version: 66.03
glider: 148
mission: 6
dive: 483
start: 10 10 108 19 27 7
data:
$ID,148
$MISSION,6
$DIVE,483
$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,-16435.965
$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,46
$R_STBD_OVSHOOT,41
$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
$GPS1,191201,2250.917,-15759.321,35,1.0,40,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-60.9
$GPS2,192614,2250.906,-15759.429,12,1.1,29,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT5
$TGT_LATLONG,2251.500,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.055,0.137
$KALMAN_X,-438808.8,-233.9,102.5,434742.7,-581.4
$KALMAN_Y,-249523.7,-131.0,-18.4,254888.0,102.1
$MHEAD_RNG_PITCHd_Wd,327.9,1469,-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,-49.4,0.0,0.0,0,85,0.00,0.00,-58.72,0.000,2,0.000,0.000,412,2132,2478
$GC,88,-1.80,-90.5,3.1,-3.8,10,127,11.15,2.12,-17.38,0.000,4,0.157,0.044,2521,3452,3120
$GC,222,-1.80,-90.5,23.6,-19.1,32,228,0.00,2.17,0.00,0.000,6,0.000,0.020,2522,2052,3120
$GC,431,-1.75,-90.5,64.3,-20.3,54,435,0.00,2.20,0.00,0.000,4,0.000,0.028,2522,641,3121
$GC,505,-1.81,-90.5,77.7,-15.7,60,511,0.00,2.17,0.00,0.000,6,0.000,0.018,2522,2060,3121
$GC,703,-1.89,-90.5,109.1,-15.6,79,707,0.00,2.25,0.00,0.000,4,0.000,0.031,2521,648,3121
$GC,872,-2.00,-90.5,132.6,-13.3,93,876,0.15,2.17,0.00,0.000,6,0.050,0.018,2471,2062,3121
$GC,1069,-2.00,-90.5,163.3,-16.0,111,1073,0.00,2.22,0.00,0.000,4,0.000,0.031,2471,652,3121
$GC,1199,-2.00,-90.5,185.3,-14.9,122,1205,0.00,2.15,0.00,0.000,6,0.000,0.017,2471,2061,3122
$GC,1545,-2.04,-90.5,231.6,-12.6,138,1549,0.00,2.25,0.00,0.000,4,0.000,0.030,2471,647,3122
$GC,1804,-2.09,-90.5,267.6,-14.0,143,1811,0.00,2.15,0.00,0.000,6,0.000,0.017,2471,2058,3122
$GC,2136,-2.17,-90.5,308.9,-12.0,152,2141,0.10,2.28,0.00,0.000,4,0.061,0.035,2431,648,3122
$GC,2393,-2.17,-90.5,344.0,-12.6,157,2400,0.00,2.15,0.00,0.000,6,0.000,0.019,2430,2040,3121
$GC,2725,-2.17,-90.5,383.1,-11.7,166,2729,0.00,2.28,0.00,0.000,4,0.000,0.048,2430,652,3120
$GC,2982,-2.17,-90.5,418.6,-13.6,171,2988,0.00,2.20,0.00,0.000,6,0.000,0.032,2431,2049,3118
$GC,3314,-2.17,-90.5,457.9,-12.0,180,3318,0.00,2.30,0.00,0.000,4,0.000,0.047,2430,662,3116
$GC,3572,-2.17,-90.5,492.4,-12.4,185,3576,0.00,2.22,0.00,0.000,6,0.000,0.037,2431,2052,3114
$STATE,3738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3738,begin apogee
$GC,3745,-0.31,0.0,512.8,12.1,189,3823,1.98,0.00,73.47,0.927,6,0.107,0.000,2849,2052,2749
$STATE,3824,end apogee,CONTROL_FINISHED_OK
$STATE,3824,begin climb
$GC,3827,1.80,90.5,514.8,0.0,191,3910,1.90,2.40,75.35,0.902,4,0.034,0.061,3322,3406,2378
$GC,4046,1.43,90.5,490.1,16.2,196,4051,0.45,2.28,0.00,0.000,6,0.126,0.037,3234,2019,2373
$GC,4371,1.21,90.5,444.6,13.6,204,4376,0.22,2.45,0.00,0.000,4,0.121,0.067,3188,594,2369
$GC,4551,1.03,90.5,422.2,11.8,208,4556,0.22,2.28,0.00,0.000,6,0.123,0.026,3146,2005,2367
$GC,4875,1.00,92.4,393.8,8.3,216,4879,0.00,2.35,0.00,0.000,4,0.000,0.049,3145,596,2365
