version: 66.03
glider: 148
mission: 6
dive: 314
start: 9 20 108 18 24 43
data:
$ID,148
$MISSION,6
$DIVE,314
$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,-12811.089
$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,59
$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
$GPS1,181838,2248.300,-15748.012,31,1.2,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-61.1
$GPS2,182350,2248.260,-15748.055,15,1.2,32,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.101,-0.107
$KALMAN_X,-251807.0,98.6,-37.9,266947.5,-2387.9
$KALMAN_Y,-282083.4,-21.1,-535.2,282947.2,360.7
$MHEAD_RNG_PITCHd_Wd,126.8,1684,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.75,-49.4,0.0,0.0,0,94,0.00,0.00,-69.68,0.000,2,0.000,0.000,410,2081,2787
$GC,97,-1.79,-85.5,3.6,-4.3,9,121,11.25,2.28,-6.78,0.000,4,0.159,0.050,2522,651,3098
$GC,143,-1.21,-85.5,14.3,-22.1,15,152,0.62,2.17,0.00,0.000,6,0.116,0.018,2652,2039,3100
$GC,353,-1.36,-85.5,47.7,-14.9,41,361,0.12,0.00,0.00,0.000,6,0.054,0.000,2609,2039,3100
$GC,551,-1.47,-85.5,81.7,-15.9,60,554,0.00,2.22,0.00,0.000,4,0.000,0.030,2609,644,3101
$GC,640,-1.64,-85.5,95.8,-15.7,67,647,0.20,2.17,0.00,0.000,6,0.042,0.021,2544,2042,3101
$GC,838,-1.69,-85.5,126.8,-13.6,86,842,0.00,2.20,0.00,0.000,4,0.000,0.028,2544,648,3102
$GC,860,-1.76,-85.5,129.9,-12.7,87,866,0.00,2.17,0.00,0.000,6,0.000,0.019,2544,2057,3102
$GC,1060,-1.87,-85.5,153.0,-11.0,106,1065,0.12,2.25,0.00,0.000,4,0.053,0.029,2500,640,3103
$GC,1214,-1.87,-85.5,175.7,-15.7,119,1218,0.00,2.17,0.00,0.000,6,0.000,0.019,2499,2052,3104
$GC,1563,-1.90,-85.5,220.6,-12.0,140,1567,0.00,2.20,0.00,0.000,4,0.000,0.030,2499,651,3104
$GC,1821,-1.95,-85.5,255.7,-13.3,145,1825,0.00,2.15,0.00,0.000,6,0.000,0.019,2499,2050,3105
$GC,2152,-2.00,-85.5,294.4,-11.4,153,2156,0.00,2.25,0.00,0.000,4,0.000,0.034,2499,648,3104
$GC,2337,-2.04,-85.5,317.0,-12.3,157,2341,0.10,2.17,0.00,0.000,6,0.064,0.021,2465,2048,3104
$GC,2649,-2.04,-85.5,354.8,-11.7,165,2653,0.00,2.25,0.00,0.000,4,0.000,0.037,2465,656,3103
$GC,2884,-2.04,-85.5,383.5,-12.4,170,2888,0.00,2.20,0.00,0.000,6,0.000,0.024,2465,2055,3102
$GC,3197,-2.04,-85.5,422.7,-12.8,178,3201,0.00,2.28,0.00,0.000,4,0.000,0.044,2465,660,3100
$GC,3454,-2.04,-85.5,460.0,-14.0,183,3461,0.00,2.22,0.00,0.000,6,0.000,0.032,2465,2048,3099
$GC,3786,-2.04,-85.5,502.3,-12.0,192,3790,0.00,2.30,0.00,0.000,4,0.000,0.044,2465,654,3096
$STATE,3844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3844,begin apogee
$GC,3852,-0.31,0.0,510.6,13.1,193,3926,1.77,0.00,70.28,0.922,6,0.111,0.000,2846,2004,2749
$STATE,3927,end apogee,CONTROL_FINISHED_OK
$STATE,3927,begin climb
$GC,3930,1.79,85.5,511.8,0.0,195,4012,1.95,2.47,70.85,0.894,4,0.046,0.061,3310,3402,2399
$GC,4198,1.50,85.5,477.6,15.4,201,4203,0.32,2.25,0.00,0.000,6,0.123,0.027,3246,2015,2393
$GC,4517,1.33,85.5,441.4,10.6,209,4521,0.15,2.42,0.00,0.000,4,0.126,0.067,3214,599,2391
$GC,4603,1.19,85.5,432.9,9.7,211,4608,0.17,2.28,0.00,0.000,6,0.120,0.028,3181,2010,2389
$GC,4927,1.14,85.5,406.5,8.6,219,4931,0.00,2.35,0.00,0.000,4,0.000,0.047,3181,597,2388
