version: 66.03
glider: 148
mission: 6
dive: 402
start: 9 30 108 23 52 32
data:
$ID,148
$MISSION,6
$DIVE,402
$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,-14761.709
$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,42
$R_STBD_OVSHOOT,36
$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
$GPS1,234637,2248.072,-15747.788,35,1.1,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-60.4
$GPS2,235138,2248.026,-15747.824,9,1.5,9,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,0.057
$KALMAN_X,-340214.2,464.3,470.8,354873.9,-3314.6
$KALMAN_Y,-258878.5,87.0,-218.5,258888.3,-605.5
$MHEAD_RNG_PITCHd_Wd,57.0,2008,-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,-49.4,0.0,0.0,0,88,0.00,0.00,-62.58,0.000,2,0.000,0.000,407,2155,2560
$GC,92,-1.81,-100.1,3.1,-2.7,8,126,11.27,2.42,-14.73,0.000,4,0.161,0.044,2516,649,3159
$GC,166,-1.85,-100.1,14.0,-17.0,18,174,0.00,2.22,0.00,0.000,6,0.000,0.018,2516,2064,3159
$GC,374,-1.85,-100.1,55.5,-19.6,43,378,0.00,2.25,0.00,0.000,4,0.000,0.028,2516,650,3159
$GC,443,-1.96,-100.1,68.9,-16.5,48,452,0.08,2.17,0.00,0.000,6,0.048,0.024,2482,2041,3159
$GC,643,-1.96,-100.1,103.8,-18.7,67,647,0.00,2.22,0.00,0.000,4,0.000,0.031,2482,644,3160
$GC,833,-2.00,-100.1,136.1,-16.1,83,837,0.00,2.17,0.00,0.000,6,0.000,0.018,2482,2055,3161
$GC,1031,-2.08,-100.1,164.1,-13.9,101,1035,0.00,2.22,0.00,0.000,4,0.000,0.030,2482,650,3162
$GC,1139,-2.16,-100.1,178.3,-13.7,110,1144,0.12,2.15,0.00,0.000,6,0.057,0.018,2441,2052,3162
$GC,1461,-2.20,-100.1,224.5,-14.7,128,1465,0.00,2.25,0.00,0.000,4,0.000,0.036,2441,641,3163
$GC,1562,-2.24,-100.1,240.1,-14.6,130,1566,0.00,2.15,0.00,0.000,6,0.000,0.018,2441,2052,3163
$GC,1876,-2.31,-100.1,280.2,-13.0,138,1880,0.00,2.22,0.00,0.000,4,0.000,0.041,2441,652,3164
$GC,2134,-2.37,-100.1,318.3,-14.0,143,2139,0.15,2.15,0.00,0.000,6,0.054,0.019,2394,2045,3163
$GC,2466,-2.37,-100.1,365.8,-14.1,151,2470,0.00,2.28,0.00,0.000,4,0.000,0.045,2394,653,3163
$GC,2724,-2.33,-100.1,408.5,-15.9,156,2730,0.00,2.20,0.00,0.000,6,0.000,0.025,2394,2050,3161
$GC,3055,-2.33,-100.1,453.4,-13.1,165,3059,0.00,2.28,0.00,0.000,4,0.000,0.047,2394,3453,3160
$GC,3279,-2.33,-100.1,482.4,-11.9,170,3283,0.00,2.22,0.00,0.000,6,0.000,0.036,2394,2056,3158
$STATE,3513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3513,begin apogee
$GC,3520,-0.31,0.0,510.5,11.9,176,3607,2.15,0.00,81.90,0.916,6,0.108,0.000,2849,1977,2749
$STATE,3608,end apogee,CONTROL_FINISHED_OK
$STATE,3608,begin climb
$GC,3611,1.81,100.1,511.1,0.0,178,3702,1.90,2.45,83.03,0.890,4,0.031,0.048,3327,3397,2339
$GC,3780,1.43,100.1,490.5,18.7,182,3785,0.47,2.22,0.00,0.000,6,0.131,0.029,3235,2032,2334
$GC,4100,1.19,100.1,444.5,13.8,190,4104,0.25,2.47,0.00,0.000,4,0.123,0.069,3183,596,2330
$GC,4358,1.00,100.1,409.3,12.3,195,4365,0.22,2.25,0.00,0.000,6,0.130,0.031,3141,1995,2327
$GC,4691,0.94,100.1,375.0,10.2,204,4695,0.00,2.35,0.00,0.000,4,0.000,0.050,3141,591,2325
