version: 66.03
glider: 148
mission: 6
dive: 3
start: 8 14 108 6 2 23
data:
$ID,148
$MISSION,6
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$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,40
$T_MISSION,70
$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,538.98138
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6192.373
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2990
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,28
$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
$GPS1,054444,2248.812,-15757.431,10,1.9,27,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-59.3
$GPS2,060132,2248.930,-15757.526,10,1.7,16,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,WPT2
$TGT_LATLONG,2251.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.221,0.121
$KALMAN_X,-192.7,-195.5,-186.1,-381.2,-191.7
$KALMAN_Y,362.4,368.6,347.7,468.3,364.8
$MHEAD_RNG_PITCHd_Wd,288.6,5703,-18.2,-10.000
$D_GRID,120
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.30,-136.3,0.0,0.0,0,112,0.00,0.00,-91.47,0.000,2,0.000,0.000,413,2053,3027
$GC,114,-1.30,-136.3,3.4,-6.4,12,138,12.00,2.22,-5.43,0.000,4,0.158,0.045,2701,3463,3305
$GC,244,-1.30,-136.3,29.1,-13.0,34,252,0.00,2.28,0.00,0.000,6,0.000,0.028,2701,2043,3306
$GC,506,-1.30,-136.3,65.6,-11.7,59,510,0.00,2.25,0.00,0.000,4,0.000,0.051,2701,637,3306
$GC,681,-1.30,-136.3,86.8,-11.9,74,691,0.00,2.25,0.00,0.000,6,0.000,0.031,2701,2062,3306
$GC,945,-1.30,-136.3,114.8,-11.5,99,948,0.00,2.28,0.00,0.000,4,0.000,0.050,2701,640,3305
$STATE,981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,981,begin apogee
$GC,987,-0.31,0.0,120.1,13.0,102,1097,0.95,0.00,104.15,0.558,6,0.091,0.000,2912,2059,2749
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1098,begin climb
$GC,1099,1.30,136.3,124.1,0.0,113,1217,1.50,2.30,105.18,0.549,4,0.048,0.042,3275,3439,2191
$GC,1288,1.31,140.8,115.5,9.8,129,1299,0.00,2.25,4.35,0.365,6,0.000,0.031,3275,2053,2174
$GC,1562,1.31,140.8,85.9,11.0,155,1566,0.00,2.30,0.00,0.000,4,0.000,0.050,3275,640,2173
$GC,1693,1.31,140.8,70.6,11.3,166,1697,0.00,2.22,0.00,0.000,6,0.000,0.037,3275,2049,2173
$GC,1955,1.37,186.7,47.4,7.7,190,1998,0.00,2.35,37.55,0.505,4,0.000,0.049,3275,637,1985
$GC,2168,1.37,190.4,28.4,9.8,209,2177,0.00,2.25,3.90,0.328,6,0.000,0.028,3275,2047,1971
$STATE,2435,end climb,SURFACE_DEPTH_REACHED
$STATE,2435,begin surface coast
$FINISH,0.3,1.023159
$STATE,2465,end surface coast,CONTROL_FINISHED_OK
$STATE,2465,begin surface
$SM_CCo,2483,175.05,0.475,0,0,551,539.17
$SM_GC,1.09,0.00,0.00,175.05,0.000,0.000,0.475,414,2052,551,-11.85,0.06,539.17
$IRIDIUM_FIX,2241.69,-15757.16,081197,060656
$TT8_MAMPS,0.026845
$HUMID,1553
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,24.40
$XPDR_PINGS,237
$24V_AH,24.1,12.631
$10V_AH,10.2,10.915
$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,26.025,27.200,255.125,175.050,0.000,119.517,124.291,458.122,59.250,0.000,0.000,17.988,456.900,937.556,428.985,1023.278,815.605,31.413,814.856,0.000,1045.397,0.000,0.471
$DEVICE_MAMPS,158.002,50.622,557.609,474.773,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,187.714,204.333,383.925,384.495,790.358,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19228,262
$CAP_FILE_SIZE,126340,0
$CFSIZE,260165632,258166784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140808,064747,2249.299,-15757.994,11,99.0,30,10.1