version: 66.03
glider: 148
mission: 6
dive: 415
start: 10 2 108 12 22 22
data:
$ID,148
$MISSION,6
$DIVE,415
$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,-15001.477
$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,36
$R_STBD_OVSHOOT,62
$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
$GPS1,121607,2248.278,-15748.182,24,1.1,24,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-60.0
$GPS2,122127,2248.233,-15748.253,12,1.1,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.127,-0.074
$KALMAN_X,-356918.8,-355.9,347.5,371796.4,-2513.6
$KALMAN_Y,-264495.6,-108.7,-371.8,265233.4,300.3
$MHEAD_RNG_PITCHd_Wd,110.2,1347,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.75,-49.4,0.0,0.0,0,83,0.00,0.00,-57.88,0.000,2,0.000,0.000,410,2086,2442
$GC,86,-1.80,-91.6,3.0,-3.6,10,125,11.18,2.35,-18.98,0.000,4,0.157,0.051,2523,646,3123
$GC,155,-1.85,-91.6,10.7,-14.1,21,162,0.00,2.17,0.00,0.000,6,0.000,0.018,2523,2043,3124
$GC,363,-1.88,-91.6,48.7,-17.6,49,367,0.00,2.25,0.00,0.000,4,0.000,0.029,2523,633,3125
$GC,412,-1.97,-91.6,57.3,-17.3,53,416,0.15,2.17,0.00,0.000,6,0.053,0.017,2479,2057,3125
$GC,615,-2.00,-91.6,94.2,-15.3,72,618,0.00,2.25,0.00,0.000,4,0.000,0.030,2479,645,3126
$GC,795,-2.07,-91.6,122.8,-13.1,87,801,0.00,2.15,0.00,0.000,6,0.000,0.020,2479,2055,3126
$GC,994,-2.14,-91.6,149.4,-13.6,106,998,0.12,2.25,0.00,0.000,4,0.056,0.030,2435,643,3127
$GC,1160,-2.14,-91.6,175.1,-15.9,120,1163,0.00,2.15,0.00,0.000,6,0.000,0.016,2435,2052,3127
$GC,1498,-2.14,-91.6,223.8,-14.3,140,1502,0.00,2.25,0.00,0.000,4,0.000,0.031,2435,637,3129
$GC,1705,-2.14,-91.6,255.7,-15.5,144,1709,0.00,2.17,0.00,0.000,6,0.000,0.018,2435,2053,3129
$GC,2043,-2.20,-91.6,300.5,-13.3,153,2047,0.00,2.28,0.00,0.000,4,0.000,0.042,2435,638,3129
$GC,2185,-2.23,-91.6,319.3,-13.7,156,2189,0.00,2.17,0.00,0.000,6,0.000,0.021,2435,2043,3129
$GC,2498,-2.30,-91.6,356.1,-11.4,164,2502,0.00,2.28,0.00,0.000,4,0.000,0.044,2435,643,3128
$GC,2757,-2.36,-91.6,387.7,-12.2,169,2764,0.12,2.20,0.00,0.000,6,0.058,0.022,2396,2054,3127
$GC,3088,-2.36,-91.6,432.5,-13.5,178,3092,0.00,2.30,0.00,0.000,4,0.000,0.049,2396,654,3125
$GC,3346,-2.36,-91.6,472.3,-15.1,183,3350,0.00,2.20,0.00,0.000,6,0.000,0.034,2396,2041,3124
$STATE,3634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3634,begin apogee
$GC,3640,-0.31,0.0,512.6,13.9,190,3720,2.12,0.00,75.30,0.919,6,0.107,0.000,2847,2041,2749
$STATE,3720,end apogee,CONTROL_FINISHED_OK
$STATE,3721,begin climb
$GC,3724,1.80,91.6,514.4,0.0,192,3807,1.90,2.40,75.55,0.895,4,0.030,0.054,3322,3396,2375
$GC,4005,1.42,91.6,476.7,16.0,198,4010,0.45,2.25,0.00,0.000,6,0.127,0.034,3234,2012,2369
$GC,4355,1.20,91.6,429.3,12.9,207,4360,0.25,2.45,0.00,0.000,4,0.121,0.063,3183,588,2366
$GC,4613,1.01,91.6,400.1,10.9,212,4620,0.22,2.25,0.00,0.000,6,0.127,0.031,3141,1996,2363
$GC,4947,0.97,96.6,374.3,7.9,221,4951,0.00,2.33,0.00,0.000,4,0.000,0.050,3141,593,2361
