version: 66.03
glider: 148
mission: 6
dive: 61
start: 8 21 108 1 57 16
data:
$ID,148
$MISSION,6
$DIVE,61
$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,548.98138
$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,-7421.2588
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2990
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1670
$C_ROLL_CLIMB,1660
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,49
$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
$GPS1,014126,2248.119,-15748.754,38,1.1,38,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-63.7
$GPS2,015621,2248.146,-15748.988,14,1.5,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.185,-0.064
$KALMAN_X,-57984.7,6.1,216.2,71383.4,-2240.6
$KALMAN_Y,40538.3,186.7,-424.6,-40203.3,498.0
$MHEAD_RNG_PITCHd_Wd,98.9,272,-19.9,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.35,-88.1,0.0,0.0,0,82,0.00,0.00,-62.33,0.000,2,0.000,0.000,416,1685,2742
$GC,85,-1.41,-136.3,3.4,-4.2,8,117,11.90,0.00,-12.50,0.000,6,0.158,0.000,2675,1686,3307
$GC,387,-1.41,-136.3,50.1,-15.6,49,391,0.00,2.17,0.00,0.000,4,0.000,0.034,2675,3061,3308
$GC,422,-1.41,-136.3,54.4,-11.7,52,426,0.00,2.22,0.00,0.000,6,0.000,0.037,2675,1661,3308
$GC,682,-1.41,-136.3,85.2,-10.6,76,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1661,3308
$GC,937,-1.41,-136.3,111.8,-10.4,100,941,0.00,2.25,0.00,0.000,4,0.000,0.035,2675,3067,3309
$GC,978,-1.41,-136.3,116.1,-10.6,103,982,0.00,2.22,0.00,0.000,6,0.000,0.030,2675,1662,3309
$GC,1242,-1.41,-136.3,144.4,-10.5,127,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1662,3309
$GC,1502,-1.41,-136.3,172.9,-11.1,152,1506,0.00,2.22,0.00,0.000,4,0.000,0.035,2675,3061,3309
$GC,1532,-1.41,-136.3,176.0,-10.9,154,1536,0.00,2.20,0.00,0.000,6,0.000,0.030,2675,1670,3309
$GC,1821,-1.41,-136.3,204.1,-9.3,178,1825,0.00,2.22,0.00,0.000,4,0.000,0.035,2675,3063,3309
$GC,1859,-1.41,-136.3,207.8,-9.1,178,1866,0.00,2.22,0.00,0.000,6,0.000,0.029,2675,1675,3309
$GC,2109,-1.41,-136.3,229.8,-8.5,185,2113,0.00,2.22,0.00,0.000,4,0.000,0.041,2675,3070,3309
$GC,2158,-1.41,-136.3,234.1,-8.1,186,2163,0.00,2.25,0.00,0.000,6,0.000,0.030,2675,1673,3309
$GC,2441,-1.41,-136.3,260.8,-9.6,193,2445,0.00,2.20,0.00,0.000,4,0.000,0.037,2675,3060,3309
$GC,2489,-1.41,-136.3,265.1,-8.9,194,2495,0.00,2.25,0.00,0.000,6,0.000,0.031,2675,1668,3309
$GC,2774,-1.41,-136.3,290.8,-9.0,201,2777,0.00,2.25,0.00,0.000,4,0.000,0.045,2675,3064,3309
$GC,2806,-1.41,-136.3,293.5,-7.8,201,2810,0.00,2.25,0.00,0.000,6,0.000,0.032,2675,1669,3309
$GC,3061,-1.41,-136.3,312.5,-7.4,208,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1670,3309
$GC,3305,-1.41,-136.3,328.9,-6.9,214,3309,0.00,2.25,0.00,0.000,4,0.000,0.041,2675,3057,3308
$GC,3359,-1.41,-136.3,332.6,-6.7,215,3364,0.00,2.25,0.00,0.000,6,0.000,0.042,2675,1676,3308
$GC,3631,-1.41,-136.3,351.0,-6.8,222,3635,0.00,2.25,0.00,0.000,4,0.000,0.049,2675,3056,3307
$GC,3664,-1.41,-136.3,353.4,-6.8,222,3670,0.00,2.25,0.00,0.000,6,0.000,0.037,2675,1662,3307
$GC,3914,-1.41,-136.3,372.0,-7.4,229,3918,0.00,2.30,0.00,0.000,4,0.000,0.046,2675,3062,3306
$GC,3974,-1.41,-136.3,376.5,-7.1,230,3978,0.00,2.28,0.00,0.000,6,0.000,0.041,2675,1678,3306
$GC,4241,-1.41,-136.3,395.0,-6.7,237,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1678,3304
$GC,4484,-1.41,-136.3,410.8,-6.5,243,4488,0.00,2.28,0.00,0.000,4,0.000,0.057,2675,3051,3303
$GC,4556,-1.41,-136.3,415.5,-6.3,244,4560,0.00,2.25,0.00,0.000,6,0.000,0.048,2675,1670,3302
$GC,4811,-1.41,-136.3,431.1,-6.1,251,4815,0.00,2.30,0.00,0.000,4,0.000,0.054,2675,3051,3301
$GC,4855,-1.41,-136.3,433.7,-6.1,252,4859,0.00,2.30,0.00,0.000,6,0.000,0.043,2674,1668,3300
$GC,5139,-1.41,-136.3,449.6,-5.6,259,5143,0.00,2.33,0.00,0.000,4,0.000,0.062,2675,3054,3298
