version: 66.03
glider: 148
mission: 6
dive: 27
start: 8 17 108 1 53 58
data:
$ID,148
$MISSION,6
$DIVE,27
$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,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,-6706.4951
$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,1670
$C_ROLL_CLIMB,1660
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,37
$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
$GPS1,014553,2251.086,-15748.356,10,5.3,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.1
$GPS2,015305,2251.141,-15748.416,13,4.5,32,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT3
$TGT_LATLONG,2251.000,-15748.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.130,-0.087
$KALMAN_X,-17446.2,-170.1,-126.4,32345.6,-858.3
$KALMAN_Y,29578.7,293.5,-447.7,-23780.5,781.2
$MHEAD_RNG_PITCHd_Wd,113.6,756,-25.4,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.66,-55.6,0.0,0.0,0,82,0.00,0.00,-62.38,0.000,2,0.000,0.000,415,1660,2732
$GC,85,-1.71,-100.0,3.2,-3.9,8,109,11.65,0.00,-9.60,0.000,6,0.159,0.000,2607,1659,3160
$GC,377,-1.71,-100.0,67.3,-24.4,45,381,0.00,2.28,0.00,0.000,4,0.000,0.047,2607,255,3161
$GC,401,-1.71,-100.0,72.0,-19.8,47,405,0.00,2.22,0.00,0.000,6,0.000,0.025,2607,1684,3161
$GC,665,-1.71,-100.0,117.8,-16.7,71,669,0.00,2.35,0.00,0.000,4,0.000,0.046,2607,253,3162
$GC,718,-1.71,-100.0,128.3,-18.1,75,726,0.00,2.22,0.00,0.000,6,0.000,0.025,2607,1661,3161
$GC,982,-1.71,-100.0,171.8,-16.4,100,986,0.00,2.30,0.00,0.000,4,0.000,0.047,2607,255,3162
$GC,1070,-1.71,-100.0,188.4,-18.0,107,1077,0.00,2.22,0.00,0.000,6,0.000,0.026,2607,1667,3162
$GC,1343,-1.71,-100.0,233.1,-15.7,119,1347,0.00,2.30,0.00,0.000,4,0.000,0.048,2607,262,3162
$GC,1392,-1.71,-100.0,241.1,-16.2,120,1397,0.00,2.22,0.00,0.000,6,0.000,0.026,2607,1674,3162
$GC,1670,-1.71,-100.0,278.1,-12.9,127,1674,0.00,2.33,0.00,0.000,4,0.000,0.051,2607,259,3163
$GC,1724,-1.71,-100.0,284.3,-12.0,128,1728,0.00,2.22,0.00,0.000,6,0.000,0.026,2607,1670,3163
$GC,1996,-1.71,-100.0,313.8,-11.3,135,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1673,3163
$GC,2240,-1.71,-100.0,340.7,-10.8,141,2244,0.00,2.35,0.00,0.000,4,0.000,0.064,2607,265,3163
$GC,2260,-1.71,-100.0,343.2,-11.7,141,2265,0.00,2.22,0.00,0.000,6,0.000,0.038,2607,1657,3163
$GC,2521,-1.71,-100.0,374.7,-12.3,148,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1657,3163
$GC,2765,-1.71,-100.0,403.2,-11.2,154,2769,0.00,2.35,0.00,0.000,4,0.000,0.067,2607,265,3162
$GC,2870,-1.71,-100.0,415.8,-11.8,156,2875,0.00,2.28,0.00,0.000,6,0.000,0.044,2607,1663,3161
$GC,3142,-1.71,-100.0,443.9,-10.1,163,3146,0.00,2.38,0.00,0.000,4,0.000,0.067,2607,267,3160
$GC,3236,-1.71,-100.0,454.9,-11.9,165,3241,0.00,2.30,0.00,0.000,6,0.000,0.041,2607,1665,3159
$GC,3514,-1.71,-100.0,483.1,-10.0,172,3518,0.00,2.40,0.00,0.000,4,0.000,0.070,2607,264,3157
$GC,3563,-1.71,-100.0,488.7,-11.5,173,3568,0.00,2.33,0.00,0.000,6,0.000,0.044,2607,1674,3157
$STATE,3799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3799,begin apogee
$GC,3803,-0.31,0.0,512.2,10.0,179,3888,1.45,0.00,81.93,0.898,6,0.104,0.000,2916,1674,2749
$STATE,3889,end apogee,CONTROL_FINISHED_OK
$STATE,3889,begin climb
$GC,3891,1.71,100.0,513.2,0.0,181,3981,1.88,2.45,82.85,0.875,4,0.049,0.073,3364,3065,2340
