version: 66.03
glider: 148
mission: 4
dive: 25
start: 8 6 108 9 0 1
data:
$ID,148
$MISSION,4
$DIVE,25
$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,180
$T_MISSION,250
$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,150
$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,390
$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,-4379.6528
$T_RSLEEP,5
$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,1690
$C_ROLL_CLIMB,1670
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,32
$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
$GPS1,085509,2343.813,-15731.282,8,1.9,8,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.6
$GPS2,085908,2343.807,-15731.257,10,2.0,15,10.2
$SPEED_LIMITS,0.164,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2343.700,-15731.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.196,-0.072
$KALMAN_X,43579.8,-176.5,-453.4,-45929.2,2551.0
$KALMAN_Y,9281.5,15.4,-245.8,-10789.4,583.6
$MHEAD_RNG_PITCHd_Wd,239.6,479,-21.0,-9.444
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.43,-94.8,0.0,0.0,0,80,0.00,0.00,-61.58,0.000,2,0.000,0.000,415,1674,2853
$GC,82,-1.48,-139.7,3.9,-6.4,8,115,12.00,2.38,-9.05,0.000,4,0.162,0.067,2660,270,3323
$GC,361,-1.48,-139.7,74.5,-24.1,40,370,0.00,2.28,0.00,0.000,6,0.000,0.028,2660,1686,3323
$GC,624,-1.48,-139.7,122.0,-17.8,65,628,0.00,2.33,0.00,0.000,4,0.000,0.048,2660,273,3325
$GC,724,-1.48,-139.7,139.9,-17.6,74,728,0.00,2.22,0.00,0.000,6,0.000,0.028,2660,1691,3325
$GC,990,-1.48,-139.7,180.6,-16.0,99,994,0.00,2.33,0.00,0.000,4,0.000,0.049,2660,275,3326
$GC,1017,-1.48,-139.7,185.2,-17.6,101,1021,0.00,2.22,0.00,0.000,6,0.000,0.025,2660,1702,3326
$GC,1296,-1.48,-139.7,224.5,-14.3,116,1300,0.00,2.38,0.00,0.000,4,0.000,0.051,2660,267,3327
$GC,1508,-1.48,-139.7,256.5,-14.4,120,1515,0.00,2.25,0.00,0.000,6,0.000,0.028,2660,1677,3327
$GC,1758,-1.48,-139.7,286.6,-11.7,127,1762,0.00,2.33,0.00,0.000,4,0.000,0.054,2660,275,3328
$GC,1818,-1.48,-139.7,294.5,-12.9,128,1823,0.00,2.25,0.00,0.000,6,0.000,0.030,2660,1684,3328
$GC,2090,-1.48,-139.7,328.5,-12.6,135,2094,0.00,2.35,0.00,0.000,4,0.000,0.059,2660,277,3327
$GC,2179,-1.48,-139.7,340.5,-14.1,137,2183,0.00,2.25,0.00,0.000,6,0.000,0.036,2660,1691,3328
$GC,2468,-1.48,-139.7,373.4,-11.3,144,2472,0.00,2.38,0.00,0.000,4,0.000,0.060,2660,278,3327
$GC,2511,-1.48,-139.7,378.7,-12.2,145,2516,0.00,2.28,0.00,0.000,6,0.000,0.035,2660,1680,3326
$GC,2794,-1.48,-139.7,409.5,-10.7,152,2798,0.00,2.40,0.00,0.000,4,0.000,0.071,2660,272,3325
$GC,2854,-1.48,-139.7,416.9,-12.2,153,2860,0.00,2.30,0.00,0.000,6,0.000,0.045,2660,1680,3325
$GC,3121,-1.48,-139.7,445.8,-10.9,160,3125,0.00,2.40,0.00,0.000,4,0.000,0.072,2660,278,3323
$GC,3188,-1.48,-139.7,454.1,-12.6,161,3193,0.00,2.30,0.00,0.000,6,0.000,0.041,2660,1692,3323
$GC,3442,-1.48,-139.7,482.1,-10.8,168,3447,0.00,2.42,0.00,0.000,4,0.000,0.071,2660,280,3322
$GC,3508,-1.48,-139.7,490.1,-11.7,169,3513,0.00,2.33,0.00,0.000,6,0.000,0.044,2660,1681,3320
$STATE,3727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3727,begin apogee
$GC,3731,-0.31,0.0,514.1,10.7,175,3850,1.23,0.00,113.90,0.905,6,0.114,0.000,2916,1681,2749
