version: 66.03
glider: 148
mission: 6
dive: 301
start: 9 19 108 4 35 28
data:
$ID,148
$MISSION,6
$DIVE,301
$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,-12458.3
$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,38
$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
$GPS1,042937,2248.609,-15748.411,36,1.0,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-64.2
$GPS2,043433,2248.584,-15748.452,10,1.6,10,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.131,-0.067
$KALMAN_X,-230635.0,350.2,-161.1,244975.3,-2128.9
$KALMAN_Y,-271916.7,609.0,-617.3,272827.5,-462.0
$MHEAD_RNG_PITCHd_Wd,106.9,1429,-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,18,begin dive
$GC,20,-1.75,-49.4,0.0,0.0,0,84,0.00,0.00,-61.62,0.000,2,0.000,0.000,415,2009,2555
$GC,88,-1.81,-95.9,3.1,-3.1,8,122,11.20,2.17,-14.07,0.000,4,0.160,0.048,2518,638,3140
$GC,164,-1.74,-95.9,17.2,-21.4,19,173,0.08,2.22,0.00,0.000,6,0.127,0.019,2535,2057,3141
$GC,370,-1.63,-95.9,64.8,-23.8,42,374,0.15,2.22,0.00,0.000,4,0.129,0.028,2566,640,3141
$GC,452,-1.66,-95.9,81.6,-20.1,49,456,0.00,2.20,0.00,0.000,6,0.000,0.022,2566,2049,3142
$GC,653,-1.71,-95.9,116.7,-17.3,67,657,0.00,2.22,0.00,0.000,4,0.000,0.028,2566,3460,3142
$GC,671,-1.75,-95.9,120.3,-15.4,68,675,0.12,2.17,0.00,0.000,6,0.058,0.017,2527,2042,3142
$GC,868,-1.80,-95.9,150.8,-13.8,86,872,0.00,2.17,0.00,0.000,4,0.000,0.030,2527,655,3143
$GC,987,-1.86,-95.9,167.0,-14.0,96,991,0.00,2.15,0.00,0.000,6,0.000,0.021,2527,2064,3144
$GC,1319,-1.95,-95.9,209.7,-11.3,121,1323,0.12,2.22,0.00,0.000,4,0.058,0.028,2486,658,3146
$GC,1502,-1.95,-95.9,237.1,-13.4,125,1506,0.00,2.15,0.00,0.000,6,0.000,0.018,2486,2062,3146
$GC,1821,-1.95,-95.9,279.9,-13.6,133,1825,0.00,2.25,0.00,0.000,4,0.000,0.039,2486,655,3146
$GC,1999,-1.95,-95.9,309.1,-15.5,137,2003,0.00,2.17,0.00,0.000,6,0.000,0.021,2487,2042,3146
$GC,2324,-1.98,-95.9,350.4,-12.7,145,2328,0.00,2.22,0.00,0.000,4,0.000,0.037,2486,663,3145
$GC,2543,-2.01,-95.9,378.8,-11.7,150,2547,0.00,2.17,0.00,0.000,6,0.000,0.025,2486,2053,3144
$GC,2875,-2.06,-95.9,416.6,-11.3,158,2879,0.00,2.28,0.00,0.000,4,0.000,0.048,2487,663,3142
$GC,3132,-2.09,-95.9,448.5,-13.2,163,3138,0.00,2.20,0.00,0.000,6,0.000,0.035,2486,2048,3140
$GC,3464,-2.15,-95.9,487.1,-11.1,172,3469,0.15,2.28,0.00,0.000,4,0.058,0.051,2444,669,3138
$STATE,3647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3647,begin apogee
$GC,3656,-0.31,0.0,510.6,13.0,176,3738,1.90,0.00,78.07,0.924,6,0.116,0.000,2848,1997,2749
$STATE,3739,end apogee,CONTROL_FINISHED_OK
$STATE,3739,begin climb
$GC,3741,1.81,95.9,512.1,0.0,178,3829,1.98,2.42,79.55,0.897,4,0.047,0.060,3317,3400,2357
$GC,3840,1.51,95.9,503.7,12.3,180,3845,0.35,2.25,0.00,0.000,6,0.123,0.029,3250,2024,2355
$GC,4184,1.35,95.9,458.7,12.2,189,4189,0.15,2.45,0.00,0.000,4,0.127,0.059,3217,593,2349
$GC,4357,1.21,95.9,438.3,11.0,193,4362,0.17,2.28,0.00,0.000,6,0.120,0.026,3185,2001,2347
$GC,4684,1.17,95.9,408.9,9.0,201,4688,0.00,2.35,0.00,0.000,4,0.000,0.043,3184,593,2344
