version: 66.03
glider: 148
mission: 4
dive: 11
start: 8 4 108 17 12 17
data:
$ID,148
$MISSION,4
$DIVE,11
$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,170
$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,420
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4080.3826
$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,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,34
$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
$GPS1,170137,2345.110,-15725.829,10,1.5,26,10.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.4
$GPS2,171126,2345.117,-15725.746,13,1.5,30,10.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WPT1
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,-0.016
$KALMAN_X,17869.3,-1094.7,131.1,-10539.8,2671.4
$KALMAN_Y,6998.5,-1209.5,680.0,-5780.5,234.8
$MHEAD_RNG_PITCHd_Wd,256.2,112985,-17.5,-10.000
$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,-1.27,-146.0,0.0,0.0,0,89,0.00,0.00,-68.85,0.000,2,0.000,0.000,416,1965,2924
$GC,91,-1.27,-146.0,3.8,-8.4,9,116,12.18,2.30,-8.23,0.000,4,0.161,0.048,2707,3361,3347
$GC,255,-1.27,-146.0,37.4,-17.3,33,259,0.00,2.28,0.00,0.000,6,0.000,0.035,2707,1944,3348
$GC,517,-1.27,-146.0,81.5,-14.5,57,521,0.00,2.30,0.00,0.000,4,0.000,0.048,2707,537,3349
$GC,636,-1.27,-146.0,100.4,-14.7,67,644,0.00,2.25,0.00,0.000,6,0.000,0.028,2707,1950,3349
$GC,897,-1.27,-146.0,134.8,-13.0,92,901,0.00,2.30,0.00,0.000,4,0.000,0.048,2707,544,3350
$GC,1108,-1.27,-146.0,162.2,-12.8,111,1113,0.00,2.22,0.00,0.000,6,0.000,0.030,2707,1955,3350
$GC,1377,-1.27,-146.0,192.4,-10.6,136,1381,0.00,2.33,0.00,0.000,4,0.000,0.051,2707,544,3351
$GC,1544,-1.27,-146.0,212.9,-11.8,144,1550,0.00,2.25,0.00,0.000,6,0.000,0.031,2707,1953,3351
$GC,1793,-1.27,-146.0,239.4,-10.5,151,1797,0.00,2.33,0.00,0.000,4,0.000,0.059,2708,543,3351
$GC,1909,-1.27,-146.0,253.3,-12.9,153,1914,0.00,2.25,0.00,0.000,6,0.000,0.032,2707,1949,3351
$GC,2165,-1.27,-146.0,279.7,-10.0,160,2169,0.00,2.35,0.00,0.000,4,0.000,0.064,2707,538,3351
$GC,2242,-1.27,-146.0,287.1,-9.1,161,2249,0.00,2.25,0.00,0.000,6,0.000,0.041,2707,1940,3351
$GC,2492,-1.27,-146.0,307.7,-8.3,168,2496,0.00,2.33,0.00,0.000,4,0.000,0.059,2707,547,3350
$GC,2720,-1.27,-146.0,331.7,-10.8,173,2725,0.00,2.28,0.00,0.000,6,0.000,0.044,2707,1948,3349
$GC,2999,-1.27,-146.0,357.6,-9.0,180,3003,0.00,2.38,0.00,0.000,4,0.000,0.070,2707,540,3348
$GC,3133,-1.27,-146.0,370.9,-9.8,183,3137,0.00,2.28,0.00,0.000,6,0.000,0.044,2707,1955,3347
$GC,3409,-1.27,-146.0,397.2,-9.6,190,3413,0.00,2.38,0.00,0.000,4,0.000,0.070,2707,547,3345
$GC,3589,-1.27,-146.0,414.8,-9.5,194,3593,0.00,2.28,0.00,0.000,6,0.000,0.041,2707,1949,3344
$GC,3872,-1.27,-146.0,438.1,-8.0,201,3876,0.00,2.38,0.00,0.000,4,0.000,0.067,2707,548,3342
$GC,4022,-1.27,-146.0,451.8,-9.5,204,4026,0.00,2.30,0.00,0.000,6,0.000,0.043,2707,1949,3341
$GC,4288,-1.27,-146.0,475.6,-9.0,211,4292,0.00,2.40,0.00,0.000,4,0.000,0.076,2707,546,3339
$GC,4393,-1.27,-146.0,485.7,-9.3,213,4398,0.00,2.33,0.00,0.000,6,0.000,0.048,2708,1946,3339
$GC,4660,-1.27,-146.0,506.8,-7.7,220,4664,0.00,2.40,0.00,0.000,4,0.000,0.072,2707,549,3337
$STATE,4701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4701,begin apogee
$GC,4707,-0.31,0.0,510.4,8.5,221,4827,0.95,0.00,116.18,0.917,6,0.102,0.000,2914,1955,2749
