,7.15,0.511,6,0.000,0.028,3160,2003,1984
$GC,9135,1.21,187.4,66.3,9.2,427,9140,0.10,2.28,0.00,0.000,4,0.061,0.039,3198,3405,1982
$GC,9153,1.25,187.4,64.3,9.9,428,9157,0.00,2.22,0.00,0.000,6,0.000,0.023,3198,1992,1981
$GC,9356,1.25,187.4,46.1,9.0,447,9360,0.00,2.22,0.00,0.000,4,0.000,0.044,3198,606,1981
$GC,9504,1.21,187.4,31.2,9.5,460,9508,0.00,2.17,0.00,0.000,6,0.000,0.025,3199,2005,1981
$GC,9714,1.21,187.4,11.6,9.4,495,9721,0.00,2.28,0.00,0.000,4,0.000,0.036,3198,594,1981
$STATE,9795,end climb,SURFACE_DEPTH_REACHED
$STATE,9795,begin surface coast
$FINISH,1.0,1.009623
$STATE,9824,end surface coast,CONTROL_FINISHED_OK
$STATE,9824,begin surface
$SM_CCo,9850,139.40,0.521,0,0,954,440.07
$SM_GC,1.74,0.00,0.00,139.40,0.000,0.000,0.521,410,2078,954,-11.54,0.82,440.07
$IRIDIUM_FIX,2239.35,-15749.78,010198,171753
$TT8_MAMPS,0.027612
$HUMID,1814
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.20
$XPDR_PINGS,107
$24V_AH,23.7,58.581
$10V_AH,10.1,55.626
$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,28.625,108.675,233.425,139.400,0.000,25.236,34.052,142.474,26.750,0.000,0.000,13.532,1088.481,6529.233,468.713,1612.418,624.146,33.366,1262.816,0.000,1711.729,0.000,0.469
$DEVICE_MAMPS,157.235,66.729,929.604,520.793,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.460,317.659,643.919,501.871,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38132,514
$CAP_FILE_SIZE,218689,0
$CFSIZE,260165632,227364864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071008,234223,2247.739,-15748.672,11,2.3,30,10.1