version: 66.03
glider: 148
mission: 6
dive: 55
start: 8 20 108 10 0 15
data:
$ID,148
$MISSION,6
$DIVE,55
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7291.8916
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,094456,2248.167,-15747.336,39,1.2,39,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-65.5
$GPS2,095920,2248.243,-15747.353,10,1.4,10,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.064,0.133
$KALMAN_X,-53851.7,683.7,389.9,69177.8,-2673.8
$KALMAN_Y,40781.8,63.6,651.5,-41222.2,-708.7
$MHEAD_RNG_PITCHd_Wd,324.3,2848,-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,-49.4,0.0,0.0,0,83,0.00,0.00,-62.40,0.000,2,0.000,0.000,414,1651,2747
$GC,85,-1.80,-90.3,3.3,-3.8,8,110,11.50,2.35,-8.40,0.000,4,0.158,0.054,2590,3085,3120
$GC,162,-1.80,-90.3,19.3,-21.4,20,170,0.00,2.30,0.00,0.000,6,0.000,0.039,2590,1671,3121
$GC,429,-1.80,-90.3,74.2,-16.3,49,433,0.00,2.28,0.00,0.000,4,0.000,0.048,2590,264,3122
$GC,556,-1.80,-90.3,95.9,-16.5,60,560,0.00,2.20,0.00,0.000,6,0.000,0.024,2590,1686,3122
$GC,816,-1.80,-90.3,134.8,-15.7,84,820,0.00,2.33,0.00,0.000,4,0.000,0.044,2590,261,3122
$GC,928,-1.80,-90.3,153.6,-16.5,93,937,0.00,2.20,0.00,0.000,6,0.000,0.024,2590,1664,3123
$GC,1191,-1.80,-90.3,193.9,-14.9,118,1195,0.00,2.28,0.00,0.000,4,0.000,0.046,2590,265,3123
$GC,1289,-1.80,-90.3,209.8,-15.0,122,1294,0.00,2.20,0.00,0.000,6,0.000,0.025,2590,1667,3123
$GC,1561,-1.80,-90.3,247.0,-13.3,129,1565,0.00,2.20,0.00,0.000,4,0.000,0.033,2590,3067,3123
$GC,1588,-1.80,-90.3,250.8,-14.5,129,1593,0.00,2.25,0.00,0.000,6,0.000,0.031,2590,1671,3123
$GC,1849,-1.80,-90.3,283.8,-12.6,136,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1671,3123
$GC,2093,-1.80,-90.3,308.1,-9.7,142,2097,0.00,2.30,0.00,0.000,4,0.000,0.060,2590,263,3123
$GC,2231,-1.80,-90.3,324.2,-11.9,145,2236,0.00,2.22,0.00,0.000,6,0.000,0.028,2590,1662,3123
$GC,2515,-1.80,-90.3,353.3,-10.0,152,2519,0.00,2.33,0.00,0.000,4,0.000,0.064,2590,268,3123
$GC,2541,-1.80,-90.3,356.1,-11.3,152,2546,0.00,2.25,0.00,0.000,6,0.000,0.031,2590,1670,3123
$GC,2796,-1.80,-90.3,382.2,-10.0,159,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1670,3122
$GC,3040,-1.80,-90.3,406.6,-10.1,165,3044,0.00,2.38,0.00,0.000,4,0.000,0.067,2590,266,3121
$GC,3129,-1.80,-90.3,416.6,-11.8,167,3133,0.00,2.25,0.00,0.000,6,0.000,0.037,2590,1664,3120
$GC,3417,-1.80,-90.3,446.7,-10.5,174,3421,0.00,2.35,0.00,0.000,4,0.000,0.063,2590,270,3118
$GC,3443,-1.80,-90.3,450.0,-12.6,174,3447,0.00,2.30,0.00,0.000,6,0.000,0.040,2590,1673,3118
$GC,3698,-1.80,-90.3,476.3,-9.9,181,3702,0.00,2.38,0.00,0.000,4,0.000,0.067,2590,272,3116
$GC,3833,-1.80,-90.3,490.0,-10.1,184,3837,0.00,2.28,0.00,0.000,6,0.000,0.041,2591,1671,3115
$STATE,4073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4073,begin apogee
$GC,4077,-0.31,0.0,511.3,8.7,190,4156,1.52,0.00,73.90,0.904,6,0.104,0.000,2917,1671,2749
$STATE,4157,end apogee,CONTROL_FINISHED_OK
