version: 66.03
glider: 148
mission: 6
dive: 384
start: 9 28 108 21 34 16
data:
$ID,148
$MISSION,6
$DIVE,384
$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,-14445.48
$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,45
$R_STBD_OVSHOOT,39
$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
$GPS1,212835,2247.847,-15748.167,13,6.2,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-66.0
$GPS2,213321,2247.842,-15748.194,10,1.0,10,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,-0.058
$KALMAN_X,-317051.4,230.8,670.3,331125.8,-2587.0
$KALMAN_Y,-262461.5,-204.4,183.3,262018.6,807.5
$MHEAD_RNG_PITCHd_Wd,102.9,1406,-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,-49.4,0.0,0.0,0,87,0.00,0.00,-62.22,0.000,2,0.000,0.000,410,2130,2567
$GC,91,-1.81,-95.8,3.2,-3.2,8,125,11.27,2.35,-14.32,0.000,4,0.160,0.044,2519,651,3140
$GC,164,-1.73,-95.8,15.0,-19.9,18,172,0.08,2.20,0.00,0.000,6,0.129,0.018,2537,2053,3141
$GC,372,-1.63,-95.8,62.3,-23.2,42,377,0.12,2.25,0.00,0.000,4,0.129,0.028,2560,643,3141
$GC,449,-1.72,-95.8,76.4,-14.1,48,453,0.00,2.17,0.00,0.000,6,0.000,0.017,2560,2057,3142
$GC,647,-1.79,-95.8,106.8,-15.6,66,652,0.15,2.25,0.00,0.000,4,0.050,0.029,2507,645,3143
$GC,691,-1.74,-95.8,113.8,-18.6,69,696,0.15,2.15,0.00,0.000,6,0.117,0.017,2536,2049,3144
$GC,893,-1.81,-95.8,145.8,-14.1,87,896,0.00,2.22,0.00,0.000,4,0.000,0.030,2536,648,3145
$GC,1040,-1.89,-95.8,167.8,-13.2,99,1049,0.08,2.17,0.00,0.000,6,0.044,0.018,2497,2052,3145
$GC,1391,-1.89,-95.8,216.9,-13.9,124,1395,0.00,2.22,0.00,0.000,4,0.000,0.030,2497,650,3146
$GC,1527,-1.89,-95.8,235.9,-14.0,127,1531,0.00,2.15,0.00,0.000,6,0.000,0.018,2497,2057,3146
$GC,1846,-1.93,-95.8,279.1,-13.4,135,1849,0.00,2.25,0.00,0.000,4,0.000,0.033,2497,648,3147
$GC,2030,-1.96,-95.8,306.5,-14.9,139,2034,0.00,2.17,0.00,0.000,6,0.000,0.022,2497,2055,3146
$GC,2345,-2.02,-95.8,346.7,-12.5,147,2349,0.00,2.25,0.00,0.000,4,0.000,0.036,2497,659,3146
$GC,2579,-2.07,-95.8,378.7,-13.3,152,2584,0.12,2.15,0.00,0.000,6,0.054,0.025,2455,2044,3145
$GC,2892,-2.07,-95.8,419.6,-13.1,160,2896,0.00,2.25,0.00,0.000,4,0.000,0.041,2455,659,3143
$GC,3151,-2.03,-95.8,455.6,-15.1,165,3156,0.10,2.20,0.00,0.000,6,0.127,0.034,2473,2048,3141
$GC,3484,-2.07,-95.8,498.7,-13.2,173,3488,0.00,2.30,0.00,0.000,4,0.000,0.047,2473,661,3140
$STATE,3560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3560,begin apogee
$GC,3569,-0.31,0.0,510.4,13.9,174,3655,1.73,0.00,78.88,0.923,6,0.105,0.000,2849,2002,2748
$STATE,3656,end apogee,CONTROL_FINISHED_OK
$STATE,3656,begin climb
$GC,3658,1.81,95.8,513.5,0.0,177,3745,1.95,2.42,79.25,0.898,4,0.040,0.061,3319,3399,2357
$GC,3887,1.51,95.8,487.7,15.5,182,3892,0.35,2.25,0.00,0.000,6,0.121,0.028,3251,2017,2351
$GC,4237,1.34,95.8,443.0,12.8,191,4241,0.15,2.42,0.00,0.000,4,0.123,0.058,3217,597,2348
$GC,4494,1.20,95.8,409.5,11.8,196,4500,0.17,2.25,0.00,0.000,6,0.120,0.032,3185,2001,2345
$GC,4825,1.17,95.8,379.7,8.6,205,4829,0.00,2.35,0.00,0.000,4,0.000,0.048,3184,593,2343
