version: 66.03
glider: 148
mission: 6
dive: 366
start: 9 26 108 19 41 40
data:
$ID,148
$MISSION,6
$DIVE,366
$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,-14054.772
$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,41
$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
$GPS1,193555,2248.098,-15748.530,23,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-63.8
$GPS2,194045,2248.100,-15748.534,12,1.2,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.145,-0.079
$KALMAN_X,-304673.9,274.3,674.3,318115.4,-2535.2
$KALMAN_Y,-274792.9,-176.7,-3.4,274985.3,767.5
$MHEAD_RNG_PITCHd_Wd,108.5,817,-23.9,-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,-1.57,-62.3,0.0,0.0,0,87,0.00,0.00,-62.30,0.000,2,0.000,0.000,409,2015,2569
$GC,90,-1.65,-123.3,3.0,-2.9,8,132,11.52,2.22,-16.92,0.000,4,0.163,0.044,2553,647,3253
$GC,166,-1.55,-123.3,14.8,-18.7,18,173,0.10,2.22,0.00,0.000,6,0.120,0.019,2575,2059,3253
$GC,373,-1.47,-123.3,59.9,-20.6,42,378,0.12,2.25,0.00,0.000,4,0.127,0.027,2598,641,3254
$GC,404,-1.47,-123.3,65.3,-18.2,44,408,0.00,2.20,0.00,0.000,6,0.000,0.020,2598,2058,3254
$GC,601,-1.51,-123.3,97.0,-14.6,62,605,0.00,2.25,0.00,0.000,4,0.000,0.030,2598,644,3255
$GC,635,-1.60,-123.3,102.0,-14.4,64,644,0.08,2.20,0.00,0.000,6,0.042,0.020,2557,2048,3255
$GC,836,-1.60,-123.3,129.7,-13.1,83,840,0.00,2.22,0.00,0.000,4,0.000,0.030,2557,646,3256
$GC,937,-1.60,-123.3,143.9,-14.1,91,941,0.00,2.17,0.00,0.000,6,0.000,0.018,2557,2055,3256
$GC,1136,-1.60,-123.3,173.6,-14.9,109,1140,0.00,2.22,0.00,0.000,4,0.000,0.029,2557,648,3256
$GC,1272,-1.64,-123.3,194.0,-13.9,120,1281,0.00,2.17,0.00,0.000,6,0.000,0.019,2557,2046,3256
$GC,1606,-1.69,-123.3,236.7,-12.4,132,1610,0.00,2.22,0.00,0.000,4,0.000,0.031,2557,648,3257
$GC,1713,-1.78,-123.3,250.1,-12.6,134,1717,0.12,2.17,0.00,0.000,6,0.054,0.018,2510,2067,3258
$GC,2063,-1.78,-123.3,298.1,-13.9,143,2068,0.10,2.28,0.00,0.000,4,0.120,0.037,2529,654,3257
$GC,2321,-1.83,-123.3,334.6,-14.0,148,2327,0.00,2.17,0.00,0.000,6,0.000,0.025,2529,2042,3257
$GC,2652,-1.86,-123.3,380.0,-13.3,157,2656,0.00,2.28,0.00,0.000,4,0.000,0.047,2529,649,3256
$GC,2905,-1.92,-123.3,414.2,-13.9,162,2909,0.12,2.22,0.00,0.000,6,0.057,0.031,2489,2052,3256
$GC,3236,-1.92,-123.3,461.0,-14.0,170,3240,0.00,2.28,0.00,0.000,4,0.000,0.053,2488,660,3253
$GC,3493,-1.92,-123.3,498.1,-14.4,175,3497,0.00,2.25,0.00,0.000,6,0.000,0.038,2488,2055,3252
$STATE,3584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3584,begin apogee
$GC,3591,-0.31,0.0,510.2,13.1,178,3695,1.70,0.00,100.55,0.920,6,0.104,0.000,2849,1972,2748
$STATE,3696,end apogee,CONTROL_FINISHED_OK
$STATE,3696,begin climb
$GC,3699,1.65,123.3,512.5,0.0,180,3805,1.80,0.00,101.95,0.893,6,0.044,0.000,3282,1972,2246
$GC,4106,1.35,123.3,455.2,16.3,190,4111,0.30,2.25,0.00,0.000,4,0.115,0.053,3218,631,2236
$GC,4219,1.16,123.3,439.2,13.4,192,4224,0.22,2.22,0.00,0.000,6,0.113,0.026,3175,2007,2235
$GC,4558,1.08,123.3,401.9,10.7,201,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2007,2231
$GC,4881,1.00,123.3,369.9,9.6,209,4885,0.15,2.30,0.00,0.000,4,0.121,0.049,3142,624,2229
