version: 66.03
glider: 148
mission: 6
dive: 215
start: 9 8 108 21 4 40
data:
$ID,148
$MISSION,6
$DIVE,215
$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,440
$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,-10665.241
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2920
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,81
$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
$GPS1,205717,2248.325,-15748.686,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-58.1
$GPS2,210347,2248.295,-15748.753,13,5.0,32,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.135,0.084
$KALMAN_X,-157319.0,47.9,-182.2,171473.6,-2042.3
$KALMAN_Y,-158571.2,319.1,33.2,158590.3,-1547.7
$MHEAD_RNG_PITCHd_Wd,48.1,690,-25.0,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.63,-57.4,0.0,0.0,0,107,0.00,0.00,-84.82,0.000,2,0.000,0.000,411,2104,2766
$GC,111,-1.69,-103.0,3.4,-4.0,11,136,11.38,2.15,-8.82,0.000,4,0.160,0.042,2543,3423,3171
$GC,146,-0.72,-103.0,11.0,-16.8,15,155,1.00,2.15,0.00,0.000,6,0.113,0.017,2753,2041,3172
$GC,363,-1.07,-103.0,33.3,-9.3,49,368,0.25,2.20,0.00,0.000,4,0.035,0.030,2666,3413,3174
$GC,395,-1.27,-103.0,37.1,-13.0,51,400,0.10,2.10,0.00,0.000,6,0.062,0.019,2621,2052,3174
$GC,594,-1.35,-103.0,69.6,-14.1,69,598,0.00,2.20,0.00,0.000,4,0.000,0.038,2621,654,3174
$GC,639,-1.47,-103.0,75.9,-14.1,72,648,0.08,2.12,0.00,0.000,6,0.041,0.019,2580,2014,3174
$GC,838,-1.51,-103.0,103.4,-13.7,91,842,0.00,2.12,0.00,0.000,4,0.000,0.028,2579,654,3174
$GC,864,-1.55,-103.0,107.1,-14.9,93,868,0.00,2.17,0.00,0.000,6,0.000,0.019,2579,2060,3174
$GC,1065,-1.61,-103.0,134.4,-14.0,111,1069,0.00,2.22,0.00,0.000,4,0.000,0.029,2579,651,3175
$GC,1095,-1.67,-103.0,139.0,-14.7,113,1100,0.10,2.17,0.00,0.000,6,0.059,0.020,2537,2059,3175
$GC,1292,-1.67,-103.0,174.4,-19.2,131,1296,0.00,2.22,0.00,0.000,4,0.000,0.031,2537,654,3175
$GC,1486,-1.67,-103.0,210.6,-15.8,144,1490,0.00,2.15,0.00,0.000,6,0.000,0.019,2537,2054,3175
$GC,1834,-1.71,-103.0,259.3,-13.2,153,1838,0.00,2.20,0.00,0.000,4,0.000,0.030,2537,660,3175
$GC,1945,-1.78,-103.0,272.0,-11.5,155,1949,0.00,2.15,0.00,0.000,6,0.000,0.020,2537,2056,3175
$GC,2281,-1.85,-103.0,308.9,-10.9,164,2285,0.00,2.22,0.00,0.000,4,0.000,0.041,2537,665,3175
$GC,2532,-1.92,-103.0,340.5,-12.3,169,2537,0.15,2.15,0.00,0.000,6,0.051,0.027,2488,2046,3176
$GC,2868,-1.92,-103.0,389.1,-14.3,178,2872,0.00,2.25,0.00,0.000,4,0.000,0.045,2488,663,3174
$GC,3125,-1.92,-103.0,428.6,-15.2,183,3131,0.00,2.20,0.00,0.000,6,0.000,0.028,2488,2053,3172
$GC,3456,-1.92,-103.0,472.5,-12.9,192,3460,0.00,2.28,0.00,0.000,4,0.000,0.046,2488,671,3171
$GC,3713,-1.92,-103.0,505.5,-12.2,197,3719,0.00,2.22,0.00,0.000,6,0.000,0.034,2488,2035,3169
$STATE,3758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3758,begin apogee
$GC,3763,-0.31,0.0,511.1,12.4,199,3851,1.70,0.00,84.30,0.900,6,0.104,0.000,2849,2035,2749
$STATE,3852,end apogee,CONTROL_FINISHED_OK
$STATE,3852,begin climb
$GC,3854,1.69,103.0,512.2,0.0,201,3949,1.83,2.42,85.78,0.878,4,0.042,0.068,3290,3400,2327
$GC,3989,1.39,103.0,499.9,14.8,204,3994,0.32,2.25,0.00,0.000,6,0.126,0.030,3227,2021,2323
$GC,4303,1.23,103.0,460.9,11.6,212,4308,0.17,2.42,0.00,0.000,4,0.123,0.064,3190,599,2318
