version: 66.03
glider: 148
mission: 6
dive: 325
start: 9 22 108 1 35 39
data:
$ID,148
$MISSION,6
$DIVE,325
$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,-13056.484
$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,40
$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
$GPS1,012939,2248.914,-15747.633,8,1.9,8,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.7
$GPS2,013446,2248.906,-15747.697,10,99.0,29,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.126,-0.076
$KALMAN_X,-269411.1,469.8,349.8,284406.6,-3000.0
$KALMAN_Y,-283154.6,355.8,520.1,283778.9,-1201.6
$MHEAD_RNG_PITCHd_Wd,110.8,2786,-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,-62.25,0.000,2,0.000,0.000,406,2043,2576
$GC,89,-1.80,-94.4,3.1,-3.3,8,123,11.27,2.20,-14.02,0.000,4,0.161,0.045,2516,650,3133
$GC,162,-1.75,-94.4,13.9,-17.6,18,171,0.08,2.20,0.00,0.000,6,0.135,0.018,2532,2057,3134
$GC,371,-1.66,-94.4,60.9,-21.7,42,376,0.12,2.22,0.00,0.000,4,0.135,0.024,2555,643,3135
$GC,418,-1.66,-94.4,70.5,-19.0,45,426,0.00,2.20,0.00,0.000,6,0.000,0.018,2554,2050,3135
$GC,615,-1.69,-94.4,102.1,-15.3,64,619,0.00,2.22,0.00,0.000,4,0.000,0.029,2555,648,3136
$GC,739,-1.79,-94.4,121.6,-16.7,74,746,0.08,2.20,0.00,0.000,6,0.047,0.020,2520,2051,3137
$GC,936,-1.79,-94.4,156.0,-16.3,93,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2052,3137
$GC,1265,-1.84,-94.4,206.7,-14.1,121,1269,0.00,2.22,0.00,0.000,4,0.000,0.029,2520,644,3138
$GC,1411,-1.91,-94.4,227.5,-13.2,124,1415,0.00,2.17,0.00,0.000,6,0.000,0.019,2520,2054,3138
$GC,1759,-1.99,-94.4,271.9,-13.0,133,1764,0.15,2.25,0.00,0.000,4,0.051,0.038,2469,645,3138
$GC,1943,-1.99,-94.4,301.5,-16.5,137,1947,0.00,2.17,0.00,0.000,6,0.000,0.019,2468,2059,3138
$GC,2261,-1.99,-94.4,348.7,-14.7,145,2265,0.00,2.28,0.00,0.000,4,0.000,0.045,2468,659,3138
$GC,2519,-1.99,-94.4,388.4,-14.7,150,2523,0.00,2.20,0.00,0.000,6,0.000,0.033,2468,2051,3137
$GC,2856,-1.99,-94.4,430.2,-11.8,159,2860,0.00,2.30,0.00,0.000,4,0.000,0.044,2468,653,3136
$GC,3113,-1.99,-94.4,462.2,-12.3,164,3119,0.00,2.22,0.00,0.000,6,0.000,0.034,2469,2045,3134
$GC,3444,-1.99,-94.4,501.5,-12.4,173,3448,0.00,2.28,0.00,0.000,4,0.000,0.050,2469,660,3131
$STATE,3509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3509,begin apogee
$GC,3517,-0.31,0.0,510.5,14.0,174,3599,1.77,0.00,77.28,0.922,6,0.112,0.000,2849,1997,2749
$STATE,3599,end apogee,CONTROL_FINISHED_OK
$STATE,3599,begin climb
$GC,3602,1.80,94.4,512.5,0.0,176,3688,1.95,2.45,78.47,0.896,4,0.041,0.064,3319,3403,2363
$GC,3772,1.50,94.4,494.7,15.6,180,3777,0.38,2.25,0.00,0.000,6,0.123,0.033,3246,2015,2358
$GC,4092,1.33,94.4,452.8,13.0,188,4097,0.15,2.45,0.00,0.000,4,0.128,0.067,3214,590,2354
$GC,4231,1.18,94.4,436.2,11.6,191,4236,0.20,2.28,0.00,0.000,6,0.120,0.031,3176,2003,2353
$GC,4544,1.18,99.1,409.7,8.0,199,4548,0.00,2.35,0.00,0.000,4,0.000,0.050,3176,592,2350
$GC,4745,1.11,99.1,391.3,9.5,203,4749,0.00,2.25,0.00,0.000,6,0.000,0.025,3176,2007,2349
