version: 66.03
glider: 148
mission: 6
dive: 35
start: 8 17 108 23 11 10
data:
$ID,148
$MISSION,6
$DIVE,35
$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,548.98138
$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,-6860.2852
$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,23
$R_STBD_OVSHOOT,38
$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
$GPS1,225504,2250.739,-15747.260,11,2.8,30,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-61.2
$GPS2,231015,2250.837,-15747.444,13,1.1,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT3
$TGT_LATLONG,2251.000,-15748.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.128,-0.085
$KALMAN_X,-26944.0,-137.6,263.4,43068.2,-2479.0
$KALMAN_Y,34937.8,120.3,-157.2,-29815.6,1319.7
$MHEAD_RNG_PITCHd_Wd,113.5,995,-25.9,-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,-1.68,-53.7,0.0,0.0,0,81,0.00,0.00,-61.08,0.000,2,0.000,0.000,410,1666,2716
$GC,83,-1.73,-93.2,3.4,-4.3,8,108,11.68,0.00,-9.35,0.000,6,0.162,0.000,2604,1666,3131
$GC,372,-1.73,-93.2,50.7,-14.4,47,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1666,3133
$GC,626,-1.73,-93.2,83.9,-13.0,71,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1666,3133
$GC,883,-1.73,-93.2,117.3,-13.1,95,887,0.00,2.30,0.00,0.000,4,0.000,0.048,2604,259,3133
$GC,948,-1.73,-93.2,127.2,-14.8,100,957,0.00,2.22,0.00,0.000,6,0.000,0.026,2604,1666,3134
$GC,1209,-1.73,-93.2,161.1,-12.3,125,1213,0.00,2.30,0.00,0.000,4,0.000,0.047,2604,256,3134
$GC,1251,-1.73,-93.2,167.0,-13.3,128,1258,0.00,2.22,0.00,0.000,6,0.000,0.025,2604,1669,3134
$GC,1512,-1.73,-93.2,197.0,-10.7,153,1516,0.00,2.30,0.00,0.000,4,0.000,0.047,2604,259,3134
$GC,1555,-1.73,-93.2,202.3,-11.8,156,1560,0.00,2.22,0.00,0.000,6,0.000,0.025,2604,1671,3134
$GC,1839,-1.73,-93.2,231.8,-9.9,163,1843,0.00,2.30,0.00,0.000,4,0.000,0.048,2604,260,3134
$GC,1871,-1.73,-93.2,235.6,-11.6,163,1878,0.00,2.20,0.00,0.000,6,0.000,0.025,2604,1665,3133
$GC,2121,-1.73,-93.2,258.9,-8.9,170,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1667,3134
$GC,2364,-1.73,-93.2,280.8,-9.0,176,2368,0.00,2.22,0.00,0.000,4,0.000,0.037,2604,3069,3134
$GC,2475,-1.73,-93.2,290.5,-8.8,178,2480,0.00,2.28,0.00,0.000,6,0.000,0.041,2604,1668,3134
$GC,2742,-1.74,-98.9,311.2,-7.9,185,2746,0.00,2.33,0.00,0.000,4,0.000,0.059,2604,263,3134
$GC,2813,-1.74,-98.9,317.9,-9.6,186,2817,0.00,2.22,0.00,0.000,6,0.000,0.029,2604,1664,3133
$GC,3068,-1.74,-98.9,340.8,-8.9,193,3072,0.00,2.35,0.00,0.000,4,0.000,0.058,2604,260,3132
$GC,3133,-1.74,-98.9,347.2,-9.3,194,3138,0.00,2.25,0.00,0.000,6,0.000,0.031,2604,1666,3132
$GC,3395,-1.76,-113.5,366.4,-7.0,201,3399,0.00,2.28,0.00,0.000,4,0.000,0.053,2604,3070,3131
$GC,3427,-1.78,-129.6,368.7,-6.8,201,3434,0.00,2.30,0.00,0.000,6,0.000,0.039,2604,1668,3131
$GC,3677,-1.78,-136.3,384.9,-6.6,208,3681,0.00,2.30,0.00,0.000,4,0.000,0.048,2604,3072,3129
$GC,3709,-1.78,-136.3,387.2,-7.1,208,3713,0.00,2.30,0.00,0.000,6,0.000,0.047,2604,1680,3129
$GC,3965,-1.78,-136.3,406.2,-7.7,215,3969,0.00,2.40,0.00,0.000,4,0.000,0.073,2604,258,3128
$GC,4081,-1.78,-136.3,417.1,-8.9,217,4085,0.00,2.28,0.00,0.000,6,0.000,0.037,2604,1660,3127
