version: 66.03
glider: 148
mission: 6
dive: 475
start: 10 9 108 17 2 51
data:
$ID,148
$MISSION,6
$DIVE,475
$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,-16258.215
$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,43
$R_STBD_OVSHOOT,52
$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
$GPS1,165631,2251.113,-15747.404,28,1.1,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-62.2
$GPS2,170156,2251.126,-15747.437,11,1.0,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT3
$TGT_LATLONG,2251.000,-15748.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.049,-0.139
$KALMAN_X,-433533.8,-224.4,295.1,449725.1,-1511.3
$KALMAN_Y,-250739.7,-376.0,-6.5,256739.6,1358.0
$MHEAD_RNG_PITCHd_Wd,150.6,991,-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,23,-1.75,-49.4,0.0,0.0,0,83,0.00,0.00,-57.80,0.000,2,0.000,0.000,415,2076,2429
$GC,87,-1.81,-95.4,3.1,-3.2,10,126,11.12,2.28,-19.67,0.000,4,0.157,0.050,2520,650,3138
$GC,187,-1.86,-95.4,15.3,-16.2,26,193,0.00,2.17,0.00,0.000,6,0.000,0.018,2520,2052,3139
$GC,397,-1.86,-95.4,55.5,-19.2,52,401,0.00,2.25,0.00,0.000,4,0.000,0.030,2520,644,3139
$GC,465,-1.92,-95.4,68.6,-17.8,57,472,0.00,2.17,0.00,0.000,6,0.000,0.019,2520,2048,3139
$GC,664,-2.02,-95.4,100.7,-15.0,76,668,0.15,2.22,0.00,0.000,4,0.053,0.029,2469,641,3141
$GC,691,-2.02,-95.4,105.4,-17.5,78,698,0.00,2.17,0.00,0.000,6,0.000,0.018,2469,2053,3140
$GC,890,-2.08,-95.4,134.6,-13.3,97,894,0.00,2.25,0.00,0.000,4,0.000,0.031,2468,642,3141
$GC,1013,-2.14,-95.4,153.1,-14.8,107,1019,0.00,2.17,0.00,0.000,6,0.000,0.017,2469,2069,3141
$GC,1340,-2.21,-95.4,197.4,-12.5,138,1344,0.12,2.25,0.00,0.000,4,0.055,0.028,2425,651,3143
$GC,1479,-2.21,-95.4,217.7,-14.6,143,1483,0.00,2.15,0.00,0.000,6,0.000,0.016,2425,2058,3143
$GC,1793,-2.21,-95.4,261.4,-13.7,151,1796,0.00,2.25,0.00,0.000,4,0.000,0.031,2425,651,3144
$GC,1938,-2.21,-95.4,281.0,-13.9,154,1942,0.00,2.15,0.00,0.000,6,0.000,0.017,2425,2056,3144
$GC,2290,-2.25,-95.4,324.5,-12.4,163,2294,0.00,2.25,0.00,0.000,4,0.000,0.042,2425,652,3144
$GC,2527,-2.29,-95.4,354.6,-13.4,168,2531,0.00,2.17,0.00,0.000,6,0.000,0.022,2424,2052,3144
$GC,2843,-2.34,-95.4,394.6,-13.3,176,2847,0.00,2.30,0.00,0.000,4,0.000,0.048,2425,652,3141
$GC,3100,-2.38,-95.4,431.3,-13.6,181,3106,0.00,2.20,0.00,0.000,6,0.000,0.027,2425,2044,3140
$GC,3432,-2.44,-95.4,470.5,-11.5,190,3437,0.15,2.30,0.00,0.000,4,0.050,0.051,2373,654,3138
$GC,3690,-2.38,-95.4,505.9,-13.5,195,3695,0.12,2.22,0.00,0.000,6,0.126,0.033,2397,2048,3136
$STATE,3736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3736,begin apogee
$GC,3744,-0.31,0.0,511.6,12.8,196,3826,2.12,0.00,78.07,0.920,6,0.108,0.000,2847,2048,2749
$STATE,3827,end apogee,CONTROL_FINISHED_OK
$STATE,3827,begin climb
$GC,3830,1.81,95.4,512.2,0.0,198,3917,1.90,2.38,79.65,0.896,4,0.029,0.057,3328,3398,2357
$GC,4008,1.42,95.4,490.6,17.3,202,4013,0.50,2.25,0.00,0.000,6,0.129,0.034,3231,2016,2352
$GC,4322,1.19,95.4,450.9,12.4,210,4327,0.22,2.45,0.00,0.000,4,0.123,0.061,3183,593,2349
$GC,4524,1.00,95.4,429.4,9.4,214,4529,0.22,2.28,0.00,0.000,6,0.125,0.031,3140,2004,2347
$GC,4863,0.96,100.9,403.3,7.9,223,4867,0.00,2.38,0.00,0.000,4,0.000,0.057,3140,3409,2344
