version: 66.03
glider: 148
mission: 6
dive: 229
start: 9 10 108 13 10 0
data:
$ID,148
$MISSION,6
$DIVE,229
$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,-10950.808
$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,43
$R_STBD_OVSHOOT,39
$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
$GPS1,130246,2248.545,-15748.445,7,2.8,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-63.4
$GPS2,130907,2248.494,-15748.488,11,1.1,27,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.110,0.098
$KALMAN_X,-175443.7,524.3,-39.5,189428.3,-2083.9
$KALMAN_Y,-174580.4,-321.6,249.3,175392.1,-1989.1
$MHEAD_RNG_PITCHd_Wd,38.3,1265,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.75,-49.4,0.0,0.0,0,107,0.00,0.00,-84.47,0.000,2,0.000,0.000,411,2009,2737
$GC,111,-1.80,-89.7,3.3,-3.9,11,136,11.25,2.38,-8.30,0.000,4,0.160,0.043,2521,3454,3116
$GC,175,-1.71,-89.7,17.1,-21.1,20,184,0.10,2.20,0.00,0.000,6,0.128,0.018,2543,2051,3117
$GC,386,-1.65,-89.7,63.2,-21.2,44,390,0.00,2.20,0.00,0.000,4,0.000,0.029,2543,654,3117
$GC,440,-1.65,-89.7,74.4,-18.2,48,450,0.00,2.20,0.00,0.000,6,0.000,0.028,2543,2050,3117
$GC,642,-1.65,-89.7,111.2,-18.3,67,646,0.00,2.22,0.00,0.000,4,0.000,0.030,2543,648,3118
$GC,696,-1.71,-89.7,120.9,-17.7,71,700,0.00,2.17,0.00,0.000,6,0.000,0.019,2543,2057,3118
$GC,899,-1.76,-89.7,154.1,-15.0,90,903,0.00,2.22,0.00,0.000,4,0.000,0.030,2543,653,3119
$GC,973,-1.85,-89.7,164.9,-15.1,96,977,0.12,2.17,0.00,0.000,6,0.054,0.020,2501,2058,3119
$GC,1304,-1.85,-89.7,213.8,-15.2,121,1308,0.00,2.22,0.00,0.000,4,0.000,0.030,2501,654,3119
$GC,1388,-1.85,-89.7,226.1,-14.8,123,1392,0.00,2.15,0.00,0.000,6,0.000,0.018,2501,2059,3120
$GC,1713,-1.89,-89.7,274.6,-14.6,131,1717,0.00,2.22,0.00,0.000,4,0.000,0.031,2501,657,3120
$GC,1972,-1.94,-89.7,313.4,-14.0,136,1978,0.00,2.15,0.00,0.000,6,0.000,0.031,2501,2040,3120
$GC,2304,-2.00,-89.7,353.9,-11.8,145,2307,0.00,2.22,0.00,0.000,4,0.000,0.038,2501,655,3120
$GC,2550,-2.06,-89.7,383.6,-12.8,150,2554,0.12,2.20,0.00,0.000,6,0.060,0.025,2461,2053,3120
$GC,2899,-2.06,-89.7,432.0,-14.2,159,2903,0.00,2.28,0.00,0.000,4,0.000,0.044,2461,665,3117
$GC,3156,-2.06,-89.7,469.5,-14.5,164,3162,0.00,2.20,0.00,0.000,6,0.000,0.031,2461,2042,3116
$STATE,3485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3485,begin apogee
$GC,3490,-0.31,0.0,512.4,12.4,173,3568,1.85,0.00,73.43,0.907,6,0.110,0.000,2850,2042,2748
$STATE,3569,end apogee,CONTROL_FINISHED_OK
$STATE,3569,begin climb
$GC,3571,1.80,89.7,513.9,0.0,175,3654,1.92,2.42,74.80,0.883,4,0.047,0.062,3310,3403,2381
$GC,3822,1.52,89.7,482.9,14.6,180,3827,0.30,2.25,0.00,0.000,6,0.126,0.035,3252,2019,2376
$GC,4155,1.37,89.7,440.8,12.6,188,4160,0.15,2.42,0.00,0.000,4,0.126,0.059,3220,597,2372
$GC,4187,1.24,89.7,436.5,12.4,188,4194,0.15,2.28,0.00,0.000,6,0.126,0.032,3193,2003,2371
$GC,4519,1.21,89.7,401.4,10.2,197,4523,0.00,2.35,0.00,0.000,4,0.000,0.042,3192,591,2369
$GC,4568,1.13,89.7,395.8,11.0,198,4573,0.12,2.28,0.00,0.000,6,0.130,0.033,3170,2005,2368