$GC,4432,1.10,103.0,446.9,9.3,215,4437,0.15,2.28,0.00,0.000,6,0.125,0.033,3162,2008,2316
$GC,4762,1.11,113.2,421.4,7.5,223,4776,0.00,2.42,7.32,0.723,4,0.000,0.049,3162,594,2286
$GC,4806,1.06,113.2,417.2,9.8,224,4810,0.00,2.28,0.00,0.000,6,0.000,0.031,3162,2001,2286
$GC,5129,1.06,113.2,385.3,10.1,232,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2001,2283
$GC,5454,1.06,113.2,351.0,10.0,240,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2001,2280
$GC,5780,1.06,116.8,321.9,8.1,248,5784,0.00,2.33,0.00,0.000,4,0.000,0.044,3162,586,2279
$GC,5886,1.03,120.6,313.2,8.1,250,5897,0.00,2.25,6.12,0.650,6,0.000,0.030,3162,2009,2257
$GC,6229,1.03,120.6,283.3,8.7,259,6233,0.00,2.33,0.00,0.000,4,0.000,0.046,3162,595,2255
$GC,6335,1.03,120.6,273.4,9.1,261,6339,0.00,2.22,0.00,0.000,6,0.000,0.029,3162,2007,2254
$GC,6682,1.07,153.4,251.3,5.2,270,6717,0.00,2.40,28.90,0.739,4,0.000,0.059,3162,3388,2122
$GC,6735,1.12,168.9,248.0,7.0,271,6754,0.00,2.25,14.48,0.692,6,0.000,0.024,3162,1983,2059
$GC,7091,1.18,168.9,216.3,9.9,280,7096,0.00,2.35,0.00,0.000,4,0.000,0.041,3162,3403,2052
$GC,7160,1.27,168.9,209.1,10.9,281,7165,0.15,2.22,0.00,0.000,6,0.055,0.025,3205,1994,2050
$GC,7485,1.27,168.9,170.7,10.5,306,7489,0.00,2.25,0.00,0.000,4,0.000,0.044,3207,601,2050
$GC,7575,1.23,168.9,161.3,11.5,313,7579,0.00,2.20,0.00,0.000,6,0.000,0.028,3206,2002,2049
$GC,7903,1.23,168.9,127.2,12.2,343,7907,0.00,2.28,0.00,0.000,4,0.000,0.037,3206,597,2049
$GC,8046,1.23,168.9,108.9,12.0,355,8050,0.00,2.20,0.00,0.000,6,0.000,0.028,3206,2002,2049
$GC,8247,1.24,175.7,89.1,7.8,373,8254,0.00,0.00,5.47,0.472,6,0.000,0.000,3206,2002,2032
$GC,8446,1.27,200.8,75.2,6.0,392,8476,0.00,2.33,22.85,0.573,4,0.000,0.036,3206,603,1929
$GC,8557,1.32,205.9,67.4,8.0,401,8571,0.00,2.20,5.70,0.455,6,0.000,0.029,3206,2002,1908
$GC,8761,1.38,205.9,51.4,8.6,420,8765,0.00,2.28,0.00,0.000,4,0.000,0.045,3206,3402,1906
$GC,8816,1.45,205.9,45.7,9.7,424,8826,0.08,2.22,0.00,0.000,6,0.046,0.021,3242,1994,1904
$GC,9021,1.45,205.9,23.5,10.6,448,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1994,1904
$STATE,9211,end climb,SURFACE_DEPTH_REACHED
$STATE,9211,begin surface coast
$FINISH,0.7,1.010490
$STATE,9242,end surface coast,CONTROL_FINISHED_OK
$STATE,9242,begin surface
$SM_CCo,9262,122.78,0.509,0,0,955,440.07
$SM_GC,1.64,0.00,0.00,122.78,0.000,0.000,0.509,410,2142,955,-11.54,2.60,440.07
$IRIDIUM_FIX,2241.69,-15751.94,031297,181807
$TT8_MAMPS,0.027612
$HUMID,1707
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.50
$XPDR_PINGS,167
$24V_AH,23.8,35.228
$10V_AH,10.1,32.096
$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,28.875,94.125,260.925,122.775,0.000,28.784,30.203,207.233,41.750,0.000,0.000,35.202,1009.272,5901.046,461.186,1892.655,510.125,33.357,1200.477,0.000,1931.222,0.000,0.469
$DEVICE_MAMPS,160.303,72.865,899.691,508.521,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.740,304.446,567.069,465.233,946.263,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38167,486
$CAP_FILE_SIZE,204176,0
$CFSIZE,260165632,243838976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080908,234208,2248.838,-15748.543,25,1.0,25,10.1