$GC,4903,0.94,123.3,367.8,9.5,209,4907,0.00,2.20,0.00,0.000,6,0.000,0.028,3142,2003,2228
$GC,5240,0.95,129.8,340.5,7.9,218,5244,0.00,2.28,0.00,0.000,4,0.000,0.048,3142,628,2227
$GC,5318,0.91,129.8,332.8,9.6,219,5324,0.12,2.20,0.00,0.000,6,0.125,0.023,3119,2011,2226
$GC,5652,0.96,129.9,304.7,8.5,228,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2011,2225
$GC,5975,1.04,143.2,279.8,7.3,236,5995,0.12,2.35,13.80,0.751,4,0.058,0.044,3159,634,2165
$GC,6019,0.99,148.9,276.5,8.0,237,6031,0.12,2.20,6.47,0.644,6,0.117,0.028,3136,2010,2142
$GC,6348,1.04,148.9,249.0,9.3,245,6352,0.00,2.28,0.00,0.000,4,0.000,0.045,3136,628,2139
$GC,6599,1.04,148.9,223.6,9.4,250,6603,0.00,2.17,0.00,0.000,6,0.000,0.028,3136,2009,2138
$GC,6920,1.11,153.9,197.7,8.0,260,6932,0.12,2.28,5.03,0.549,4,0.057,0.043,3178,626,2122
$GC,6971,1.06,153.9,192.8,9.4,264,6978,0.10,2.20,0.00,0.000,6,0.106,0.029,3155,2004,2121
$GC,7298,1.10,164.4,164.6,7.5,295,7314,0.00,2.30,10.70,0.640,4,0.000,0.048,3155,3390,2077
$GC,7331,1.10,164.6,161.7,8.5,297,7340,0.00,2.20,0.00,0.000,6,0.000,0.024,3155,2022,2076
$GC,7657,1.17,180.7,137.2,7.0,328,7681,0.00,2.40,14.70,0.628,4,0.000,0.038,3155,595,2011
$GC,7788,1.22,180.7,125.6,9.8,339,7792,0.12,2.22,0.00,0.000,6,0.058,0.028,3195,2008,2010
$GC,7988,1.22,185.4,107.3,8.1,357,7995,0.00,0.00,5.12,0.482,6,0.000,0.000,3195,2008,1993
$GC,8187,1.22,186.2,90.4,8.4,376,8191,0.00,2.30,0.00,0.000,4,0.000,0.037,3195,592,1993
$GC,8264,1.22,186.2,83.1,9.0,382,8273,0.00,2.22,0.00,0.000,6,0.000,0.025,3195,1990,1992
$GC,8464,1.25,209.5,69.4,6.4,401,8491,0.00,2.33,21.92,0.578,4,0.000,0.037,3195,597,1895
$GC,8532,1.28,209.5,64.1,9.9,406,8536,0.00,2.22,0.00,0.000,6,0.000,0.028,3195,2004,1893
$GC,8732,1.35,225.8,49.5,7.0,424,8752,0.00,0.00,14.77,0.539,6,0.000,0.000,3195,2004,1827
$GC,8944,1.41,225.8,32.6,8.5,444,8953,0.12,0.00,0.00,0.000,6,0.051,0.000,3243,2004,1824
$GC,9163,1.35,225.8,8.8,12.3,479,9171,0.15,0.00,0.00,0.000,6,0.107,0.000,3210,2004,1824
$STATE,9212,end climb,SURFACE_DEPTH_REACHED
$STATE,9212,begin surface coast
$FINISH,0.8,1.009919
$STATE,9243,end surface coast,CONTROL_FINISHED_OK
$STATE,9244,begin surface
$SM_CCo,9265,115.15,0.514,0,0,954,440.07
$SM_GC,1.61,0.00,0.00,115.15,0.000,0.000,0.514,411,2008,954,-11.54,-1.22,440.07
$IRIDIUM_FIX,2239.35,-15749.78,211297,171759
$TT8_MAMPS,0.027612
$HUMID,1757
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.40
$XPDR_PINGS,112
$24V_AH,23.7,49.997
$10V_AH,10.1,47.398
$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,28.625,85.225,295.025,115.150,0.000,29.309,26.810,114.423,28.000,0.000,0.000,14.239,999.191,5850.743,489.333,1812.317,518.492,33.363,1210.356,0.000,1914.804,0.000,0.469
$DEVICE_MAMPS,162.604,74.399,919.633,513.890,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.526,325.778,636.023,475.403,943.059,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38019,492
$CAP_FILE_SIZE,205834,0
$CFSIZE,260165632,233750528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260908,221908,2247.799,-15747.984,27,1.0,27,10.1