version: 66.03
glider: 148
mission: 6
dive: 397
start: 9 30 108 10 8 56
data:
$ID,148
$MISSION,6
$DIVE,397
$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,-14667.745
$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,39
$R_STBD_OVSHOOT,40
$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
$GPS1,100256,2247.624,-15747.999,38,1.1,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-61.0
$GPS2,100802,2247.601,-15748.041,12,1.1,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.133,0.064
$KALMAN_X,-332257.1,-20.4,607.4,346901.0,-2786.3
$KALMAN_Y,-258302.6,-467.1,306.3,257555.3,181.5
$MHEAD_RNG_PITCHd_Wd,54.2,1795,-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,-69.85,0.000,2,0.000,0.000,411,2004,2789
$GC,99,-1.80,-87.8,3.6,-4.1,9,124,11.25,2.15,-6.95,0.000,4,0.159,0.049,2522,647,3107
$GC,140,-1.10,-87.8,13.1,-19.7,14,149,0.70,2.22,0.00,0.000,6,0.106,0.018,2672,2064,3109
$GC,356,-1.46,-89.3,35.6,-8.3,45,361,0.28,2.28,0.00,0.000,4,0.033,0.038,2577,638,3110
$GC,400,-1.63,-89.3,40.7,-14.0,48,404,0.00,2.17,0.00,0.000,6,0.000,0.018,2577,2047,3110
$GC,606,-1.81,-89.3,71.1,-14.0,67,611,0.17,2.25,0.00,0.000,4,0.043,0.030,2512,637,3110
$GC,650,-1.90,-89.3,77.3,-15.4,70,653,0.00,2.17,0.00,0.000,6,0.000,0.018,2513,2052,3110
$GC,847,-2.01,-89.3,106.7,-13.9,88,852,0.15,2.22,0.00,0.000,4,0.049,0.031,2459,647,3110
$GC,942,-2.01,-89.3,122.6,-15.9,96,947,0.10,2.17,0.00,0.000,6,0.123,0.018,2478,2063,3110
$GC,1140,-2.09,-89.3,149.8,-13.5,114,1144,0.00,2.25,0.00,0.000,4,0.000,0.030,2478,644,3111
$GC,1271,-2.17,-89.3,168.5,-14.6,125,1275,0.12,2.15,0.00,0.000,6,0.055,0.018,2434,2050,3112
$GC,1613,-2.17,-89.3,218.6,-14.2,148,1617,0.00,2.22,0.00,0.000,4,0.000,0.031,2434,648,3112
$GC,1836,-2.17,-89.3,254.3,-14.8,153,1840,0.00,2.15,0.00,0.000,6,0.000,0.017,2434,2059,3112
$GC,2163,-2.23,-89.3,295.3,-12.1,161,2167,0.00,2.25,0.00,0.000,4,0.000,0.034,2434,644,3112
$GC,2420,-2.23,-89.3,329.5,-14.5,166,2424,0.00,2.17,0.00,0.000,6,0.000,0.027,2434,2055,3112
$GC,2751,-2.29,-89.3,371.9,-12.8,174,2755,0.00,2.30,0.00,0.000,4,0.000,0.043,2434,648,3111
$GC,3009,-2.33,-89.3,407.5,-13.7,179,3016,0.00,2.20,0.00,0.000,6,0.000,0.025,2434,2049,3110
$GC,3341,-2.41,-89.3,446.8,-11.7,188,3346,0.17,2.30,0.00,0.000,4,0.047,0.051,2380,658,3108
$GC,3599,-2.34,-89.3,484.1,-13.9,193,3606,0.15,2.20,0.00,0.000,6,0.114,0.029,2409,2045,3106
$STATE,3846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3846,begin apogee
$GC,3853,-0.31,0.0,513.8,11.9,200,3930,2.05,0.00,71.78,0.925,6,0.099,0.000,2851,2046,2749
$STATE,3930,end apogee,CONTROL_FINISHED_OK
$STATE,3931,begin climb
$GC,3933,1.80,89.3,514.6,0.0,202,4016,1.88,2.47,74.12,0.900,4,0.028,0.054,3324,605,2383
$GC,4270,1.30,89.3,462.3,19.5,209,4275,0.60,2.25,0.00,0.000,6,0.127,0.026,3206,1994,2376
$GC,4609,1.06,89.3,417.4,12.7,218,4614,0.25,2.38,0.00,0.000,4,0.133,0.059,3157,3403,2373
$GC,4829,0.91,89.3,395.6,8.9,223,4833,0.20,2.25,0.00,0.000,6,0.137,0.034,3120,2006,2371
$GC,5155,0.84,91.9,369.8,8.2,231,5159,0.00,2.38,0.00,0.000,4,0.000,0.064,3120,601,2369
