version: 66.03
glider: 148
mission: 6
dive: 54
start: 8 20 108 7 5 15
data:
$ID,148
$MISSION,6
$DIVE,54
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7279.1851
$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,32
$R_STBD_OVSHOOT,49
$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
$GPS1,065444,2247.876,-15747.845,11,1.6,28,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-62.2
$GPS2,070420,2247.956,-15747.893,9,1.3,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,-0.016
$KALMAN_X,-52787.5,657.0,76.7,67536.8,-2491.6
$KALMAN_Y,40240.6,295.8,202.9,-40991.7,147.4
$MHEAD_RNG_PITCHd_Wd,86.1,1893,-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,-84.35,0.000,2,0.000,0.000,415,1691,2780
$GC,107,-1.79,-86.5,3.3,-4.2,11,132,11.52,2.33,-7.20,0.000,4,0.157,0.056,2592,262,3102
$GC,145,-1.79,-86.5,11.5,-18.1,16,154,0.00,2.22,0.00,0.000,6,0.000,0.025,2592,1664,3103
$GC,420,-1.79,-86.5,66.0,-18.4,49,424,0.00,2.28,0.00,0.000,4,0.000,0.044,2592,268,3103
$GC,505,-1.79,-86.5,81.3,-17.3,56,509,0.00,2.17,0.00,0.000,6,0.000,0.028,2592,1671,3103
$GC,765,-1.79,-86.5,121.2,-14.4,80,769,0.00,2.30,0.00,0.000,4,0.000,0.045,2592,263,3104
$GC,838,-1.79,-86.5,133.3,-16.0,86,842,0.00,2.17,0.00,0.000,6,0.000,0.025,2592,1671,3104
$GC,1098,-1.79,-86.5,173.4,-15.5,110,1102,0.00,2.30,0.00,0.000,4,0.000,0.045,2592,261,3104
$GC,1130,-1.79,-86.5,178.7,-15.6,112,1137,0.00,2.20,0.00,0.000,6,0.000,0.024,2592,1666,3104
$GC,1407,-1.79,-86.5,219.3,-14.8,130,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1667,3104
$GC,1651,-1.79,-86.5,249.2,-12.2,136,1655,0.00,2.28,0.00,0.000,4,0.000,0.049,2592,263,3104
$GC,1728,-1.79,-86.5,259.0,-12.5,137,1732,0.00,2.20,0.00,0.000,6,0.000,0.025,2592,1665,3105
$GC,1983,-1.79,-86.5,287.4,-10.8,144,1987,0.00,2.30,0.00,0.000,4,0.000,0.058,2592,263,3105
$GC,2020,-1.79,-86.5,292.1,-12.3,144,2027,0.00,2.20,0.00,0.000,6,0.000,0.026,2592,1657,3105
$GC,2270,-1.79,-86.5,319.9,-10.9,151,2274,0.00,2.25,0.00,0.000,4,0.000,0.041,2592,3068,3105
$GC,2296,-1.79,-86.5,322.8,-11.0,151,2301,0.00,2.25,0.00,0.000,6,0.000,0.034,2592,1680,3105
$GC,2552,-1.79,-86.5,349.1,-10.2,158,2556,0.00,2.35,0.00,0.000,4,0.000,0.060,2592,265,3105
$GC,2651,-1.79,-86.5,360.5,-11.4,160,2656,0.00,2.22,0.00,0.000,6,0.000,0.030,2592,1660,3104
$GC,2924,-1.79,-86.5,385.4,-9.1,167,2928,0.00,2.35,0.00,0.000,4,0.000,0.066,2592,268,3104
$GC,2955,-1.79,-86.5,388.9,-11.0,167,2962,0.00,2.25,0.00,0.000,6,0.000,0.034,2592,1657,3103
$GC,3205,-1.79,-86.5,414.3,-10.2,174,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1657,3102
$GC,3449,-1.79,-86.5,438.3,-9.8,180,3453,0.00,2.38,0.00,0.000,4,0.000,0.072,2592,263,3101
$GC,3593,-1.79,-86.5,453.9,-10.2,183,3597,0.00,2.28,0.00,0.000,6,0.000,0.039,2592,1668,3100
$GC,3865,-1.79,-86.5,477.4,-8.5,190,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1668,3097
$GC,4109,-1.80,-89.5,497.5,-8.2,196,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1668,3096
$STATE,4311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4311,begin apogee
$GC,4314,-0.31,0.0,513.1,7.6,201,4392,1.52,0.00,70.18,0.906,6,0.106,0.000,2916,1669,2749
$STATE,4393,end apogee,CONTROL_FINISHED_OK
