version: 66.03
glider: 148
mission: 6
dive: 469
start: 10 8 108 22 41 58
data:
$ID,148
$MISSION,6
$DIVE,469
$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,-16145.298
$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,44
$R_STBD_OVSHOOT,42
$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
$GPS1,223456,2247.490,-15748.364,39,0.9,39,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-64.0
$GPS2,224103,2247.525,-15748.377,11,1.9,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.097,-0.111
$KALMAN_X,-426490.9,325.4,194.7,440629.0,-1671.5
$KALMAN_Y,-254536.3,83.7,-49.7,253453.7,1578.3
$MHEAD_RNG_PITCHd_Wd,128.7,1379,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.75,-49.4,0.0,0.0,0,91,0.00,0.00,-63.55,0.000,2,0.000,0.000,412,2005,2602
$GC,97,-1.79,-83.0,3.4,-4.6,11,130,11.18,2.15,-11.93,0.000,4,0.158,0.046,2523,651,3087
$GC,162,-1.87,-83.0,12.8,-14.6,21,169,0.00,2.17,0.00,0.000,6,0.000,0.018,2523,2057,3088
$GC,368,-1.87,-83.0,48.5,-17.2,48,372,0.00,2.25,0.00,0.000,4,0.000,0.030,2523,647,3089
$GC,454,-1.95,-83.0,62.7,-15.7,55,459,0.12,2.17,0.00,0.000,6,0.056,0.019,2482,2046,3089
$GC,652,-1.99,-83.0,95.3,-17.4,73,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2046,3089
$GC,844,-2.04,-83.0,124.4,-14.7,91,848,0.00,2.22,0.00,0.000,4,0.000,0.029,2482,644,3090
$GC,1024,-2.12,-83.0,150.5,-12.9,106,1032,0.10,2.17,0.00,0.000,6,0.064,0.027,2446,2062,3091
$GC,1222,-2.12,-83.0,174.1,-11.4,125,1226,0.00,2.22,0.00,0.000,4,0.000,0.030,2446,651,3090
$GC,1257,-2.12,-83.0,178.1,-11.6,128,1262,0.00,2.15,0.00,0.000,6,0.000,0.017,2446,2056,3091
$GC,1596,-2.12,-83.0,221.0,-12.8,148,1600,0.00,2.22,0.00,0.000,4,0.000,0.030,2446,652,3091
$GC,1753,-2.12,-83.0,242.2,-14.0,151,1757,0.00,2.15,0.00,0.000,6,0.000,0.018,2446,2058,3092
$GC,2091,-2.17,-83.0,284.8,-12.8,160,2095,0.00,2.25,0.00,0.000,4,0.000,0.031,2446,650,3092
$GC,2239,-2.22,-83.0,303.9,-12.4,163,2243,0.00,2.15,0.00,0.000,6,0.000,0.028,2446,2045,3092
$GC,2590,-2.31,-83.0,344.0,-11.1,172,2595,0.12,2.25,0.00,0.000,4,0.056,0.035,2406,654,3092
$GC,2668,-2.31,-83.0,354.0,-12.4,173,2673,0.00,2.17,0.00,0.000,6,0.000,0.020,2406,2060,3091
$GC,3000,-2.31,-83.0,396.2,-12.5,182,3004,0.00,2.30,0.00,0.000,4,0.000,0.041,2406,652,3090
$GC,3257,-2.31,-83.0,430.0,-13.5,187,3263,0.00,2.20,0.00,0.000,6,0.000,0.026,2406,2051,3088
$GC,3590,-2.31,-83.0,468.6,-11.9,196,3594,0.00,2.30,0.00,0.000,4,0.000,0.047,2406,660,3087
$GC,3849,-2.31,-83.0,504.5,-12.9,201,3855,0.00,2.22,0.00,0.000,6,0.000,0.038,2406,2048,3084
$STATE,3893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3893,begin apogee
$GC,3900,-0.31,0.0,510.2,12.3,203,3976,2.08,0.00,68.10,0.920,6,0.106,0.000,2848,2049,2749
$STATE,3976,end apogee,CONTROL_FINISHED_OK
$STATE,3976,begin climb
$GC,3979,1.79,83.0,511.4,0.0,205,4056,1.88,2.33,69.05,0.896,4,0.029,0.060,3320,3401,2409
$GC,4311,1.40,83.0,467.6,15.4,211,4316,0.47,2.25,0.00,0.000,6,0.127,0.033,3227,2013,2403
$GC,4649,1.17,83.0,427.3,12.0,220,4654,0.22,2.42,0.00,0.000,4,0.123,0.067,3179,599,2400
$GC,4907,0.97,83.0,397.7,10.8,225,4914,0.22,2.25,0.00,0.000,6,0.126,0.025,3136,2011,2397
