version: 66.03
glider: 148
mission: 6
dive: 395
start: 9 30 108 4 38 28
data:
$ID,148
$MISSION,6
$DIVE,395
$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,-14622.177
$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,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
$GPS1,043237,2248.167,-15748.459,28,0.9,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-60.6
$GPS2,043733,2248.179,-15748.516,12,1.0,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.113,-0.106
$KALMAN_X,-330010.7,492.9,-276.0,344214.9,-2173.0
$KALMAN_Y,-259185.8,-258.1,-209.9,259811.4,939.0
$MHEAD_RNG_PITCHd_Wd,123.1,891,-25.7,-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,23,-1.68,-54.2,0.0,0.0,0,87,0.00,0.00,-61.92,0.000,2,0.000,0.000,408,2158,2553
$GC,91,-1.74,-108.0,3.0,-2.8,8,126,11.30,2.47,-16.17,0.000,4,0.158,0.049,2533,644,3191
$GC,221,-1.79,-108.0,25.0,-19.6,28,230,0.00,2.22,0.00,0.000,6,0.000,0.018,2533,2060,3192
$GC,430,-1.79,-108.0,65.5,-20.2,49,434,0.00,2.22,0.00,0.000,4,0.000,0.027,2533,650,3193
$GC,498,-1.82,-108.0,79.1,-20.0,54,502,0.00,2.17,0.00,0.000,6,0.000,0.019,2533,2053,3193
$GC,696,-1.92,-108.0,111.6,-15.4,72,701,0.15,2.25,0.00,0.000,4,0.048,0.030,2483,643,3194
$GC,760,-1.97,-108.0,122.4,-17.4,77,764,0.00,2.17,0.00,0.000,6,0.000,0.018,2483,2058,3194
$GC,963,-2.00,-108.0,155.1,-15.2,96,967,0.00,2.25,0.00,0.000,4,0.000,0.030,2483,642,3194
$GC,1061,-2.07,-108.0,170.1,-15.6,104,1065,0.00,2.17,0.00,0.000,6,0.000,0.018,2483,2061,3195
$GC,1382,-2.14,-108.0,211.8,-13.3,128,1387,0.12,2.25,0.00,0.000,4,0.054,0.030,2440,650,3196
$GC,1640,-2.14,-108.0,253.7,-14.8,133,1646,0.00,2.15,0.00,0.000,6,0.000,0.018,2440,2056,3196
$GC,1971,-2.17,-108.0,302.3,-13.7,142,1975,0.00,2.25,0.00,0.000,4,0.000,0.038,2440,654,3196
$GC,2178,-2.17,-108.0,329.7,-11.7,146,2181,0.00,2.15,0.00,0.000,6,0.000,0.021,2440,2043,3196
$GC,2515,-2.22,-108.0,368.2,-11.7,155,2519,0.00,2.25,0.00,0.000,4,0.000,0.042,2439,659,3195
$GC,2761,-2.25,-108.0,399.9,-12.9,160,2765,0.00,2.17,0.00,0.000,6,0.000,0.031,2440,2042,3194
$GC,3098,-2.30,-108.0,440.8,-12.5,169,3102,0.00,2.28,0.00,0.000,4,0.000,0.052,2440,661,3192
$GC,3357,-2.35,-108.0,477.5,-14.1,174,3363,0.15,2.22,0.00,0.000,6,0.053,0.030,2394,2055,3191
$STATE,3604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3604,begin apogee
$GC,3611,-0.31,0.0,513.8,14.6,181,3704,2.12,0.00,88.50,0.926,6,0.103,0.000,2849,1984,2749
$STATE,3705,end apogee,CONTROL_FINISHED_OK
$STATE,3705,begin climb
$GC,3708,1.74,108.0,515.7,0.0,183,3807,1.85,2.45,89.65,0.900,4,0.032,0.060,3311,3398,2307
$GC,3897,1.35,108.0,494.1,18.8,187,3903,0.50,2.22,0.00,0.000,6,0.127,0.029,3213,2033,2301
$GC,4242,1.12,108.0,444.7,14.0,196,4247,0.22,2.47,0.00,0.000,4,0.123,0.063,3167,596,2298
$GC,4500,0.92,108.0,410.4,12.7,201,4507,0.22,2.25,0.00,0.000,6,0.127,0.028,3125,1998,2295
$GC,4832,0.87,108.0,378.4,9.2,210,4836,0.00,2.35,0.00,0.000,4,0.000,0.044,3125,593,2292
