version: 66.03
glider: 148
mission: 6
dive: 40
start: 8 18 108 13 23 58
data:
$ID,148
$MISSION,6
$DIVE,40
$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,-6984.3105
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,131228,2250.374,-15746.679,7,99.0,26,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-56.6
$GPS2,132305,2250.356,-15746.800,15,99.0,34,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT3
$TGT_LATLONG,2251.000,-15748.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.121,-0.084
$KALMAN_X,-32839.9,389.4,121.0,49675.4,-2383.4
$KALMAN_Y,36794.7,-793.4,-608.8,-31200.1,1432.1
$MHEAD_RNG_PITCHd_Wd,114.7,2370,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.75,-49.4,0.0,0.0,0,104,0.00,0.00,-84.15,0.000,2,0.000,0.000,410,1661,2752
$GC,107,-1.80,-89.7,3.3,-3.9,11,131,11.50,0.00,-8.05,0.000,6,0.157,0.000,2588,1662,3117
$GC,395,-1.80,-89.7,59.7,-18.8,48,399,0.00,2.28,0.00,0.000,4,0.000,0.048,2588,266,3118
$GC,499,-1.80,-89.7,78.2,-17.6,57,509,0.00,2.22,0.00,0.000,6,0.000,0.024,2588,1677,3118
$GC,760,-1.80,-89.7,118.2,-14.8,82,764,0.00,2.30,0.00,0.000,4,0.000,0.046,2588,266,3119
$GC,848,-1.80,-89.7,132.9,-16.0,89,855,0.00,2.20,0.00,0.000,6,0.000,0.025,2588,1663,3119
$GC,1109,-1.80,-89.7,170.7,-14.7,114,1113,0.00,2.28,0.00,0.000,4,0.000,0.045,2588,265,3119
$GC,1148,-1.80,-89.7,176.8,-16.8,117,1152,0.00,2.17,0.00,0.000,6,0.000,0.025,2588,1667,3119
$GC,1424,-1.80,-89.7,217.2,-13.8,134,1427,0.00,2.30,0.00,0.000,4,0.000,0.046,2588,259,3119
$GC,1468,-1.80,-89.7,224.3,-16.3,135,1472,0.00,2.20,0.00,0.000,6,0.000,0.025,2588,1677,3119
$GC,1756,-1.80,-89.7,263.1,-12.7,142,1760,0.00,2.30,0.00,0.000,4,0.000,0.049,2588,265,3119
$GC,1961,-1.80,-89.7,287.3,-10.3,146,1966,0.00,2.20,0.00,0.000,6,0.000,0.025,2588,1667,3119
$GC,2223,-1.80,-89.7,311.6,-9.8,153,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1670,3119
$GC,2466,-1.80,-89.7,337.2,-10.6,159,2470,0.00,2.25,0.00,0.000,4,0.000,0.049,2588,3067,3119
$GC,2509,-1.80,-89.7,342.1,-10.6,160,2514,0.00,2.28,0.00,0.000,6,0.000,0.037,2588,1676,3119
$GC,2793,-1.80,-89.7,372.6,-10.5,167,2797,0.00,2.38,0.00,0.000,4,0.000,0.069,2588,258,3118
$GC,2932,-1.80,-89.7,387.7,-10.0,170,2937,0.00,2.25,0.00,0.000,6,0.000,0.032,2588,1658,3118
$GC,3210,-1.80,-89.7,412.1,-8.8,177,3214,0.00,2.35,0.00,0.000,4,0.000,0.064,2588,260,3116
$GC,3270,-1.80,-89.7,418.3,-10.0,178,3275,0.00,2.28,0.00,0.000,6,0.000,0.035,2588,1664,3116
$GC,3542,-1.80,-89.7,442.2,-8.9,185,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1664,3114
$GC,3787,-1.80,-89.7,466.7,-10.1,191,3791,0.00,2.40,0.00,0.000,4,0.000,0.067,2588,262,3113
$GC,3886,-1.80,-89.7,478.3,-12.1,193,3890,0.00,2.30,0.00,0.000,6,0.000,0.039,2588,1666,3112
$GC,4158,-1.80,-89.7,504.7,-9.7,200,4162,0.00,2.40,0.00,0.000,4,0.000,0.074,2588,265,3109
$STATE,4211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4211,begin apogee
$GC,4217,-0.31,0.0,510.7,10.5,201,4294,1.52,0.00,73.00,0.901,6,0.107,0.000,2916,1661,2749