$GC,5087,1.12,99.9,362.2,8.4,212,5091,0.00,2.33,0.00,0.000,4,0.000,0.049,3176,597,2346
$GC,5216,1.06,99.9,351.5,8.7,214,5222,0.12,2.25,0.00,0.000,6,0.133,0.025,3155,2010,2346
$GC,5549,1.12,119.1,330.3,6.3,223,5569,0.00,0.00,18.30,0.804,6,0.000,0.000,3155,2010,2263
$GC,5872,1.18,119.1,302.6,9.1,231,5876,0.00,2.35,0.00,0.000,4,0.000,0.042,3154,594,2259
$GC,6002,1.18,119.1,289.2,10.0,234,6006,0.10,2.25,0.00,0.000,6,0.068,0.028,3186,2013,2258
$GC,6333,1.18,119.1,257.1,9.6,242,6337,0.00,2.35,0.00,0.000,4,0.000,0.049,3186,591,2257
$GC,6372,1.14,119.1,252.9,10.3,243,6376,0.00,2.25,0.00,0.000,6,0.000,0.021,3186,2011,2256
$GC,6697,1.14,119.1,223.5,8.9,251,6701,0.00,2.33,0.00,0.000,4,0.000,0.044,3186,596,2256
$GC,6847,1.14,119.1,209.4,9.7,254,6851,0.00,2.22,0.00,0.000,6,0.000,0.022,3186,2007,2256
$GC,7173,1.18,144.5,187.7,5.6,275,7200,0.00,2.38,21.42,0.701,4,0.000,0.054,3186,3392,2159
$GC,7267,1.21,145.3,180.7,8.4,283,7271,0.00,2.25,0.00,0.000,6,0.000,0.030,3186,1983,2155
$GC,7595,1.26,145.3,151.4,8.8,313,7599,0.00,2.25,0.00,0.000,4,0.000,0.045,3186,594,2154
$GC,7680,1.26,145.3,143.1,9.0,320,7684,0.00,2.22,0.00,0.000,6,0.000,0.026,3186,2011,2154
$GC,7878,1.33,151.6,127.2,7.8,338,7891,0.10,2.25,6.68,0.551,4,0.064,0.044,3220,3396,2131
$GC,7919,1.34,153.1,124.4,8.3,341,7923,0.00,2.22,0.00,0.000,6,0.000,0.023,3220,1991,2130
$GC,8119,1.34,155.9,108.3,8.2,359,8130,0.00,2.25,5.62,0.507,4,0.000,0.041,3220,601,2112
$GC,8169,1.34,155.9,104.0,9.9,363,8173,0.00,2.20,0.00,0.000,6,0.000,0.020,3220,2001,2111
$GC,8370,1.34,155.9,87.4,9.2,381,8374,0.00,2.28,0.00,0.000,4,0.000,0.041,3220,595,2111
$GC,8633,1.34,155.9,61.9,9.0,403,8641,0.00,2.22,0.00,0.000,6,0.000,0.021,3220,2003,2111
$GC,8833,1.44,188.4,50.3,4.8,422,8871,0.00,2.33,27.92,0.566,4,0.000,0.043,3220,3395,1979
$GC,8932,1.52,193.5,44.4,7.9,430,8946,0.12,2.20,5.72,0.448,6,0.055,0.021,3262,1991,1959
$GC,9140,1.52,193.5,26.0,9.2,452,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1991,1958
$STATE,9351,end climb,SURFACE_DEPTH_REACHED
$STATE,9352,begin surface coast
$FINISH,0.6,1.010942
$STATE,9382,end surface coast,CONTROL_FINISHED_OK
$STATE,9382,begin surface
$SM_CCo,9404,134.10,0.518,0,0,955,440.07
$SM_GC,1.69,0.00,0.00,134.10,0.000,0.000,0.518,411,2140,955,-11.54,2.54,440.07
$IRIDIUM_FIX,2241.69,-15746.73,161297,222257
$TT8_MAMPS,0.026845
$HUMID,1754
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.20
$XPDR_PINGS,123
$24V_AH,23.7,46.220
$10V_AH,10.1,43.262
$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,28.200,95.025,241.425,134.100,0.000,30.157,29.550,115.462,30.750,0.000,0.000,31.822,1025.739,5905.659,452.019,1973.920,486.636,33.360,1223.234,0.000,2028.433,0.000,0.469
$DEVICE_MAMPS,161.070,72.865,921.934,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.620,315.816,598.806,455.585,912.719,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38191,493
$CAP_FILE_SIZE,206432,0
$CFSIZE,260165632,236470272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220908,041555,2248.145,-15747.505,37,1.1,37,10.1