version: 66.03
glider: 148
mission: 6
dive: 348
start: 9 24 108 17 51 18
data:
$ID,148
$MISSION,6
$DIVE,348
$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,-13691.553
$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,36
$R_STBD_OVSHOOT,39
$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
$GPS1,174514,2248.458,-15748.290,23,1.7,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-64.2
$GPS2,175025,2248.458,-15748.332,33,1.5,37,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.029,-0.144
$KALMAN_X,-289410.6,-198.2,176.6,304165.8,-1457.9
$KALMAN_Y,-285273.0,-168.4,-99.6,286211.9,800.8
$MHEAD_RNG_PITCHd_Wd,158.7,1422,-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,-49.4,0.0,0.0,0,87,0.00,0.00,-62.50,0.000,2,0.000,0.000,408,2005,2564
$GC,90,-1.81,-98.1,3.1,-2.9,8,124,11.30,2.17,-14.35,0.000,4,0.162,0.051,2516,637,3150
$GC,234,-1.74,-98.1,32.6,-23.1,30,243,0.08,2.22,0.00,0.000,6,0.132,0.019,2533,2053,3151
$GC,435,-1.74,-98.1,73.5,-16.9,49,439,0.00,2.25,0.00,0.000,4,0.000,0.028,2533,636,3151
$GC,545,-1.74,-98.1,93.2,-16.8,58,549,0.00,2.20,0.00,0.000,6,0.000,0.018,2533,2059,3152
$GC,743,-1.78,-98.1,125.2,-16.5,76,746,0.00,2.25,0.00,0.000,4,0.000,0.029,2533,643,3153
$GC,888,-1.85,-98.1,147.7,-14.6,88,896,0.00,2.20,0.00,0.000,6,0.000,0.018,2533,2057,3153
$GC,1086,-1.93,-98.1,174.2,-13.1,107,1090,0.15,2.25,0.00,0.000,4,0.051,0.029,2482,641,3154
$GC,1342,-1.93,-98.1,217.2,-15.0,122,1349,0.00,2.17,0.00,0.000,6,0.000,0.018,2482,2053,3155
$GC,1674,-1.93,-98.1,267.2,-16.2,131,1678,0.00,2.25,0.00,0.000,4,0.000,0.031,2481,637,3155
$GC,1932,-1.93,-98.1,308.1,-14.3,136,1938,0.00,2.20,0.00,0.000,6,0.000,0.021,2482,2053,3155
$GC,2263,-1.96,-98.1,354.1,-13.6,145,2267,0.00,2.28,0.00,0.000,4,0.000,0.039,2482,646,3155
$GC,2521,-1.96,-98.1,392.6,-15.2,150,2525,0.00,2.20,0.00,0.000,6,0.000,0.025,2482,2048,3154
$GC,2852,-2.01,-98.1,435.2,-12.2,158,2856,0.00,2.28,0.00,0.000,4,0.000,0.050,2482,3443,3152
$GC,2862,-2.05,-98.1,436.4,-12.0,158,2866,0.00,2.20,0.00,0.000,6,0.000,0.031,2482,2041,3152
$GC,3212,-2.11,-98.1,477.6,-12.7,167,3216,0.00,2.30,0.00,0.000,4,0.000,0.044,2482,3442,3150
$GC,3296,-2.16,-98.1,489.6,-14.0,168,3303,0.15,2.20,0.00,0.000,6,0.056,0.034,2436,2057,3149
$STATE,3462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3462,begin apogee
$GC,3469,-0.31,0.0,515.0,15.2,173,3554,1.95,0.00,80.32,0.922,6,0.108,0.000,2847,1970,2749
$STATE,3555,end apogee,CONTROL_FINISHED_OK
$STATE,3555,begin climb
$GC,3557,1.81,98.1,518.5,0.0,175,3648,1.98,2.50,81.57,0.896,4,0.047,0.051,3329,3389,2348
$GC,3670,1.48,98.1,510.3,13.9,177,3675,0.43,2.22,0.00,0.000,6,0.127,0.028,3247,2027,2345
$GC,4001,1.32,98.1,468.1,12.7,185,4006,0.17,2.47,0.00,0.000,4,0.129,0.064,3211,593,2340
$GC,4220,1.19,98.1,442.3,11.4,190,4225,0.15,2.28,0.00,0.000,6,0.125,0.033,3182,1995,2337
$GC,4546,1.19,98.1,411.4,9.5,198,4550,0.00,2.33,0.00,0.000,4,0.000,0.048,3182,597,2334
$GC,4590,1.13,98.1,406.7,10.7,199,4595,0.00,2.25,0.00,0.000,6,0.000,0.026,3182,2003,2333
