version: 66.03
glider: 148
mission: 6
dive: 343
start: 9 24 108 4 2 58
data:
$ID,148
$MISSION,6
$DIVE,343
$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,-13573.011
$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,26
$R_STBD_OVSHOOT,61
$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
$GPS1,035701,2248.204,-15748.578,36,0.9,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-63.0
$GPS2,040203,2248.182,-15748.587,14,1.0,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.115,0.092
$KALMAN_X,-285476.3,429.2,446.5,298900.5,-1826.2
$KALMAN_Y,-285499.5,350.6,113.5,285199.5,-1241.1
$MHEAD_RNG_PITCHd_Wd,41.1,781,-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,-49.4,0.0,0.0,0,86,0.00,0.00,-62.53,0.000,2,0.000,0.000,413,2080,2573
$GC,89,-1.81,-95.7,3.1,-3.2,8,123,11.27,2.17,-14.07,0.000,4,0.163,0.042,2517,3440,3140
$GC,168,-1.70,-95.7,16.9,-21.3,19,177,0.12,2.22,0.00,0.000,6,0.122,0.020,2544,2028,3141
$GC,379,-1.70,-95.7,62.3,-19.0,43,383,0.00,2.17,0.00,0.000,4,0.000,0.029,2544,648,3141
$GC,466,-1.70,-95.7,79.1,-20.2,50,470,0.00,2.15,0.00,0.000,6,0.000,0.020,2544,2035,3141
$GC,664,-1.75,-95.7,111.4,-15.0,68,668,0.00,2.20,0.00,0.000,4,0.000,0.030,2544,651,3142
$GC,751,-1.81,-95.7,124.8,-16.6,75,755,0.00,2.17,0.00,0.000,6,0.000,0.020,2544,2050,3142
$GC,957,-1.89,-95.7,155.7,-14.6,94,961,0.15,2.22,0.00,0.000,4,0.051,0.028,2492,645,3143
$GC,1001,-1.89,-95.7,163.0,-17.3,97,1005,0.00,2.17,0.00,0.000,6,0.000,0.018,2492,2057,3143
$GC,1348,-1.89,-95.7,219.0,-14.8,121,1352,0.00,2.22,0.00,0.000,4,0.000,0.028,2492,651,3144
$GC,1606,-1.92,-95.7,256.6,-12.3,126,1611,0.00,2.15,0.00,0.000,6,0.000,0.018,2492,2054,3145
$GC,1938,-1.97,-95.7,298.4,-13.3,134,1942,0.00,2.22,0.00,0.000,4,0.000,0.032,2492,658,3145
$GC,2079,-1.97,-95.7,318.5,-15.1,137,2083,0.00,2.15,0.00,0.000,6,0.000,0.021,2492,2039,3145
$GC,2393,-2.03,-95.7,362.9,-13.5,145,2397,0.00,2.25,0.00,0.000,4,0.000,0.040,2492,653,3144
$GC,2549,-2.09,-95.7,385.2,-14.5,148,2554,0.12,2.20,0.00,0.000,6,0.057,0.025,2452,2051,3144
$GC,2885,-2.09,-95.7,433.0,-14.2,157,2889,0.00,2.28,0.00,0.000,4,0.000,0.048,2452,665,3142
$GC,3009,-2.09,-95.7,451.8,-14.9,159,3015,0.00,2.20,0.00,0.000,6,0.000,0.029,2452,2045,3141
$GC,3339,-2.09,-95.7,495.0,-12.7,168,3343,0.00,2.28,0.00,0.000,4,0.000,0.046,2452,667,3138
$STATE,3443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3443,begin apogee
$GC,3452,-0.31,0.0,510.2,12.9,170,3534,1.85,0.00,78.15,0.916,6,0.111,0.000,2849,2001,2749
$STATE,3535,end apogee,CONTROL_FINISHED_OK
$STATE,3535,begin climb
$GC,3538,1.81,95.7,511.9,0.0,172,3627,1.95,2.50,79.68,0.891,4,0.048,0.066,3314,3401,2357
$GC,3674,1.50,95.7,497.7,16.1,175,3679,0.32,2.25,0.00,0.000,6,0.124,0.034,3251,2017,2354
$GC,3989,1.33,95.7,457.1,12.0,183,3993,0.17,2.45,0.00,0.000,4,0.124,0.067,3213,591,2349
$GC,4167,1.19,95.7,438.2,9.7,187,4172,0.17,2.28,0.00,0.000,6,0.118,0.033,3181,2004,2347
$GC,4486,1.15,95.7,411.8,8.6,195,4490,0.00,2.35,0.00,0.000,4,0.000,0.043,3181,590,2344
$GC,4645,1.08,95.7,395.9,9.9,198,4650,0.12,2.25,0.00,0.000,6,0.132,0.031,3159,2002,2343
$GC,4988,1.08,95.7,364.4,9.0,207,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2002,2340