$GC,4854,1.10,95.9,392.2,10.0,204,4861,0.12,2.25,0.00,0.000,6,0.129,0.031,3162,2004,2343
$GC,5185,1.10,95.9,361.1,9.2,213,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2003,2341
$GC,5511,1.14,101.7,333.8,7.8,221,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2003,2340
$GC,5836,1.18,108.5,309.9,7.7,229,5850,0.00,2.38,8.35,0.721,4,0.000,0.045,3162,600,2306
$GC,5953,1.18,108.5,299.4,9.0,231,5957,0.00,2.22,0.00,0.000,6,0.000,0.024,3162,2004,2305
$GC,6289,1.23,116.7,273.2,7.6,240,6300,0.10,0.00,7.97,0.691,6,0.068,0.000,3193,2004,2273
$GC,6614,1.23,116.7,242.9,9.1,248,6618,0.00,2.33,0.00,0.000,4,0.000,0.058,3193,3399,2271
$GC,6720,1.23,116.7,231.5,10.9,250,6724,0.00,2.25,0.00,0.000,6,0.000,0.027,3193,1986,2270
$GC,7062,1.24,128.5,205.7,7.1,259,7075,0.00,0.00,11.02,0.681,6,0.000,0.000,3193,1986,2224
$GC,7380,1.25,132.8,178.9,8.0,283,7392,0.00,2.28,5.15,0.548,4,0.000,0.041,3193,600,2206
$GC,7404,1.25,132.8,176.3,9.1,285,7408,0.00,2.22,0.00,0.000,6,0.000,0.028,3193,2007,2206
$GC,7729,1.27,149.3,150.7,6.6,315,7755,0.00,2.38,15.48,0.656,4,0.000,0.042,3193,598,2139
$GC,7918,1.32,149.3,134.6,9.3,331,7922,0.00,2.22,0.00,0.000,6,0.000,0.030,3193,2003,2137
$GC,8119,1.42,170.0,120.4,6.1,349,8144,0.15,2.30,18.05,0.628,4,0.052,0.036,3240,596,2055
$GC,8218,1.38,170.0,111.8,9.9,357,8225,0.00,2.22,0.00,0.000,6,0.000,0.028,3240,2005,2053
$GC,8416,1.39,173.4,96.0,8.1,376,8428,0.00,0.00,3.62,0.393,6,0.000,0.000,3241,2005,2042
$GC,8621,1.41,191.2,82.2,6.4,395,8645,0.00,2.28,17.08,0.584,4,0.000,0.039,3241,3398,1967
$GC,8659,1.42,200.6,79.3,7.4,398,8674,0.00,2.22,9.40,0.538,6,0.000,0.027,3241,1989,1931
$GC,8864,1.47,200.6,61.6,8.7,417,8868,0.00,2.22,0.00,0.000,4,0.000,0.041,3241,604,1929
$GC,8884,1.50,201.8,59.9,8.4,418,8888,0.00,2.20,0.00,0.000,6,0.000,0.022,3241,2010,1929
$GC,9084,1.55,202.1,43.5,8.5,436,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2011,1929
$GC,9277,1.58,203.8,27.8,8.3,456,9286,0.10,0.00,3.88,0.364,6,0.060,0.000,3282,2011,1917
$STATE,9487,end climb,SURFACE_DEPTH_REACHED
$STATE,9487,begin surface coast
$FINISH,0.6,1.010435
$STATE,9518,end surface coast,CONTROL_FINISHED_OK
$STATE,9518,begin surface
$SM_CCo,9539,128.38,0.517,0,0,955,440.07
$SM_GC,1.65,0.00,0.00,128.38,0.000,0.000,0.517,407,2014,955,-11.56,-1.02,440.07
$IRIDIUM_FIX,2239.35,-15749.78,141297,010110
$TT8_MAMPS,0.026845
$HUMID,1712
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.40
$XPDR_PINGS,102
$24V_AH,23.7,43.874
$10V_AH,10.1,40.836
$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,28.550,85.400,257.625,128.375,0.000,26.377,30.039,128.612,25.500,0.000,0.000,12.367,1024.223,6141.918,452.914,1858.165,485.841,33.355,1189.166,0.000,1930.395,0.000,0.468
$DEVICE_MAMPS,159.536,59.826,924.235,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.467,327.901,598.519,453.916,900.441,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38139,497
$CAP_FILE_SIZE,206151,0
$CFSIZE,260165632,238112768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190908,071747,2247.986,-15748.121,12,4.8,31,10.1