$STATE,4295,end apogee,CONTROL_FINISHED_OK
$STATE,4295,begin climb
$GC,4297,1.80,89.7,511.8,0.0,203,4376,1.98,0.00,75.12,0.879,6,0.045,0.000,3384,1661,2383
$GC,4612,1.80,89.7,472.0,15.6,211,4616,0.00,2.42,0.00,0.000,4,0.000,0.064,3384,258,2376
$GC,4767,1.80,89.7,447.7,15.1,214,4772,0.00,2.33,0.00,0.000,6,0.000,0.037,3384,1659,2374
$GC,5029,1.80,89.7,410.3,14.2,221,5033,0.00,2.40,0.00,0.000,4,0.000,0.065,3384,258,2371
$GC,5287,1.80,89.7,371.3,13.6,226,5293,0.00,2.28,0.00,0.000,6,0.000,0.038,3384,1664,2369
$GC,5535,1.80,89.7,342.8,11.2,233,5540,0.00,2.40,0.00,0.000,4,0.000,0.064,3384,252,2367
$GC,5792,1.80,89.7,310.6,10.4,238,5799,0.00,2.30,0.00,0.000,6,0.000,0.042,3384,1659,2365
$GC,6042,1.80,91.8,288.2,8.3,245,6046,0.00,2.38,0.00,0.000,4,0.000,0.058,3384,249,2364
$GC,6299,1.81,96.5,269.6,8.0,250,6306,0.00,2.28,0.00,0.000,6,0.000,0.032,3384,1654,2362
$GC,6549,1.83,112.7,252.6,6.6,257,6570,0.00,2.38,15.90,0.712,4,0.000,0.061,3384,250,2292
$GC,6821,1.83,112.7,222.3,11.5,263,6826,0.00,2.28,0.00,0.000,6,0.000,0.031,3384,1656,2289
$GC,7085,1.83,112.7,194.6,10.8,271,7089,0.00,2.33,0.00,0.000,4,0.000,0.058,3384,253,2289
$GC,7248,1.83,112.7,176.6,10.1,285,7252,0.00,2.25,0.00,0.000,6,0.000,0.029,3384,1673,2289
$GC,7508,1.83,112.7,152.6,9.0,309,7512,0.00,2.35,0.00,0.000,4,0.000,0.057,3384,251,2289
$GC,7526,1.83,112.7,151.1,9.7,310,7530,0.00,2.22,0.00,0.000,6,0.000,0.035,3384,1664,2288
$GC,7786,1.83,112.7,127.3,8.7,334,7790,0.00,2.33,0.00,0.000,4,0.000,0.051,3384,250,2289
$GC,8013,1.83,112.7,106.4,8.7,353,8020,0.00,2.22,0.00,0.000,6,0.000,0.028,3384,1665,2289
$GC,8274,1.84,122.2,85.8,7.4,378,8289,0.00,2.40,9.73,0.530,4,0.000,0.056,3384,252,2249
$GC,8540,1.84,123.3,60.7,8.4,401,8550,0.00,2.25,0.00,0.000,6,0.000,0.035,3384,1664,2249
$GC,8804,1.93,200.3,50.4,-0.4,426,8881,0.12,2.33,64.65,0.550,4,0.063,0.054,3421,259,1930
$STATE,9112,end climb,SURFACE_DEPTH_REACHED
$STATE,9112,begin surface coast
$FINISH,0.6,1.023175
$STATE,9124,end surface coast,CONTROL_FINISHED_OK
$STATE,9125,begin surface
$SM_CCo,9146,115.15,0.503,0,0,1076,410.14
$SM_GC,1.33,0.00,0.00,115.15,0.000,0.000,0.503,411,1695,1076,-11.86,0.71,410.14
$IRIDIUM_FIX,2244.02,-15748.90,121197,101021
$TT8_MAMPS,0.026845
$HUMID,1580
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.00
$XPDR_PINGS,159
$24V_AH,23.8,16.400
$10V_AH,10.1,14.607
$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,27.500,92.025,238.400,115.150,0.000,29.269,26.708,444.047,39.750,0.000,0.000,37.211,972.087,5865.465,449.430,1917.206,680.967,33.351,1209.035,0.000,1919.870,0.000,0.469
$DEVICE_MAMPS,157.235,73.632,901.225,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.343,304.525,527.978,390.912,812.344,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35000,466
$CAP_FILE_SIZE,199915,0
$CFSIZE,260165632,255528960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180808,155923,2249.831,-15746.893,7,99.0,26,10.1