$GC,5053,0.87,96.6,364.0,9.7,223,5058,0.15,2.25,0.00,0.000,6,0.133,0.030,3114,2002,2360
$GC,5398,0.88,102.0,336.5,7.9,232,5406,0.00,0.00,7.03,0.698,6,0.000,0.000,3114,2003,2333
$GC,5722,0.92,114.2,311.7,7.1,240,5740,0.00,2.38,11.93,0.757,4,0.000,0.048,3113,589,2282
$GC,5769,0.92,115.5,308.0,8.4,241,5773,0.00,2.28,0.00,0.000,6,0.000,0.029,3113,2007,2281
$GC,6088,0.97,119.6,282.2,8.0,249,6099,0.00,2.38,5.55,0.619,4,0.000,0.048,3113,586,2260
$GC,6128,0.97,119.6,278.7,9.0,250,6132,0.00,2.28,0.00,0.000,6,0.000,0.029,3114,2010,2259
$GC,6455,1.03,125.2,252.9,7.9,258,6467,0.12,2.38,6.07,0.623,4,0.059,0.044,3152,588,2237
$GC,6607,0.97,125.2,238.0,10.2,261,6611,0.00,2.25,0.00,0.000,6,0.000,0.021,3152,2005,2236
$GC,6950,0.99,135.9,211.7,7.3,270,6965,0.00,2.33,10.30,0.668,4,0.000,0.051,3152,3402,2194
$GC,7038,0.99,138.8,204.8,8.2,272,7047,0.00,2.25,3.70,0.456,6,0.000,0.025,3152,1988,2183
$GC,7373,0.99,138.8,176.0,8.7,298,7377,0.00,2.28,0.00,0.000,4,0.000,0.041,3152,592,2182
$GC,7508,0.99,138.8,164.0,8.7,309,7514,0.00,2.22,0.00,0.000,6,0.000,0.028,3152,2014,2181
$GC,7834,1.01,151.9,137.4,7.0,340,7852,0.00,0.00,12.70,0.623,6,0.000,0.000,3152,2014,2129
$GC,8045,1.04,151.9,120.5,8.7,360,8049,0.00,2.30,0.00,0.000,4,0.000,0.044,3152,594,2128
$GC,8303,1.05,154.3,98.1,8.2,383,8307,0.00,2.20,0.00,0.000,6,0.000,0.019,3152,2002,2127
$GC,8502,1.12,173.3,85.2,6.3,401,8527,0.00,2.33,18.83,0.588,4,0.000,0.036,3152,601,2041
$GC,8760,1.15,197.5,66.4,5.7,424,8786,0.00,2.20,21.23,0.571,6,0.000,0.019,3152,2012,1943
$GC,8982,1.28,197.5,47.1,9.1,444,8987,0.15,2.30,0.00,0.000,4,0.051,0.035,3206,597,1941
$GC,9163,1.24,197.5,27.4,11.1,462,9170,0.00,2.20,0.00,0.000,6,0.000,0.021,3206,1988,1940
$GC,9376,1.24,197.5,5.5,11.0,499,9382,0.00,2.25,0.00,0.000,4,0.000,0.038,3206,593,1940
$STATE,9406,end climb,SURFACE_DEPTH_REACHED
$STATE,9406,begin surface coast
$FINISH,0.9,1.023230
$STATE,9436,end surface coast,CONTROL_FINISHED_OK
$STATE,9436,begin surface
$SM_CCo,9460,129.80,0.516,0,0,954,440.07
$SM_GC,1.66,0.00,0.00,129.80,0.000,0.000,0.516,412,2079,954,-11.53,0.82,440.07
$IRIDIUM_FIX,2241.69,-15806.70,271297,090903
$TT8_MAMPS,0.026845
$HUMID,1803
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,22.30
$XPDR_PINGS,90
$24V_AH,23.7,54.467
$10V_AH,10.1,52.333
$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,28.325,90.625,248.175,129.800,0.000,31.030,27.772,137.583,22.500,0.000,0.000,13.592,1043.464,6260.281,464.616,1555.671,584.990,33.362,1224.227,0.000,1659.967,0.000,0.469
$DEVICE_MAMPS,157.235,62.894,918.866,516.191,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.100,331.269,659.544,511.129,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38197,509
$CAP_FILE_SIZE,211346,0
$CFSIZE,260165632,230473728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021008,150323,2247.566,-15748.216,9,99.0,28,10.1