version: 66.03
glider: 148
mission: 4
dive: 17
start: 8 5 108 10 24 8
data:
$ID,148
$MISSION,4
$DIVE,17
$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,-4208.5342
$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,1710
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,50
$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
$GPS1,101602,2344.304,-15728.094,39,1.3,39,10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-62.5
$GPS2,102315,2344.311,-15728.051,13,1.3,13,10.2
$SPEED_LIMITS,0.164,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2343.700,-15731.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.249,-0.051
$KALMAN_X,27736.1,258.7,-394.2,-25144.4,2193.2
$KALMAN_Y,7359.9,3.9,-190.7,-7981.3,440.7
$MHEAD_RNG_PITCHd_Wd,248.2,5126,-16.6,-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,-1.22,-146.0,0.0,0.0,0,80,0.00,0.00,-61.55,0.000,2,0.000,0.000,417,1709,2848
$GC,83,-1.22,-146.0,3.6,-5.8,8,115,12.30,2.38,-10.18,0.000,4,0.162,0.064,2719,304,3348
$GC,303,-1.22,-146.0,48.9,-19.9,37,307,0.00,2.20,0.00,0.000,6,0.000,0.027,2719,1705,3348
$GC,568,-1.22,-146.0,91.3,-13.8,62,572,0.00,2.35,0.00,0.000,4,0.000,0.051,2720,289,3349
$GC,609,-1.22,-146.0,96.8,-14.4,65,614,0.00,2.25,0.00,0.000,6,0.000,0.032,2720,1719,3350
$GC,871,-1.22,-146.0,133.3,-12.9,89,875,0.00,2.35,0.00,0.000,4,0.000,0.051,2720,293,3350
$GC,909,-1.22,-146.0,139.1,-14.2,92,919,0.00,2.25,0.00,0.000,6,0.000,0.027,2720,1709,3350
$GC,1170,-1.22,-146.0,173.5,-12.3,117,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1709,3351
$GC,1455,-1.22,-146.0,204.5,-10.0,141,1459,0.00,2.33,0.00,0.000,4,0.000,0.052,2720,297,3351
$GC,1503,-1.22,-146.0,210.4,-12.2,142,1508,0.00,2.25,0.00,0.000,6,0.000,0.028,2720,1709,3351
$GC,1781,-1.22,-146.0,241.1,-10.8,149,1785,0.00,2.35,0.00,0.000,4,0.000,0.060,2720,293,3351
$GC,1808,-1.22,-146.0,243.9,-10.4,149,1813,0.00,2.25,0.00,0.000,6,0.000,0.028,2720,1711,3351
$GC,2063,-1.22,-146.0,268.6,-9.6,156,2067,0.00,2.35,0.00,0.000,4,0.000,0.064,2720,298,3351
$GC,2084,-1.22,-146.0,270.8,-10.1,156,2089,0.00,2.25,0.00,0.000,6,0.000,0.030,2720,1711,3351
$GC,2345,-1.22,-146.0,295.6,-9.6,163,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1712,3351
$GC,2589,-1.22,-146.0,317.4,-8.9,169,2593,0.00,2.38,0.00,0.000,4,0.000,0.065,2720,300,3351
$GC,2722,-1.22,-146.0,330.7,-9.7,172,2727,0.00,2.28,0.00,0.000,6,0.000,0.038,2720,1702,3351
$GC,3006,-1.22,-146.0,356.9,-9.5,179,3010,0.00,2.38,0.00,0.000,4,0.000,0.065,2719,300,3349
$GC,3038,-1.22,-146.0,360.1,-10.3,179,3045,0.00,2.30,0.00,0.000,6,0.000,0.036,2720,1713,3349
$GC,3289,-1.22,-146.0,381.6,-8.5,186,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1713,3347
$GC,3532,-1.22,-146.0,401.7,-8.4,192,3536,0.00,2.40,0.00,0.000,4,0.000,0.069,2720,301,3346
$GC,3558,-1.22,-146.0,404.2,-9.6,192,3562,0.00,2.30,0.00,0.000,6,0.000,0.038,2720,1712,3346
$GC,3814,-1.22,-146.0,425.9,-8.5,199,3818,0.00,2.40,0.00,0.000,4,0.000,0.066,2719,300,3345
$GC,3885,-1.22,-146.0,433.0,-10.2,200,3890,0.00,2.30,0.00,0.000,6,0.000,0.039,2720,1705,3344
$GC,4141,-1.22,-146.0,455.7,-8.8,207,4145,0.00,2.40,0.00,0.000,4,0.000,0.069,2720,301,3343
$GC,4161,-1.22,-146.0,457.7,-9.6,207,4166,0.00,2.33,0.00,0.000,6,0.000,0.041,2720,1713,3342
$GC,4423,-1.22,-146.0,480.6,-8.8,214,4427,0.00,2.42,0.00,0.000,4,0.000,0.070,2720,299,3341
$GC,4500,-1.22,-146.0,488.1,-9.2,215,4508,0.00,2.33,0.00,0.000,6,0.000,0.050,2720,1704,3340
$GC,4751,-1.22,-146.0,507.5,-7.6,222,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1704,3339
