version: 66.03
glider: 148
mission: 6
dive: 369
start: 9 27 108 4 0 4
data:
$ID,148
$MISSION,6
$DIVE,369
$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,-14092.437
$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,43
$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
$GPS1,035408,2247.498,-15749.300,30,0.9,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.5
$GPS2,035909,2247.535,-15749.312,8,1.8,8,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.147,0.010
$KALMAN_X,-305547.9,456.1,369.1,317786.6,-1057.7
$KALMAN_Y,-273200.6,-61.6,269.4,271964.8,750.8
$MHEAD_RNG_PITCHd_Wd,76.1,1013,-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,-49.4,0.0,0.0,0,94,0.00,0.00,-69.62,0.000,2,0.000,0.000,415,2084,2801
$GC,97,-1.80,-88.0,3.5,-4.1,9,121,11.10,2.15,-6.65,0.000,4,0.154,0.040,2521,3454,3108
$GC,143,-1.23,-88.0,14.2,-22.4,15,152,0.57,2.22,0.00,0.000,6,0.109,0.018,2643,2037,3110
$GC,353,-1.37,-88.0,49.1,-16.4,41,357,0.00,2.17,0.00,0.000,4,0.000,0.035,2643,658,3111
$GC,386,-1.52,-88.0,54.4,-17.7,43,391,0.22,2.17,0.00,0.000,6,0.038,0.018,2569,2062,3111
$GC,588,-1.58,-88.0,90.8,-16.5,61,592,0.00,2.22,0.00,0.000,4,0.000,0.029,2569,657,3111
$GC,736,-1.69,-88.0,115.0,-15.4,73,742,0.00,2.15,0.00,0.000,6,0.000,0.018,2569,2061,3112
$GC,934,-1.79,-88.0,143.7,-14.5,92,938,0.15,2.22,0.00,0.000,4,0.046,0.028,2506,656,3112
$GC,1031,-1.79,-88.0,159.5,-15.9,100,1036,0.12,2.12,0.00,0.000,6,0.123,0.017,2529,2054,3112
$GC,1392,-1.86,-88.0,204.7,-11.3,131,1396,0.00,2.22,0.00,0.000,4,0.000,0.030,2529,652,3113
$GC,1639,-1.95,-88.0,238.3,-14.9,136,1644,0.15,2.15,0.00,0.000,6,0.049,0.018,2478,2052,3114
$GC,1975,-1.95,-88.0,289.0,-14.7,145,1979,0.00,2.22,0.00,0.000,4,0.000,0.032,2477,661,3114
$GC,2232,-1.95,-88.0,324.4,-12.9,150,2239,0.00,2.15,0.00,0.000,6,0.000,0.028,2477,2046,3114
$GC,2564,-1.95,-88.0,365.9,-13.0,159,2568,0.00,2.25,0.00,0.000,4,0.000,0.044,2478,664,3113
$GC,2821,-1.95,-88.0,400.4,-13.1,164,2828,0.00,2.17,0.00,0.000,6,0.000,0.026,2477,2050,3112
$GC,3154,-1.99,-88.0,443.3,-13.3,173,3157,0.00,2.28,0.00,0.000,4,0.000,0.050,2477,668,3110
$GC,3412,-1.99,-88.0,478.5,-13.2,178,3418,0.00,2.20,0.00,0.000,6,0.000,0.036,2477,2049,3108
$STATE,3700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3700,begin apogee
$GC,3706,-0.31,0.0,514.4,12.2,186,3783,1.75,0.00,72.32,0.924,6,0.103,0.000,2850,2049,2749
$STATE,3784,end apogee,CONTROL_FINISHED_OK
$STATE,3784,begin climb
$GC,3786,1.80,88.0,516.3,0.0,188,3869,1.92,2.35,72.78,0.897,4,0.041,0.061,3316,3400,2389
$GC,4111,1.51,88.0,478.1,13.7,195,4116,0.32,2.25,0.00,0.000,6,0.123,0.032,3252,2017,2383
$GC,4461,1.34,88.0,440.0,10.7,204,4466,0.17,2.45,0.00,0.000,4,0.123,0.067,3214,587,2380
$GC,4628,1.19,88.0,421.3,10.8,207,4635,0.17,2.28,0.00,0.000,6,0.119,0.031,3182,2005,2378
$GC,4960,1.19,88.0,392.8,8.6,216,4964,0.00,2.35,0.00,0.000,4,0.000,0.044,3182,594,2376
$GC,5096,1.12,88.0,380.0,9.4,219,5100,0.00,2.25,0.00,0.000,6,0.000,0.030,3181,2008,2375
$GC,5414,1.12,88.6,353.4,8.4,227,5418,0.00,2.35,0.00,0.000,4,0.000,0.048,3182,594,2374