$GC,4903,0.92,98.3,391.3,7.8,216,4915,0.12,2.25,5.28,0.652,6,0.130,0.031,3123,2004,2348
$GC,5240,0.94,109.0,367.3,7.3,225,5255,0.00,2.38,10.15,0.770,4,0.000,0.044,3123,593,2305
$GC,5312,0.91,109.0,361.1,8.7,226,5316,0.00,2.25,0.00,0.000,6,0.000,0.023,3123,2008,2303
$GC,5648,0.91,109.0,331.5,9.2,235,5652,0.00,2.35,0.00,0.000,4,0.000,0.045,3123,591,2301
$GC,5861,0.91,109.0,311.2,8.8,239,5865,0.00,2.25,0.00,0.000,6,0.000,0.021,3123,2007,2300
$GC,6193,0.96,123.6,288.7,6.8,247,6208,0.00,0.00,12.98,0.755,6,0.000,0.000,3123,2007,2244
$GC,6519,1.03,127.6,262.9,8.0,255,6527,0.00,0.00,4.80,0.578,6,0.000,0.000,3123,2007,2228
$GC,6851,1.12,141.7,239.6,6.9,263,6871,0.15,2.40,13.12,0.717,4,0.053,0.048,3174,594,2170
$GC,6922,1.05,141.7,233.0,9.7,264,6927,0.12,2.25,0.00,0.000,6,0.124,0.028,3151,2005,2169
$GC,7262,1.09,149.7,207.0,7.6,273,7276,0.00,2.40,8.07,0.641,4,0.000,0.040,3151,590,2138
$GC,7412,1.09,149.7,192.7,10.3,280,7418,0.00,2.22,0.00,0.000,6,0.000,0.025,3151,2003,2136
$GC,7739,1.15,157.6,165.2,7.6,311,7753,0.00,2.38,8.05,0.607,4,0.000,0.045,3150,594,2106
$GC,7772,1.15,157.6,162.4,8.7,314,7776,0.00,2.22,0.00,0.000,6,0.000,0.022,3151,2001,2105
$GC,8098,1.21,159.7,135.9,8.3,344,8102,0.12,2.30,0.00,0.000,4,0.057,0.038,3193,587,2104
$GC,8284,1.15,159.7,116.5,10.0,360,8292,0.08,2.25,0.00,0.000,6,0.110,0.021,3175,2007,2104
$GC,8483,1.19,159.7,98.8,8.7,379,8487,0.00,2.30,0.00,0.000,4,0.000,0.042,3175,589,2104
$GC,8596,1.19,162.4,89.1,8.2,389,8608,0.00,2.22,5.45,0.485,6,0.000,0.022,3175,2008,2087
$GC,8800,1.26,176.5,74.5,6.9,408,8823,0.00,2.35,13.27,0.565,4,0.000,0.037,3175,592,2029
$GC,9079,1.32,194.3,54.0,6.4,432,9100,0.15,2.20,16.17,0.549,6,0.049,0.025,3226,2010,1956
$GC,9302,1.32,194.3,33.6,10.0,453,9306,0.00,2.33,0.00,0.000,4,0.000,0.035,3227,578,1953
$GC,9371,1.26,194.3,26.0,11.0,461,9378,0.17,2.20,0.00,0.000,6,0.107,0.027,3192,1994,1953
$GC,9585,1.30,198.5,6.7,8.0,498,9593,0.00,0.00,4.90,0.397,6,0.000,0.000,3191,1994,1938
$STATE,9626,end climb,SURFACE_DEPTH_REACHED
$STATE,9626,begin surface coast
$FINISH,0.9,1.010077
$STATE,9661,end surface coast,CONTROL_FINISHED_OK
$STATE,9661,begin surface
$SM_CCo,9686,128.93,0.517,0,0,955,440.07
$SM_GC,1.81,0.00,0.00,128.93,0.000,0.000,0.517,411,2104,955,-11.54,1.53,440.07
$IRIDIUM_FIX,2239.35,-15802.37,040198,191901
$TT8_MAMPS,0.027612
$HUMID,1831
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.70
$XPDR_PINGS,135
$24V_AH,23.6,61.090
$10V_AH,10.1,57.385
$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,28.425,90.600,251.075,128.925,0.000,75.360,152.670,338.862,33.750,0.000,0.000,30.767,1049.481,6565.072,472.410,1571.940,999.605,33.374,1238.378,0.000,1665.017,0.000,0.469
$DEVICE_MAMPS,157.235,101.244,926.536,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.298,332.529,671.418,520.233,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38170,511
$CAP_FILE_SIZE,219072,0
$CFSIZE,260165632,225689600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,101008,221201,2251.361,-15800.444,36,1.0,36,10.1