version: 66.03
glider: 148
mission: 6
dive: 86
start: 8 24 108 0 49 33
data:
$ID,148
$MISSION,6
$DIVE,86
$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,-7993.1875
$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,1900
$C_ROLL_CLIMB,1660
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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
$GPS1,003938,2248.310,-15749.293,35,1.5,35,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-58.9
$GPS2,004838,2248.333,-15749.333,10,1.6,15,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.147,0.009
$KALMAN_X,-74620.6,-319.5,598.6,87373.4,-1144.4
$KALMAN_Y,34766.1,486.4,593.4,-35411.8,-708.3
$MHEAD_RNG_PITCHd_Wd,76.5,838,-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,-49.4,0.0,0.0,0,105,0.00,0.00,-84.72,0.000,2,0.000,0.000,410,1697,2772
$GC,108,-1.79,-86.3,3.3,-4.2,11,132,11.55,0.00,-7.43,0.000,6,0.158,0.000,2589,1697,3102
$GC,402,-1.79,-86.3,59.1,-17.3,49,406,0.00,2.58,0.00,0.000,4,0.000,0.037,2589,3291,3104
$GC,431,-1.79,-86.3,64.2,-17.6,51,435,0.00,2.22,0.00,0.000,6,0.000,0.027,2589,1885,3104
$GC,695,-1.79,-86.3,102.1,-14.7,75,699,0.00,2.22,0.00,0.000,4,0.000,0.041,2589,500,3104
$GC,851,-1.79,-86.3,125.4,-14.4,88,861,0.00,2.20,0.00,0.000,6,0.000,0.026,2589,1882,3104
$GC,1112,-1.79,-86.3,160.3,-13.4,113,1116,0.00,2.25,0.00,0.000,4,0.000,0.040,2589,492,3104
$GC,1185,-1.79,-86.3,170.7,-14.6,119,1189,0.00,2.22,0.00,0.000,6,0.000,0.027,2589,1906,3104
$GC,1443,-1.79,-86.3,206.5,-13.2,140,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1907,3104
$GC,1687,-1.79,-86.3,237.4,-12.7,146,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1908,3105
$GC,1930,-1.79,-86.3,266.1,-11.4,152,1934,0.00,2.28,0.00,0.000,4,0.000,0.044,2588,503,3105
$GC,2069,-1.79,-86.3,281.4,-10.8,155,2074,0.00,2.22,0.00,0.000,6,0.000,0.028,2589,1903,3104
$GC,2347,-1.79,-86.3,309.7,-10.4,162,2351,0.00,2.25,0.00,0.000,4,0.000,0.043,2589,3301,3104
$GC,2412,-1.79,-86.3,317.3,-11.6,163,2417,0.00,2.25,0.00,0.000,6,0.000,0.037,2589,1898,3105
$GC,2674,-1.79,-86.3,343.2,-9.6,170,2678,0.00,2.30,0.00,0.000,4,0.000,0.060,2589,499,3105
$GC,2722,-1.79,-86.3,348.6,-10.2,171,2727,0.00,2.25,0.00,0.000,6,0.000,0.033,2589,1888,3105
$GC,3000,-1.79,-86.3,374.8,-9.3,178,3004,0.00,2.30,0.00,0.000,4,0.000,0.054,2589,500,3104
$GC,3094,-1.79,-86.3,384.4,-10.5,180,3099,0.00,2.28,0.00,0.000,6,0.000,0.041,2588,1900,3103
$GC,3372,-1.79,-86.3,410.9,-9.7,187,3376,0.00,2.33,0.00,0.000,4,0.000,0.059,2589,3309,3102
$GC,3427,-1.79,-86.3,416.9,-10.7,188,3431,0.00,2.28,0.00,0.000,6,0.000,0.034,2589,1910,3101
$GC,3704,-1.79,-86.3,444.4,-9.7,195,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1910,3100
$GC,3948,-1.80,-91.6,464.2,-7.9,201,3953,0.00,2.35,0.00,0.000,4,0.000,0.056,2589,3307,3098
$GC,3975,-1.80,-91.6,466.4,-8.7,201,3980,0.00,2.30,0.00,0.000,6,0.000,0.038,2589,1908,3098
$GC,4231,-1.81,-102.4,485.0,-7.3,208,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1908,3097
$GC,4474,-1.82,-109.7,503.1,-7.7,214,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1907,3094
$STATE,4594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4594,begin apogee
