version: 66.03
glider: 148
mission: 6
dive: 87
start: 8 24 108 3 37 16
data:
$ID,148
$MISSION,6
$DIVE,87
$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,-8024.6221
$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,32
$R_STBD_OVSHOOT,70
$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
$GPS1,032047,2248.122,-15748.532,11,2.3,30,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-63.5
$GPS2,033622,2248.040,-15748.646,9,99.0,28,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.057,0.136
$KALMAN_X,-74997.9,-109.5,190.2,89116.5,-1190.0
$KALMAN_Y,34396.4,456.1,357.9,-35308.2,-1483.7
$MHEAD_RNG_PITCHd_Wd,12.6,608,-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,-49.4,0.0,0.0,0,82,0.00,0.00,-62.08,0.000,2,0.000,0.000,410,1948,2739
$GC,85,-1.80,-89.0,3.3,-3.9,8,110,11.48,2.15,-8.57,0.000,4,0.157,0.045,2588,3277,3114
$GC,167,-1.80,-89.0,19.0,-18.2,21,176,0.00,2.22,0.00,0.000,6,0.000,0.031,2588,1905,3115
$GC,439,-1.80,-89.0,66.6,-13.7,51,443,0.00,2.28,0.00,0.000,4,0.000,0.044,2588,490,3115
$GC,611,-1.80,-89.0,93.8,-14.0,66,620,0.00,2.17,0.00,0.000,6,0.000,0.024,2589,1869,3116
$GC,874,-1.80,-89.0,132.0,-15.9,91,877,0.00,2.22,0.00,0.000,4,0.000,0.041,2588,483,3116
$GC,1013,-1.80,-89.0,154.5,-15.0,103,1021,0.00,2.22,0.00,0.000,6,0.000,0.025,2588,1893,3116
$GC,1275,-1.80,-89.0,192.0,-13.6,128,1278,0.00,2.28,0.00,0.000,4,0.000,0.042,2588,487,3116
$GC,1448,-1.80,-89.0,218.1,-15.6,136,1452,0.00,2.20,0.00,0.000,6,0.000,0.026,2589,1908,3116
$GC,1736,-1.80,-89.0,252.9,-11.0,143,1740,0.00,2.28,0.00,0.000,4,0.000,0.043,2588,493,3116
$GC,1864,-1.80,-89.0,266.5,-10.3,145,1871,0.00,2.22,0.00,0.000,6,0.000,0.025,2588,1902,3116
$GC,2113,-1.80,-89.0,289.0,-9.0,152,2117,0.00,2.22,0.00,0.000,4,0.000,0.043,2589,3303,3116
$GC,2197,-1.80,-89.0,297.7,-11.0,154,2201,0.00,2.25,0.00,0.000,6,0.000,0.029,2588,1883,3116
$GC,2480,-1.80,-89.0,323.3,-8.7,161,2484,0.00,2.28,0.00,0.000,4,0.000,0.058,2588,499,3116
$GC,2519,-1.80,-89.0,327.2,-10.5,162,2523,0.00,2.22,0.00,0.000,6,0.000,0.037,2588,1907,3116
$GC,2801,-1.80,-89.0,353.6,-9.0,169,2805,0.00,2.33,0.00,0.000,4,0.000,0.059,2589,504,3116
$GC,2884,-1.80,-89.0,361.3,-9.1,171,2888,0.00,2.20,0.00,0.000,6,0.000,0.034,2589,1899,3115
$GC,3172,-1.80,-89.0,387.8,-9.6,178,3176,0.00,2.33,0.00,0.000,4,0.000,0.063,2588,503,3114
$GC,3300,-1.80,-89.0,401.7,-10.7,180,3307,0.00,2.25,0.00,0.000,6,0.000,0.035,2588,1891,3113
$GC,3550,-1.80,-89.0,423.6,-8.6,187,3554,0.00,2.33,0.00,0.000,4,0.000,0.062,2589,502,3112
$GC,3774,-1.80,-89.0,447.6,-10.5,192,3778,0.00,2.25,0.00,0.000,6,0.000,0.037,2588,1901,3110
$GC,4062,-1.80,-89.0,473.2,-8.6,199,4066,0.00,2.35,0.00,0.000,4,0.000,0.062,2588,506,3108
$GC,4251,-1.80,-92.3,489.4,-8.1,203,4255,0.00,2.28,0.00,0.000,6,0.000,0.042,2588,1886,3107
$GC,4529,-1.82,-105.1,508.8,-7.0,210,4533,0.00,2.35,0.00,0.000,4,0.000,0.069,2588,504,3105
