version: 66.03
glider: 148
mission: 6
dive: 373
start: 9 27 108 15 15 24
data:
$ID,148
$MISSION,6
$DIVE,373
$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,-14224.303
$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,46
$R_STBD_OVSHOOT,40
$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
$GPS1,150847,2247.972,-15749.116,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-63.2
$GPS2,151431,2248.006,-15749.146,34,1.7,44,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.123,-0.091
$KALMAN_X,-308341.7,-221.2,72.4,321848.8,-1231.9
$KALMAN_Y,-270694.5,-182.3,-75.7,270799.5,1074.1
$MHEAD_RNG_PITCHd_Wd,116.4,250,-26.0,-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,-1.69,-53.1,0.0,0.0,0,87,0.00,0.00,-62.33,0.000,2,0.000,0.000,412,2009,2571
$GC,90,-1.75,-103.4,3.2,-3.1,8,125,11.27,2.15,-14.73,0.000,4,0.160,0.044,2527,653,3171
$GC,164,-1.66,-103.4,16.0,-21.6,18,173,0.10,2.20,0.00,0.000,6,0.127,0.019,2551,2052,3171
$GC,370,-1.57,-103.4,64.1,-22.5,41,375,0.12,2.22,0.00,0.000,4,0.128,0.025,2573,641,3172
$GC,431,-1.64,-103.4,75.7,-18.3,46,435,0.00,2.17,0.00,0.000,6,0.000,0.028,2573,2044,3173
$GC,638,-1.68,-103.4,110.6,-17.1,65,642,0.00,2.22,0.00,0.000,4,0.000,0.030,2573,644,3173
$GC,706,-1.76,-103.4,122.1,-15.2,70,715,0.12,2.20,0.00,0.000,6,0.035,0.019,2520,2055,3173
$GC,903,-1.73,-103.4,156.4,-17.2,89,908,0.10,2.22,0.00,0.000,4,0.120,0.029,2538,653,3173
$GC,1047,-1.78,-103.4,179.1,-14.3,101,1054,0.00,2.15,0.00,0.000,6,0.000,0.018,2538,2057,3174
$GC,1386,-1.85,-103.4,220.8,-12.0,122,1390,0.00,2.20,0.00,0.000,4,0.000,0.030,2538,655,3175
$GC,1492,-1.93,-103.4,234.4,-13.6,124,1497,0.17,2.15,0.00,0.000,6,0.046,0.018,2482,2056,3175
$GC,1843,-1.93,-103.4,280.5,-13.5,133,1847,0.00,2.22,0.00,0.000,4,0.000,0.031,2482,655,3175
$GC,2101,-1.93,-103.4,316.4,-14.5,138,2107,0.00,2.17,0.00,0.000,6,0.000,0.021,2482,2053,3175
$GC,2432,-1.93,-103.4,362.5,-14.0,147,2436,0.00,2.28,0.00,0.000,4,0.000,0.045,2482,652,3175
$GC,2690,-1.93,-103.4,401.7,-14.9,152,2696,0.00,2.20,0.00,0.000,6,0.000,0.026,2482,2051,3173
$GC,3022,-1.93,-103.4,443.2,-12.7,161,3026,0.00,2.30,0.00,0.000,4,0.000,0.046,2481,656,3172
$GC,3279,-1.93,-103.4,479.5,-14.6,166,3285,0.00,2.22,0.00,0.000,6,0.000,0.035,2481,2044,3170
$STATE,3526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3527,begin apogee
$GC,3533,-0.31,0.0,512.7,13.1,173,3621,1.73,0.00,84.28,0.920,6,0.101,0.000,2850,2044,2749
$STATE,3622,end apogee,CONTROL_FINISHED_OK
$STATE,3622,begin climb
$GC,3625,1.75,103.4,514.7,0.0,175,3720,1.90,2.42,85.57,0.894,4,0.039,0.061,3313,3401,2325
$GC,3885,1.45,103.4,481.5,16.4,181,3890,0.38,2.25,0.00,0.000,6,0.120,0.028,3239,2020,2320
$GC,4209,1.29,103.4,441.0,11.9,189,4214,0.15,2.42,0.00,0.000,4,0.123,0.064,3207,596,2317
$GC,4318,1.16,103.4,428.3,12.5,191,4322,0.17,2.25,0.00,0.000,6,0.119,0.031,3173,2002,2315
$GC,4665,1.16,103.4,397.4,8.8,200,4669,0.00,2.35,0.00,0.000,4,0.000,0.048,3173,593,2313
$GC,4743,1.10,103.4,389.7,9.3,201,4749,0.00,2.25,0.00,0.000,6,0.000,0.026,3173,2001,2311
$GC,5074,1.10,103.4,358.4,9.9,210,5078,0.00,2.38,0.00,0.000,4,0.000,0.061,3173,3399,2309
$GC,5115,1.10,103.4,354.1,10.4,211,5119,0.00,2.25,0.00,0.000,6,0.000,0.028,3173,1992,2309
