version: 66.03
glider: 148
mission: 6
dive: 393
start: 9 29 108 23 4 32
data:
$ID,148
$MISSION,6
$DIVE,393
$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,-14592.916
$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,38
$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
$GPS1,225818,2247.464,-15747.899,8,2.7,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-60.2
$GPS2,230338,2247.428,-15747.961,10,1.6,10,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.076,0.126
$KALMAN_X,-327065.0,440.6,406.3,341585.8,-2228.3
$KALMAN_Y,-259279.2,275.1,-14.9,257789.5,296.3
$MHEAD_RNG_PITCHd_Wd,21.1,2066,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.75,-49.4,0.0,0.0,0,95,0.00,0.00,-69.55,0.000,2,0.000,0.000,411,2002,2767
$GC,99,-1.80,-87.2,3.6,-4.1,9,124,11.18,2.30,-7.62,0.000,4,0.157,0.037,2518,3464,3106
$GC,140,-1.09,-87.2,12.2,-17.9,14,149,0.75,2.25,0.00,0.000,6,0.110,0.021,2677,2044,3107
$GC,353,-1.31,-87.2,41.7,-13.2,43,358,0.15,2.20,0.00,0.000,4,0.048,0.030,2622,648,3108
$GC,416,-1.45,-87.2,51.4,-16.2,48,420,0.00,2.17,0.00,0.000,6,0.000,0.018,2621,2062,3109
$GC,617,-1.63,-87.2,80.3,-11.1,66,621,0.22,2.25,0.00,0.000,4,0.041,0.029,2547,651,3109
$GC,645,-1.71,-87.2,84.1,-12.9,68,649,0.00,2.15,0.00,0.000,6,0.000,0.017,2547,2055,3110
$GC,843,-1.77,-87.2,112.8,-14.4,86,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2055,3110
$GC,1034,-1.84,-87.2,138.5,-12.9,104,1039,0.12,2.22,0.00,0.000,4,0.055,0.029,2504,652,3110
$GC,1089,-1.84,-87.2,146.7,-15.9,108,1097,0.00,2.17,0.00,0.000,6,0.000,0.017,2504,2055,3110
$GC,1289,-1.84,-87.2,176.6,-15.5,127,1293,0.00,2.22,0.00,0.000,4,0.000,0.030,2504,652,3110
$GC,1550,-1.87,-87.2,217.1,-12.5,141,1556,0.00,2.12,0.00,0.000,6,0.000,0.017,2504,2055,3111
$GC,1882,-1.92,-87.2,257.6,-12.8,150,1886,0.00,2.22,0.00,0.000,4,0.000,0.031,2504,644,3111
$GC,2100,-1.98,-87.2,286.0,-12.2,154,2106,0.00,2.15,0.00,0.000,6,0.000,0.018,2504,2042,3111
$GC,2432,-2.04,-87.2,324.0,-11.6,163,2437,0.12,2.25,0.00,0.000,4,0.055,0.042,2462,649,3111
$GC,2639,-2.04,-87.2,356.5,-16.1,167,2643,0.00,2.17,0.00,0.000,6,0.000,0.021,2462,2043,3110
$GC,2976,-2.04,-87.2,401.9,-12.8,176,2980,0.00,2.28,0.00,0.000,4,0.000,0.042,2462,653,3109
$GC,3233,-2.04,-87.2,437.3,-14.8,181,3239,0.00,2.20,0.00,0.000,6,0.000,0.028,2462,2051,3107
$GC,3564,-2.04,-87.2,478.9,-12.1,190,3568,0.00,2.28,0.00,0.000,4,0.000,0.051,2462,663,3105
$STATE,3813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3814,begin apogee
$GC,3822,-0.31,0.0,510.6,12.7,195,3898,1.77,0.00,71.70,0.922,6,0.108,0.000,2847,1995,2749
$STATE,3899,end apogee,CONTROL_FINISHED_OK
$STATE,3899,begin climb
$GC,3902,1.80,87.2,512.2,0.0,197,3985,1.95,2.45,72.05,0.899,4,0.042,0.054,3316,3397,2393
$GC,4063,1.42,87.2,493.3,17.4,200,4069,0.45,2.25,0.00,0.000,6,0.129,0.032,3229,2019,2388
$GC,4397,1.18,87.2,447.9,13.5,208,4402,0.22,2.45,0.00,0.000,4,0.127,0.061,3182,593,2385
$GC,4599,0.99,87.2,423.0,11.1,212,4603,0.22,2.28,0.00,0.000,6,0.131,0.032,3141,2008,2383
$GC,4938,0.94,88.4,393.9,8.4,221,4942,0.00,2.38,0.00,0.000,4,0.000,0.043,3140,587,2381