$GC,4337,-1.78,-136.3,436.4,-7.5,224,4341,0.00,2.38,0.00,0.000,4,0.000,0.071,2604,263,3125
$GC,4380,-1.78,-136.3,440.2,-8.7,225,4385,0.00,2.30,0.00,0.000,6,0.000,0.043,2604,1666,3125
$GC,4664,-1.78,-136.3,459.4,-6.6,232,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1666,3123
$GC,4907,-1.78,-136.3,474.4,-6.2,238,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1666,3122
$GC,5151,-1.78,-136.3,489.6,-6.2,244,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1666,3120
$GC,5395,-1.78,-136.3,506.0,-7.0,250,5399,0.00,2.42,0.00,0.000,4,0.000,0.077,2604,261,3118
$GC,5410,-1.78,-136.3,507.2,-7.2,250,5414,0.00,2.33,0.00,0.000,6,0.000,0.042,2604,1668,3118
$STATE,5473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5473,begin apogee
$GC,5477,-0.31,0.0,511.8,7.3,252,5555,1.48,0.00,74.88,0.916,6,0.100,0.000,2922,1668,2749
$STATE,5556,end apogee,CONTROL_FINISHED_OK
$STATE,5556,begin climb
$GC,5558,1.78,136.3,513.0,0.0,254,5679,1.92,2.50,114.03,0.893,4,0.038,0.068,3391,257,2192
$GC,5812,1.78,136.3,471.2,23.2,260,5817,0.00,2.35,0.00,0.000,6,0.000,0.040,3391,1659,2184
$GC,6090,1.78,136.3,413.7,20.1,267,6095,0.00,2.42,0.00,0.000,4,0.000,0.065,3391,249,2180
$GC,6347,1.78,136.3,357.1,24.0,272,6354,0.00,2.33,0.00,0.000,6,0.000,0.040,3391,1655,2178
$GC,6597,1.78,136.3,310.1,18.3,279,6601,0.00,2.40,0.00,0.000,4,0.000,0.066,3391,253,2175
$GC,6854,1.78,136.3,263.6,19.5,284,6861,0.00,2.33,0.00,0.000,6,0.000,0.038,3391,1663,2173
$GC,7104,1.78,136.3,226.0,14.2,291,7108,0.00,2.38,0.00,0.000,4,0.000,0.055,3391,252,2171
$GC,7360,1.78,136.3,188.8,14.8,299,7367,0.00,2.30,0.00,0.000,6,0.000,0.034,3391,1663,2170
$GC,7621,1.78,136.3,153.7,13.6,324,7625,0.00,2.35,0.00,0.000,4,0.000,0.055,3391,251,2170
$GC,7879,1.78,136.3,113.4,15.0,346,7889,0.00,2.28,0.00,0.000,6,0.000,0.038,3391,1667,2169
$GC,8144,1.78,136.3,81.2,11.7,371,8148,0.00,2.35,0.00,0.000,4,0.000,0.057,3391,248,2170
$GC,8398,1.78,136.3,47.8,12.4,393,8408,0.00,2.25,0.00,0.000,6,0.000,0.028,3391,1658,2170
$GC,8662,1.81,154.4,31.0,6.6,418,8680,0.00,2.33,12.65,0.514,4,0.000,0.052,3391,249,2119
$STATE,8908,end climb,SURFACE_DEPTH_REACHED
$STATE,8908,begin surface coast
$FINISH,0.6,1.023185
$STATE,8931,end surface coast,CONTROL_FINISHED_OK
$STATE,8932,begin surface
$SM_CCo,8952,221.27,0.507,0,0,511,548.98
$SM_GC,1.32,0.00,0.00,221.27,0.000,0.000,0.507,414,1703,511,-11.85,0.93,548.98
$IRIDIUM_FIX,2241.69,-15748.90,111197,232313
$TT8_MAMPS,0.026845
$HUMID,1586
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,22.90
$XPDR_PINGS,135
$24V_AH,23.8,15.877
$10V_AH,10.1,14.122
$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,27.175,87.825,201.550,221.275,0.000,152.325,398.731,0.000,33.750,0.000,0.000,15.218,953.152,6126.519,552.316,1731.136,709.069,33.351,1202.425,0.000,1756.913,0.000,0.469
$DEVICE_MAMPS,161.837,77.467,915.798,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.641,286.917,515.022,410.280,840.469,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35040,464
$CAP_FILE_SIZE,187141,0
$CFSIZE,260165632,255815680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180808,014507,2250.162,-15747.266,11,1.4,27,10.1