version: 66.03
glider: 148
mission: 6
dive: 486
start: 10 11 108 4 7 31
data:
$ID,148
$MISSION,6
$DIVE,486
$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,-16502.785
$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,44
$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
$GPS1,035953,2251.849,-15759.587,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-57.8
$GPS2,040638,2251.881,-15759.612,37,1.0,37,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT5
$TGT_LATLONG,2251.500,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.124,-0.079
$KALMAN_X,-442258.2,51.0,146.3,437536.9,-1052.9
$KALMAN_Y,-249299.5,474.5,625.9,255210.9,-447.5
$MHEAD_RNG_PITCHd_Wd,112.4,967,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.75,-49.4,0.0,0.0,0,86,0.00,0.00,-58.08,0.000,2,0.000,0.000,402,2155,2444
$GC,90,-1.80,-93.9,3.0,-3.4,10,128,11.15,0.00,-18.88,0.000,6,0.156,0.000,2520,2155,3132
$GC,331,-1.80,-93.9,42.3,-19.4,46,335,0.00,2.40,0.00,0.000,4,0.000,0.030,2520,647,3133
$GC,398,-1.87,-93.9,55.8,-19.7,51,405,0.00,2.17,0.00,0.000,6,0.000,0.019,2520,2052,3133
$GC,597,-1.97,-93.9,85.0,-14.5,70,602,0.12,2.25,0.00,0.000,4,0.058,0.030,2480,644,3134
$GC,660,-2.01,-93.9,95.7,-17.4,75,664,0.00,2.17,0.00,0.000,6,0.000,0.018,2480,2058,3133
$GC,859,-2.05,-93.9,126.4,-14.8,93,863,0.00,2.25,0.00,0.000,4,0.000,0.030,2480,646,3134
$GC,979,-2.11,-93.9,142.9,-13.5,103,983,0.00,2.17,0.00,0.000,6,0.000,0.017,2480,2064,3134
$GC,1177,-2.19,-93.9,166.6,-11.8,121,1182,0.15,2.25,0.00,0.000,4,0.051,0.030,2425,653,3135
$GC,1319,-2.19,-93.9,189.2,-15.0,133,1323,0.00,2.15,0.00,0.000,6,0.000,0.017,2425,2056,3135
$GC,1650,-2.19,-93.9,233.0,-12.7,147,1654,0.00,2.25,0.00,0.000,4,0.000,0.031,2425,645,3135
$GC,1908,-2.19,-93.9,265.6,-12.9,152,1914,0.00,2.15,0.00,0.000,6,0.000,0.017,2425,2053,3136
$GC,2240,-2.23,-93.9,304.8,-11.8,161,2244,0.00,2.22,0.00,0.000,4,0.000,0.033,2425,655,3135
$GC,2453,-2.26,-93.9,334.7,-13.3,165,2457,0.00,2.15,0.00,0.000,6,0.000,0.025,2425,2042,3136
$GC,2786,-2.31,-93.9,374.7,-12.2,173,2789,0.00,2.25,0.00,0.000,4,0.000,0.048,2425,661,3134
$GC,3045,-2.34,-93.9,408.4,-12.6,178,3051,0.00,2.17,0.00,0.000,6,0.000,0.023,2425,2045,3133
$GC,3377,-2.40,-93.9,447.8,-11.7,187,3381,0.12,2.30,0.00,0.000,4,0.057,0.044,2385,655,3130
$GC,3634,-2.36,-93.9,484.2,-13.4,192,3641,0.10,2.22,0.00,0.000,6,0.130,0.030,2402,2050,3129
$STATE,3881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3881,begin apogee
$GC,3888,-0.31,0.0,514.8,12.4,199,3969,2.10,0.00,76.57,0.930,6,0.108,0.000,2847,2050,2749
$STATE,3970,end apogee,CONTROL_FINISHED_OK
$STATE,3970,begin climb
$GC,3974,1.80,93.9,516.1,0.0,201,4059,1.90,2.33,77.75,0.905,4,0.031,0.061,3333,3395,2366
$GC,4235,1.43,93.9,481.8,17.3,207,4241,0.50,2.25,0.00,0.000,6,0.125,0.030,3234,2012,2360
$GC,4560,1.22,93.9,436.2,13.6,215,4565,0.20,2.45,0.00,0.000,4,0.123,0.070,3191,591,2356
$GC,4819,1.04,93.9,401.1,12.5,220,4826,0.22,2.28,0.00,0.000,6,0.122,0.032,3148,2008,2354