$GC,5312,1.09,101.5,337.2,7.8,215,5316,0.00,2.33,0.00,0.000,4,0.000,0.046,3158,595,2339
$GC,5418,1.12,128.2,330.1,5.4,217,5447,0.00,2.25,24.65,0.814,6,0.000,0.028,3158,2010,2226
$GC,5770,1.17,131.2,303.3,8.1,226,5774,0.00,2.35,0.00,0.000,4,0.000,0.048,3159,595,2221
$GC,5904,1.17,131.2,290.3,8.9,229,5908,0.00,2.25,0.00,0.000,6,0.000,0.024,3158,2011,2219
$GC,6230,1.23,131.2,258.9,10.1,237,6235,0.12,2.30,0.00,0.000,4,0.061,0.048,3196,3394,2218
$GC,6319,1.23,131.2,247.9,12.2,239,6323,0.00,2.22,0.00,0.000,6,0.000,0.027,3197,1990,2217
$GC,6644,1.23,132.2,217.3,8.4,247,6648,0.00,2.28,0.00,0.000,4,0.000,0.045,3197,607,2217
$GC,6699,1.19,132.2,212.0,10.0,248,6703,0.00,2.20,0.00,0.000,6,0.000,0.021,3197,2010,2217
$GC,7025,1.19,132.2,180.4,9.4,269,7029,0.00,2.30,0.00,0.000,4,0.000,0.038,3197,597,2216
$GC,7080,1.19,132.2,174.9,9.6,273,7089,0.00,2.22,0.00,0.000,6,0.000,0.028,3197,1998,2216
$GC,7408,1.22,154.1,151.8,6.0,304,7434,0.00,2.33,21.40,0.666,4,0.000,0.038,3197,596,2119
$GC,7518,1.22,154.1,143.3,8.8,313,7524,0.00,2.22,0.00,0.000,6,0.000,0.023,3197,2001,2117
$GC,7716,1.26,158.7,127.7,8.0,332,7728,0.00,2.33,4.72,0.483,4,0.000,0.037,3197,602,2102
$GC,7741,1.27,167.1,125.8,7.5,334,7756,0.00,2.22,8.95,0.581,6,0.000,0.028,3197,2005,2066
$GC,7948,1.33,167.1,107.2,9.4,353,7952,0.00,2.30,0.00,0.000,4,0.000,0.036,3197,589,2064
$GC,7966,1.37,167.1,105.0,9.7,354,7970,0.00,2.22,0.00,0.000,6,0.000,0.025,3197,2001,2064
$GC,8164,1.44,167.1,85.9,8.5,372,8169,0.15,2.28,0.00,0.000,4,0.051,0.044,3251,3403,2064
$GC,8229,1.40,167.1,79.6,10.4,377,8234,0.12,2.22,0.00,0.000,6,0.127,0.022,3228,1986,2063
$GC,8429,1.41,172.4,63.5,7.9,395,8442,0.00,2.25,5.57,0.470,4,0.000,0.041,3228,609,2045
$GC,8494,1.41,172.4,57.6,10.0,400,8498,0.00,2.17,0.00,0.000,6,0.000,0.028,3228,2003,2044
$GC,8694,1.48,190.3,43.4,6.4,418,8721,0.00,2.33,16.48,0.548,4,0.000,0.041,3228,3400,1972
$GC,8737,1.55,203.2,40.6,7.0,421,8755,0.12,2.20,12.27,0.521,6,0.059,0.028,3268,1997,1920
$GC,8960,1.55,203.2,19.4,10.4,450,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1998,1917
$STATE,9102,end climb,SURFACE_DEPTH_REACHED
$STATE,9102,begin surface coast
$FINISH,0.7,1.023114
$STATE,9133,end surface coast,CONTROL_FINISHED_OK
$STATE,9133,begin surface
$SM_CCo,9155,128.90,0.518,0,0,954,440.07
$SM_GC,1.65,0.00,0.00,128.90,0.000,0.000,0.518,408,2138,954,-11.56,2.49,440.07
$IRIDIUM_FIX,2237.01,-15747.62,191297,010121
$TT8_MAMPS,0.027612
$HUMID,1756
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.00
$XPDR_PINGS,117
$24V_AH,23.7,47.904
$10V_AH,10.1,45.072
$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,28.450,103.575,251.875,128.900,0.000,25.028,27.877,129.947,29.250,0.000,0.000,15.817,998.800,5751.609,448.467,1861.934,525.508,33.358,1197.982,0.000,1939.275,0.000,0.469
$DEVICE_MAMPS,162.604,70.564,915.798,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,373.435,326.061,599.472,441.575,890.736,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35111,479
$CAP_FILE_SIZE,203506,0
$CFSIZE,260165632,235286528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240908,063902,2248.489,-15748.393,40,1.2,40,10.1