version: 66.03
glider: 148
mission: 6
dive: 374
start: 9 27 108 17 59 1
data:
$ID,148
$MISSION,6
$DIVE,374
$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,-14261.617
$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,44
$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
$GPS1,175253,2248.248,-15748.423,10,2.5,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-62.6
$GPS2,175808,2248.276,-15748.434,35,0.8,35,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.022,-0.146
$KALMAN_X,-308810.8,-97.0,194.5,323274.0,-1214.8
$KALMAN_Y,-269430.5,-204.8,290.2,269681.7,1187.6
$MHEAD_RNG_PITCHd_Wd,161.4,1094,-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,-49.4,0.0,0.0,0,86,0.00,0.00,-61.75,0.000,2,0.000,0.000,410,2002,2544
$GC,90,-1.81,-99.7,3.1,-2.7,8,124,11.15,2.17,-15.32,0.000,4,0.156,0.047,2517,641,3157
$GC,203,-1.73,-99.7,24.6,-23.7,25,212,0.08,2.22,0.00,0.000,6,0.132,0.018,2534,2055,3158
$GC,407,-1.65,-99.7,73.2,-22.9,45,412,0.12,2.22,0.00,0.000,4,0.126,0.028,2558,650,3159
$GC,475,-1.70,-99.7,86.1,-17.5,50,484,0.00,2.17,0.00,0.000,6,0.000,0.025,2557,2050,3158
$GC,677,-1.77,-99.7,117.0,-15.2,69,681,0.00,2.22,0.00,0.000,4,0.000,0.028,2558,645,3159
$GC,745,-1.87,-99.7,127.3,-14.2,74,754,0.15,2.17,0.00,0.000,6,0.036,0.018,2501,2043,3159
$GC,941,-1.87,-99.7,159.3,-15.9,93,945,0.00,2.20,0.00,0.000,4,0.000,0.029,2501,651,3159
$GC,1039,-1.87,-99.7,175.2,-15.7,101,1044,0.00,2.15,0.00,0.000,6,0.000,0.017,2501,2056,3160
$GC,1370,-1.87,-99.7,223.8,-14.2,120,1374,0.00,2.22,0.00,0.000,4,0.000,0.030,2501,652,3161
$GC,1566,-1.87,-99.7,253.4,-12.7,124,1570,0.00,2.15,0.00,0.000,6,0.000,0.018,2501,2053,3161
$GC,1908,-1.94,-99.7,297.8,-12.4,133,1912,0.00,2.25,0.00,0.000,4,0.000,0.038,2501,646,3161
$GC,2154,-1.99,-99.7,330.2,-13.5,138,2159,0.00,2.17,0.00,0.000,6,0.000,0.028,2501,2046,3161
$GC,2497,-2.06,-99.7,374.5,-13.0,147,2502,0.12,2.28,0.00,0.000,4,0.055,0.045,2460,652,3160
$GC,2626,-2.06,-99.7,394.2,-16.2,149,2632,0.00,2.20,0.00,0.000,6,0.000,0.025,2460,2050,3160
$GC,2956,-2.06,-99.7,439.7,-13.9,158,2960,0.00,2.30,0.00,0.000,4,0.000,0.048,2460,654,3157
$GC,3214,-2.06,-99.7,477.7,-14.2,163,3220,0.00,2.22,0.00,0.000,6,0.000,0.032,2460,2044,3156
$STATE,3461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3462,begin apogee
$GC,3468,-0.31,0.0,510.6,13.0,170,3554,1.83,0.00,81.65,0.921,6,0.103,0.000,2849,2043,2749
$STATE,3554,end apogee,CONTROL_FINISHED_OK
$STATE,3554,begin climb
$GC,3557,1.81,99.7,512.5,0.0,172,3648,1.95,2.38,82.65,0.896,4,0.041,0.064,3320,3406,2341
$GC,3789,1.52,99.7,482.8,17.4,177,3794,0.35,2.28,0.00,0.000,6,0.123,0.029,3252,2013,2334
$GC,4139,1.36,99.7,434.1,13.5,186,4144,0.15,2.42,0.00,0.000,4,0.123,0.061,3219,597,2331
$GC,4257,1.22,99.7,419.8,12.1,188,4261,0.17,2.25,0.00,0.000,6,0.118,0.032,3187,1997,2329
$GC,4590,1.23,105.1,391.9,7.9,196,4594,0.00,2.33,0.00,0.000,4,0.000,0.043,3186,595,2327
$GC,4848,1.16,105.1,366.6,10.1,201,4854,0.00,2.25,0.00,0.000,6,0.000,0.031,3186,2008,2324