$GC,5153,1.01,97.8,371.9,8.1,229,5157,0.00,2.35,0.00,0.000,4,0.000,0.049,3148,591,2351
$GC,5361,0.94,101.4,353.6,8.1,233,5371,0.12,2.25,4.82,0.620,6,0.133,0.031,3126,2003,2335
$GC,5701,0.94,102.8,326.0,8.3,241,5705,0.00,2.35,0.00,0.000,4,0.000,0.047,3125,596,2333
$GC,5858,0.94,105.6,312.5,8.2,244,5867,0.00,2.25,4.97,0.612,6,0.000,0.023,3125,2014,2317
$GC,6197,0.99,118.5,289.0,7.0,252,6216,0.00,2.45,12.15,0.750,4,0.000,0.051,3125,597,2264
$GC,6324,0.99,120.9,278.2,8.2,254,6330,0.00,2.25,0.00,0.000,6,0.000,0.024,3126,2005,2262
$GC,6657,1.08,140.9,256.5,6.2,263,6682,0.12,2.38,19.73,0.753,4,0.058,0.046,3166,597,2173
$GC,6700,1.04,143.6,253.2,8.2,264,6709,0.00,2.25,3.90,0.492,6,0.000,0.026,3166,2003,2162
$GC,7028,1.04,143.6,223.0,9.8,272,7032,0.00,2.33,0.00,0.000,4,0.000,0.044,3166,594,2159
$GC,7107,1.00,143.6,214.0,9.6,273,7114,0.15,2.22,0.00,0.000,6,0.117,0.021,3138,2003,2159
$GC,7424,1.06,145.5,189.6,8.3,289,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2003,2158
$GC,7742,1.15,160.2,163.7,6.8,319,7763,0.15,2.38,14.50,0.660,4,0.051,0.044,3186,591,2096
$GC,7798,1.08,160.2,158.5,11.2,324,7803,0.15,2.25,0.00,0.000,6,0.115,0.028,3158,2007,2094
$GC,8125,1.14,169.8,131.6,7.4,354,8140,0.00,2.38,9.25,0.590,4,0.000,0.038,3158,591,2056
$GC,8318,1.14,169.8,112.2,10.5,371,8322,0.00,2.22,0.00,0.000,6,0.000,0.028,3158,1999,2055
$GC,8517,1.21,169.8,91.5,9.8,389,8521,0.10,2.30,0.00,0.000,4,0.063,0.042,3195,588,2054
$GC,8590,1.15,169.8,84.3,9.1,395,8595,0.12,2.22,0.00,0.000,6,0.115,0.026,3172,2005,2054
$GC,8789,1.24,189.0,69.6,6.3,413,8812,0.00,2.38,17.48,0.575,4,0.000,0.038,3172,587,1977
$GC,8862,1.28,191.4,64.6,8.2,419,8867,0.12,2.22,0.00,0.000,6,0.056,0.026,3215,2001,1976
$GC,9061,1.31,208.7,48.1,6.5,437,9080,0.00,0.00,17.60,0.551,6,0.000,0.000,3214,2001,1898
$GC,9274,1.31,208.7,27.8,11.3,458,9280,0.00,2.25,0.00,0.000,4,0.000,0.041,3215,3397,1895
$GC,9293,1.31,208.7,25.2,11.6,461,9300,0.00,2.22,0.00,0.000,6,0.000,0.029,3215,1979,1894
$STATE,9503,end climb,SURFACE_DEPTH_REACHED
$STATE,9504,begin surface coast
$FINISH,0.9,1.010231
$STATE,9531,end surface coast,CONTROL_FINISHED_OK
$STATE,9531,begin surface
$SM_CCo,9555,114.57,0.520,0,0,954,440.07
$SM_GC,1.68,0.00,0.00,114.57,0.000,0.000,0.520,411,2122,954,-11.54,2.04,440.07
$IRIDIUM_FIX,2241.69,-15844.49,050198,010105
$TT8_MAMPS,0.027612
$HUMID,1859
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.30
$XPDR_PINGS,104
$24V_AH,23.6,61.375
$10V_AH,10.1,57.603
$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,28.975,90.850,258.725,114.575,0.000,29.735,29.467,170.447,26.000,0.000,0.000,38.503,1043.306,6339.247,462.418,1568.009,657.085,33.371,1218.679,0.000,1636.936,0.000,0.468
$DEVICE_MAMPS,155.701,69.797,929.604,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,384.400,331.508,651.708,492.459,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38180,503
$CAP_FILE_SIZE,212927,0
$CFSIZE,260165632,225492992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,111008,064953,2251.662,-15759.089,10,6.0,29,10.1