$GC,4974,0.77,108.0,365.6,8.9,213,4979,0.17,2.25,0.00,0.000,6,0.120,0.025,3091,2006,2290
$GC,5290,0.79,124.4,344.0,6.8,221,5308,0.00,2.45,11.68,0.775,4,0.000,0.045,3090,589,2240
$GC,5561,0.79,124.4,319.5,9.5,227,5566,0.00,2.25,0.00,0.000,6,0.000,0.029,3091,2008,2238
$GC,5881,0.83,124.4,289.7,9.5,235,5885,0.00,2.33,0.00,0.000,4,0.000,0.049,3090,595,2236
$GC,6043,0.84,128.2,275.2,8.1,238,6054,0.00,2.22,3.95,0.522,6,0.000,0.028,3090,2008,2225
$GC,6382,0.92,143.7,252.3,6.9,247,6401,0.12,2.38,14.35,0.732,4,0.058,0.049,3130,586,2163
$GC,6593,0.87,143.7,232.2,8.9,251,6597,0.00,2.22,0.00,0.000,6,0.000,0.026,3130,1998,2160
$GC,6924,0.87,144.0,205.6,8.5,259,6928,0.00,2.33,0.00,0.000,4,0.000,0.045,3130,587,2159
$GC,6946,0.87,144.0,203.3,9.5,259,6950,0.00,2.25,0.00,0.000,6,0.000,0.025,3130,2010,2159
$GC,7275,0.87,144.0,173.0,10.0,287,7279,0.00,2.33,0.00,0.000,4,0.000,0.041,3130,589,2159
$GC,7409,0.84,144.0,159.9,9.9,298,7413,0.15,2.22,0.00,0.000,6,0.115,0.027,3101,2006,2158
$GC,7734,0.93,151.5,135.0,7.7,328,7747,0.00,2.35,7.38,0.567,4,0.000,0.048,3101,3400,2131
$GC,7764,1.03,152.8,132.3,8.4,330,7772,0.15,2.28,0.00,0.000,6,0.037,0.026,3155,1986,2130
$GC,7966,1.03,152.8,114.2,8.6,349,7970,0.00,2.25,0.00,0.000,4,0.000,0.038,3155,591,2131
$GC,8067,0.99,152.8,104.7,9.3,357,8071,0.00,2.20,0.00,0.000,6,0.000,0.021,3155,2001,2130
$GC,8269,1.01,168.3,90.8,6.9,375,8293,0.00,2.33,15.70,0.589,4,0.000,0.042,3155,605,2060
$GC,8550,1.04,189.0,69.4,6.3,399,8574,0.00,2.20,18.15,0.572,6,0.000,0.025,3155,2000,1978
$GC,8778,1.12,206.5,55.0,6.7,420,8801,0.00,0.00,15.62,0.548,6,0.000,0.000,3155,2000,1908
$GC,8994,1.18,206.5,36.6,8.5,440,8998,0.10,2.28,0.00,0.000,4,0.058,0.034,3197,595,1905
$GC,9079,1.12,206.5,27.5,11.2,449,9088,0.12,2.22,0.00,0.000,6,0.100,0.020,3168,1991,1905
$GC,9304,1.16,206.5,5.7,10.5,486,9312,0.00,2.28,0.00,0.000,4,0.000,0.034,3168,594,1904
$STATE,9332,end climb,SURFACE_DEPTH_REACHED
$STATE,9332,begin surface coast
$FINISH,0.8,1.002146
$STATE,9361,end surface coast,CONTROL_FINISHED_OK
$STATE,9363,begin surface
$SM_CCo,9387,115.55,0.515,0,0,954,440.07
$SM_GC,1.67,0.00,0.00,115.55,0.000,0.000,0.515,414,2094,954,-11.53,1.24,440.07
$IRIDIUM_FIX,2239.35,-15749.78,251297,020254
$TT8_MAMPS,0.027612
$HUMID,1762
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.40
$XPDR_PINGS,115
$24V_AH,23.7,52.667
$10V_AH,10.1,50.366
$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,28.675,95.400,264.975,115.550,0.000,22.567,27.778,124.866,28.750,0.000,0.000,13.859,1045.815,5719.015,452.466,2029.225,551.858,33.364,1248.212,0.000,2121.913,0.000,0.469
$DEVICE_MAMPS,158.002,102.011,925.769,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.635,337.672,643.200,474.606,948.489,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38249,495
$CAP_FILE_SIZE,209865,0
$CFSIZE,260165632,231813120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300908,071759,2247.985,-15748.149,7,5.9,26,10.1