version: 66.03
glider: 148
mission: 6
dive: 219
start: 9 9 108 8 25 33
data:
$ID,148
$MISSION,6
$DIVE,219
$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,-10736.262
$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,49
$R_STBD_OVSHOOT,62
$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
$GPS1,081838,2248.427,-15747.878,33,1.2,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-60.1
$GPS2,082439,2248.382,-15747.912,10,1.2,10,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.048,0.139
$KALMAN_X,-162470.5,410.9,37.6,177470.5,-2139.8
$KALMAN_Y,-161660.5,309.2,-205.8,162090.8,-1551.6
$MHEAD_RNG_PITCHd_Wd,8.9,1987,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.75,-49.4,0.0,0.0,0,107,0.00,0.00,-84.60,0.000,2,0.000,0.000,401,2088,2741
$GC,111,-1.80,-91.7,3.3,-3.6,11,136,11.27,2.20,-8.45,0.000,4,0.160,0.042,2517,3435,3125
$GC,157,-1.19,-91.7,13.6,-20.6,17,166,0.65,2.17,0.00,0.000,6,0.120,0.027,2651,2044,3125
$GC,372,-1.35,-91.7,47.4,-15.0,44,380,0.12,0.00,0.00,0.000,6,0.054,0.000,2608,2041,3126
$GC,572,-1.49,-91.7,79.2,-14.5,63,576,0.00,2.17,0.00,0.000,4,0.000,0.037,2608,656,3126
$GC,604,-1.65,-91.7,83.6,-14.5,65,609,0.20,2.12,0.00,0.000,6,0.041,0.028,2542,2034,3126
$GC,804,-1.65,-91.7,118.4,-17.2,83,808,0.00,2.17,0.00,0.000,4,0.000,0.028,2542,657,3126
$GC,913,-1.70,-91.7,138.3,-17.0,92,917,0.00,2.15,0.00,0.000,6,0.000,0.021,2542,2050,3127
$GC,1110,-1.77,-91.7,168.7,-13.3,110,1114,0.00,2.20,0.00,0.000,4,0.000,0.030,2542,658,3127
$GC,1174,-1.84,-91.7,177.2,-13.4,115,1179,0.10,2.15,0.00,0.000,6,0.061,0.018,2501,2058,3127
$GC,1492,-1.84,-91.7,225.1,-14.6,133,1496,0.00,2.22,0.00,0.000,4,0.000,0.030,2500,654,3127
$GC,1586,-1.84,-91.7,238.6,-13.7,135,1590,0.00,2.15,0.00,0.000,6,0.000,0.018,2500,2057,3128
$GC,1906,-1.89,-91.7,282.1,-14.1,143,1910,0.00,2.22,0.00,0.000,4,0.000,0.032,2500,661,3128
$GC,2164,-1.95,-91.7,320.4,-12.9,148,2170,0.00,2.15,0.00,0.000,6,0.000,0.025,2500,2042,3128
$GC,2495,-2.02,-91.7,360.2,-12.0,157,2499,0.00,2.22,0.00,0.000,4,0.000,0.041,2500,667,3128
$GC,2753,-2.07,-91.7,395.4,-14.5,162,2759,0.15,2.15,0.00,0.000,6,0.054,0.028,2454,2049,3126
$GC,3083,-2.07,-91.7,443.5,-14.3,171,3087,0.00,2.28,0.00,0.000,4,0.000,0.052,2454,661,3125
$GC,3340,-2.07,-91.7,481.0,-14.1,176,3347,0.00,2.22,0.00,0.000,6,0.000,0.037,2454,2035,3122
$STATE,3588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3588,begin apogee
$GC,3593,-0.31,0.0,513.2,12.7,183,3673,1.88,0.00,75.22,0.903,6,0.108,0.000,2850,2035,2748
$STATE,3673,end apogee,CONTROL_FINISHED_OK
$STATE,3673,begin climb
$GC,3676,1.80,91.7,515.1,0.0,185,3761,1.92,2.40,76.32,0.881,4,0.041,0.061,3316,3401,2374
$GC,3969,1.52,91.7,476.0,16.1,191,3974,0.32,2.22,0.00,0.000,6,0.123,0.036,3252,2023,2367
$GC,4300,1.37,91.7,434.4,12.1,199,4305,0.15,2.42,0.00,0.000,4,0.125,0.065,3221,600,2364
$GC,4315,1.23,91.7,432.5,12.0,199,4320,0.15,2.28,0.00,0.000,6,0.125,0.033,3193,2018,2363
$GC,4663,1.23,91.7,400.2,8.8,208,4667,0.00,2.38,0.00,0.000,4,0.000,0.045,3193,590,2361