$GC,5439,1.10,103.4,321.6,9.9,219,5443,0.00,2.35,0.00,0.000,4,0.000,0.042,3173,3405,2307
$GC,5455,1.10,103.4,320.0,9.2,219,5458,0.00,2.25,0.00,0.000,6,0.000,0.032,3173,1999,2307
$GC,5803,1.10,107.7,290.6,8.0,228,5807,0.00,2.33,0.00,0.000,4,0.000,0.058,3173,603,2306
$GC,5910,1.06,109.7,281.6,8.3,230,5915,0.12,2.22,0.00,0.000,6,0.127,0.022,3151,2014,2305
$GC,6255,1.14,137.6,260.4,5.5,239,6285,0.00,2.40,25.67,0.764,4,0.000,0.041,3150,594,2185
$GC,6382,1.19,137.6,250.3,9.9,242,6387,0.12,2.25,0.00,0.000,6,0.056,0.021,3191,2007,2183
$GC,6706,1.20,145.0,222.6,7.7,250,6720,0.00,2.40,6.88,0.625,4,0.000,0.044,3191,597,2156
$GC,6750,1.20,145.0,218.8,9.0,251,6754,0.00,2.25,0.00,0.000,6,0.000,0.027,3191,2008,2156
$GC,7067,1.20,145.0,190.4,9.1,264,7071,0.00,2.30,0.00,0.000,4,0.000,0.052,3191,3395,2155
$GC,7135,1.20,145.0,183.9,9.3,269,7142,0.00,2.22,0.00,0.000,6,0.000,0.026,3191,1989,2153
$GC,7461,1.21,147.4,154.6,8.2,300,7465,0.00,2.25,0.00,0.000,4,0.000,0.041,3191,594,2153
$GC,7480,1.21,152.7,153.2,7.9,301,7493,0.00,2.22,7.57,0.589,6,0.000,0.021,3191,2014,2126
$GC,7811,1.26,160.2,128.7,7.7,332,7825,0.00,2.30,8.12,0.575,4,0.000,0.035,3191,601,2094
$GC,7855,1.27,168.0,125.8,7.7,335,7869,0.00,2.20,8.27,0.565,6,0.000,0.021,3191,1998,2062
$GC,8070,1.34,178.8,108.3,7.4,355,8085,0.00,2.30,10.00,0.571,4,0.000,0.043,3191,601,2020
$GC,8101,1.40,181.8,106.0,8.2,357,8114,0.15,2.22,4.32,0.434,6,0.048,0.022,3242,2008,2007
$GC,8303,1.40,181.8,86.3,9.7,376,8307,0.00,2.28,0.00,0.000,4,0.000,0.036,3242,601,2005
$GC,8350,1.35,181.8,81.4,11.6,379,8357,0.15,2.20,0.00,0.000,6,0.109,0.027,3212,2003,2005
$GC,8551,1.41,182.4,64.2,8.4,398,8555,0.00,2.25,0.00,0.000,4,0.000,0.038,3212,3399,2005
$GC,8640,1.51,202.8,58.4,6.3,405,8667,0.15,2.20,18.65,0.560,6,0.047,0.023,3264,1996,1922
$GC,8859,1.47,202.8,38.4,10.2,425,8863,0.12,2.22,0.00,0.000,4,0.172,0.034,3240,600,1920
$GC,8941,1.47,202.8,30.0,11.2,432,8948,0.00,2.20,0.00,0.000,6,0.000,0.025,3241,1997,1919
$GC,9161,1.47,202.8,7.6,10.5,469,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1998,1919
$STATE,9204,end climb,SURFACE_DEPTH_REACHED
$STATE,9204,begin surface coast
$FINISH,0.9,1.023190
$STATE,9237,end surface coast,CONTROL_FINISHED_OK
$STATE,9237,begin surface
$SM_CCo,9258,119.15,0.515,0,0,954,440.07
$SM_GC,1.77,0.00,0.00,119.15,0.000,0.000,0.515,410,2001,954,-11.55,-1.39,440.07
$IRIDIUM_FIX,2237.01,-15747.62,221297,121232
$TT8_MAMPS,0.026845
$HUMID,1751
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.20
$XPDR_PINGS,129
$24V_AH,23.7,50.643
$10V_AH,10.1,48.111
$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,28.575,103.700,259.350,119.150,0.000,31.042,32.270,129.449,32.250,0.000,0.000,45.617,1000.218,5846.536,462.793,1871.538,538.600,33.367,1206.828,0.000,1936.398,0.000,0.468
$DEVICE_MAMPS,171.808,64.428,919.633,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.466,310.467,601.386,476.217,920.084,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38076,481
$CAP_FILE_SIZE,203434,0
$CFSIZE,260165632,233287680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270908,175253,2248.248,-15748.423,10,2.5,29,10.1