$STATE,4827,end apogee,CONTROL_FINISHED_OK
$STATE,4828,begin climb
$GC,4829,1.27,146.0,512.6,0.0,224,4959,1.52,2.55,120.28,0.887,4,0.059,0.073,3267,3358,2152
$GC,5031,1.27,146.0,497.4,13.6,228,5038,0.00,2.40,0.00,0.000,6,0.000,0.053,3267,1961,2146
$GC,5281,1.27,146.0,466.0,12.3,235,5285,0.00,2.53,0.00,0.000,4,0.000,0.081,3267,542,2143
$GC,5402,1.27,146.0,449.3,13.4,237,5409,0.00,2.38,0.00,0.000,6,0.000,0.046,3267,1950,2142
$GC,5652,1.27,146.0,417.9,12.7,244,5656,0.00,2.45,0.00,0.000,4,0.000,0.075,3267,542,2139
$GC,5812,1.27,146.0,395.8,13.7,247,5817,0.00,2.35,0.00,0.000,6,0.000,0.051,3266,1945,2138
$GC,6068,1.27,146.0,364.8,12.1,254,6072,0.00,2.42,0.00,0.000,4,0.000,0.067,3267,542,2137
$GC,6128,1.27,146.0,356.5,13.8,255,6133,0.00,2.35,0.00,0.000,6,0.000,0.050,3267,1954,2136
$GC,6395,1.27,146.0,326.0,10.9,262,6399,0.00,2.42,0.00,0.000,4,0.000,0.066,3267,542,2135
$GC,6600,1.27,146.0,301.0,12.7,266,6605,0.00,2.33,0.00,0.000,6,0.000,0.040,3267,1952,2134
$GC,6856,1.27,146.0,272.7,11.7,273,6860,0.00,2.42,0.00,0.000,4,0.000,0.064,3267,535,2134
$GC,7112,1.27,146.0,242.5,11.6,278,7119,0.00,2.33,0.00,0.000,6,0.000,0.038,3267,1959,2134
$GC,7362,1.27,146.0,217.1,10.1,285,7366,0.00,2.40,0.00,0.000,4,0.000,0.060,3267,539,2133
$GC,7402,1.27,146.0,213.1,10.3,286,7406,0.00,2.28,0.00,0.000,6,0.000,0.038,3267,1951,2133
$GC,7658,1.29,158.7,189.0,9.4,299,7673,0.00,2.42,8.10,0.632,4,0.000,0.064,3267,542,2102
$GC,7926,1.33,191.4,162.8,8.5,323,7960,0.00,2.25,28.80,0.673,6,0.000,0.035,3267,1952,1968
$GC,8213,1.33,191.4,134.0,10.5,350,8217,0.00,2.38,0.00,0.000,4,0.000,0.061,3267,538,1963
$GC,8443,1.33,191.4,108.2,11.3,370,8447,0.00,2.28,0.00,0.000,6,0.000,0.034,3267,1954,1962
$GC,8712,1.34,202.0,81.5,9.5,395,8726,0.00,2.38,9.60,0.545,4,0.000,0.056,3267,538,1925
$GC,8823,1.34,202.0,70.3,10.7,405,8827,0.00,2.25,0.00,0.000,6,0.000,0.031,3267,1954,1925
$GC,9091,1.42,266.6,48.8,7.0,430,9155,0.12,2.35,53.70,0.558,4,0.059,0.046,3309,3345,1660
$GC,9170,1.42,266.6,40.7,11.8,436,9180,0.00,2.33,0.00,0.000,6,0.000,0.038,3309,1942,1657
$GC,9438,1.42,266.6,6.6,13.3,477,9446,0.00,2.33,0.00,0.000,4,0.000,0.058,3309,553,1656
$STATE,9468,end climb,SURFACE_DEPTH_REACHED
$STATE,9468,begin surface coast
$FINISH,0.3,1.004175
$STATE,9491,end surface coast,CONTROL_FINISHED_OK
$STATE,9492,begin surface
$SM_CCo,9512,92.72,0.508,0,0,1036,420.20
$SM_GC,1.27,0.00,0.00,92.72,0.000,0.000,0.508,415,1967,1036,-11.84,0.48,420.20
$IRIDIUM_FIX,2333.28,-15727.33,291097,171750
$TT8_MAMPS,0.026845
$HUMID,1558
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,22.80
$XPDR_PINGS,75
$24V_AH,23.7,4.616
$10V_AH,10.2,3.236
$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,26.675,112.275,336.650,92.725,0.000,56.484,66.062,298.639,18.750,0.000,0.000,32.059,1024.123,6120.164,495.833,2027.775,534.310,33.331,1331.577,0.000,1995.170,0.000,0.468
$DEVICE_MAMPS,161.070,81.302,917.332,507.754,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.099,262.493,378.684,392.269,828.066,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35035,486
$CAP_FILE_SIZE,97176,0
$CFSIZE,260165632,257908736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040808,195329,2344.930,-15726.269,12,99.0,31,10.3