$GC,5059,1.07,85.5,393.6,9.7,222,5064,0.15,2.25,0.00,0.000,6,0.134,0.025,3155,2002,2386
$GC,5383,1.08,94.9,368.6,7.4,230,5396,0.00,2.40,6.50,0.700,4,0.000,0.043,3154,597,2362
$GC,5470,1.08,96.7,361.3,8.3,232,5474,0.00,2.25,0.00,0.000,6,0.000,0.031,3154,2001,2360
$GC,5796,1.13,105.3,337.3,7.5,240,5807,0.00,0.00,10.05,0.757,6,0.000,0.000,3154,2001,2319
$GC,6120,1.17,105.3,307.1,9.1,248,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2001,2316
$GC,6445,1.23,116.6,281.5,7.2,256,6461,0.15,2.35,10.55,0.731,4,0.058,0.048,3203,596,2272
$GC,6512,1.15,116.6,275.8,9.6,257,6517,0.17,2.25,0.00,0.000,6,0.121,0.030,3171,2005,2271
$GC,6850,1.15,118.9,249.3,8.2,266,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2006,2269
$GC,7173,1.21,134.2,226.4,6.7,274,7194,0.00,2.38,15.45,0.719,4,0.000,0.046,3171,588,2201
$GC,7233,1.21,135.8,222.2,8.3,275,7237,0.00,2.25,0.00,0.000,6,0.000,0.021,3170,2002,2199
$GC,7577,1.30,156.2,201.0,6.1,284,7603,0.12,2.38,19.75,0.701,4,0.060,0.039,3210,584,2111
$GC,7854,1.25,156.2,170.1,12.2,306,7863,0.05,2.25,0.00,0.000,6,0.116,0.022,3197,1997,2107
$GC,8183,1.30,162.9,139.5,7.7,337,8195,0.00,2.33,6.53,0.555,4,0.000,0.036,3197,579,2083
$GC,8390,1.31,171.8,122.2,7.5,355,8404,0.00,2.22,8.95,0.579,6,0.000,0.028,3197,2000,2047
$GC,8605,1.39,172.6,105.7,8.4,375,8610,0.10,2.28,0.00,0.000,4,0.063,0.041,3234,589,2044
$GC,8663,1.39,172.6,99.6,11.1,380,8667,0.00,2.20,0.00,0.000,6,0.000,0.024,3234,1998,2044
$GC,8868,1.40,178.5,82.9,7.8,399,8881,0.00,2.35,6.68,0.509,4,0.000,0.037,3234,589,2021
$GC,9046,1.42,193.9,69.2,6.7,414,9068,0.00,2.25,14.65,0.561,6,0.000,0.028,3234,2004,1957
$GC,9260,1.47,195.5,52.9,8.3,434,9264,0.00,2.30,0.00,0.000,4,0.000,0.041,3234,577,1956
$GC,9271,1.51,195.5,51.6,8.6,434,9278,0.00,2.25,0.00,0.000,6,0.000,0.021,3234,1997,1956
$GC,9471,1.56,195.5,34.9,8.5,453,9472,0.10,0.00,0.00,0.000,6,0.061,0.000,3273,1997,1956
$GC,9675,1.56,195.5,13.6,10.7,484,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1997,1956
$STATE,9769,end climb,SURFACE_DEPTH_REACHED
$STATE,9769,begin surface coast
$FINISH,0.8,1.018990
$STATE,9795,end surface coast,CONTROL_FINISHED_OK
$STATE,9795,begin surface
$SM_CCo,9816,121.68,0.512,0,0,954,440.07
$SM_GC,1.53,0.00,0.00,121.68,0.000,0.000,0.512,412,2078,954,-11.54,0.79,440.07
$IRIDIUM_FIX,2239.35,-15746.73,151297,151551
$TT8_MAMPS,0.026845
$HUMID,1728
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.50
$XPDR_PINGS,115
$24V_AH,23.7,45.201
$10V_AH,10.1,42.167
$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,29.300,90.650,240.225,121.675,0.000,29.286,27.459,120.981,28.750,0.000,0.000,33.697,1050.103,6291.457,440.612,1982.264,483.418,33.364,1210.041,0.000,2031.671,0.000,0.468
$DEVICE_MAMPS,158.769,109.681,921.934,512.356,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.794,328.171,604.305,475.241,937.357,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38124,504
$CAP_FILE_SIZE,210023,0
$CFSIZE,260165632,237211648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200908,211129,2248.056,-15748.101,7,99.0,26,10.1