$GC,4887,1.10,95.8,374.0,9.5,206,4891,0.12,2.25,0.00,0.000,6,0.131,0.025,3163,2005,2342
$GC,5229,1.11,102.3,348.4,7.8,215,5233,0.00,2.35,0.00,0.000,4,0.000,0.047,3163,590,2341
$GC,5269,1.11,102.3,345.0,8.7,216,5273,0.00,2.25,0.00,0.000,6,0.000,0.024,3162,2001,2340
$GC,5593,1.14,107.3,319.4,7.9,224,5607,0.00,2.42,7.43,0.706,4,0.000,0.044,3162,590,2311
$GC,5731,1.14,107.3,307.9,8.9,227,5735,0.00,2.25,0.00,0.000,6,0.000,0.025,3162,2002,2310
$GC,6056,1.20,116.2,282.4,7.5,235,6070,0.00,2.40,8.70,0.709,4,0.000,0.048,3162,597,2274
$GC,6205,1.20,116.2,269.1,9.8,238,6209,0.00,2.25,0.00,0.000,6,0.000,0.029,3162,2013,2273
$GC,6521,1.26,124.8,244.2,7.5,246,6536,0.15,2.35,8.20,0.676,4,0.052,0.049,3215,3387,2240
$GC,6559,1.21,124.8,240.9,8.9,246,6565,0.15,2.25,0.00,0.000,6,0.120,0.028,3187,1984,2239
$GC,6890,1.22,130.9,214.6,7.8,255,6903,0.00,2.35,6.62,0.621,4,0.000,0.051,3187,603,2215
$GC,7114,1.22,130.9,194.7,8.8,263,7118,0.00,2.20,0.00,0.000,6,0.000,0.021,3187,2003,2213
$GC,7439,1.29,152.3,173.7,6.0,293,7464,0.00,2.38,19.35,0.682,4,0.000,0.047,3187,3395,2127
$GC,7547,1.35,161.4,165.5,7.5,302,7567,0.10,2.22,8.40,0.601,6,0.063,0.025,3223,1993,2092
$GC,7882,1.35,161.4,134.2,9.1,334,7886,0.00,2.25,0.00,0.000,4,0.000,0.041,3223,601,2091
$GC,8055,1.35,161.4,116.1,10.9,348,8064,0.00,2.20,0.00,0.000,6,0.000,0.025,3223,1990,2090
$GC,8256,1.35,161.4,97.8,10.0,367,8260,0.00,2.25,0.00,0.000,4,0.000,0.040,3223,599,2089
$GC,8267,1.35,161.4,96.0,10.7,367,8273,0.00,2.20,0.00,0.000,6,0.000,0.021,3223,2007,2089
$GC,8467,1.38,161.4,78.7,8.8,386,8471,0.00,2.25,0.00,0.000,4,0.000,0.038,3223,3402,2090
$GC,8731,1.46,178.9,57.2,6.5,408,8753,0.00,2.22,16.02,0.564,6,0.000,0.023,3223,1993,2019
$GC,8945,1.55,198.2,45.4,6.3,428,8964,0.15,0.00,17.17,0.548,6,0.163,0.000,3280,1993,1941
$GC,9158,1.51,198.2,25.4,10.1,451,9166,0.15,0.00,0.00,0.000,6,0.108,0.000,3246,1993,1938
$GC,9379,1.51,198.2,4.2,9.9,488,9387,0.00,2.25,0.00,0.000,4,0.000,0.036,3245,608,1938
$STATE,9394,end climb,SURFACE_DEPTH_REACHED
$STATE,9394,begin surface coast
$FINISH,0.7,1.011523
$STATE,9425,end surface coast,CONTROL_FINISHED_OK
$STATE,9425,begin surface
$SM_CCo,9449,134.45,0.517,0,0,954,440.07
$SM_GC,1.62,0.00,0.00,134.45,0.000,0.000,0.517,412,2078,954,-11.54,0.79,440.07
$IRIDIUM_FIX,2239.35,-15749.78,231297,181845
$TT8_MAMPS,0.027612
$HUMID,1773
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.30
$XPDR_PINGS,115
$24V_AH,23.7,51.632
$10V_AH,10.1,49.225
$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,28.825,99.450,250.025,134.450,0.000,24.034,27.055,116.723,28.750,0.000,0.000,12.209,1041.512,5843.638,463.060,1990.768,530.188,33.365,1253.093,0.000,2074.915,0.000,0.468
$DEVICE_MAMPS,162.604,61.360,922.701,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.330,336.671,635.462,484.646,948.232,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38294,495
$CAP_FILE_SIZE,210167,0
$CFSIZE,260165632,232558592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290908,001508,2247.456,-15747.897,27,1.2,27,10.1