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4548,begin apogee
$GC,4554,-0.31,0.0,510.3,7.1,210,4630,1.50,0.00,72.25,0.904,6,0.098,0.000,2917,1666,2749
$STATE,4631,end apogee,CONTROL_FINISHED_OK
$STATE,4631,begin climb
$GC,4632,1.82,105.1,510.6,0.0,212,4728,1.95,2.45,87.32,0.881,4,0.038,0.058,3390,3060,2319
$GC,4732,1.82,105.1,502.6,14.6,214,4737,0.00,2.35,0.00,0.000,6,0.000,0.043,3389,1680,2318
$GC,4999,1.82,105.1,452.4,18.8,221,5003,0.00,2.50,0.00,0.000,4,0.000,0.074,3389,252,2311
$GC,5143,1.82,105.1,424.1,18.9,224,5147,0.00,2.33,0.00,0.000,6,0.000,0.037,3389,1652,2310
$GC,5421,1.82,105.1,380.2,15.5,231,5425,0.00,2.40,0.00,0.000,4,0.000,0.058,3389,246,2307
$GC,5679,1.82,105.1,333.2,17.5,236,5685,0.00,2.30,0.00,0.000,6,0.000,0.035,3389,1662,2304
$GC,5927,1.82,105.1,294.6,15.4,243,5932,0.00,2.38,0.00,0.000,4,0.000,0.054,3389,249,2302
$GC,6184,1.82,105.1,259.4,13.0,248,6191,0.00,2.30,0.00,0.000,6,0.000,0.032,3389,1659,2301
$GC,6434,1.82,107.6,238.2,8.2,255,6438,0.00,2.38,0.00,0.000,4,0.000,0.054,3389,239,2299
$GC,6691,1.82,107.6,216.8,8.7,260,6698,0.00,2.30,0.00,0.000,6,0.000,0.030,3389,1666,2298
$GC,6941,1.82,111.0,196.9,8.1,267,6945,0.00,2.35,0.00,0.000,4,0.000,0.048,3389,240,2298
$GC,7174,1.82,111.0,174.1,9.9,287,7182,0.00,2.28,0.00,0.000,6,0.000,0.027,3389,1664,2298
$GC,7436,1.82,111.0,148.6,9.4,312,7440,0.00,2.33,0.00,0.000,4,0.000,0.047,3389,245,2298
$GC,7626,1.82,111.0,130.0,9.4,328,7635,0.00,2.25,0.00,0.000,6,0.000,0.033,3389,1660,2298
$GC,7890,1.82,111.0,105.6,9.4,353,7894,0.00,2.33,0.00,0.000,4,0.000,0.051,3389,237,2298
$GC,8148,1.82,111.0,79.4,9.2,375,8158,0.00,2.25,0.00,0.000,6,0.000,0.028,3389,1653,2300
$GC,8413,1.85,131.3,60.7,6.2,400,8440,0.00,2.38,19.33,0.542,4,0.000,0.051,3389,244,2212
$GC,8690,1.92,189.8,44.9,1.8,424,8750,0.00,2.25,48.42,0.540,6,0.000,0.027,3389,1654,1973
$STATE,8999,end climb,SURFACE_DEPTH_REACHED
$STATE,9000,begin surface coast
$FINISH,0.5,1.011068
$STATE,9019,end surface coast,CONTROL_FINISHED_OK
$STATE,9019,begin surface
$SM_CCo,9038,192.35,0.498,0,0,510,548.98
$SM_GC,1.43,0.00,0.00,192.35,0.000,0.000,0.498,410,1923,510,-11.87,0.65,548.98
$IRIDIUM_FIX,2239.35,-15744.57,181197,030356
$TT8_MAMPS,0.026845
$HUMID,1590
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.10
$XPDR_PINGS,150
$24V_AH,23.8,21.306
$10V_AH,10.1,19.169
$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,27.125,96.275,227.325,192.350,0.000,145.480,441.695,0.000,37.500,0.000,0.000,30.805,990.556,5906.905,500.131,2029.457,742.462,33.357,1307.414,0.000,2025.261,0.000,0.469
$DEVICE_MAMPS,157.235,74.399,903.526,497.783,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.001,291.773,538.701,415.285,850.173,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35120,469
$CAP_FILE_SIZE,194502,0
$CFSIZE,260165632,252493824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240808,061207,2248.404,-15748.496,24,0.9,24,10.1