$GC,4887,1.13,89.7,365.0,9.5,206,4891,0.00,2.35,0.00,0.000,4,0.000,0.041,3170,587,2366
$GC,4926,1.13,89.7,361.4,9.2,207,4930,0.00,2.28,0.00,0.000,6,0.000,0.025,3170,2007,2365
$GC,5249,1.15,106.8,338.3,6.5,215,5268,0.00,2.42,12.15,0.769,4,0.000,0.050,3169,599,2312
$GC,5520,1.16,112.6,316.1,7.8,221,5531,0.00,2.25,6.07,0.651,6,0.000,0.028,3170,2012,2289
$GC,5839,1.20,112.6,286.9,9.7,229,5843,0.00,2.35,0.00,0.000,4,0.000,0.044,3170,593,2287
$GC,6079,1.20,112.6,261.4,8.8,234,6083,0.00,2.25,0.00,0.000,6,0.000,0.022,3170,2003,2285
$GC,6429,1.29,131.8,238.3,6.3,243,6448,0.12,0.00,16.73,0.721,6,0.061,0.000,3209,2003,2211
$GC,6752,1.29,131.8,212.7,8.5,251,6756,0.00,2.33,0.00,0.000,4,0.000,0.045,3209,588,2208
$GC,7010,1.29,131.8,186.8,9.9,265,7017,0.00,2.22,0.00,0.000,6,0.000,0.028,3209,2008,2206
$GC,7336,1.29,135.1,157.6,8.1,296,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2008,2206
$GC,7654,1.36,161.5,136.1,5.5,326,7691,0.00,2.35,25.77,0.636,4,0.000,0.043,3209,590,2089
$GC,7698,1.38,177.3,133.3,6.7,329,7718,0.00,2.22,14.27,0.598,6,0.000,0.022,3209,1998,2026
$GC,7908,1.44,177.3,114.3,9.1,349,7909,0.10,0.00,0.00,0.000,6,0.062,0.000,3244,1998,2021
$GC,8100,1.44,177.3,95.6,10.0,367,8104,0.00,2.28,0.00,0.000,4,0.000,0.042,3244,589,2020
$GC,8200,1.44,177.3,84.8,10.8,375,8204,0.00,2.22,0.00,0.000,6,0.000,0.021,3244,2001,2020
$GC,8399,1.44,177.3,66.6,8.6,393,8403,0.00,2.25,0.00,0.000,4,0.000,0.046,3244,3398,2020
$GC,8469,1.45,187.1,61.0,7.4,399,8483,0.00,2.22,8.73,0.509,6,0.000,0.030,3244,1976,1985
$GC,8673,1.51,196.9,45.1,7.4,418,8688,0.00,2.28,10.02,0.506,4,0.000,0.042,3244,600,1946
$GC,8714,1.51,198.4,42.0,8.3,421,8719,0.00,2.20,0.00,0.000,6,0.000,0.018,3244,2017,1945
$GC,8919,1.56,198.4,24.4,9.7,444,8927,0.00,2.30,0.00,0.000,4,0.000,0.035,3244,607,1944
$GC,8936,1.59,198.4,22.8,9.4,446,8944,0.00,2.20,0.00,0.000,6,0.000,0.021,3244,1996,1945
$STATE,9132,end climb,SURFACE_DEPTH_REACHED
$STATE,9132,begin surface coast
$FINISH,0.7,1.010191
$STATE,9163,end surface coast,CONTROL_FINISHED_OK
$STATE,9163,begin surface
$SM_CCo,9184,125.85,0.506,0,0,954,440.07
$SM_GC,1.56,0.00,0.00,125.85,0.000,0.000,0.506,413,2103,954,-11.53,1.53,440.07
$IRIDIUM_FIX,2239.35,-15749.78,051297,101017
$TT8_MAMPS,0.026845
$HUMID,1678
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.60
$XPDR_PINGS,127
$24V_AH,23.8,36.655
$10V_AH,10.1,33.508
$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,27.875,90.450,241.975,125.850,0.000,29.691,26.398,204.780,31.750,0.000,0.000,29.457,1000.731,5821.547,455.811,1902.549,509.604,33.358,1201.090,0.000,1949.199,0.000,0.469
$DEVICE_MAMPS,159.536,109.681,906.594,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.909,313.953,588.011,455.061,915.983,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38162,485
$CAP_FILE_SIZE,203666,0
$CFSIZE,260165632,242917376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100908,154617,2248.558,-15748.328,9,2.3,28,10.1