$STATE,4157,begin climb
$GC,4158,1.80,90.3,511.8,0.0,192,4242,1.95,2.50,75.05,0.881,4,0.048,0.064,3391,3071,2379
$GC,4279,1.80,90.3,499.8,16.8,194,4287,0.00,2.38,0.00,0.000,6,0.000,0.048,3391,1674,2376
$GC,4530,1.80,90.3,456.0,17.7,201,4534,0.00,2.50,0.00,0.000,4,0.000,0.076,3391,245,2372
$GC,4785,1.80,90.3,408.9,17.9,206,4793,0.00,2.35,0.00,0.000,6,0.000,0.038,3391,1664,2369
$GC,5036,1.80,90.3,370.7,14.9,213,5040,0.00,2.40,0.00,0.000,4,0.000,0.064,3391,251,2366
$GC,5292,1.80,90.3,331.0,14.1,218,5299,0.00,2.33,0.00,0.000,6,0.000,0.035,3391,1665,2365
$GC,5542,1.80,90.3,297.8,13.2,225,5546,0.00,2.38,0.00,0.000,4,0.000,0.063,3391,3069,2363
$GC,5726,1.80,90.3,276.1,12.1,229,5731,0.00,2.33,0.00,0.000,6,0.000,0.044,3391,1658,2361
$GC,6004,1.80,90.3,246.5,10.6,236,6008,0.00,2.38,0.00,0.000,4,0.000,0.065,3390,257,2361
$GC,6260,1.80,90.4,225.9,8.5,241,6267,0.00,2.28,0.00,0.000,6,0.000,0.030,3391,1671,2359
$GC,6510,1.81,96.9,207.8,7.7,248,6514,0.00,2.30,0.00,0.000,4,0.000,0.052,3391,3064,2359
$GC,6767,1.83,111.9,191.0,6.8,262,6787,0.00,2.28,15.07,0.654,6,0.000,0.042,3391,1648,2292
$GC,7050,1.83,111.9,165.8,9.6,289,7054,0.00,2.33,0.00,0.000,4,0.000,0.041,3390,3069,2290
$GC,7291,1.83,111.9,141.5,10.0,310,7295,0.00,2.28,0.00,0.000,6,0.000,0.041,3391,1654,2289
$GC,7551,1.83,111.9,115.9,10.2,334,7555,0.00,2.28,0.00,0.000,4,0.000,0.054,3391,258,2289
$GC,7570,1.83,111.9,114.1,10.3,335,7574,0.00,2.20,0.00,0.000,6,0.000,0.032,3391,1668,2290
$GC,7832,1.83,111.9,87.6,10.4,359,7836,0.00,2.30,0.00,0.000,4,0.000,0.052,3391,253,2290
$GC,8094,1.86,137.8,65.3,5.5,382,8121,0.00,2.20,22.42,0.555,6,0.000,0.028,3391,1666,2187
$GC,8374,1.90,175.2,45.8,4.2,408,8414,0.00,2.38,31.40,0.540,4,0.000,0.053,3390,263,2035
$GC,8666,1.90,175.2,4.3,17.6,447,8675,0.00,2.25,0.00,0.000,6,0.000,0.031,3391,1654,2030
$STATE,8681,end climb,SURFACE_DEPTH_REACHED
$STATE,8681,begin surface coast
$FINISH,0.5,1.022830
$STATE,8699,end surface coast,CONTROL_FINISHED_OK
$STATE,8699,begin surface
$SM_CCo,8718,201.27,0.502,0,0,510,548.98
$SM_GC,1.26,0.00,0.00,201.27,0.000,0.000,0.502,415,1658,510,-11.84,-0.37,548.98
$IRIDIUM_FIX,2239.35,-15744.57,141197,101023
$TT8_MAMPS,0.026845
$HUMID,1567
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,23.10
$XPDR_PINGS,132
$24V_AH,23.8,18.011
$10V_AH,10.1,16.113
$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,27.225,92.175,217.850,201.275,0.000,134.542,399.230,0.000,33.000,0.000,0.000,12.075,942.718,5844.731,498.940,1819.481,680.443,33.345,1226.198,0.000,1825.308,0.000,0.469
$DEVICE_MAMPS,158.002,75.933,903.526,501.618,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.293,300.097,512.639,382.622,788.361,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35202,452
$CAP_FILE_SIZE,186042,0
$CFSIZE,260165632,254525440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200808,123008,2248.531,-15747.979,38,1.2,38,10.1