version: 66.03
glider: 148
mission: 6
dive: 450
start: 10 6 108 15 40 33
data:
$ID,148
$MISSION,6
$DIVE,450
$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,-15713.122
$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,39
$R_STBD_OVSHOOT,33
$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
$GPS1,153031,2247.099,-15747.849,30,1.1,40,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-62.0
$GPS2,153939,2247.105,-15747.934,13,1.1,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.022,0.146
$KALMAN_X,-408191.7,71.8,258.7,423271.8,-1631.9
$KALMAN_Y,-262019.7,129.0,-198.0,260264.8,495.6
$MHEAD_RNG_PITCHd_Wd,341.1,2462,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.75,-49.4,0.0,0.0,0,90,0.00,0.00,-64.43,0.000,2,0.000,0.000,394,2145,2633
$GC,96,-1.79,-82.7,3.4,-4.7,11,129,11.27,2.12,-10.90,0.000,4,0.158,0.041,2525,3465,3087
$GC,205,-1.89,-82.7,20.1,-14.8,29,211,0.00,2.22,0.00,0.000,6,0.000,0.021,2525,2050,3088
$GC,413,-1.89,-82.7,54.0,-17.7,54,417,0.00,2.22,0.00,0.000,4,0.000,0.031,2525,640,3089
$GC,529,-1.98,-82.7,72.8,-16.4,64,534,0.15,2.20,0.00,0.000,6,0.050,0.018,2478,2068,3089
$GC,727,-1.98,-82.7,104.3,-17.0,82,731,0.00,2.28,0.00,0.000,4,0.000,0.032,2478,644,3089
$GC,862,-2.03,-82.7,126.3,-15.0,93,868,0.00,2.17,0.00,0.000,6,0.000,0.017,2478,2066,3089
$GC,1061,-2.10,-82.7,152.7,-13.8,112,1065,0.00,2.28,0.00,0.000,4,0.000,0.031,2478,640,3090
$GC,1185,-2.18,-82.7,170.7,-14.1,122,1192,0.15,2.17,0.00,0.000,6,0.051,0.018,2429,2059,3090
$GC,1515,-2.18,-82.7,216.5,-13.3,145,1519,0.00,2.25,0.00,0.000,4,0.000,0.031,2429,644,3090
$GC,1717,-2.18,-82.7,245.2,-13.6,149,1721,0.00,2.15,0.00,0.000,6,0.000,0.017,2429,2055,3090
$GC,2055,-2.23,-82.7,288.2,-12.4,158,2059,0.00,2.25,0.00,0.000,4,0.000,0.035,2429,650,3090
$GC,2314,-2.27,-82.7,323.8,-13.3,163,2320,0.00,2.15,0.00,0.000,6,0.000,0.020,2429,2040,3090
$GC,2646,-2.33,-82.7,359.2,-10.3,172,2650,0.00,2.25,0.00,0.000,4,0.000,0.044,2429,654,3090
$GC,2837,-2.38,-82.7,381.8,-11.8,176,2842,0.12,2.17,0.00,0.000,6,0.059,0.028,2390,2051,3089
$GC,3184,-2.38,-82.7,425.5,-12.8,185,3189,0.00,2.30,0.00,0.000,4,0.000,0.050,2390,655,3086
$GC,3442,-2.38,-82.7,459.2,-13.6,190,3448,0.00,2.20,0.00,0.000,6,0.000,0.034,2390,2050,3085
$GC,3773,-2.38,-82.7,499.2,-12.2,199,3777,0.00,2.30,0.00,0.000,4,0.000,0.054,2390,658,3083
$STATE,3854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3854,begin apogee
$GC,3864,-0.31,0.0,510.1,12.8,200,3936,2.12,0.00,67.57,0.926,6,0.110,0.000,2850,2004,2749
$STATE,3937,end apogee,CONTROL_FINISHED_OK
$STATE,3937,begin climb
$GC,3940,1.79,82.7,511.5,0.0,202,4016,1.88,2.40,68.28,0.901,4,0.031,0.061,3317,3396,2411
$GC,4218,1.42,82.7,474.2,16.0,207,4223,0.43,2.25,0.00,0.000,6,0.125,0.034,3234,2014,2405
$GC,4563,1.18,82.7,429.4,12.8,216,4568,0.25,2.42,0.00,0.000,4,0.124,0.061,3180,596,2402
$GC,4822,0.98,82.7,400.2,10.6,221,4828,0.22,2.25,0.00,0.000,6,0.130,0.032,3137,2000,2400
$GC,5154,0.93,89.0,374.1,7.8,230,5163,0.00,2.38,4.15,0.576,4,0.000,0.043,3137,587,2386
$GC,5416,0.82,89.0,350.3,9.1,235,5423,0.20,2.25,0.00,0.000,6,0.129,0.026,3099,2001,2384