$STATE,4788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4788,begin apogee
$GC,4792,-0.31,0.0,510.5,7.5,223,4914,0.93,0.00,117.15,0.907,6,0.103,0.000,2918,1704,2749
$STATE,4914,end apogee,CONTROL_FINISHED_OK
$STATE,4914,begin climb
$GC,4916,1.22,146.0,513.0,0.0,226,5046,1.45,2.60,120.78,0.881,4,0.060,0.081,3254,272,2152
$GC,5061,1.22,146.0,504.7,13.6,229,5066,0.00,2.38,0.00,0.000,6,0.000,0.048,3254,1677,2150
$GC,5324,1.22,146.0,471.1,12.5,236,5329,0.00,2.47,0.00,0.000,4,0.000,0.072,3254,266,2144
$GC,5363,1.22,146.0,465.8,13.7,237,5367,0.00,2.35,0.00,0.000,6,0.000,0.041,3254,1684,2143
$GC,5645,1.22,146.0,432.1,11.9,244,5649,0.00,2.47,0.00,0.000,4,0.000,0.072,3255,265,2141
$GC,5665,1.22,146.0,429.3,12.9,244,5670,0.00,2.35,0.00,0.000,6,0.000,0.042,3254,1680,2140
$GC,5927,1.22,146.0,397.8,12.2,251,5932,0.00,2.42,0.00,0.000,4,0.000,0.069,3254,270,2138
$GC,6077,1.22,146.0,376.6,12.9,254,6082,0.00,2.33,0.00,0.000,6,0.000,0.044,3254,1675,2137
$GC,6345,1.22,146.0,346.7,11.1,261,6349,0.00,2.42,0.00,0.000,4,0.000,0.072,3254,269,2136
$GC,6370,1.22,146.0,343.2,12.7,261,6375,0.00,2.33,0.00,0.000,6,0.000,0.045,3254,1680,2135
$GC,6626,1.22,146.0,317.6,9.9,268,6630,0.00,2.42,0.00,0.000,4,0.000,0.072,3255,270,2135
$GC,6759,1.22,146.0,301.4,12.2,271,6763,0.00,2.30,0.00,0.000,6,0.000,0.038,3254,1678,2134
$GC,7042,1.22,146.0,272.6,10.2,278,7046,0.00,2.35,0.00,0.000,4,0.000,0.056,3255,3081,2134
$GC,7056,1.22,146.0,270.9,10.2,278,7061,0.00,2.35,0.00,0.000,6,0.000,0.044,3255,1679,2133
$GC,7323,1.22,146.0,243.5,10.5,285,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1679,2133
$GC,7567,1.25,170.3,221.9,8.4,291,7591,0.00,2.47,17.92,0.699,4,0.000,0.066,3255,271,2053
$GC,7636,1.25,170.3,214.8,11.6,292,7641,0.00,2.30,0.00,0.000,6,0.000,0.041,3255,1678,2053
$GC,7896,1.25,170.3,187.0,10.5,307,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1678,2051
$GC,8149,1.28,199.3,162.7,8.2,331,8180,0.00,0.00,25.65,0.653,6,0.000,0.000,3255,1678,1935
$GC,8431,1.28,199.3,135.9,9.9,358,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1678,1931
$GC,8686,1.29,209.3,111.4,9.0,382,8700,0.00,0.00,9.50,0.555,6,0.000,0.000,3255,1679,1894
$GC,8953,1.29,209.3,84.5,10.9,407,8957,0.00,2.35,0.00,0.000,4,0.000,0.064,3254,270,1893
$GC,9022,1.29,209.3,76.2,12.6,413,9026,0.00,2.25,0.00,0.000,6,0.000,0.030,3255,1687,1893
$GC,9285,1.36,258.7,53.6,7.3,437,9336,0.12,2.45,41.17,0.551,4,0.059,0.063,3297,272,1693
$GC,9439,1.36,258.7,35.9,13.1,450,9443,0.00,2.25,0.00,0.000,6,0.000,0.029,3297,1683,1691
$STATE,9694,end climb,SURFACE_DEPTH_REACHED
$STATE,9694,begin surface coast
$FINISH,0.5,1.022999
$STATE,9717,end surface coast,CONTROL_FINISHED_OK
$STATE,9718,begin surface
$SM_CCo,9736,83.78,0.503,0,0,1159,390.03
$SM_GC,1.31,0.00,0.00,83.78,0.000,0.000,0.503,416,1687,1159,-11.84,-0.65,390.03
$IRIDIUM_FIX,2337.99,-15729.51,301097,101059
$TT8_MAMPS,0.027612
$HUMID,1553
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,22.90
$XPDR_PINGS,79
$24V_AH,23.7,5.286
$10V_AH,10.2,3.787
$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,26.700,103.375,332.175,83.775,0.000,53.227,55.885,179.818,19.750,0.000,0.000,14.598,981.523,6709.812,500.186,1681.577,389.768,33.350,1185.961,0.000,1645.241,0.000,0.469
$DEVICE_MAMPS,161.837,80.535,907.361,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.130,379.830,384.408,385.416,813.576,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38165,496
$CAP_FILE_SIZE,85285,0
$CFSIZE,260165632,257642496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050808,130901,2344.442,-15728.292,28,1.1,38,10.2