$GC,3991,1.71,100.0,506.1,11.9,183,3996,0.00,2.40,0.00,0.000,6,0.000,0.046,3365,1666,2338
$GC,4253,1.71,100.0,467.3,14.8,190,4256,0.00,2.50,0.00,0.000,4,0.000,0.079,3364,252,2332
$GC,4374,1.71,100.0,447.9,16.5,192,4379,0.00,2.35,0.00,0.000,6,0.000,0.042,3365,1656,2330
$GC,4630,1.71,100.0,414.0,12.6,199,4634,0.00,2.42,0.00,0.000,4,0.000,0.064,3365,250,2328
$GC,4886,1.71,100.0,379.7,12.9,204,4891,0.00,2.35,0.00,0.000,6,0.000,0.040,3365,1665,2326
$GC,5142,1.71,100.0,351.4,11.2,211,5146,0.00,2.40,0.00,0.000,4,0.000,0.061,3365,252,2324
$GC,5398,1.71,100.0,320.0,12.5,216,5403,0.00,2.33,0.00,0.000,6,0.000,0.036,3365,1666,2322
$GC,5654,1.71,100.0,292.8,11.1,223,5658,0.00,2.38,0.00,0.000,4,0.000,0.067,3365,3071,2321
$GC,5724,1.71,100.0,283.8,13.2,224,5729,0.00,2.35,0.00,0.000,6,0.000,0.045,3365,1660,2321
$GC,5986,1.72,111.2,259.9,7.4,231,5999,0.00,2.45,6.65,0.634,4,0.000,0.064,3365,255,2294
$GC,6011,1.75,127.7,258.3,6.8,231,6031,0.00,2.30,15.20,0.710,6,0.000,0.033,3365,1662,2228
$GC,6314,1.75,127.7,231.0,9.1,239,6318,0.00,2.35,0.00,0.000,4,0.000,0.062,3365,3061,2224
$GC,6419,1.75,127.7,220.3,9.5,241,6424,0.00,2.33,0.00,0.000,6,0.000,0.046,3365,1658,2223
$GC,6680,1.75,127.7,195.3,9.8,250,6684,0.00,2.33,0.00,0.000,4,0.000,0.055,3365,254,2223
$GC,6696,1.75,127.7,193.1,11.3,251,6700,0.00,2.25,0.00,0.000,6,0.000,0.031,3364,1670,2222
$GC,6956,1.75,127.7,165.2,10.5,275,6960,0.00,2.35,0.00,0.000,4,0.000,0.053,3365,252,2222
$GC,7062,1.75,127.7,153.0,11.8,284,7067,0.00,2.22,0.00,0.000,6,0.000,0.032,3365,1663,2222
$GC,7322,1.75,127.7,127.2,9.0,308,7326,0.00,2.33,0.00,0.000,4,0.000,0.058,3365,253,2222
$GC,7418,1.75,127.7,117.1,10.5,316,7422,0.00,2.22,0.00,0.000,6,0.000,0.034,3364,1669,2222
$GC,7678,1.75,129.9,94.1,8.3,340,7682,0.00,2.35,0.00,0.000,4,0.000,0.051,3365,246,2223
$GC,7868,1.75,129.9,77.8,9.3,356,7872,0.00,2.22,0.00,0.000,6,0.000,0.032,3365,1666,2223
$GC,8130,1.82,190.6,66.2,2.3,380,8185,0.00,0.00,52.30,0.556,6,0.000,0.000,3365,1667,1970
$GC,8437,1.82,190.6,31.3,14.9,409,8441,0.00,2.28,0.00,0.000,4,0.000,0.047,3364,3056,1965
$GC,8599,1.82,190.6,7.4,16.6,437,8607,0.00,2.28,0.00,0.000,6,0.000,0.035,3365,1659,1964
$STATE,8625,end climb,SURFACE_DEPTH_REACHED
$STATE,8625,begin surface coast
$FINISH,0.6,1.013003
$STATE,8644,end surface coast,CONTROL_FINISHED_OK
$STATE,8644,begin surface
$SM_CCo,8663,120.80,0.497,0,0,1076,410.14
$SM_GC,1.43,0.00,0.00,120.80,0.000,0.000,0.497,410,1655,1076,-11.87,-0.42,410.14
$IRIDIUM_FIX,2241.69,-15751.94,101197,222202
$TT8_MAMPS,0.027612
$HUMID,1566
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.50
$XPDR_PINGS,119
$24V_AH,23.8,15.083
$10V_AH,10.1,13.380
$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,26.975,97.450,238.925,120.800,0.000,24.091,27.338,242.750,29.750,0.000,0.000,34.637,913.864,5717.553,433.431,1691.964,442.484,33.348,1105.091,0.000,1681.644,0.000,0.470
$DEVICE_MAMPS,158.769,79.001,898.157,497.016,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.061,289.246,493.486,371.927,776.267,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32026,444
$CAP_FILE_SIZE,186119,0
$CFSIZE,260165632,256356352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170808,042137,2251.107,-15747.770,39,1.3,39,10.1