version: 66.03
glider: 148
mission: 6
dive: 377
start: 9 28 108 2 12 40
data:
$ID,148
$MISSION,6
$DIVE,377
$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,-14306.484
$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,43
$R_STBD_OVSHOOT,31
$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
$GPS1,020655,2247.653,-15749.138,37,1.4,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-63.7
$GPS2,021145,2247.674,-15749.153,13,1.3,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.150,-0.076
$KALMAN_X,-310713.6,571.7,-171.7,323655.8,-1545.5
$KALMAN_Y,-268028.5,-22.0,-438.9,267720.9,1514.1
$MHEAD_RNG_PITCHd_Wd,106.8,658,-23.5,-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,-1.55,-64.5,0.0,0.0,0,87,0.00,0.00,-62.00,0.000,2,0.000,0.000,409,2128,2556
$GC,90,-1.63,-128.1,3.1,-2.9,8,123,11.45,0.00,-17.70,0.000,6,0.160,0.000,2555,2128,3272
$GC,327,-1.46,-128.1,53.1,-23.4,39,331,0.20,2.35,0.00,0.000,4,0.122,0.028,2597,650,3274
$GC,440,-1.55,-128.1,75.1,-16.8,48,444,0.00,2.20,0.00,0.000,6,0.000,0.027,2597,2064,3275
$GC,637,-1.55,-128.1,108.8,-16.2,66,641,0.00,2.25,0.00,0.000,4,0.000,0.028,2597,644,3275
$GC,670,-1.63,-128.1,113.9,-14.0,68,679,0.10,2.20,0.00,0.000,6,0.035,0.019,2550,2048,3276
$GC,870,-1.59,-128.1,145.2,-15.2,87,875,0.12,2.20,0.00,0.000,4,0.110,0.027,2573,647,3276
$GC,939,-1.64,-128.1,155.6,-14.0,93,943,0.00,2.17,0.00,0.000,6,0.000,0.018,2574,2059,3276
$GC,1294,-1.70,-128.1,205.8,-13.7,123,1299,0.10,2.22,0.00,0.000,4,0.061,0.030,2533,651,3277
$GC,1529,-1.70,-128.1,242.3,-14.8,128,1533,0.00,2.15,0.00,0.000,6,0.000,0.018,2533,2047,3277
$GC,1842,-1.70,-128.1,285.7,-13.6,136,1846,0.00,2.22,0.00,0.000,4,0.000,0.031,2533,650,3277
$GC,1914,-1.70,-128.1,295.8,-14.2,137,1919,0.00,2.17,0.00,0.000,6,0.000,0.021,2533,2054,3278
$GC,2246,-1.70,-128.1,340.9,-13.3,145,2249,0.00,2.25,0.00,0.000,4,0.000,0.043,2533,654,3277
$GC,2352,-1.73,-128.1,355.2,-13.1,147,2356,0.00,2.15,0.00,0.000,6,0.000,0.023,2533,2047,3277
$GC,2666,-1.77,-128.1,395.4,-12.4,155,2670,0.00,2.28,0.00,0.000,4,0.000,0.041,2533,652,3276
$GC,2903,-1.82,-128.1,425.2,-11.9,160,2907,0.00,2.20,0.00,0.000,6,0.000,0.028,2533,2045,3275
$GC,3218,-1.86,-128.1,459.6,-11.0,168,3222,0.00,2.28,0.00,0.000,4,0.000,0.044,2534,661,3273
$GC,3342,-1.91,-128.1,474.1,-11.5,170,3349,0.12,2.20,0.00,0.000,6,0.055,0.035,2490,2046,3272
$STATE,3630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3630,begin apogee
$GC,3636,-0.31,0.0,510.8,12.6,178,3744,1.67,0.00,104.22,0.921,6,0.100,0.000,2849,2046,2748
$STATE,3745,end apogee,CONTROL_FINISHED_OK
$STATE,3745,begin climb
$GC,3748,1.63,128.1,512.2,0.0,180,3863,1.77,2.42,105.80,0.894,4,0.042,0.061,3280,3400,2225
$GC,3911,1.32,128.1,495.6,16.9,183,3917,0.35,2.28,0.00,0.000,6,0.116,0.036,3210,2009,2220
$GC,4244,1.16,128.1,451.6,12.8,192,4249,0.17,2.42,0.00,0.000,4,0.120,0.067,3174,596,2215
$GC,4345,1.02,128.1,439.3,11.4,194,4350,0.15,2.28,0.00,0.000,6,0.120,0.027,3146,2005,2214
$GC,4695,0.99,128.1,404.3,10.1,203,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2005,2211
$GC,5017,0.99,128.1,375.3,8.6,211,5021,0.00,2.35,0.00,0.000,4,0.000,0.044,3146,594,2209