$GC,4949,0.83,100.1,346.6,10.7,209,4956,0.20,2.25,0.00,0.000,6,0.131,0.030,3104,2006,2323
$GC,5281,0.84,103.6,318.8,8.1,218,5285,0.00,2.35,0.00,0.000,4,0.000,0.044,3104,590,2321
$GC,5538,0.84,103.6,296.4,8.8,223,5545,0.00,2.25,0.00,0.000,6,0.000,0.023,3104,2008,2321
$GC,5871,0.89,110.3,270.6,7.7,232,5882,0.00,2.38,6.07,0.637,4,0.000,0.048,3104,586,2298
$GC,6013,0.89,115.5,259.3,7.9,235,6024,0.00,2.25,5.88,0.621,6,0.000,0.026,3104,2007,2278
$GC,6371,0.97,127.8,233.5,7.1,244,6388,0.12,2.38,11.25,0.698,4,0.060,0.042,3142,590,2229
$GC,6641,0.92,127.8,208.2,9.5,250,6646,0.10,2.22,0.00,0.000,6,0.129,0.026,3124,2003,2226
$GC,6972,1.00,153.2,183.7,5.6,273,6999,0.00,2.38,22.73,0.693,4,0.000,0.040,3124,583,2123
$GC,7127,1.00,153.2,171.1,9.2,286,7131,0.00,2.25,0.00,0.000,6,0.000,0.021,3124,2003,2120
$GC,7453,1.07,153.2,142.6,9.1,316,7457,0.12,2.33,0.00,0.000,4,0.058,0.038,3165,582,2118
$GC,7472,1.10,153.2,140.8,9.4,317,7476,0.00,2.25,0.00,0.000,6,0.000,0.029,3164,2003,2118
$GC,7674,1.10,153.5,121.6,8.5,335,7678,0.00,2.30,0.00,0.000,4,0.000,0.045,3164,584,2118
$GC,7820,1.10,153.5,108.4,9.1,347,7824,0.00,2.25,0.00,0.000,6,0.000,0.021,3164,2009,2118
$GC,8022,1.11,160.1,93.3,7.7,365,8034,0.00,2.28,6.53,0.515,4,0.000,0.041,3164,3409,2095
$GC,8128,1.16,164.2,84.4,8.0,374,8142,0.00,2.25,5.22,0.470,6,0.000,0.028,3165,1984,2078
$GC,8333,1.23,183.8,71.0,6.2,393,8359,0.10,2.28,17.70,0.571,4,0.062,0.037,3203,608,1998
$GC,8491,1.17,186.8,58.3,8.2,406,8506,0.15,2.17,3.97,0.389,6,0.114,0.019,3175,2010,1985
$GC,8696,1.24,203.2,44.5,6.6,425,8722,0.00,2.35,15.05,0.540,4,0.000,0.042,3175,592,1919
$GC,8764,1.24,203.2,38.4,9.4,430,8772,0.00,2.22,0.00,0.000,6,0.000,0.019,3174,1990,1918
$GC,8977,1.29,203.2,19.1,9.2,458,8985,0.10,0.00,0.00,0.000,6,0.066,0.000,3210,1990,1917
$STATE,9123,end climb,SURFACE_DEPTH_REACHED
$STATE,9123,begin surface coast
$FINISH,0.9,1.012869
$STATE,9154,end surface coast,CONTROL_FINISHED_OK
$STATE,9154,begin surface
$SM_CCo,9177,128.05,0.516,0,0,955,440.07
$SM_GC,1.72,0.00,0.00,128.05,0.000,0.000,0.516,409,2155,955,-11.55,2.97,440.07
$IRIDIUM_FIX,2239.35,-15749.78,251297,212136
$TT8_MAMPS,0.026845
$HUMID,1803
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,22.90
$XPDR_PINGS,119
$24V_AH,23.7,53.294
$10V_AH,10.1,51.090
$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,28.975,90.850,259.325,128.050,0.000,24.242,27.603,126.515,29.750,0.000,0.000,10.914,1036.051,5509.911,462.547,2035.602,559.791,33.360,1265.292,0.000,2132.715,0.000,0.469
$DEVICE_MAMPS,161.070,111.982,915.798,516.191,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.433,318.099,626.971,474.245,943.890,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38174,487
$CAP_FILE_SIZE,208956,0
$CFSIZE,260165632,231346176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,011008,022855,2247.617,-15748.009,36,1.1,36,10.1