version: 66.03
glider: 148
mission: 6
dive: 388
start: 9 29 108 9 17 33
data:
$ID,148
$MISSION,6
$DIVE,388
$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,-14509.466
$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,44
$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
$GPS1,091108,2248.317,-15748.223,40,0.8,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-65.8
$GPS2,091638,2248.317,-15748.252,8,1.3,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.135,-0.058
$KALMAN_X,-321490.5,126.6,505.9,335726.1,-2679.9
$KALMAN_Y,-261389.8,-353.6,313.9,261840.7,23.2
$MHEAD_RNG_PITCHd_Wd,103.1,1405,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.75,-49.4,0.0,0.0,0,89,0.00,0.00,-63.30,0.000,2,0.000,0.000,414,1994,2595
$GC,93,-1.80,-94.6,3.4,-3.3,8,127,11.15,2.17,-13.05,0.000,4,0.156,0.050,2519,647,3136
$GC,317,-1.73,-94.6,50.7,-21.7,37,325,0.08,2.20,0.00,0.000,6,0.129,0.019,2536,2052,3137
$GC,515,-1.73,-94.6,91.3,-18.4,56,519,0.00,2.25,0.00,0.000,4,0.000,0.031,2536,640,3138
$GC,604,-1.77,-94.6,106.8,-15.5,63,610,0.00,2.17,0.00,0.000,6,0.000,0.018,2536,2053,3138
$GC,802,-1.83,-94.6,135.3,-13.9,82,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2054,3138
$GC,995,-1.90,-94.6,162.3,-13.4,100,1000,0.12,2.22,0.00,0.000,4,0.054,0.029,2496,649,3139
$GC,1057,-1.90,-94.6,171.9,-16.2,105,1061,0.00,2.15,0.00,0.000,6,0.000,0.017,2496,2052,3139
$GC,1406,-1.90,-94.6,221.8,-13.0,126,1410,0.00,2.22,0.00,0.000,4,0.000,0.029,2496,648,3140
$GC,1592,-1.90,-94.6,250.3,-15.8,130,1596,0.00,2.12,0.00,0.000,6,0.000,0.018,2496,2050,3140
$GC,1911,-1.95,-94.6,292.7,-12.7,138,1915,0.00,2.22,0.00,0.000,4,0.000,0.040,2496,652,3140
$GC,2054,-2.01,-94.6,311.2,-12.9,141,2058,0.00,2.15,0.00,0.000,6,0.000,0.020,2495,2044,3140
$GC,2372,-2.08,-94.6,351.2,-12.8,149,2377,0.12,2.25,0.00,0.000,4,0.058,0.039,2457,657,3139
$GC,2528,-2.08,-94.6,375.3,-15.6,152,2532,0.00,2.17,0.00,0.000,6,0.000,0.028,2456,2046,3139
$GC,2871,-2.08,-94.6,425.3,-14.4,161,2875,0.00,2.30,0.00,0.000,4,0.000,0.044,2456,652,3137
$GC,3129,-2.08,-94.6,462.7,-14.7,166,3135,0.00,2.22,0.00,0.000,6,0.000,0.028,2456,2050,3135
$GC,3461,-2.08,-94.6,507.0,-13.4,175,3465,0.00,2.30,0.00,0.000,4,0.000,0.048,2456,661,3133
$STATE,3480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3480,begin apogee
$GC,3489,-0.31,0.0,510.1,12.9,175,3570,1.83,0.00,77.40,0.925,6,0.109,0.000,2850,2001,2749
$STATE,3571,end apogee,CONTROL_FINISHED_OK
$STATE,3571,begin climb
$GC,3574,1.80,94.6,512.1,0.0,177,3660,1.92,2.42,78.47,0.899,4,0.038,0.064,3329,3399,2362
$GC,3851,1.49,94.6,474.5,16.2,183,3856,0.43,2.25,0.00,0.000,6,0.124,0.035,3245,2014,2355
$GC,4196,1.32,94.6,429.7,12.8,192,4198,0.20,0.00,0.00,0.000,6,0.121,0.000,3208,2014,2352
$GC,4518,1.23,94.6,398.5,9.0,200,4522,0.00,2.42,0.00,0.000,4,0.000,0.066,3207,595,2349
$GC,4698,1.10,94.6,382.3,9.0,204,4703,0.22,2.25,0.00,0.000,6,0.117,0.032,3163,2003,2347
$GC,5018,1.11,104.8,359.1,7.3,212,5032,0.00,2.42,7.00,0.713,4,0.000,0.042,3163,590,2321
$GC,5123,1.07,104.8,348.7,9.9,214,5128,0.00,2.25,0.00,0.000,6,0.000,0.024,3163,2001,2320
