version: 66.03
glider: 148
mission: 6
dive: 10
start: 8 14 108 15 39 3
data:
$ID,148
$MISSION,6
$DIVE,10
$D_SURF,3
$D_FLARE,3
$D_TGT,240
$D_ABORT,300
$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,80
$T_MISSION,130
$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,410
$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,-6343.0923
$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,32
$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
$GPS1,152945,2252.898,-15800.610,13,1.9,14,10.1
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-65.5
$GPS2,153809,2253.040,-15800.651,11,1.7,11,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,WPT2
$TGT_LATLONG,2251.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.001,-0.252
$KALMAN_X,-5641.2,-210.5,-444.6,4.9,-231.2
$KALMAN_Y,7485.9,-155.8,-80.8,1908.1,1969.3
$MHEAD_RNG_PITCHd_Wd,169.6,3938,-18.2,-10.000
$D_GRID,240
$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,15,begin dive
$GC,17,-1.30,-136.2,0.0,0.0,0,88,0.00,0.00,-69.32,0.000,2,0.000,0.000,416,2059,2944
$GC,91,-1.30,-136.3,3.4,-7.0,9,116,12.02,2.35,-7.28,0.000,4,0.158,0.052,2700,645,3306
$GC,233,-1.30,-136.3,31.9,-16.7,32,237,0.00,2.22,0.00,0.000,6,0.000,0.028,2700,2060,3307
$GC,495,-1.30,-136.3,71.0,-14.2,56,499,0.00,2.30,0.00,0.000,4,0.000,0.048,2700,637,3307
$GC,661,-1.30,-136.3,95.1,-14.5,70,670,0.00,2.25,0.00,0.000,6,0.000,0.027,2700,2050,3307
$GC,924,-1.30,-136.3,127.9,-11.9,95,928,0.00,2.28,0.00,0.000,4,0.000,0.048,2700,635,3308
$GC,1098,-1.30,-136.3,149.2,-11.3,110,1107,0.00,2.25,0.00,0.000,6,0.000,0.026,2700,2056,3308
$GC,1359,-1.30,-136.3,175.4,-9.7,135,1363,0.00,2.28,0.00,0.000,4,0.000,0.041,2700,645,3308
$GC,1457,-1.30,-136.3,185.7,-10.8,143,1465,0.00,2.22,0.00,0.000,6,0.000,0.035,2700,2050,3308
$GC,1724,-1.30,-136.3,214.4,-11.2,160,1728,0.00,2.28,0.00,0.000,4,0.000,0.041,2700,635,3308
$GC,1834,-1.30,-136.3,228.0,-12.3,162,1839,0.00,2.22,0.00,0.000,6,0.000,0.026,2701,2042,3308
$STATE,1972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1972,begin apogee
$GC,1976,-0.31,0.0,243.3,11.1,166,2087,1.00,0.00,107.45,0.649,6,0.086,0.000,2922,2046,2749
$STATE,2087,end apogee,CONTROL_FINISHED_OK
$STATE,2088,begin climb
$GC,2089,1.30,136.3,246.0,0.0,168,2204,1.45,2.42,106.93,0.638,4,0.043,0.054,3277,3442,2192
$GC,2315,1.30,136.3,230.1,12.8,173,2320,0.00,2.28,0.00,0.000,6,0.000,0.032,3277,2051,2188
$GC,2588,1.30,136.3,198.0,11.3,180,2592,0.00,2.30,0.00,0.000,4,0.000,0.056,3277,649,2186
$GC,2674,1.30,136.3,188.3,10.8,187,2678,0.00,2.22,0.00,0.000,6,0.000,0.028,3277,2053,2186
$GC,2936,1.30,136.3,161.6,10.2,211,2940,0.00,2.33,0.00,0.000,4,0.000,0.045,3277,636,2185
$GC,3193,1.30,136.3,133.2,10.2,233,3200,0.00,2.25,0.00,0.000,6,0.000,0.029,3277,2042,2184
$GC,3454,1.31,138.4,107.2,9.9,258,3458,0.00,2.28,0.00,0.000,4,0.000,0.052,3277,647,2183
$GC,3687,1.31,142.3,84.6,9.8,278,3701,0.00,2.22,4.80,0.409,6,0.000,0.029,3277,2054,2168
$GC,3955,1.36,182.5,63.7,8.0,303,3994,0.00,2.40,33.70,0.530,4,0.000,0.045,3277,645,2004
$GC,4244,1.36,182.5,32.9,10.2,328,4254,0.00,2.25,0.00,0.000,6,0.000,0.027,3277,2053,2000
$GC,4516,1.38,195.2,10.0,9.4,374,4533,0.00,2.30,11.00,0.459,4,0.000,0.051,3276,647,1951
$STATE,4578,end climb,SURFACE_DEPTH_REACHED
$STATE,4578,begin surface coast
$FINISH,0.3,1.023223
$STATE,4607,end surface coast,CONTROL_FINISHED_OK
$STATE,4607,begin surface
$SM_CCo,4627,116.50,0.485,0,0,1077,410.14
$SM_GC,1.14,0.00,0.00,116.50,0.000,0.000,0.485,410,2074,1077,-11.87,0.68,410.14
$IRIDIUM_FIX,2244.02,-15758.45,081197,141423
$TT8_MAMPS,0.027612
$HUMID,1579
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,23.80
$XPDR_PINGS,217
$24V_AH,24.0,13.255
$10V_AH,10.1,11.504
$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,26.050,50.175,263.875,116.500,0.000,24.835,29.459,343.056,54.250,0.000,0.000,12.712,729.699,2086.270,431.370,1470.788,521.701,33.323,946.362,0.000,1498.865,0.000,0.471
$DEVICE_MAMPS,158.002,55.991,648.882,484.744,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,300.983,307.745,544.635,445.570,915.282,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28743,389
$CAP_FILE_SIZE,171534,0
$CFSIZE,260165632,257736704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140808,165907,2253.438,-15800.797,9,1.5,26,10.1