$GC,5179,1.16,105.1,333.3,10.3,210,5182,0.00,2.33,0.00,0.000,4,0.000,0.062,3186,3394,2323
$GC,5217,1.16,105.1,329.1,10.4,210,5223,0.00,2.25,0.00,0.000,6,0.000,0.032,3187,1990,2322
$GC,5549,1.16,105.1,298.3,8.7,219,5553,0.00,2.33,0.00,0.000,4,0.000,0.056,3187,601,2321
$GC,5691,1.11,105.1,285.1,9.1,222,5695,0.12,2.22,0.00,0.000,6,0.124,0.024,3164,2011,2320
$GC,6004,1.18,126.1,264.8,6.1,230,6028,0.00,2.40,19.17,0.761,4,0.000,0.044,3164,594,2234
$GC,6079,1.18,130.1,259.6,8.0,231,6091,0.00,2.25,4.80,0.566,6,0.000,0.022,3164,2007,2217
$GC,6416,1.25,135.3,233.7,7.9,240,6427,0.12,2.35,5.50,0.595,4,0.057,0.040,3206,596,2197
$GC,6523,1.20,135.3,223.2,8.9,242,6527,0.12,2.22,0.00,0.000,6,0.117,0.024,3182,2003,2196
$GC,6838,1.26,136.9,197.9,8.3,251,6842,0.00,2.30,0.00,0.000,4,0.000,0.043,3182,598,2194
$GC,6948,1.26,136.9,186.7,9.9,260,6954,0.00,2.22,0.00,0.000,6,0.000,0.021,3182,2011,2194
$GC,7273,1.33,145.5,160.3,7.5,291,7289,0.12,2.38,9.65,0.627,4,0.055,0.039,3226,590,2155
$GC,7430,1.26,145.5,145.1,10.6,304,7439,0.12,2.25,0.00,0.000,6,0.100,0.028,3197,2001,2154
$GC,7632,1.32,154.6,128.5,7.4,323,7646,0.00,2.33,9.20,0.593,4,0.000,0.038,3197,596,2118
$GC,7669,1.35,158.0,125.6,8.1,326,7683,0.00,2.22,5.00,0.491,6,0.000,0.028,3197,2002,2102
$GC,7876,1.42,166.1,109.7,7.6,345,7886,0.12,0.00,7.88,0.555,6,0.054,0.000,3242,2002,2071
$GC,8074,1.42,166.1,91.7,9.3,364,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2003,2070
$GC,8267,1.42,166.6,75.9,8.4,382,8271,0.00,2.25,0.00,0.000,4,0.000,0.045,3242,3396,2070
$GC,8286,1.42,166.6,74.1,9.0,383,8290,0.00,2.22,0.00,0.000,6,0.000,0.022,3242,1986,2069
$GC,8491,1.42,166.6,56.5,8.8,402,8495,0.00,2.22,0.00,0.000,4,0.000,0.038,3242,597,2069
$GC,8693,1.44,187.4,42.8,6.1,419,8720,0.00,2.17,19.10,0.552,6,0.000,0.020,3242,2005,1983
$GC,8917,1.47,187.4,25.5,8.5,443,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2005,1981
$GC,9137,1.47,187.4,6.1,9.5,480,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2005,1981
$STATE,9170,end climb,SURFACE_DEPTH_REACHED
$STATE,9171,begin surface coast
$FINISH,0.7,0.999412
$STATE,9207,end surface coast,CONTROL_FINISHED_OK
$STATE,9207,begin surface
$SM_CCo,9228,135.60,0.518,0,0,954,440.07
$SM_GC,1.67,0.00,0.00,135.60,0.000,0.000,0.518,409,2008,954,-11.55,-1.19,440.07
$IRIDIUM_FIX,2239.35,-15749.78,221297,151528
$TT8_MAMPS,0.026845
$HUMID,1758
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.10
$XPDR_PINGS,130
$24V_AH,23.7,50.732
$10V_AH,10.1,48.213
$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,28.325,90.175,244.600,135.600,0.000,24.859,26.710,121.847,32.500,0.000,0.000,36.687,1014.014,5751.546,462.566,1925.546,523.602,33.363,1214.634,0.000,1990.570,0.000,0.468
$DEVICE_MAMPS,155.701,63.661,921.167,517.725,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.195,325.391,613.608,483.717,949.645,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38124,491
$CAP_FILE_SIZE,205827,0
$CFSIZE,260165632,233222144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270908,203626,2247.641,-15748.262,40,1.2,40,10.1