version: 66.03
glider: 148
mission: 6
dive: 278
start: 9 16 108 11 26 57
data:
$ID,148
$MISSION,6
$DIVE,278
$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,-11978.441
$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,45
$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
$GPS1,111105,2248.427,-15748.935,8,99.0,27,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-62.3
$GPS2,112602,2248.312,-15748.982,9,1.8,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.077,0.186
$KALMAN_X,-216179.3,46.6,212.5,229549.9,-959.2
$KALMAN_Y,-236734.6,-34.1,97.0,237073.4,-2807.1
$MHEAD_RNG_PITCHd_Wd,12.5,578,-19.2,-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,18,begin dive
$GC,20,-1.32,-94.1,0.0,0.0,0,92,0.00,0.00,-69.12,0.000,2,0.000,0.000,409,2120,2805
$GC,95,-1.37,-136.3,3.5,-4.2,9,129,11.77,2.17,-10.62,0.000,4,0.162,0.047,2614,3447,3308
$GC,188,-1.23,-136.3,22.6,-19.2,23,197,0.12,2.20,0.00,0.000,6,0.107,0.019,2644,2049,3309
$GC,401,-1.12,-136.3,62.1,-18.9,45,405,0.15,2.20,0.00,0.000,4,0.112,0.026,2677,642,3309
$GC,420,-1.08,-136.3,65.7,-17.3,46,424,0.00,2.17,0.00,0.000,6,0.000,0.022,2677,2051,3309
$GC,626,-1.14,-136.3,93.3,-12.5,65,630,0.00,2.22,0.00,0.000,4,0.000,0.031,2677,3454,3310
$GC,681,-1.26,-136.3,99.4,-10.9,69,685,0.15,2.17,0.00,0.000,6,0.046,0.018,2622,2044,3310
$GC,883,-1.20,-136.3,127.9,-14.7,88,888,0.15,2.17,0.00,0.000,4,0.100,0.027,2656,653,3310
$GC,950,-1.32,-136.3,135.6,-10.0,93,957,0.10,2.15,0.00,0.000,6,0.060,0.018,2611,2059,3310
$GC,1150,-1.26,-136.3,161.5,-13.8,112,1155,0.15,2.20,0.00,0.000,4,0.100,0.030,2642,3450,3310
$GC,1182,-1.26,-136.3,166.4,-13.7,114,1191,0.00,2.17,0.00,0.000,6,0.000,0.018,2642,2046,3310
$GC,1537,-1.32,-136.3,205.6,-11.4,145,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2046,3311
$GC,1862,-1.42,-136.3,238.4,-9.3,153,1867,0.12,2.20,0.00,0.000,4,0.051,0.031,2590,652,3310
$GC,1963,-1.45,-136.3,250.4,-11.3,155,1967,0.00,2.15,0.00,0.000,6,0.000,0.021,2590,2044,3311
$GC,2310,-1.45,-136.3,288.2,-10.7,164,2314,0.00,2.22,0.00,0.000,4,0.000,0.040,2590,655,3310
$GC,2370,-1.49,-136.3,295.1,-10.7,165,2375,0.00,2.17,0.00,0.000,6,0.000,0.031,2590,2044,3310
$GC,2718,-1.49,-136.3,331.6,-11.0,174,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2044,3310
$GC,3043,-1.49,-136.3,367.1,-10.9,182,3047,0.00,2.22,0.00,0.000,4,0.000,0.038,2590,661,3308
$GC,3093,-1.55,-136.3,373.0,-11.9,183,3097,0.00,2.17,0.00,0.000,6,0.000,0.026,2589,2049,3308
$GC,3418,-1.59,-136.3,409.4,-11.0,191,3422,0.00,2.30,0.00,0.000,4,0.000,0.056,2590,3446,3306
$GC,3452,-1.62,-136.3,413.7,-11.8,191,3458,0.00,2.17,0.00,0.000,6,0.000,0.031,2590,2054,3305
$GC,3783,-1.65,-136.3,451.1,-11.3,200,3788,0.12,2.28,0.00,0.000,4,0.051,0.050,2541,657,3303
$GC,3866,-1.60,-136.3,462.1,-12.9,201,3873,0.15,2.22,0.00,0.000,6,0.107,0.029,2570,2050,3302
$GC,4197,-1.60,-136.3,496.6,-10.4,210,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2049,3300
$STATE,4357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4357,begin apogee
$GC,4362,-0.31,0.0,514.0,10.7,214,4480,1.30,0.00,109.75,0.930,6,0.095,0.000,2852,2050,2748
$STATE,4481,end apogee,CONTROL_FINISHED_OK
$STATE,4481,begin climb
$GC,4483,1.37,136.3,517.1,0.0,217,4606,1.52,2.50,112.90,0.904,4,0.044,0.054,3223,607,2192
$GC,4624,1.02,136.3,508.2,13.5,220,4629,0.40,2.28,0.00,0.000,6,0.113,0.032,3144,1990,2190
$GC,4973,0.86,136.3,471.1,10.4,229,4978,0.17,2.42,0.00,0.000,4,0.114,0.062,3107,3405,2181
$GC,5040,0.79,136.3,465.0,9.4,230,5044,0.00,2.25,0.00,0.000,6,0.000,0.035,3107,2007,2180