$GC,4809,1.18,98.2,387.9,7.8,211,4818,0.00,2.25,4.35,0.584,6,0.000,0.028,3193,2002,2347
$GC,5161,1.18,98.2,359.0,8.7,220,5165,0.00,2.33,0.00,0.000,4,0.000,0.045,3193,590,2345
$GC,5390,1.12,98.2,336.4,9.2,225,5395,0.15,2.25,0.00,0.000,6,0.126,0.031,3165,2007,2344
$GC,5704,1.18,108.9,312.7,7.3,233,5718,0.00,2.38,9.32,0.726,4,0.000,0.059,3165,3399,2305
$GC,5820,1.27,130.5,304.7,6.0,235,5845,0.12,2.25,19.60,0.772,6,0.061,0.031,3202,1984,2216
$GC,6164,1.27,130.5,272.3,10.1,244,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1985,2211
$GC,6488,1.27,130.5,236.3,10.9,252,6492,0.00,2.28,0.00,0.000,4,0.000,0.048,3203,602,2210
$GC,6744,1.27,130.5,210.7,8.9,257,6751,0.00,2.22,0.00,0.000,6,0.000,0.028,3203,2004,2208
$GC,7064,1.31,138.8,187.6,7.6,276,7077,0.00,2.30,6.97,0.594,4,0.000,0.048,3203,3392,2183
$GC,7227,1.36,138.8,173.9,9.3,290,7231,0.00,2.20,0.00,0.000,6,0.000,0.026,3203,1994,2181
$GC,7551,1.41,142.9,145.2,8.0,320,7566,0.10,2.28,5.05,0.499,4,0.065,0.041,3236,602,2166
$GC,7648,1.37,142.9,136.7,9.9,328,7652,0.00,2.20,0.00,0.000,6,0.000,0.023,3237,2002,2165
$GC,7845,1.37,142.9,117.9,9.6,346,7849,0.00,2.25,0.00,0.000,4,0.000,0.038,3237,601,2165
$GC,7922,1.33,142.9,110.1,9.8,352,7932,0.10,2.22,0.00,0.000,6,0.104,0.028,3212,2005,2165
$GC,8124,1.38,143.2,94.2,8.5,371,8128,0.00,2.25,0.00,0.000,4,0.000,0.041,3212,602,2165
$GC,8266,1.38,143.2,82.0,8.5,383,8270,0.00,2.20,0.00,0.000,6,0.000,0.027,3212,2011,2165
$GC,8466,1.47,164.5,69.1,6.0,401,8493,0.12,2.28,19.98,0.560,4,0.056,0.039,3256,601,2077
$GC,8509,1.45,175.6,66.3,7.2,404,8526,0.00,2.20,10.52,0.518,6,0.000,0.027,3256,2002,2032
$GC,8726,1.46,182.3,48.2,7.7,424,8740,0.00,2.25,6.88,0.471,4,0.000,0.034,3256,602,2005
$GC,8836,1.46,182.3,39.2,9.1,433,8840,0.00,2.20,0.00,0.000,6,0.000,0.020,3256,2005,2003
$GC,9042,1.46,182.4,21.3,8.5,459,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2005,2002
$GC,9257,1.48,196.1,5.1,6.9,496,9274,0.00,0.00,13.20,0.484,6,0.000,0.000,3256,2005,1948
$STATE,9285,end climb,SURFACE_DEPTH_REACHED
$STATE,9287,begin surface coast
$FINISH,0.7,1.023298
$STATE,9323,end surface coast,CONTROL_FINISHED_OK
$STATE,9323,begin surface
$SM_CCo,9343,130.05,0.504,0,0,954,440.07
$SM_GC,1.43,0.00,0.00,130.05,0.000,0.000,0.504,405,2009,954,-11.57,-1.19,440.07
$IRIDIUM_FIX,2241.69,-15749.78,041297,050553
$TT8_MAMPS,0.027612
$HUMID,1676
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.60
$XPDR_PINGS,158
$24V_AH,23.8,35.627
$10V_AH,10.1,32.500
$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,29.025,89.450,247.425,130.050,0.000,29.970,28.313,200.609,39.500,0.000,0.000,12.331,1047.449,5783.733,457.500,2027.458,518.932,33.362,1250.269,0.000,2086.980,0.000,0.468
$DEVICE_MAMPS,159.536,65.195,902.759,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.339,319.278,610.488,487.905,993.091,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38217,506
$CAP_FILE_SIZE,215293,0
$CFSIZE,260165632,243564544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090908,110435,2248.326,-15748.423,10,99.0,29,10.1