$GC,5605,1.06,91.3,336.4,8.2,231,5610,0.15,2.22,0.00,0.000,6,0.124,0.029,3154,2005,2372
$GC,5918,1.13,115.9,317.9,5.7,239,5946,0.00,2.45,21.40,0.796,4,0.000,0.043,3154,590,2275
$GC,6065,1.16,115.9,305.8,8.9,242,6069,0.00,2.25,0.00,0.000,6,0.000,0.026,3154,2003,2272
$GC,6415,1.24,120.7,278.4,7.9,251,6425,0.15,2.38,4.72,0.578,4,0.052,0.047,3200,585,2256
$GC,6437,1.24,120.7,276.1,9.5,251,6441,0.00,2.25,0.00,0.000,6,0.000,0.023,3200,2000,2255
$GC,6773,1.24,120.7,244.9,8.9,260,6777,0.00,2.33,0.00,0.000,4,0.000,0.047,3200,590,2254
$GC,6813,1.17,120.7,241.6,8.7,261,6818,0.12,2.25,0.00,0.000,6,0.125,0.022,3178,2005,2253
$GC,7140,1.23,139.9,222.0,6.3,269,7159,0.00,0.00,17.23,0.715,6,0.000,0.000,3178,2005,2178
$GC,7445,1.28,139.9,197.5,9.0,278,7449,0.00,2.33,0.00,0.000,4,0.000,0.039,3178,590,2175
$GC,7522,1.28,139.9,188.6,11.6,284,7528,0.00,2.25,0.00,0.000,6,0.000,0.028,3178,2013,2174
$GC,7847,1.37,155.7,158.5,6.7,315,7872,0.15,2.38,14.40,0.650,4,0.051,0.038,3233,584,2113
$GC,8087,1.32,155.7,135.0,9.4,336,8092,0.12,2.25,0.00,0.000,6,0.116,0.025,3209,2005,2112
$GC,8285,1.35,158.6,120.5,8.2,354,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2005,2110
$GC,8476,1.40,158.6,103.9,9.3,372,8480,0.00,2.28,0.00,0.000,4,0.000,0.041,3208,3403,2110
$GC,8495,1.44,158.6,102.3,9.7,373,8500,0.10,2.25,0.00,0.000,6,0.061,0.024,3246,1978,2110
$GC,8697,1.44,158.6,81.8,9.6,391,8701,0.00,2.22,0.00,0.000,4,0.000,0.044,3247,594,2109
$GC,8777,1.37,159.8,74.3,8.4,397,8788,0.10,2.22,4.50,0.435,6,0.104,0.028,3223,2004,2097
$GC,8991,1.45,187.1,60.7,5.4,417,9021,0.00,2.33,24.20,0.574,4,0.000,0.042,3222,603,1985
$GC,9079,1.46,199.1,56.1,7.1,424,9099,0.00,2.22,11.38,0.531,6,0.000,0.028,3223,1997,1936
$GC,9291,1.54,199.1,40.1,8.8,444,9299,0.15,0.00,0.00,0.000,6,0.048,0.000,3274,1997,1933
$GC,9501,1.54,199.1,17.2,11.6,472,9509,0.00,2.30,0.00,0.000,4,0.000,0.038,3274,3399,1932
$GC,9518,1.54,199.1,15.3,11.4,474,9526,0.00,2.22,0.00,0.000,6,0.000,0.021,3274,1995,1932
$STATE,9631,end climb,SURFACE_DEPTH_REACHED
$STATE,9631,begin surface coast
$FINISH,0.9,1.022905
$STATE,9657,end surface coast,CONTROL_FINISHED_OK
$STATE,9657,begin surface
$SM_CCo,9679,131.52,0.518,0,0,954,440.07
$SM_GC,1.73,0.00,0.00,131.52,0.000,0.000,0.518,412,2090,954,-11.53,1.16,440.07
$IRIDIUM_FIX,2239.35,-15747.62,221297,010116
$TT8_MAMPS,0.027612
$HUMID,1762
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.10
$XPDR_PINGS,119
$24V_AH,23.7,50.270
$10V_AH,10.1,47.706
$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,29.375,94.825,242.925,131.525,0.000,27.977,32.241,124.007,29.750,0.000,0.000,10.246,1045.951,6096.202,460.712,1970.809,537.569,33.363,1241.938,0.000,2084.021,0.000,0.468
$DEVICE_MAMPS,154.167,77.467,924.235,517.725,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.197,308.329,627.235,483.318,941.974,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38357,497
$CAP_FILE_SIZE,209312,0
$CFSIZE,260165632,233549824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270908,064455,2248.148,-15748.821,38,1.8,38,10.1