$GC,5129,0.93,129.0,365.3,8.4,213,5134,0.12,2.25,0.00,0.000,6,0.126,0.031,3123,2007,2208
$GC,5468,0.94,138.6,340.6,7.6,222,5481,0.00,2.35,6.70,0.693,4,0.000,0.043,3123,594,2182
$GC,5504,0.95,146.3,337.5,7.8,222,5518,0.00,2.25,8.40,0.723,6,0.000,0.026,3123,2005,2151
$GC,5842,1.00,153.8,310.9,7.8,231,5856,0.00,2.42,7.55,0.700,4,0.000,0.044,3123,594,2121
$GC,5874,1.00,153.8,307.6,9.1,231,5878,0.00,2.25,0.00,0.000,6,0.000,0.025,3123,2003,2120
$GC,6212,1.05,153.8,278.1,8.6,240,6214,0.10,0.00,0.00,0.000,6,0.062,0.000,3159,2003,2118
$GC,6536,1.05,153.8,244.9,10.3,248,6540,0.00,2.30,0.00,0.000,4,0.000,0.054,3159,3401,2117
$GC,6602,1.05,153.8,238.1,10.0,249,6606,0.00,2.25,0.00,0.000,6,0.000,0.025,3159,1989,2116
$GC,6945,1.05,155.2,207.8,8.4,258,6949,0.00,2.30,0.00,0.000,4,0.000,0.043,3159,3395,2116
$GC,6962,1.06,158.6,206.3,8.2,258,6971,0.00,2.20,4.75,0.541,6,0.000,0.025,3159,1996,2102
$GC,7296,1.07,170.9,179.9,7.4,283,7313,0.00,0.00,12.07,0.657,6,0.000,0.000,3159,1996,2051
$GC,7632,1.08,177.5,154.1,7.9,315,7645,0.00,2.30,6.43,0.556,4,0.000,0.045,3159,604,2026
$GC,7731,1.08,177.5,145.6,8.9,323,7735,0.00,2.20,0.00,0.000,6,0.000,0.021,3159,2008,2025
$GC,7933,1.13,185.6,128.8,7.8,341,7947,0.00,2.33,8.65,0.577,4,0.000,0.037,3159,600,1992
$GC,8058,1.13,185.7,117.3,8.5,352,8062,0.00,2.20,0.00,0.000,6,0.000,0.021,3159,2004,1992
$GC,8256,1.20,202.2,103.4,7.0,370,8281,0.10,2.30,15.60,0.594,4,0.058,0.038,3199,3388,1922
$GC,8322,1.20,202.2,97.9,9.6,375,8326,0.00,2.20,0.00,0.000,6,0.000,0.027,3200,1995,1920
$GC,8524,1.20,202.2,79.2,8.8,393,8528,0.00,2.28,0.00,0.000,4,0.000,0.034,3199,3402,1920
$GC,8557,1.23,202.2,76.2,8.6,395,8561,0.00,2.22,0.00,0.000,6,0.000,0.022,3200,1987,1920
$GC,8757,1.24,208.9,60.3,7.9,413,8771,0.00,2.22,6.70,0.485,4,0.000,0.041,3199,603,1897
$GC,8785,1.24,208.9,57.9,8.6,415,8789,0.00,2.17,0.00,0.000,6,0.000,0.020,3199,2001,1897
$GC,8991,1.25,214.1,41.0,8.0,434,9005,0.00,2.30,5.93,0.456,4,0.000,0.035,3199,605,1877
$GC,9044,1.25,214.7,36.7,8.4,438,9048,0.00,2.17,0.00,0.000,6,0.000,0.019,3199,1998,1877
$GC,9255,1.25,214.7,18.1,9.1,467,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1998,1876
$STATE,9414,end climb,SURFACE_DEPTH_REACHED
$STATE,9414,begin surface coast
$FINISH,0.8,1.023145
$STATE,9451,end surface coast,CONTROL_FINISHED_OK
$STATE,9451,begin surface
$SM_CCo,9473,121.28,0.515,0,0,955,440.07
$SM_GC,1.66,0.00,0.00,121.28,0.000,0.000,0.515,414,2116,955,-11.53,1.87,440.07
$IRIDIUM_FIX,2237.01,-15749.78,221297,232347
$TT8_MAMPS,0.027612
$HUMID,1747
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.60
$XPDR_PINGS,110
$24V_AH,23.7,51.008
$10V_AH,10.1,48.515
$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,27.875,94.775,292.800,121.275,0.000,24.826,27.239,116.199,27.500,0.000,0.000,15.161,1015.320,6049.009,484.772,1808.355,526.690,33.363,1198.846,0.000,1881.681,0.000,0.468
$DEVICE_MAMPS,159.536,106.613,921.167,514.657,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.583,337.570,606.620,465.144,933.068,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38194,500
$CAP_FILE_SIZE,206632,0
$CFSIZE,260165632,233021440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280908,045327,2248.021,-15748.427,11,1.6,11,10.1