$GC,5242,0.95,94.6,372.3,7.2,234,5256,0.00,2.40,8.60,0.746,4,0.000,0.047,3136,606,2362
$GC,5387,0.86,94.6,359.6,9.6,237,5391,0.15,2.22,0.00,0.000,6,0.131,0.024,3109,2001,2362
$GC,5700,0.86,98.0,335.0,8.1,245,5708,0.00,2.38,4.00,0.546,4,0.000,0.044,3108,602,2349
$GC,5867,0.86,98.0,320.0,8.8,248,5871,0.00,2.22,0.00,0.000,6,0.000,0.026,3109,2002,2348
$GC,6200,0.93,121.1,299.1,5.8,256,6225,0.00,2.38,20.52,0.783,4,0.000,0.048,3109,598,2253
$GC,6259,0.93,121.1,294.4,8.8,257,6263,0.00,2.25,0.00,0.000,6,0.000,0.025,3108,2004,2253
$GC,6605,1.00,127.6,266.6,7.8,266,6614,0.12,0.00,6.53,0.644,6,0.058,0.000,3149,2004,2228
$GC,6926,1.01,135.0,240.9,7.6,274,6935,0.00,0.00,7.38,0.647,6,0.000,0.000,3149,2004,2198
$GC,7250,1.01,135.0,212.6,8.9,282,7254,0.00,2.33,0.00,0.000,4,0.000,0.043,3149,592,2196
$GC,7351,0.97,135.0,203.6,9.8,284,7355,0.00,2.22,0.00,0.000,6,0.000,0.023,3149,2001,2195
$GC,7677,0.97,136.3,176.5,8.3,310,7681,0.00,2.30,0.00,0.000,4,0.000,0.046,3149,3400,2195
$GC,7789,0.97,136.3,166.2,8.6,319,7796,0.00,2.22,0.00,0.000,6,0.000,0.023,3149,1986,2194
$GC,8115,1.00,157.9,145.0,6.0,350,8145,0.00,2.38,20.35,0.649,4,0.000,0.041,3149,3395,2104
$GC,8154,1.02,174.1,142.5,6.6,353,8174,0.00,2.22,14.93,0.620,6,0.000,0.027,3149,1994,2038
$GC,8377,1.07,174.1,121.2,9.7,374,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1994,2034
$GC,8576,1.13,177.7,103.7,8.1,393,8588,0.00,2.30,3.95,0.414,4,0.000,0.044,3149,597,2024
$GC,8774,1.18,177.7,83.0,11.8,410,8781,0.08,2.22,0.00,0.000,6,0.043,0.027,3190,2003,2023
$GC,8973,1.19,184.1,64.7,7.8,429,8985,0.00,2.33,7.03,0.498,4,0.000,0.041,3189,603,1998
$GC,9153,1.19,185.7,47.8,8.3,445,9157,0.00,2.20,0.00,0.000,6,0.000,0.019,3189,2011,1997
$GC,9352,1.20,198.4,33.8,7.0,463,9374,0.00,2.33,13.52,0.522,4,0.000,0.041,3189,597,1940
$GC,9401,1.20,198.4,29.9,9.2,467,9408,0.00,2.20,0.00,0.000,6,0.000,0.020,3189,2005,1939
$GC,9614,1.20,198.4,9.3,10.5,504,9620,0.00,2.28,0.00,0.000,4,0.000,0.034,3189,593,1937
$GC,9648,1.20,198.4,5.7,11.7,509,9654,0.00,2.20,0.00,0.000,6,0.000,0.020,3189,2000,1937
$STATE,9672,end climb,SURFACE_DEPTH_REACHED
$STATE,9672,begin surface coast
$FINISH,1.0,1.003332
$STATE,9694,end surface coast,CONTROL_FINISHED_OK
$STATE,9695,begin surface
$SM_CCo,9718,132.32,0.518,0,0,954,440.07
$SM_GC,1.77,0.00,0.00,132.32,0.000,0.000,0.518,402,2125,954,-11.58,2.12,440.07
$IRIDIUM_FIX,2239.35,-15747.62,020198,202056
$TT8_MAMPS,0.026845
$HUMID,1818
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.50
$XPDR_PINGS,105
$24V_AH,23.7,59.444
$10V_AH,10.1,56.292
$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,28.125,94.625,243.950,132.325,0.000,22.275,27.844,189.265,26.250,0.000,0.000,12.656,1051.158,6458.322,483.474,1540.789,682.640,33.359,1248.374,0.000,1667.817,0.000,0.469
$DEVICE_MAMPS,158.002,105.079,919.633,517.725,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.381,324.981,681.860,524.308,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38228,517
$CAP_FILE_SIZE,216621,0
$CFSIZE,260165632,226742272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,091008,012737,2247.410,-15748.051,39,0.9,45,10.1