version: 66.03
glider: 148
mission: 6
dive: 302
start: 9 19 108 7 23 52
data:
$ID,148
$MISSION,6
$DIVE,302
$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,-12497.147
$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,43
$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
$GPS1,071747,2247.986,-15748.121,12,4.8,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-66.2
$GPS2,072259,2247.972,-15748.151,16,4.4,35,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.041,0.141
$KALMAN_X,-231886.0,413.5,10.8,246502.9,-1921.3
$KALMAN_Y,-273145.9,472.6,430.2,272019.1,-1618.5
$MHEAD_RNG_PITCHd_Wd,5.9,1450,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.75,-49.4,0.0,0.0,0,85,0.00,0.00,-62.08,0.000,2,0.000,0.000,408,2014,2568
$GC,89,-1.81,-95.7,3.1,-3.2,8,123,11.25,2.28,-13.93,0.000,4,0.159,0.046,2519,3456,3141
$GC,194,-1.71,-95.7,24.2,-24.3,24,201,0.10,2.22,0.00,0.000,6,0.123,0.019,2542,2041,3141
$GC,403,-1.62,-95.7,71.6,-21.9,45,408,0.12,2.20,0.00,0.000,4,0.134,0.035,2564,641,3142
$GC,470,-1.68,-95.7,86.0,-17.2,50,479,0.00,2.22,0.00,0.000,6,0.000,0.019,2564,2062,3142
$GC,672,-1.73,-95.7,121.4,-15.9,69,676,0.00,2.22,0.00,0.000,4,0.000,0.028,2564,652,3143
$GC,818,-1.87,-95.7,144.8,-12.6,81,824,0.22,2.15,0.00,0.000,6,0.044,0.017,2498,2059,3144
$GC,1017,-1.87,-95.7,171.5,-13.6,100,1021,0.00,2.22,0.00,0.000,4,0.000,0.029,2498,652,3145
$GC,1128,-1.90,-95.7,186.3,-14.6,109,1132,0.00,2.15,0.00,0.000,6,0.000,0.018,2498,2050,3146
$GC,1473,-1.94,-95.7,235.9,-14.3,124,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2050,3146
$GC,1799,-1.98,-95.7,279.4,-12.6,132,1802,0.00,2.22,0.00,0.000,4,0.000,0.040,2498,655,3147
$GC,1957,-2.04,-95.7,300.1,-12.6,135,1961,0.00,2.15,0.00,0.000,6,0.000,0.029,2497,2042,3146
$GC,2300,-2.09,-95.7,344.4,-12.7,144,2304,0.15,2.25,0.00,0.000,4,0.052,0.040,2449,655,3145
$GC,2444,-2.04,-95.7,367.7,-16.6,147,2449,0.12,2.20,0.00,0.000,6,0.133,0.024,2472,2056,3144
$GC,2757,-2.04,-95.7,414.2,-15.2,155,2761,0.00,2.28,0.00,0.000,4,0.000,0.046,2472,664,3142
$GC,2997,-2.04,-95.7,452.0,-14.4,160,3001,0.00,2.20,0.00,0.000,6,0.000,0.035,2472,2042,3141
$GC,3339,-2.04,-95.7,494.8,-12.1,169,3343,0.00,2.28,0.00,0.000,4,0.000,0.053,2472,665,3138
$STATE,3454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3454,begin apogee
$GC,3464,-0.31,0.0,510.0,13.5,171,3547,1.77,0.00,78.50,0.917,6,0.114,0.000,2845,1997,2749
$STATE,3547,end apogee,CONTROL_FINISHED_OK
$STATE,3547,begin climb
$GC,3550,1.81,95.7,511.7,0.0,173,3637,1.98,2.45,79.47,0.892,4,0.046,0.061,3316,3402,2356
$GC,3721,1.51,95.7,491.0,16.6,177,3726,0.32,2.25,0.00,0.000,6,0.123,0.028,3253,2018,2352
$GC,4039,1.35,95.7,444.3,14.4,185,4044,0.17,2.42,0.00,0.000,4,0.123,0.059,3215,599,2348
$GC,4089,1.21,95.7,436.8,15.0,186,4094,0.15,2.28,0.00,0.000,6,0.125,0.032,3188,2007,2347
$GC,4402,1.17,95.7,398.0,12.0,194,4406,0.00,2.38,0.00,0.000,4,0.000,0.059,3188,3405,2345
