version: 66.03
glider: 148
mission: 6
dive: 357
start: 9 25 108 18 58 39
data:
$ID,148
$MISSION,6
$DIVE,357
$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,-13876.698
$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,41
$R_STBD_OVSHOOT,56
$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
$GPS1,185231,2246.931,-15748.815,29,1.5,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.7
$GPS2,185746,2246.934,-15748.835,10,1.3,29,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.109,0.099
$KALMAN_X,-295851.8,-65.1,456.1,309336.8,-1021.1
$KALMAN_Y,-279753.9,-4.8,-140.0,277762.1,1290.6
$MHEAD_RNG_PITCHd_Wd,37.7,1994,-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,-49.4,0.0,0.0,0,93,0.00,0.00,-69.15,0.000,2,0.000,0.000,413,2075,2779
$GC,97,-1.80,-87.5,3.7,-4.1,9,121,11.20,2.15,-7.05,0.000,4,0.158,0.048,2519,3436,3107
$GC,167,-1.71,-87.5,19.0,-21.7,19,176,0.10,2.20,0.00,0.000,6,0.127,0.018,2541,2038,3108
$GC,378,-1.67,-87.5,63.6,-18.4,42,382,0.00,2.20,0.00,0.000,4,0.000,0.031,2541,648,3109
$GC,559,-1.71,-87.5,99.2,-18.2,57,565,0.00,2.15,0.00,0.000,6,0.000,0.025,2541,2044,3110
$GC,757,-1.77,-87.5,131.8,-16.4,76,761,0.00,2.22,0.00,0.000,4,0.000,0.031,2541,650,3110
$GC,810,-1.86,-87.5,140.3,-15.7,80,815,0.12,2.17,0.00,0.000,6,0.056,0.018,2499,2064,3110
$GC,1008,-1.86,-87.5,169.9,-12.8,98,1012,0.00,2.25,0.00,0.000,4,0.000,0.031,2499,650,3110
$GC,1247,-1.86,-87.5,205.7,-13.7,117,1251,0.00,2.15,0.00,0.000,6,0.000,0.017,2499,2055,3111
$GC,1589,-1.90,-87.5,256.6,-15.0,126,1593,0.00,2.22,0.00,0.000,4,0.000,0.031,2499,654,3111
$GC,1847,-1.90,-87.5,293.5,-12.6,131,1853,0.00,2.15,0.00,0.000,6,0.000,0.027,2499,2050,3111
$GC,2179,-1.97,-87.5,331.9,-11.3,140,2183,0.00,2.25,0.00,0.000,4,0.000,0.037,2499,654,3111
$GC,2437,-2.02,-87.5,366.0,-13.0,145,2441,0.00,2.17,0.00,0.000,6,0.000,0.021,2499,2050,3111
$GC,2768,-2.10,-87.5,406.1,-11.9,153,2773,0.17,2.28,0.00,0.000,4,0.048,0.048,2433,663,3109
$GC,3026,-2.03,-87.5,444.6,-14.3,158,3032,0.20,2.17,0.00,0.000,6,0.121,0.031,2473,2044,3108
$GC,3359,-2.07,-87.5,482.3,-10.8,167,3363,0.00,2.28,0.00,0.000,4,0.000,0.052,2473,664,3106
$STATE,3581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3581,begin apogee
$GC,3590,-0.31,0.0,510.0,11.9,172,3666,1.80,0.00,71.95,0.920,6,0.110,0.000,2851,2001,2749
$STATE,3666,end apogee,CONTROL_FINISHED_OK
$STATE,3666,begin climb
$GC,3669,1.80,87.5,511.6,0.0,174,3752,1.92,2.45,72.43,0.896,4,0.042,0.067,3315,3399,2391
$GC,3915,1.51,87.5,482.5,14.8,179,3920,0.32,2.25,0.00,0.000,6,0.125,0.030,3252,2019,2386
$GC,4253,1.35,87.5,444.3,10.7,188,4258,0.17,2.45,0.00,0.000,4,0.124,0.067,3214,592,2383
$GC,4427,1.20,87.5,426.8,10.2,192,4432,0.17,2.28,0.00,0.000,6,0.120,0.025,3181,2004,2380
$GC,4751,1.20,88.7,399.7,8.4,200,4755,0.00,2.35,0.00,0.000,4,0.000,0.044,3181,589,2379
$GC,4818,1.12,88.7,393.4,9.0,201,4822,0.00,2.28,0.00,0.000,6,0.000,0.025,3182,2008,2378