$STATE,3851,end apogee,CONTROL_FINISHED_OK
$STATE,3851,begin climb
$GC,3853,1.48,139.7,517.2,0.0,178,3976,1.70,2.53,115.12,0.879,4,0.056,0.070,3315,3071,2178
$GC,3997,1.48,139.7,506.7,15.1,181,4002,0.00,2.40,0.00,0.000,6,0.000,0.048,3315,1678,2174
$GC,4264,1.48,139.7,464.0,15.8,188,4268,0.00,2.55,0.00,0.000,4,0.000,0.083,3315,254,2169
$GC,4341,1.48,139.7,450.5,17.1,189,4348,0.00,2.35,0.00,0.000,6,0.000,0.041,3315,1661,2168
$GC,4591,1.48,139.7,413.6,14.7,196,4595,0.00,2.42,0.00,0.000,4,0.000,0.067,3315,259,2166
$GC,4686,1.48,139.7,398.5,16.1,198,4690,0.00,2.33,0.00,0.000,6,0.000,0.041,3315,1682,2165
$GC,4957,1.48,139.7,360.7,13.8,205,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1682,2163
$GC,5200,1.48,139.7,328.7,13.1,211,5204,0.00,2.45,0.00,0.000,4,0.000,0.071,3315,259,2162
$GC,5374,1.48,139.7,303.8,13.6,215,5378,0.00,2.30,0.00,0.000,6,0.000,0.037,3315,1671,2160
$GC,5656,1.48,139.7,269.3,12.0,222,5661,0.00,2.42,0.00,0.000,4,0.000,0.063,3315,258,2160
$GC,5785,1.48,139.7,252.7,12.5,225,5789,0.00,2.28,0.00,0.000,6,0.000,0.034,3315,1677,2159
$GC,6073,1.48,139.7,222.6,9.6,232,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1678,2158
$GC,6317,1.48,139.7,198.7,9.9,238,6321,0.00,2.40,0.00,0.000,4,0.000,0.059,3315,251,2158
$GC,6574,1.48,139.7,169.7,11.7,261,6578,0.00,2.28,0.00,0.000,6,0.000,0.034,3315,1675,2157
$GC,6840,1.48,139.7,142.6,11.0,286,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1675,2157
$GC,7095,1.49,145.3,119.4,9.1,310,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1675,2157
$GC,7350,1.53,178.4,99.0,7.2,334,7386,0.00,2.40,29.38,0.594,4,0.000,0.056,3315,256,2021
$GC,7446,1.53,178.4,88.4,12.1,342,7456,0.00,2.30,0.00,0.000,6,0.000,0.031,3315,1673,2019
$GC,7710,1.55,196.7,60.8,8.2,367,7730,0.00,0.00,16.48,0.543,6,0.000,0.000,3315,1674,1946
$GC,7985,1.55,196.7,36.6,9.5,393,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1674,1944
$GC,8244,1.55,196.7,10.2,12.9,433,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1675,1944
$STATE,8307,end climb,SURFACE_DEPTH_REACHED
$STATE,8307,begin surface coast
$FINISH,0.4,1.023066
$STATE,8330,end surface coast,CONTROL_FINISHED_OK
$STATE,8330,begin surface
$SM_CCo,8349,112.50,0.505,0,0,1159,390.03
$SM_GC,1.25,0.00,0.00,112.50,0.000,0.000,0.505,413,1677,1159,-11.85,-0.37,390.03
$IRIDIUM_FIX,2337.99,-15731.68,311097,060640
$TT8_MAMPS,0.027612
$HUMID,1533
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.10
$XPDR_PINGS,61
$24V_AH,23.7,6.082
$10V_AH,10.2,4.498
$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,26.925,79.750,274.875,112.500,0.000,23.122,28.572,108.286,15.250,0.000,0.000,17.254,896.469,5464.806,462.066,1639.968,248.799,33.346,1118.257,0.000,1633.545,0.000,0.468
$DEVICE_MAMPS,161.837,82.836,905.060,504.686,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,300.592,277.656,358.819,378.486,799.139,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34889,448
$CAP_FILE_SIZE,72887,0
$CFSIZE,260165632,257302528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060808,112208,2343.646,-15731.579,31,1.4,31,10.2