$STATE,4393,begin climb
$GC,4395,1.80,89.5,513.4,0.0,203,4478,1.95,2.53,74.78,0.883,4,0.046,0.074,3383,262,2382
$GC,4488,1.80,89.5,506.0,14.0,205,4493,0.00,2.35,0.00,0.000,6,0.000,0.048,3383,1652,2380
$GC,4766,1.80,89.5,460.5,15.9,212,4770,0.00,2.40,0.00,0.000,4,0.000,0.061,3383,259,2376
$GC,5022,1.80,89.5,418.2,15.5,217,5029,0.00,2.33,0.00,0.000,6,0.000,0.041,3383,1656,2373
$GC,5272,1.80,89.5,385.4,13.0,224,5276,0.00,2.40,0.00,0.000,4,0.000,0.061,3383,257,2370
$GC,5529,1.80,89.5,351.1,12.5,229,5536,0.00,2.30,0.00,0.000,6,0.000,0.042,3383,1656,2368
$GC,5779,1.80,89.5,323.8,10.5,236,5783,0.00,2.38,0.00,0.000,4,0.000,0.059,3383,260,2366
$GC,6036,1.80,89.5,297.8,10.9,241,6043,0.00,2.28,0.00,0.000,6,0.000,0.034,3383,1657,2364
$GC,6286,1.80,89.5,275.3,8.7,248,6290,0.00,2.38,0.00,0.000,4,0.000,0.058,3383,253,2363
$GC,6543,1.81,96.2,254.5,7.7,253,6550,0.00,2.28,0.00,0.000,6,0.000,0.035,3383,1657,2362
$GC,6793,1.83,115.4,237.1,6.3,260,6817,0.00,2.42,18.80,0.708,4,0.000,0.053,3383,255,2277
$GC,7070,1.83,115.4,206.9,11.7,266,7075,0.00,2.28,0.00,0.000,6,0.000,0.031,3383,1662,2274
$GC,7339,1.83,115.4,182.7,9.8,286,7343,0.00,2.33,0.00,0.000,4,0.000,0.053,3383,255,2273
$GC,7596,1.83,115.4,154.6,11.1,308,7603,0.00,2.25,0.00,0.000,6,0.000,0.028,3383,1662,2273
$GC,7861,1.83,115.4,129.2,9.5,333,7865,0.00,2.33,0.00,0.000,4,0.000,0.053,3383,253,2274
$GC,8050,1.83,115.4,107.6,11.6,349,8054,0.00,2.22,0.00,0.000,6,0.000,0.028,3383,1664,2273
$GC,8314,1.83,115.4,84.9,9.4,373,8318,0.00,2.33,0.00,0.000,4,0.000,0.055,3383,248,2273
$GC,8402,1.85,130.6,77.1,6.7,380,8425,0.00,2.25,13.68,0.545,6,0.000,0.028,3383,1663,2215
$GC,8679,1.87,148.9,58.7,6.4,406,8702,0.00,0.00,16.55,0.537,6,0.000,0.000,3383,1663,2140
$GC,8956,1.87,150.9,39.3,8.3,432,8960,0.00,2.33,0.00,0.000,4,0.000,0.048,3383,255,2139
$GC,8974,1.87,150.9,37.7,8.7,433,8978,0.00,2.22,0.00,0.000,6,0.000,0.028,3383,1663,2139
$GC,9245,1.87,150.9,11.3,10.5,473,9254,0.00,2.35,0.00,0.000,4,0.000,0.048,3383,253,2139
$GC,9263,1.87,150.9,9.5,10.9,475,9270,0.00,2.22,0.00,0.000,6,0.000,0.028,3383,1646,2139
$STATE,9326,end climb,SURFACE_DEPTH_REACHED
$STATE,9327,begin surface coast
$FINISH,0.4,1.012110
$STATE,9356,end surface coast,CONTROL_FINISHED_OK
$STATE,9356,begin surface
$SM_CCo,9375,131.15,0.502,0,0,1076,410.14
$SM_GC,1.39,0.00,0.00,131.15,0.000,0.000,0.502,414,1650,1076,-11.85,-0.57,410.14
$IRIDIUM_FIX,2239.35,-15747.62,141197,070751
$TT8_MAMPS,0.026845
$HUMID,1577
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.70
$XPDR_PINGS,126
$24V_AH,23.8,17.908
$10V_AH,10.1,16.019
$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,27.050,96.400,193.975,131.150,0.000,56.618,61.662,305.075,31.500,0.000,0.000,16.021,1003.212,6126.166,445.212,1907.660,604.556,33.340,1194.230,0.000,1943.619,0.000,0.469
$DEVICE_MAMPS,157.235,73.632,905.827,501.618,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.524,323.159,570.542,447.356,910.427,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38105,491
$CAP_FILE_SIZE,205112,0
$CFSIZE,260165632,254582784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200808,094456,2248.167,-15747.336,39,1.2,39,10.1