$GC,4915,0.91,104.8,399.0,8.1,224,4929,0.10,2.28,6.65,0.703,6,0.140,0.032,3122,1994,2321
$GC,5274,0.91,104.8,368.0,9.5,233,5278,0.00,2.38,0.00,0.000,4,0.000,0.065,3122,596,2317
$GC,5448,0.88,104.8,349.6,10.0,237,5453,0.00,2.25,0.00,0.000,6,0.000,0.023,3122,2008,2316
$GC,5773,0.88,105.7,322.5,8.4,245,5777,0.00,2.35,0.00,0.000,4,0.000,0.044,3122,593,2315
$GC,5880,0.83,105.7,312.3,9.2,247,5884,0.00,2.22,0.00,0.000,6,0.000,0.023,3122,2001,2313
$GC,6222,0.85,120.8,286.8,6.7,256,6242,0.00,2.40,13.35,0.752,4,0.000,0.049,3122,600,2255
$GC,6267,0.86,128.9,283.6,7.6,257,6281,0.00,2.25,8.65,0.692,6,0.000,0.029,3122,2002,2222
$GC,6597,0.91,138.2,258.8,7.4,265,6611,0.00,2.38,8.80,0.684,4,0.000,0.048,3122,596,2185
$GC,6641,0.91,138.2,254.4,10.7,266,6645,0.00,2.25,0.00,0.000,6,0.000,0.025,3122,2001,2184
$GC,6966,0.97,138.2,223.3,9.2,274,6970,0.00,2.33,0.00,0.000,4,0.000,0.055,3122,3398,2182
$GC,6982,1.03,138.2,222.0,8.7,274,6986,0.00,2.25,0.00,0.000,6,0.000,0.031,3123,1986,2181
$GC,7299,1.10,146.5,199.0,7.5,283,7314,0.15,2.35,8.23,0.634,4,0.053,0.048,3173,599,2151
$GC,7463,1.05,146.5,180.9,11.1,297,7470,0.12,2.22,0.00,0.000,6,0.122,0.027,3151,2010,2149
$GC,7788,1.05,146.5,152.2,9.7,328,7792,0.00,2.25,0.00,0.000,4,0.000,0.044,3151,3399,2148
$GC,7806,1.05,146.5,150.5,9.7,329,7810,0.00,2.22,0.00,0.000,6,0.000,0.031,3151,1994,2148
$GC,8136,1.06,157.6,124.0,7.2,360,8152,0.00,2.28,10.93,0.595,4,0.000,0.039,3151,598,2105
$GC,8277,1.06,157.6,111.4,9.7,372,8281,0.00,2.20,0.00,0.000,6,0.000,0.025,3151,2001,2104
$GC,8476,1.11,157.7,94.3,8.5,390,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2001,2103
$GC,8667,1.18,170.6,79.4,7.0,408,8684,0.10,2.30,11.77,0.558,4,0.063,0.041,3189,596,2054
$GC,8754,1.12,171.8,72.1,8.4,415,8759,0.12,2.20,0.00,0.000,6,0.114,0.025,3166,2001,2052
$GC,8959,1.22,197.7,57.4,5.5,434,8992,0.00,2.33,23.88,0.565,4,0.000,0.043,3165,3398,1942
$GC,9142,1.32,207.1,44.9,7.4,450,9157,0.17,2.20,9.38,0.502,6,0.046,0.025,3221,1999,1903
$GC,9354,1.32,207.1,23.9,10.9,474,9360,0.00,2.25,0.00,0.000,4,0.000,0.038,3220,595,1901
$GC,9388,1.26,207.1,20.4,11.3,479,9395,0.12,2.20,0.00,0.000,6,0.110,0.025,3198,2004,1900
$STATE,9549,end climb,SURFACE_DEPTH_REACHED
$STATE,9549,begin surface coast
$FINISH,0.9,1.002198
$STATE,9579,end surface coast,CONTROL_FINISHED_OK
$STATE,9579,begin surface
$SM_CCo,9602,125.45,0.515,0,0,954,440.07
$SM_GC,1.79,0.00,0.00,125.45,0.000,0.000,0.515,408,2008,954,-11.56,-1.19,440.07
$IRIDIUM_FIX,2244.02,-15748.90,030198,141455
$TT8_MAMPS,0.027612
$HUMID,1839
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.50
$XPDR_PINGS,109
$24V_AH,23.6,60.100
$10V_AH,10.1,56.743
$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,28.825,104.000,259.350,125.450,0.000,31.117,26.883,137.672,27.250,0.000,0.000,12.923,1062.002,6362.252,475.503,1536.887,613.820,33.377,1244.008,0.000,1641.278,0.000,0.469
$DEVICE_MAMPS,157.235,65.195,920.400,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,386.936,333.331,673.850,535.488,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38181,512
$CAP_FILE_SIZE,217644,0
$CFSIZE,260165632,226299904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,091008,194607,2250.344,-15747.396,9,1.1,25,10.1