version: 66.03
glider: 148
mission: 6
dive: 286
start: 9 17 108 10 14 10
data:
$ID,148
$MISSION,6
$DIVE,286
$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,-12132.02
$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,42
$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
$GPS1,100758,2248.988,-15748.737,33,2.5,52,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-63.7
$GPS2,101317,2248.955,-15748.738,10,2.5,29,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.081,0.181
$KALMAN_X,-218770.1,150.1,563.0,232100.9,-1418.0
$KALMAN_Y,-250586.5,-58.4,699.8,251530.2,-3923.3
$MHEAD_RNG_PITCHd_Wd,14.1,1825,-19.6,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.34,-90.4,0.0,0.0,0,93,0.00,0.00,-69.57,0.000,2,0.000,0.000,415,2133,2801
$GC,96,-1.39,-136.3,3.7,-4.5,9,130,11.80,2.15,-10.60,0.000,4,0.165,0.050,2617,3443,3306
$GC,179,-1.27,-136.3,20.8,-18.5,21,187,0.08,2.17,0.00,0.000,6,0.111,0.018,2636,2049,3307
$GC,389,-1.16,-136.3,60.5,-18.4,44,391,0.15,0.00,0.00,0.000,6,0.114,0.000,2665,2046,3308
$GC,578,-1.16,-136.3,86.8,-12.6,62,582,0.00,2.25,0.00,0.000,4,0.000,0.031,2665,3454,3308
$GC,655,-1.20,-136.3,96.2,-11.4,68,664,0.00,2.17,0.00,0.000,6,0.000,0.018,2665,2055,3308
$GC,857,-1.26,-136.3,117.6,-10.3,87,861,0.00,2.22,0.00,0.000,4,0.000,0.031,2666,3449,3309
$GC,874,-1.30,-136.3,119.9,-11.2,88,879,0.12,2.15,0.00,0.000,6,0.053,0.017,2620,2044,3309
$GC,1071,-1.30,-136.3,145.2,-13.2,106,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2041,3310
$GC,1265,-1.30,-136.3,169.4,-13.6,124,1269,0.00,2.25,0.00,0.000,4,0.000,0.031,2621,3454,3310
$GC,1309,-1.30,-136.3,175.9,-13.6,127,1315,0.00,2.15,0.00,0.000,6,0.000,0.018,2620,2053,3310
$GC,1638,-1.35,-136.3,212.8,-10.3,150,1642,0.00,2.20,0.00,0.000,4,0.000,0.031,2620,655,3311
$GC,1723,-1.46,-136.3,220.9,-9.1,152,1727,0.00,2.17,0.00,0.000,6,0.000,0.020,2620,2060,3311
$GC,2047,-1.53,-136.3,250.2,-9.3,160,2051,0.15,2.20,0.00,0.000,4,0.049,0.037,2562,3452,3311
$GC,2079,-1.49,-136.3,253.9,-11.2,160,2084,0.15,2.15,0.00,0.000,6,0.099,0.018,2593,2052,3311
$GC,2410,-1.49,-136.3,289.1,-10.6,168,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2052,3311
$GC,2736,-1.52,-136.3,321.6,-10.2,176,2740,0.00,2.28,0.00,0.000,4,0.000,0.039,2593,3449,3311
$GC,2763,-1.52,-136.3,324.7,-11.3,176,2767,0.00,2.17,0.00,0.000,6,0.000,0.022,2593,2048,3311
$GC,3100,-1.56,-136.3,356.7,-9.1,185,3104,0.00,2.25,0.00,0.000,4,0.000,0.042,2593,653,3309
$GC,3177,-1.63,-136.3,364.0,-8.9,186,3182,0.12,2.20,0.00,0.000,6,0.055,0.025,2551,2049,3308
$GC,3509,-1.59,-136.3,400.2,-11.3,194,3511,0.12,0.00,0.00,0.000,6,0.110,0.000,2575,2048,3306
$GC,3833,-1.59,-136.3,435.6,-11.1,202,3837,0.00,2.33,0.00,0.000,4,0.000,0.058,2575,3453,3304
$GC,3860,-1.59,-136.3,438.8,-12.0,202,3864,0.00,2.20,0.00,0.000,6,0.000,0.029,2575,2048,3304
$GC,4197,-1.59,-136.3,474.7,-10.9,211,4201,0.00,2.28,0.00,0.000,4,0.000,0.048,2575,661,3301
$GC,4237,-1.64,-136.3,479.0,-10.7,212,4241,0.00,2.22,0.00,0.000,6,0.000,0.031,2575,2043,3301
$STATE,4559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4559,begin apogee
$GC,4564,-0.31,0.0,510.0,9.1,220,4682,1.27,0.00,109.93,0.933,6,0.097,0.000,2850,2043,2748
$STATE,4682,end apogee,CONTROL_FINISHED_OK
$STATE,4682,begin climb
$GC,4685,1.39,136.3,511.8,0.0,223,4810,1.55,2.50,112.88,0.906,4,0.042,0.052,3224,617,2191
$GC,4997,1.04,136.3,471.6,15.9,230,5002,0.38,2.25,0.00,0.000,6,0.114,0.035,3150,1996,2184
$GC,5317,0.84,136.3,433.8,11.7,238,5322,0.20,2.33,0.00,0.000,4,0.117,0.045,3106,607,2179
$GC,5333,0.66,136.3,431.7,11.3,238,5338,0.20,2.25,0.00,0.000,6,0.109,0.034,3066,2005,2180