$GC,5161,1.12,88.7,365.1,8.6,210,5165,0.00,2.35,0.00,0.000,4,0.000,0.048,3182,593,2377
$GC,5419,1.05,92.8,342.2,8.0,215,5426,0.15,2.25,0.00,0.000,6,0.130,0.029,3154,2010,2375
$GC,5753,1.13,115.0,321.8,5.9,224,5779,0.00,2.40,21.12,0.804,4,0.000,0.049,3154,594,2279
$GC,5952,1.13,118.2,305.8,8.1,228,5956,0.00,2.25,0.00,0.000,6,0.000,0.027,3154,2013,2275
$GC,6294,1.20,118.2,277.4,8.8,237,6299,0.12,2.35,0.00,0.000,4,0.059,0.045,3192,592,2273
$GC,6429,1.15,118.2,263.4,9.7,240,6434,0.00,2.25,0.00,0.000,6,0.000,0.022,3192,2012,2273
$GC,6756,1.17,132.5,238.0,6.9,248,6773,0.00,0.00,14.93,0.726,6,0.000,0.000,3192,2012,2208
$GC,7079,1.17,135.9,211.9,8.1,256,7088,0.00,2.40,3.83,0.478,4,0.000,0.046,3192,590,2195
$GC,7273,1.18,139.8,193.9,8.1,264,7285,0.00,2.25,5.12,0.549,6,0.000,0.021,3193,1998,2179
$GC,7611,1.23,152.7,170.3,7.0,296,7635,0.00,2.40,12.57,0.649,4,0.000,0.044,3192,584,2125
$GC,7888,1.23,152.7,144.2,9.2,320,7897,0.00,2.25,0.00,0.000,6,0.000,0.021,3193,1995,2123
$GC,8090,1.29,153.8,127.3,8.4,339,8094,0.00,2.30,0.00,0.000,4,0.000,0.037,3192,584,2124
$GC,8132,1.33,153.8,123.4,9.5,342,8136,0.00,2.22,0.00,0.000,6,0.000,0.028,3193,2003,2123
$GC,8339,1.42,172.6,108.6,6.3,361,8362,0.15,2.33,17.75,0.610,4,0.051,0.050,3246,3398,2044
$GC,8388,1.39,172.6,104.6,8.8,365,8393,0.12,2.25,0.00,0.000,6,0.118,0.028,3224,1979,2042
$GC,8591,1.43,181.2,88.0,7.5,383,8602,0.00,0.00,8.32,0.536,6,0.000,0.000,3224,1979,2010
$GC,8796,1.48,182.4,71.6,8.4,402,8800,0.00,2.33,0.00,0.000,4,0.000,0.041,3224,3410,2008
$GC,8840,1.54,182.4,68.1,8.5,405,8845,0.12,2.22,0.00,0.000,6,0.057,0.028,3266,1990,2008
$GC,9040,1.54,183.2,51.3,8.4,423,9044,0.00,2.22,0.00,0.000,4,0.000,0.037,3266,603,2007
$GC,9235,1.48,183.2,32.9,10.3,439,9240,0.12,2.20,0.00,0.000,6,0.114,0.019,3242,2014,2008
$GC,9451,1.48,183.2,14.3,8.6,473,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2014,2008
$STATE,9581,end climb,SURFACE_DEPTH_REACHED
$STATE,9581,begin surface coast
$FINISH,0.8,1.014745
$STATE,9619,end surface coast,CONTROL_FINISHED_OK
$STATE,9619,begin surface
$SM_CCo,9641,131.65,0.515,0,0,954,440.07
$SM_GC,1.65,0.00,0.00,131.65,0.000,0.000,0.515,413,2018,954,-11.53,-0.90,440.07
$IRIDIUM_FIX,2237.01,-15749.78,201297,161643
$TT8_MAMPS,0.027612
$HUMID,1739
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.20
$XPDR_PINGS,122
$24V_AH,23.7,49.175
$10V_AH,10.1,46.487
$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,28.450,90.500,228.025,131.650,0.000,30.989,27.570,121.601,30.500,0.000,0.000,31.165,1065.255,5969.007,441.615,2088.330,521.366,33.365,1244.435,0.000,2159.700,0.000,0.469
$DEVICE_MAMPS,158.002,66.729,920.400,514.657,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,375.152,323.249,631.017,479.776,943.766,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38238,501
$CAP_FILE_SIZE,210603,0
$CFSIZE,260165632,234344448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250908,214255,2247.288,-15748.916,42,0.9,42,10.1