$GC,5750,0.87,103.3,326.6,6.9,244,5769,0.00,2.42,13.05,0.781,4,0.000,0.054,3099,3396,2328
$GC,5968,0.92,108.7,308.9,7.9,248,5979,0.00,2.25,6.12,0.661,6,0.000,0.025,3099,1992,2305
$GC,6300,0.99,124.1,285.9,6.7,257,6320,0.15,2.38,13.90,0.760,4,0.054,0.058,3149,604,2242
$GC,6569,0.92,133.0,263.7,7.5,263,6584,0.15,2.22,9.05,0.700,6,0.124,0.021,3121,2006,2205
$GC,6901,0.97,138.3,238.5,7.9,271,6911,0.00,2.35,5.43,0.594,4,0.000,0.044,3121,598,2184
$GC,7030,0.97,138.3,226.1,9.8,274,7034,0.00,2.22,0.00,0.000,6,0.000,0.028,3121,2005,2183
$GC,7363,1.04,138.6,199.3,8.5,282,7368,0.10,2.33,0.00,0.000,4,0.066,0.045,3155,593,2182
$GC,7386,1.04,138.6,196.9,9.6,283,7392,0.00,2.22,0.00,0.000,6,0.000,0.027,3155,2001,2182
$GC,7711,1.04,142.2,168.1,8.1,314,7723,0.00,2.33,4.50,0.505,4,0.000,0.044,3155,596,2168
$GC,7934,1.01,158.4,151.0,6.6,333,7954,0.00,2.22,15.55,0.648,6,0.000,0.023,3155,1997,2102
$GC,8154,1.01,158.4,133.1,9.4,354,8158,0.00,2.30,0.00,0.000,4,0.000,0.040,3155,588,2100
$GC,8175,1.01,158.4,130.9,9.6,355,8182,0.00,2.22,0.00,0.000,6,0.000,0.028,3155,2004,2099
$GC,8374,1.04,158.4,110.6,11.2,374,8378,0.00,2.30,0.00,0.000,4,0.000,0.037,3155,593,2099
$GC,8441,1.04,158.4,103.3,9.7,379,8447,0.00,2.20,0.00,0.000,6,0.000,0.025,3155,2004,2099
$GC,8639,1.10,176.1,89.1,6.5,398,8661,0.00,2.30,15.60,0.588,4,0.000,0.037,3155,596,2030
$GC,8745,1.10,176.1,79.2,8.7,407,8752,0.00,2.20,0.00,0.000,6,0.000,0.021,3155,2000,2029
$GC,8944,1.18,199.8,66.7,5.8,426,8970,0.10,2.30,20.80,0.574,4,0.060,0.041,3194,596,1934
$GC,9010,1.15,199.8,60.3,11.7,431,9017,0.12,2.20,0.00,0.000,6,0.113,0.022,3171,1996,1934
$GC,9209,1.22,199.8,43.3,9.7,450,9213,0.00,2.28,0.00,0.000,4,0.000,0.043,3171,3408,1931
$GC,9227,1.29,199.8,41.5,10.1,451,9231,0.12,2.22,0.00,0.000,6,0.054,0.022,3216,1988,1930
$GC,9434,1.26,202.2,21.3,8.2,478,9441,0.12,2.22,0.00,0.000,4,0.113,0.035,3192,596,1930
$GC,9454,1.23,202.2,19.1,8.9,481,9461,0.00,2.22,0.00,0.000,6,0.000,0.019,3192,2010,1930
$STATE,9608,end climb,SURFACE_DEPTH_REACHED
$STATE,9608,begin surface coast
$FINISH,0.8,1.023431
$STATE,9638,end surface coast,CONTROL_FINISHED_OK
$STATE,9638,begin surface
$SM_CCo,9661,118.93,0.518,0,0,954,440.07
$SM_GC,1.78,0.00,0.00,118.93,0.000,0.000,0.518,411,2014,954,-11.54,-1.02,440.07
$IRIDIUM_FIX,2239.35,-15749.78,311297,151519
$TT8_MAMPS,0.027612
$HUMID,1820
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.50
$XPDR_PINGS,107
$24V_AH,23.7,57.614
$10V_AH,10.1,54.888
$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,29.050,103.775,244.000,118.925,0.000,61.180,58.612,233.755,26.750,0.000,0.000,15.059,1078.783,6347.376,465.954,1666.455,767.255,33.360,1278.310,0.000,1775.299,0.000,0.469
$DEVICE_MAMPS,158.002,61.360,925.769,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.654,318.903,687.702,507.847,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38202,513
$CAP_FILE_SIZE,222273,0
$CFSIZE,260165632,228065280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061008,182456,2247.354,-15748.718,40,1.2,40,10.1