$GC,5195,0.84,88.4,370.6,9.1,226,5202,0.17,2.25,0.00,0.000,6,0.133,0.023,3107,2001,2378
$GC,5527,0.85,98.8,346.9,7.3,235,5541,0.00,2.40,8.32,0.744,4,0.000,0.049,3107,594,2346
$GC,5796,0.85,98.8,320.5,10.3,241,5800,0.00,2.25,0.00,0.000,6,0.000,0.029,3107,2010,2344
$GC,6121,0.91,116.2,297.2,6.5,249,6142,0.00,2.40,15.65,0.777,4,0.000,0.044,3107,593,2274
$GC,6332,0.91,116.8,280.4,8.4,253,6338,0.00,2.22,0.00,0.000,6,0.000,0.025,3107,2000,2272
$GC,6664,0.97,122.2,254.5,7.9,262,6676,0.10,2.35,6.07,0.630,4,0.068,0.047,3137,594,2249
$GC,6766,0.93,122.2,243.9,10.1,264,6770,0.00,2.22,0.00,0.000,6,0.000,0.027,3137,1994,2248
$GC,7114,0.94,131.1,215.4,7.5,273,7128,0.00,2.38,8.52,0.662,4,0.000,0.047,3137,594,2214
$GC,7286,0.93,150.5,204.1,6.3,276,7310,0.00,2.25,18.15,0.708,6,0.000,0.028,3137,2013,2134
$GC,7631,0.96,150.5,175.1,8.5,303,7635,0.00,2.30,0.00,0.000,4,0.000,0.053,3137,3398,2130
$GC,7643,1.00,150.5,174.0,8.8,303,7652,0.00,2.28,0.00,0.000,6,0.000,0.031,3137,1986,2129
$GC,7969,1.08,162.8,148.4,7.1,334,7986,0.00,2.30,10.90,0.628,4,0.000,0.045,3137,605,2085
$GC,8039,1.12,162.8,142.9,8.7,340,8043,0.12,2.22,0.00,0.000,6,0.058,0.021,3177,2007,2084
$GC,8237,1.12,162.8,126.5,8.7,358,8241,0.00,2.30,0.00,0.000,4,0.000,0.038,3177,596,2082
$GC,8291,1.07,163.7,122.0,8.4,362,8295,0.12,2.22,0.00,0.000,6,0.123,0.028,3155,2008,2082
$GC,8489,1.12,170.3,106.2,7.7,380,8503,0.00,2.28,7.32,0.545,4,0.000,0.044,3155,3401,2054
$GC,8516,1.17,173.0,104.1,8.2,382,8530,0.00,2.22,4.12,0.432,6,0.000,0.029,3155,1996,2043
$GC,8722,1.24,175.8,87.6,8.2,401,8734,0.15,2.33,4.03,0.416,4,0.052,0.038,3203,3396,2031
$GC,8852,1.24,175.8,74.4,10.1,412,8856,0.00,2.17,0.00,0.000,6,0.000,0.030,3203,1994,2030
$GC,9058,1.25,188.6,60.6,7.0,431,9075,0.00,2.33,12.38,0.548,4,0.000,0.042,3203,3406,1979
$GC,9107,1.25,188.6,56.5,9.2,435,9111,0.00,2.22,0.00,0.000,6,0.000,0.028,3203,1995,1977
$GC,9307,1.25,188.6,37.3,9.4,453,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1995,1977
$GC,9507,1.25,188.6,18.4,10.8,481,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1995,1977
$STATE,9666,end climb,SURFACE_DEPTH_REACHED
$STATE,9666,begin surface coast
$FINISH,0.9,1.023426
$STATE,9703,end surface coast,CONTROL_FINISHED_OK
$STATE,9703,begin surface
$SM_CCo,9726,136.95,0.521,0,0,953,440.07
$SM_GC,1.61,0.00,0.00,136.95,0.000,0.000,0.521,408,2152,953,-11.56,2.88,440.07
$IRIDIUM_FIX,2239.35,-15746.73,241297,202027
$TT8_MAMPS,0.027612
$HUMID,1764
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.40
$XPDR_PINGS,126
$24V_AH,23.7,52.484
$10V_AH,10.1,50.159
$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,29.100,99.575,239.225,136.950,0.000,29.182,36.069,130.761,31.500,0.000,0.000,11.990,1089.517,5934.205,457.630,2123.455,575.765,33.366,1283.524,0.000,2200.310,0.000,0.469
$DEVICE_MAMPS,157.235,72.865,921.934,520.793,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,420.794,367.011,647.787,485.641,983.923,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38228,514
$CAP_FILE_SIZE,219045,0
$CFSIZE,260165632,231940096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300908,015008,2247.674,-15748.455,32,0.9,32,10.1