$GC,4599,-0.31,0.0,512.8,8.0,217,4677,1.52,0.00,69.90,0.902,6,0.096,0.000,2921,1651,2749
$STATE,4677,end apogee,CONTROL_FINISHED_OK
$STATE,4677,begin climb
$GC,4679,1.82,109.7,514.1,0.0,219,4775,1.92,0.00,91.85,0.882,6,0.038,0.000,3389,1651,2300
$GC,5003,1.82,109.7,466.2,18.7,227,5007,0.00,2.40,0.00,0.000,4,0.000,0.064,3389,258,2293
$GC,5142,1.82,109.7,437.7,20.2,230,5147,0.00,2.33,0.00,0.000,6,0.000,0.044,3389,1651,2290
$GC,5420,1.82,109.7,388.0,17.7,237,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1652,2287
$GC,5664,1.82,109.7,348.5,15.8,243,5668,0.00,2.38,0.00,0.000,4,0.000,0.056,3389,250,2285
$GC,5678,1.82,109.7,346.0,15.7,243,5683,0.00,2.33,0.00,0.000,6,0.000,0.037,3389,1658,2284
$GC,5946,1.82,109.7,307.0,14.3,250,5950,0.00,2.35,0.00,0.000,4,0.000,0.054,3389,258,2282
$GC,5977,1.82,109.7,302.1,15.2,250,5982,0.00,2.30,0.00,0.000,6,0.000,0.041,3389,1661,2282
$GC,6233,1.82,109.7,267.0,13.3,257,6237,0.00,2.35,0.00,0.000,4,0.000,0.053,3389,258,2280
$GC,6490,1.82,109.7,237.7,9.8,262,6497,0.00,2.28,0.00,0.000,6,0.000,0.031,3389,1661,2279
$GC,6740,1.82,109.7,215.7,8.9,269,6744,0.00,2.33,0.00,0.000,4,0.000,0.049,3389,256,2279
$GC,6778,1.82,109.7,211.5,11.1,270,6782,0.00,2.25,0.00,0.000,6,0.000,0.030,3389,1666,2278
$GC,7037,1.82,109.7,187.6,9.3,283,7041,0.00,2.33,0.00,0.000,4,0.000,0.054,3389,3067,2278
$GC,7053,1.82,109.7,185.9,9.2,284,7057,0.00,2.28,0.00,0.000,6,0.000,0.040,3389,1649,2277
$GC,7313,1.82,109.7,159.6,9.9,308,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1648,2277
$GC,7567,1.82,109.7,133.0,9.7,332,7571,0.00,2.28,0.00,0.000,4,0.000,0.049,3389,255,2277
$GC,7732,1.82,109.7,113.3,11.6,346,7737,0.00,2.22,0.00,0.000,6,0.000,0.028,3389,1670,2278
$GC,7992,1.82,109.7,86.3,10.1,370,7996,0.00,2.33,0.00,0.000,4,0.000,0.046,3389,251,2278
$GC,8249,1.83,117.0,58.7,7.7,392,8259,0.00,2.22,0.00,0.000,6,0.000,0.026,3389,1659,2279
$GC,8513,1.91,179.3,47.3,1.3,417,8579,0.00,2.35,53.72,0.546,4,0.000,0.052,3389,263,2016
$GC,8832,1.91,179.3,4.7,17.1,458,8840,0.00,2.22,0.00,0.000,6,0.000,0.028,3389,1650,2011
$STATE,8846,end climb,SURFACE_DEPTH_REACHED
$STATE,8846,begin surface coast
$FINISH,0.5,1.022498
$STATE,8864,end surface coast,CONTROL_FINISHED_OK
$STATE,8865,begin surface
$SM_CCo,8884,123.07,0.502,0,0,1077,410.14
$SM_GC,1.46,0.00,0.00,123.07,0.000,0.000,0.502,410,1947,1077,-11.86,1.33,410.14
$IRIDIUM_FIX,2241.69,-15751.94,181197,000045
$TT8_MAMPS,0.026845
$HUMID,1622
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.00
$XPDR_PINGS,153
$24V_AH,23.8,21.200
$10V_AH,10.1,19.069
$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,27.200,83.400,215.475,123.075,0.000,51.393,57.619,274.514,38.250,0.000,0.000,17.171,923.071,5978.186,439.612,1662.107,547.895,33.353,1096.100,0.000,1681.337,0.000,0.468
$DEVICE_MAMPS,158.002,88.205,901.992,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.282,306.357,523.858,397.999,823.501,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35119,463
$CAP_FILE_SIZE,188782,0
$CFSIZE,260165632,252575744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240808,032047,2248.122,-15748.532,11,2.3,30,10.1