$GC,4911,1.14,106.8,380.7,7.5,207,4918,0.00,0.00,5.78,0.675,6,0.000,0.000,3182,2003,2313
$GC,5234,1.14,106.8,351.8,8.9,215,5238,0.00,2.33,0.00,0.000,4,0.000,0.041,3182,596,2310
$GC,5387,1.08,106.8,336.5,9.7,218,5392,0.15,2.25,0.00,0.000,6,0.127,0.029,3155,2009,2309
$GC,5732,1.13,111.7,308.5,7.9,227,5741,0.00,2.35,4.97,0.613,4,0.000,0.042,3155,597,2293
$GC,5909,1.13,111.7,291.4,9.2,231,5913,0.00,2.22,0.00,0.000,6,0.000,0.028,3155,2005,2291
$GC,6235,1.21,124.4,267.4,7.0,239,6254,0.12,2.40,11.85,0.733,4,0.059,0.052,3194,3392,2240
$GC,6287,1.21,124.4,263.0,9.3,240,6291,0.00,2.25,0.00,0.000,6,0.000,0.028,3195,1986,2238
$GC,6606,1.21,124.4,232.4,9.3,248,6610,0.00,2.33,0.00,0.000,4,0.000,0.041,3195,3391,2238
$GC,6655,1.21,124.4,227.5,9.7,249,6659,0.00,2.22,0.00,0.000,6,0.000,0.025,3195,1993,2237
$GC,6974,1.22,132.5,202.2,7.6,257,6988,0.00,2.35,7.60,0.635,4,0.000,0.046,3195,599,2208
$GC,7153,1.25,154.3,190.7,6.0,270,7178,0.00,2.22,19.75,0.696,6,0.000,0.022,3195,2011,2120
$GC,7496,1.29,154.3,160.2,9.6,302,7500,0.00,2.33,0.00,0.000,4,0.000,0.038,3195,590,2116
$GC,7606,1.29,154.3,149.0,9.3,311,7613,0.00,2.22,0.00,0.000,6,0.000,0.028,3195,1998,2116
$GC,7805,1.35,158.5,133.6,8.0,330,7818,0.00,0.00,4.72,0.490,6,0.000,0.000,3195,1998,2102
$GC,8012,1.42,158.5,117.2,9.9,349,8016,0.15,2.28,0.00,0.000,4,0.049,0.041,3248,598,2101
$GC,8205,1.33,158.5,95.0,9.5,365,8211,0.20,2.20,0.00,0.000,6,0.107,0.025,3208,2001,2101
$GC,8402,1.41,173.6,79.9,6.8,384,8421,0.00,2.28,13.60,0.574,4,0.000,0.042,3208,598,2042
$GC,8548,1.46,173.6,68.4,9.1,396,8553,0.12,2.20,0.00,0.000,6,0.054,0.028,3250,2003,2041
$GC,8748,1.47,181.9,52.0,7.5,414,8763,0.00,2.25,8.77,0.516,4,0.000,0.043,3250,3396,2006
$GC,8822,1.48,191.1,46.7,7.4,420,8837,0.00,2.20,9.15,0.510,6,0.000,0.025,3250,1990,1969
$GC,9027,1.48,191.1,29.3,9.2,439,9035,0.00,2.25,0.00,0.000,4,0.000,0.044,3250,609,1967
$GC,9127,1.45,191.1,19.3,11.0,455,9135,0.00,2.20,0.00,0.000,6,0.000,0.019,3250,2001,1967
$STATE,9275,end climb,SURFACE_DEPTH_REACHED
$STATE,9275,begin surface coast
$FINISH,0.7,1.011870
$STATE,9312,end surface coast,CONTROL_FINISHED_OK
$STATE,9313,begin surface
$SM_CCo,9334,139.88,0.519,0,0,954,440.07
$SM_GC,1.68,0.00,0.00,139.88,0.000,0.000,0.519,413,2005,954,-11.53,-1.27,440.07
$IRIDIUM_FIX,2239.35,-15747.62,191297,151502
$TT8_MAMPS,0.027612
$HUMID,1770
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,22.90
$XPDR_PINGS,108
$24V_AH,23.7,48.367
$10V_AH,10.1,45.566
$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,28.750,95.075,248.100,139.875,0.000,25.645,26.342,117.039,27.000,0.000,0.000,38.666,1009.432,5885.875,468.084,1920.664,498.636,33.356,1219.828,0.000,1969.650,0.000,0.469
$DEVICE_MAMPS,161.837,80.535,921.934,519.259,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.992,317.282,605.190,459.679,911.027,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38231,486
$CAP_FILE_SIZE,204026,0
$CFSIZE,260165632,234950656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240908,203032,2247.800,-15748.476,40,1.1,40,10.1