$GC,5676,0.66,136.3,403.2,8.5,247,5680,0.00,2.38,0.00,0.000,4,0.000,0.064,3066,3402,2177
$GC,5760,0.66,136.3,395.5,9.8,249,5764,0.00,2.22,0.00,0.000,6,0.000,0.031,3066,2011,2175
$GC,6085,0.66,137.5,367.7,8.4,257,6089,0.00,2.33,0.00,0.000,4,0.000,0.050,3066,3402,2174
$GC,6175,0.66,137.5,359.9,9.0,259,6179,0.00,2.25,0.00,0.000,6,0.000,0.026,3066,1998,2173
$GC,6500,0.68,153.4,335.3,7.5,267,6519,0.00,2.42,12.38,0.785,4,0.000,0.053,3066,601,2123
$GC,6588,0.68,155.7,327.9,8.4,269,6592,0.00,2.25,0.00,0.000,6,0.000,0.031,3066,2008,2121
$GC,6913,0.69,162.3,301.5,8.1,277,6927,0.00,2.40,8.60,0.721,4,0.000,0.061,3066,3391,2087
$GC,7119,0.75,208.2,287.3,5.6,281,7165,0.00,2.22,40.65,0.794,6,0.000,0.028,3066,1997,1900
$GC,7498,0.78,208.2,258.7,8.5,291,7502,0.10,2.33,0.00,0.000,4,0.063,0.047,3102,3403,1892
$GC,7564,0.75,208.2,251.0,11.3,292,7568,0.00,2.25,0.00,0.000,6,0.000,0.031,3102,1994,1890
$GC,7900,0.75,208.2,213.0,11.2,301,7904,0.00,2.33,0.00,0.000,4,0.000,0.039,3102,3399,1890
$GC,7911,0.72,208.2,211.8,10.3,301,7916,0.12,2.22,0.00,0.000,6,0.113,0.023,3079,1993,1889
$GC,8239,0.79,230.4,188.1,7.1,319,8261,0.00,2.40,18.17,0.690,4,0.000,0.038,3078,3399,1808
$GC,8345,0.85,230.4,179.2,8.9,328,8350,0.12,2.22,0.00,0.000,6,0.056,0.022,3121,1995,1804
$GC,8670,0.85,230.4,145.3,10.2,358,8674,0.00,2.30,0.00,0.000,4,0.000,0.045,3121,3399,1804
$GC,8702,0.85,230.4,142.2,9.4,360,8710,0.00,2.22,0.00,0.000,6,0.000,0.024,3121,2000,1803
$GC,8903,0.86,235.8,124.9,8.2,379,8915,0.00,2.28,5.20,0.499,4,0.000,0.038,3121,596,1786
$GC,8938,0.86,235.8,121.7,9.3,382,8942,0.00,2.22,0.00,0.000,6,0.000,0.028,3121,2005,1786
$GC,9135,0.86,235.8,105.2,8.7,400,9139,0.00,2.28,0.00,0.000,4,0.000,0.048,3121,3407,1786
$GC,9199,0.86,235.8,99.5,9.2,405,9203,0.00,2.20,0.00,0.000,6,0.000,0.021,3121,1999,1784
$GC,9399,0.86,235.8,82.5,8.8,423,9402,0.00,2.28,0.00,0.000,4,0.000,0.039,3121,3402,1784
$GC,9437,0.89,235.8,78.6,9.9,426,9445,0.00,2.22,0.00,0.000,6,0.000,0.028,3121,1997,1784
$GC,9637,0.96,243.2,61.8,8.0,445,9651,0.00,2.30,7.85,0.507,4,0.000,0.038,3121,3409,1756
$GC,9711,1.05,261.7,55.7,7.3,451,9738,0.12,2.20,17.10,0.551,6,0.054,0.028,3166,2002,1680
$GC,9930,1.01,261.7,32.7,11.6,471,9934,0.12,2.30,0.00,0.000,4,0.105,0.039,3141,3408,1679
$GC,9989,1.01,261.7,26.1,11.1,479,9997,0.00,2.22,0.00,0.000,6,0.000,0.023,3141,1999,1677
$GC,10205,1.01,261.7,7.3,9.9,516,10213,0.00,2.30,0.00,0.000,4,0.000,0.039,3141,3391,1677
$GC,10245,1.01,261.7,3.4,10.0,522,10253,0.00,2.20,0.00,0.000,6,0.000,0.019,3141,1993,1677
$STATE,10259,end climb,SURFACE_DEPTH_REACHED
$STATE,10259,begin surface coast
$FINISH,0.6,1.023177
$STATE,10290,end surface coast,CONTROL_FINISHED_OK
$STATE,10290,begin surface
$SM_CCo,10312,98.18,0.518,0,0,953,440.07
$SM_GC,1.53,0.00,0.00,98.18,0.000,0.000,0.518,406,2083,953,-11.56,0.93,440.07
$IRIDIUM_FIX,2244.02,-15748.90,121297,070712
$TT8_MAMPS,0.027612
$HUMID,1733
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.60
$XPDR_PINGS,120
$24V_AH,23.7,42.441
$10V_AH,10.1,39.340
$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,28.000,117.350,332.750,98.175,0.000,25.032,31.440,130.245,30.000,0.000,0.000,31.560,1063.103,6791.635,511.304,1870.081,491.078,33.361,1276.893,0.000,1930.998,0.000,0.469
$DEVICE_MAMPS,164.905,67.496,933.439,517.725,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,391.858,332.173,636.983,470.413,943.834,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41532,529
$CAP_FILE_SIZE,219627,0
$CFSIZE,260165632,239112192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170908,130855,2248.713,-15748.530,32,1.7,36,10.1