$GC,5332,0.71,91.9,351.3,11.4,235,5337,0.22,2.25,0.00,0.000,6,0.128,0.024,3077,2011,2368
$GC,5660,0.71,93.7,322.7,8.3,243,5664,0.00,2.33,0.00,0.000,4,0.000,0.042,3077,603,2367
$GC,5671,0.72,98.7,321.5,7.9,243,5681,0.00,2.22,6.03,0.667,6,0.000,0.022,3077,2014,2346
$GC,6021,0.77,116.6,297.6,6.4,252,6044,0.00,2.45,16.45,0.777,4,0.000,0.050,3077,600,2272
$GC,6142,0.78,121.4,288.6,8.0,254,6153,0.00,2.22,4.95,0.594,6,0.000,0.028,3077,2003,2254
$GC,6480,0.86,137.7,266.1,6.6,263,6501,0.12,2.38,15.25,0.746,4,0.060,0.044,3116,600,2186
$GC,6565,0.80,137.7,257.7,10.3,265,6569,0.12,2.25,0.00,0.000,6,0.123,0.029,3093,2002,2184
$GC,6896,0.84,142.3,230.2,8.0,273,6903,0.00,0.00,4.55,0.543,6,0.000,0.000,3093,2003,2169
$GC,7220,0.90,145.3,204.9,8.2,281,7229,0.00,2.35,4.40,0.520,4,0.000,0.046,3093,593,2156
$GC,7270,0.90,145.3,200.5,9.1,282,7274,0.00,2.25,0.00,0.000,6,0.000,0.021,3093,2011,2155
$GC,7605,0.96,150.3,172.3,7.9,311,7617,0.15,2.30,5.80,0.562,4,0.054,0.050,3144,3403,2135
$GC,7623,0.97,155.3,170.5,7.9,312,7635,0.00,2.28,6.45,0.570,6,0.000,0.028,3144,1993,2114
$GC,7960,0.97,155.3,139.6,9.0,344,7964,0.00,2.25,0.00,0.000,4,0.000,0.041,3145,598,2112
$GC,8170,0.91,155.3,116.9,10.6,362,8180,0.10,2.22,0.00,0.000,6,0.110,0.023,3121,2004,2111
$GC,8373,0.95,155.4,100.5,8.5,381,8377,0.00,2.30,0.00,0.000,4,0.000,0.041,3121,590,2111
$GC,8503,0.97,166.8,89.5,7.2,392,8520,0.00,2.20,10.50,0.568,6,0.000,0.020,3121,2002,2068
$GC,8722,1.08,180.6,74.3,6.9,412,8737,0.15,0.00,12.98,0.562,6,0.051,0.000,3174,2002,2012
$GC,8927,1.09,190.6,60.3,7.3,431,8941,0.00,2.35,9.70,0.529,4,0.000,0.042,3174,598,1971
$GC,8970,1.05,200.2,57.2,7.4,434,8985,0.12,2.20,9.73,0.522,6,0.117,0.019,3151,1997,1932
$GC,9176,1.09,200.2,36.8,10.8,453,9179,0.00,2.28,0.00,0.000,4,0.000,0.042,3151,592,1930
$GC,9230,1.09,200.2,31.0,10.6,457,9234,0.00,2.20,0.00,0.000,6,0.000,0.018,3151,2008,1930
$GC,9448,1.09,200.2,8.2,11.2,492,9456,0.00,2.33,0.00,0.000,4,0.000,0.037,3151,594,1929
$STATE,9487,end climb,SURFACE_DEPTH_REACHED
$STATE,9487,begin surface coast
$FINISH,0.7,1.011103
$STATE,9512,end surface coast,CONTROL_FINISHED_OK
$STATE,9512,begin surface
$SM_CCo,9536,126.40,0.519,0,0,954,440.07
$SM_GC,1.62,0.00,0.00,126.40,0.000,0.000,0.519,412,2080,954,-11.53,0.85,440.07
$IRIDIUM_FIX,2237.01,-15747.62,251297,070745
$TT8_MAMPS,0.026845
$HUMID,1778
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.00
$XPDR_PINGS,147
$24V_AH,23.7,52.845
$10V_AH,10.1,50.573
$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,30.175,99.500,252.675,126.400,0.000,30.196,30.213,123.331,36.750,0.000,0.000,13.937,1064.378,5874.212,447.782,2017.635,563.368,33.360,1237.393,0.000,2118.173,0.000,0.468
$DEVICE_MAMPS,158.769,63.661,925.002,519.259,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.315,320.625,638.842,491.415,971.539,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38193,502
$CAP_FILE_SIZE,214689,0
$CFSIZE,260165632,231677952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300908,125107,2247.568,-15748.239,11,1.4,27,10.1