$GC,5182,-1.41,-136.3,452.1,-5.8,260,5186,0.00,2.30,0.00,0.000,6,0.000,0.048,2675,1670,3298
$GC,5466,-1.41,-136.3,469.0,-6.0,267,5470,0.00,2.33,0.00,0.000,4,0.000,0.055,2675,3054,3296
$GC,5520,-1.41,-136.3,472.6,-6.6,268,5525,0.00,2.30,0.00,0.000,6,0.000,0.043,2675,1673,3296
$GC,5793,-1.41,-136.3,489.3,-6.1,275,5797,0.00,2.30,0.00,0.000,4,0.000,0.053,2675,3051,3294
$GC,5842,-1.41,-136.3,492.4,-6.6,276,5846,0.00,2.30,0.00,0.000,6,0.000,0.045,2675,1669,3294
$GC,6120,-1.41,-136.3,507.4,-5.4,283,6124,0.00,2.33,0.00,0.000,4,0.000,0.058,2675,3055,3292
$GC,6152,-1.41,-136.3,509.1,-5.7,283,6158,0.00,2.30,0.00,0.000,6,0.000,0.046,2675,1676,3292
$STATE,6197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6197,begin apogee
$GC,6201,-0.31,0.0,511.7,5.6,285,6313,1.12,0.00,109.03,0.924,6,0.092,0.000,2922,1676,2749
$STATE,6314,end apogee,CONTROL_FINISHED_OK
$STATE,6314,begin climb
$GC,6315,1.41,136.3,513.7,0.0,287,6438,1.58,2.38,113.75,0.898,4,0.043,0.057,3306,3040,2191
$GC,6444,1.41,136.3,508.5,14.7,290,6448,0.00,2.33,0.00,0.000,6,0.000,0.048,3306,1662,2189
$GC,6726,1.41,136.3,458.5,17.4,297,6731,0.00,2.50,0.00,0.000,4,0.000,0.077,3306,245,2182
$GC,6983,1.41,136.3,408.3,19.5,302,6990,0.00,2.30,0.00,0.000,6,0.000,0.037,3306,1633,2178
$GC,7233,1.41,136.3,366.6,16.4,309,7237,0.00,2.38,0.00,0.000,4,0.000,0.059,3307,243,2176
$GC,7304,1.41,136.3,354.0,19.1,310,7308,0.00,2.33,0.00,0.000,6,0.000,0.036,3306,1658,2175
$GC,7559,1.41,136.3,313.8,15.2,317,7563,0.00,2.40,0.00,0.000,4,0.000,0.059,3306,248,2174
$GC,7805,1.41,136.3,276.4,12.2,322,7809,0.00,2.30,0.00,0.000,6,0.000,0.031,3306,1661,2172
$GC,8066,1.41,136.3,247.9,10.8,329,8070,0.00,2.38,0.00,0.000,4,0.000,0.056,3306,249,2171
$GC,8086,1.41,136.3,245.3,12.1,329,8091,0.00,2.28,0.00,0.000,6,0.000,0.030,3306,1655,2171
$GC,8347,1.41,136.3,213.4,12.2,336,8351,0.00,2.35,0.00,0.000,4,0.000,0.058,3307,3065,2170
$GC,8431,1.41,136.3,203.4,12.0,338,8435,0.00,2.30,0.00,0.000,6,0.000,0.044,3306,1644,2169
$GC,8698,1.41,136.3,173.7,9.7,360,8702,0.00,2.28,0.00,0.000,4,0.000,0.058,3306,258,2169
$GC,8876,1.41,136.3,153.0,11.9,375,8885,0.00,2.25,0.00,0.000,6,0.000,0.028,3306,1672,2169
$GC,9137,1.41,136.3,125.6,11.0,400,9141,0.00,2.33,0.00,0.000,4,0.000,0.056,3306,256,2169
$GC,9224,1.41,136.3,114.9,13.5,407,9228,0.00,2.20,0.00,0.000,6,0.000,0.033,3306,1662,2169
$GC,9487,1.41,136.3,84.8,10.4,431,9491,0.00,2.33,0.00,0.000,4,0.000,0.056,3307,253,2169
$GC,9619,1.41,136.3,71.0,11.6,442,9623,0.00,2.22,0.00,0.000,6,0.000,0.030,3307,1663,2170
$GC,9881,1.50,205.9,55.8,4.0,466,9946,0.00,2.35,54.97,0.557,4,0.000,0.044,3306,3058,1906
$GC,10093,1.50,205.9,33.0,13.6,484,10097,0.00,2.28,0.00,0.000,6,0.000,0.033,3306,1648,1902
$STATE,10307,end climb,SURFACE_DEPTH_REACHED
$STATE,10307,begin surface coast
$FINISH,0.5,1.000499
$STATE,10325,end surface coast,CONTROL_FINISHED_OK
$STATE,10325,begin surface
$SM_CCo,10343,185.12,0.501,0,0,510,548.98
$SM_GC,1.33,0.00,0.00,185.12,0.000,0.000,0.501,412,1643,510,-11.85,-0.74,548.98
$IRIDIUM_FIX,2241.69,-15748.90,151197,020218
$TT8_MAMPS,0.026845
$HUMID,1585
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,23.20
$XPDR_PINGS,138
$24V_AH,23.8,18.617
$10V_AH,10.1,16.668
$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,26.375,118.775,277.750,185.125,0.000,144.866,418.914,0.000,34.500,0.000,0.000,15.577,1072.978,7144.010,554.260,1929.557,728.610,33.345,1331.259,0.000,1942.358,0.000,0.470
$DEVICE_MAMPS,158.002,77.467,924.235,500.851,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.023,335.211,571.953,435.315,898.965,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38237,523
$CAP_FILE_SIZE,213777,0
$CFSIZE,260165632,254124032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210808,045402,2247.624,-15748.314,41,1.3,41,10.1