$GC,4508,1.13,95.7,385.6,11.5,196,4513,0.12,2.25,0.00,0.000,6,0.130,0.028,3166,1996,2344
$GC,4850,1.13,96.6,356.0,8.4,205,4854,0.00,2.35,0.00,0.000,4,0.000,0.057,3166,603,2342
$GC,4934,1.14,101.1,349.3,8.0,207,4938,0.00,2.25,0.00,0.000,6,0.000,0.028,3166,2014,2341
$GC,5258,1.14,107.4,325.1,7.8,215,5272,0.00,2.40,7.65,0.709,4,0.000,0.041,3166,600,2311
$GC,5335,1.14,107.4,318.7,8.7,216,5339,0.00,2.22,0.00,0.000,6,0.000,0.023,3166,2000,2310
$GC,5667,1.19,107.4,291.3,8.7,224,5671,0.00,2.35,0.00,0.000,4,0.000,0.058,3166,3400,2308
$GC,5842,1.19,110.2,275.2,8.2,227,5848,0.00,2.22,0.00,0.000,6,0.000,0.030,3166,1995,2307
$GC,6174,1.26,131.8,253.9,6.0,236,6198,0.12,0.00,21.05,0.752,6,0.062,0.000,3204,1995,2211
$GC,6541,1.26,131.8,216.8,10.4,245,6545,0.00,2.30,0.00,0.000,4,0.000,0.039,3204,3399,2207
$GC,6613,1.26,131.8,210.2,9.1,246,6617,0.00,2.22,0.00,0.000,6,0.000,0.025,3204,1999,2206
$GC,6939,1.26,131.8,182.2,8.6,268,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1999,2206
$GC,7258,1.32,149.7,154.6,6.4,298,7280,0.00,2.28,15.73,0.658,4,0.000,0.041,3204,599,2137
$GC,7408,1.35,178.4,146.5,5.2,311,7442,0.00,2.22,24.92,0.655,6,0.000,0.026,3204,2010,2020
$GC,7635,1.43,184.8,128.3,7.8,332,7650,0.12,2.30,6.00,0.525,4,0.057,0.039,3244,3395,1995
$GC,7686,1.43,184.8,123.3,10.3,336,7690,0.00,2.22,0.00,0.000,6,0.000,0.024,3244,1988,1993
$GC,7883,1.43,185.8,106.9,8.4,354,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1988,1993
$GC,8074,1.43,185.8,89.5,9.7,372,8078,0.00,2.22,0.00,0.000,4,0.000,0.037,3244,602,1994
$GC,8228,1.43,185.8,74.4,9.1,385,8232,0.00,2.17,0.00,0.000,6,0.000,0.024,3244,2000,1993
$GC,8427,1.44,193.9,59.7,7.6,403,8438,0.00,0.00,9.52,0.522,6,0.000,0.000,3244,2000,1958
$GC,8628,1.47,193.9,42.5,9.0,422,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2000,1956
$GC,8825,1.50,193.9,23.9,10.2,445,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2000,1956
$STATE,9040,end climb,SURFACE_DEPTH_REACHED
$STATE,9040,begin surface coast
$FINISH,0.7,1.009327
$STATE,9072,end surface coast,CONTROL_FINISHED_OK
$STATE,9072,begin surface
$SM_CCo,9093,126.50,0.511,0,0,954,440.07
$SM_GC,1.59,0.00,0.00,126.50,0.000,0.000,0.511,413,2003,954,-11.53,-1.33,440.07
$IRIDIUM_FIX,2241.69,-15749.78,141297,040407
$TT8_MAMPS,0.026845
$HUMID,1733
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.80
$XPDR_PINGS,106
$24V_AH,23.7,43.961
$10V_AH,10.1,40.934
$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,28.325,81.225,242.850,126.500,0.000,30.927,25.870,118.717,26.500,0.000,0.000,38.219,985.363,5804.466,435.973,1830.183,473.694,33.361,1136.076,0.000,1893.098,0.000,0.469
$DEVICE_MAMPS,158.769,60.593,916.565,510.822,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.876,312.730,607.642,464.758,915.735,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38322,487
$CAP_FILE_SIZE,199985,0
$CFSIZE,260165632,238055424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190908,095837,2248.372,-15748.538,10,1.2,26,10.1