$GC,5471,1.07,104.8,314.7,9.4,223,5475,0.00,2.33,0.00,0.000,4,0.000,0.043,3163,597,2317
$GC,5493,1.07,104.8,312.5,10.0,223,5497,0.00,2.25,0.00,0.000,6,0.000,0.025,3163,2011,2316
$GC,5831,1.09,115.5,285.9,7.3,232,5845,0.00,2.40,9.45,0.727,4,0.000,0.050,3163,590,2278
$GC,5907,1.09,122.4,279.8,7.7,233,5919,0.00,2.25,7.32,0.681,6,0.000,0.021,3163,2011,2250
$GC,6246,1.15,134.3,255.6,7.1,242,6265,0.00,2.45,11.48,0.727,4,0.000,0.042,3163,588,2199
$GC,6283,1.16,141.0,252.6,7.7,242,6296,0.00,2.25,7.12,0.651,6,0.000,0.027,3163,2001,2173
$GC,6621,1.23,141.0,221.9,10.0,251,6623,0.10,0.00,0.00,0.000,6,0.064,0.000,3198,2001,2171
$GC,6925,1.25,151.6,194.5,7.3,263,6940,0.00,2.35,10.02,0.666,4,0.000,0.041,3198,593,2130
$GC,7092,1.25,151.6,180.3,9.2,277,7099,0.00,2.22,0.00,0.000,6,0.000,0.028,3198,2006,2128
$GC,7417,1.25,151.6,153.0,9.3,308,7421,0.00,2.33,0.00,0.000,4,0.000,0.039,3198,580,2127
$GC,7481,1.25,151.6,146.9,9.3,313,7485,0.00,2.25,0.00,0.000,6,0.000,0.029,3199,2007,2127
$GC,7685,1.28,151.6,129.8,8.6,332,7689,0.00,2.30,0.00,0.000,4,0.000,0.038,3199,589,2126
$GC,7718,1.28,151.6,126.6,9.4,334,7727,0.00,2.25,0.00,0.000,6,0.000,0.024,3199,2001,2126
$GC,7921,1.31,153.5,110.2,8.3,353,7925,0.00,2.28,0.00,0.000,4,0.000,0.042,3199,3403,2126
$GC,8032,1.37,155.6,100.8,8.3,362,8046,0.00,2.25,4.72,0.472,6,0.000,0.024,3199,1977,2113
$GC,8238,1.45,175.6,86.5,6.2,381,8262,0.15,2.35,18.10,0.597,4,0.048,0.041,3254,3407,2031
$GC,8277,1.43,183.1,83.7,7.6,384,8292,0.12,2.25,7.68,0.524,6,0.120,0.021,3232,1986,2002
$GC,8483,1.48,191.5,67.9,7.5,403,8493,0.00,0.00,8.18,0.519,6,0.000,0.000,3232,1986,1968
$GC,8683,1.53,192.9,51.4,8.3,422,8687,0.00,2.22,0.00,0.000,4,0.000,0.042,3232,601,1966
$GC,8703,1.53,192.9,49.6,9.0,423,8707,0.00,2.20,0.00,0.000,6,0.000,0.018,3232,2011,1966
$GC,8909,1.57,194.5,32.3,8.3,442,8923,0.12,2.33,3.97,0.381,4,0.054,0.035,3278,602,1955
$GC,8929,1.57,194.5,30.1,8.8,443,8936,0.00,2.20,0.00,0.000,6,0.000,0.020,3278,1990,1955
$GC,9148,1.51,194.5,6.3,11.5,480,9158,0.15,2.28,0.00,0.000,4,0.110,0.035,3244,601,1955
$STATE,9178,end climb,SURFACE_DEPTH_REACHED
$STATE,9178,begin surface coast
$FINISH,0.8,1.008570
$STATE,9209,end surface coast,CONTROL_FINISHED_OK
$STATE,9209,begin surface
$SM_CCo,9233,135.93,0.522,0,0,954,440.07
$SM_GC,1.72,0.00,0.00,135.93,0.000,0.000,0.522,411,2074,954,-11.54,0.71,440.07
$IRIDIUM_FIX,2239.35,-15747.62,241297,060635
$TT8_MAMPS,0.027612
$HUMID,1764
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.20
$XPDR_PINGS,120
$24V_AH,23.7,52.027
$10V_AH,10.1,49.649
$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,28.300,99.650,250.925,135.925,0.000,30.118,26.136,139.598,30.000,0.000,0.000,14.799,1003.980,5834.210,459.076,1835.143,562.232,33.362,1190.117,0.000,1917.472,0.000,0.470
$DEVICE_MAMPS,156.468,65.962,925.002,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.512,330.883,613.297,455.547,908.124,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38189,489
$CAP_FILE_SIZE,206267,0
$CFSIZE,260165632,232280064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290908,115453,2247.909,-15748.047,9,2.4,28,10.1