$GC,5382,0.72,137.7,436.6,8.4,239,5387,0.15,2.40,0.00,0.000,4,0.111,0.065,3073,592,2177
$GC,5404,0.68,137.7,434.7,8.5,239,5408,0.00,2.28,0.00,0.000,6,0.000,0.027,3073,2005,2176
$GC,5740,0.71,161.6,410.5,7.0,248,5765,0.00,2.42,19.88,0.850,4,0.000,0.064,3073,3402,2090
$GC,5822,0.73,178.0,404.5,7.5,250,5842,0.00,2.28,15.27,0.822,6,0.000,0.027,3073,1989,2023
$GC,6184,0.74,189.4,375.6,7.8,259,6200,0.00,2.40,10.68,0.783,4,0.000,0.050,3073,3404,1976
$GC,6303,0.81,195.0,366.4,8.2,261,6315,0.10,2.25,6.03,0.680,6,0.067,0.028,3105,2001,1954
$GC,6639,0.77,195.0,333.4,10.2,270,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2000,1951
$GC,6964,0.77,195.0,300.9,9.9,278,6968,0.00,2.33,0.00,0.000,4,0.000,0.051,3106,3400,1949
$GC,7003,0.77,195.0,297.1,9.6,279,7007,0.00,2.25,0.00,0.000,6,0.000,0.032,3105,1993,1948
$GC,7328,0.79,203.3,270.2,8.0,287,7342,0.00,2.40,7.88,0.690,4,0.000,0.048,3106,3400,1920
$GC,7349,0.80,213.0,268.4,7.9,287,7364,0.00,2.25,10.45,0.711,6,0.000,0.030,3105,1990,1880
$GC,7689,0.80,213.0,236.0,9.6,295,7693,0.00,2.35,0.00,0.000,4,0.000,0.045,3105,3412,1876
$GC,7762,0.83,213.0,228.5,10.6,296,7766,0.00,2.22,0.00,0.000,6,0.000,0.030,3105,1999,1873
$GC,8098,0.83,213.0,197.9,8.7,305,8102,0.00,2.25,0.00,0.000,4,0.000,0.040,3106,600,1873
$GC,8166,0.86,213.0,191.8,9.6,311,8170,0.00,2.22,0.00,0.000,6,0.000,0.029,3106,2014,1873
$GC,8491,0.90,213.0,163.1,8.6,341,8495,0.00,2.25,0.00,0.000,4,0.000,0.046,3106,3402,1872
$GC,8630,0.95,213.0,150.8,8.8,353,8635,0.00,2.22,0.00,0.000,6,0.000,0.028,3106,1985,1872
$GC,8960,1.02,222.6,125.4,7.9,383,8975,0.15,2.35,8.40,0.574,4,0.048,0.045,3162,3388,1840
$GC,9014,0.97,222.6,119.7,10.0,388,9019,0.15,2.20,0.00,0.000,6,0.106,0.030,3133,1994,1839
$GC,9211,0.97,222.6,101.5,8.7,406,9215,0.00,2.30,0.00,0.000,4,0.000,0.041,3133,3403,1839
$GC,9230,0.97,222.6,99.9,9.5,407,9234,0.00,2.20,0.00,0.000,6,0.000,0.028,3133,1997,1839
$GC,9431,0.97,222.6,81.3,9.6,425,9435,0.00,2.22,0.00,0.000,4,0.000,0.038,3133,606,1839
$GC,9529,1.02,222.6,71.5,10.1,433,9533,0.00,2.17,0.00,0.000,6,0.000,0.024,3133,2000,1839
$GC,9729,1.10,244.3,54.9,7.2,451,9756,0.12,2.30,19.12,0.559,4,0.053,0.048,3183,3406,1752
$GC,9775,1.06,244.3,50.9,9.1,454,9784,0.12,2.22,0.00,0.000,6,0.090,0.029,3153,2007,1750
$GC,9975,1.08,260.5,35.8,7.5,473,9995,0.00,0.00,14.88,0.527,6,0.000,0.000,3153,2007,1686
$GC,10195,1.09,266.1,18.2,8.2,505,10212,0.00,2.33,6.05,0.436,4,0.000,0.041,3153,3395,1663
$GC,10238,1.09,269.2,14.6,8.3,511,10248,0.00,2.20,4.07,0.362,6,0.000,0.019,3153,1999,1650
$STATE,10369,end climb,SURFACE_DEPTH_REACHED
$STATE,10369,begin surface coast
$FINISH,0.6,1.023113
$STATE,10405,end surface coast,CONTROL_FINISHED_OK
$STATE,10405,begin surface
$SM_CCo,10426,153.12,0.514,0,0,511,548.98
$SM_GC,1.52,0.00,0.00,153.12,0.000,0.000,0.514,413,2086,511,-11.53,0.99,548.98
$IRIDIUM_FIX,2239.35,-15746.73,111297,111104
$TT8_MAMPS,0.027612
$HUMID,1698
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.50
$XPDR_PINGS,146
$24V_AH,23.7,41.650
$10V_AH,10.1,38.527
$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,28.400,112.775,345.350,153.125,0.000,142.367,401.125,0.000,36.500,0.000,0.000,15.492,1067.670,7188.940,565.531,1815.086,839.326,33.356,1304.745,0.000,1886.781,0.000,0.469
$DEVICE_MAMPS,161.837,77.467,930.371,513.890,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,391.220,330.347,632.638,488.979,980.181,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41421,539
$CAP_FILE_SIZE,221063,0
$CFSIZE,260165632,239636480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160908,142432,2248.241,-15749.274,37,1.1,37,10.1