version: 66.03
glider: 148
mission: 4
dive: 20
start: 8 5 108 19 9 20
data:
$ID,148
$MISSION,4
$DIVE,20
$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,-4275.4165
$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,25
$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
$GPS1,190341,2343.902,-15728.882,9,3.2,28,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-64.4
$GPS2,190829,2343.879,-15728.833,13,3.4,32,10.2
$SPEED_LIMITS,0.164,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2343.700,-15731.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.255,-0.004
$KALMAN_X,34149.1,-21.8,89.3,-33091.2,1606.5
$KALMAN_Y,8348.0,41.4,-76.0,-9912.5,-59.8
$MHEAD_RNG_PITCHd_Wd,258.9,3689,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.22,-146.0,0.0,0.0,0,80,0.00,0.00,-60.83,0.000,2,0.000,0.000,418,1671,2826
$GC,82,-1.22,-146.0,3.6,-6.1,8,115,12.32,2.30,-10.45,0.000,4,0.163,0.064,2721,307,3348
$GC,336,-1.22,-146.0,54.4,-18.8,40,340,0.00,2.22,0.00,0.000,6,0.000,0.030,2721,1708,3349
$GC,596,-1.22,-146.0,93.8,-14.2,64,600,0.00,2.33,0.00,0.000,4,0.000,0.049,2721,302,3350
$GC,614,-1.22,-146.0,95.9,-13.2,65,618,0.00,2.22,0.00,0.000,6,0.000,0.025,2721,1725,3350
$GC,876,-1.22,-146.0,132.0,-14.0,89,880,0.00,2.35,0.00,0.000,4,0.000,0.050,2721,300,3351
$GC,947,-1.22,-146.0,142.6,-13.5,95,955,0.00,2.22,0.00,0.000,6,0.000,0.027,2721,1699,3351
$GC,1208,-1.22,-146.0,172.8,-9.9,120,1212,0.00,2.30,0.00,0.000,4,0.000,0.051,2721,303,3352
$GC,1235,-1.22,-146.0,176.0,-12.3,122,1239,0.00,2.20,0.00,0.000,6,0.000,0.027,2721,1713,3352
$GC,1510,-1.22,-146.0,205.0,-9.8,145,1514,0.00,2.35,0.00,0.000,4,0.000,0.052,2721,295,3352
$GC,1593,-1.22,-146.0,213.5,-10.4,147,1597,0.00,2.22,0.00,0.000,6,0.000,0.027,2721,1721,3353
$GC,1881,-1.22,-146.0,242.2,-9.8,154,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1723,3353
$GC,2125,-1.22,-146.0,266.6,-10.2,160,2129,0.00,2.38,0.00,0.000,4,0.000,0.056,2721,297,3353
$GC,2168,-1.22,-146.0,271.5,-10.9,161,2173,0.00,2.25,0.00,0.000,6,0.000,0.033,2721,1701,3353
$GC,2452,-1.22,-146.0,298.3,-9.4,168,2456,0.00,2.35,0.00,0.000,4,0.000,0.063,2721,301,3352
$GC,2490,-1.22,-146.0,302.0,-9.6,169,2494,0.00,2.25,0.00,0.000,6,0.000,0.040,2721,1716,3353
$GC,2779,-1.22,-146.0,327.0,-8.9,176,2783,0.00,2.38,0.00,0.000,4,0.000,0.066,2720,307,3352
$GC,2850,-1.22,-146.0,334.0,-9.7,177,2855,0.00,2.28,0.00,0.000,6,0.000,0.043,2721,1709,3351
$GC,3106,-1.22,-146.0,355.7,-8.2,184,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1709,3350
$GC,3349,-1.22,-146.0,376.4,-8.5,190,3353,0.00,2.38,0.00,0.000,4,0.000,0.067,2722,307,3349
$GC,3370,-1.22,-146.0,378.3,-9.1,190,3374,0.00,2.25,0.00,0.000,6,0.000,0.036,2721,1711,3349
$GC,3631,-1.22,-146.0,401.4,-8.8,197,3635,0.00,2.38,0.00,0.000,4,0.000,0.063,2721,307,3347
$GC,3663,-1.22,-146.0,404.6,-9.6,197,3670,0.00,2.28,0.00,0.000,6,0.000,0.036,2721,1703,3347
$GC,3913,-1.22,-146.0,427.0,-8.9,204,3917,0.00,2.38,0.00,0.000,4,0.000,0.065,2721,307,3345
$GC,3957,-1.22,-146.0,431.1,-9.2,205,3961,0.00,2.28,0.00,0.000,6,0.000,0.039,2721,1716,3345
$GC,4245,-1.22,-146.0,454.3,-7.7,212,4250,0.00,2.42,0.00,0.000,4,0.000,0.069,2721,300,3343
$GC,4294,-1.22,-146.0,458.4,-8.7,213,4299,0.00,2.33,0.00,0.000,6,0.000,0.047,2721,1706,3343
$GC,4573,-1.22,-146.0,479.0,-7.4,220,4577,0.00,2.40,0.00,0.000,4,0.000,0.070,2721,309,3342
$GC,4599,-1.22,-146.0,481.3,-8.3,220,4603,0.00,2.33,0.00,0.000,6,0.000,0.048,2721,1714,3342
$GC,4855,-1.22,-146.0,500.5,-7.6,227,4859,0.00,2.42,0.00,0.000,4,0.000,0.072,2721,309,3340
$GC,4881,-1.22,-146.0,502.7,-8.7,227,4885,0.00,2.30,0.00,0.000,6,0.000,0.051,2721,1713,3340
$STATE,4972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4972,begin apogee
$GC,4976,-0.31,0.0,510.5,8.4,230,5097,0.93,0.00,118.05,0.917,6,0.106,0.000,2917,1714,2749
$STATE,5098,end apogee,CONTROL_FINISHED_OK
$STATE,5098,begin climb
$GC,5099,1.22,146.0,514.1,0.0,233,5230,1.48,2.47,121.43,0.890,4,0.062,0.075,3256,3090,2151
$GC,5268,1.22,146.0,504.0,12.4,237,5273,0.00,2.42,0.00,0.000,6,0.000,0.055,3256,1686,2147
$GC,5552,1.22,146.0,467.4,13.1,244,5556,0.00,2.53,0.00,0.000,4,0.000,0.084,3256,272,2142
$GC,5573,1.22,146.0,464.5,13.3,244,5577,0.00,2.35,0.00,0.000,6,0.000,0.041,3256,1674,2142
$GC,5834,1.22,146.0,430.4,13.1,251,5838,0.00,2.42,0.00,0.000,4,0.000,0.068,3256,270,2140
$GC,5933,1.22,146.0,415.9,15.2,253,5938,0.00,2.35,0.00,0.000,6,0.000,0.039,3256,1681,2139
$GC,6211,1.22,146.0,383.5,11.5,260,6215,0.00,2.45,0.00,0.000,4,0.000,0.074,3256,270,2137
$GC,6265,1.22,146.0,376.1,13.3,261,6270,0.00,2.33,0.00,0.000,6,0.000,0.043,3256,1677,2136
$GC,6537,1.22,146.0,347.8,10.2,268,6541,0.00,2.42,0.00,0.000,4,0.000,0.070,3256,270,2136
$GC,6586,1.22,146.0,341.9,11.7,269,6591,0.00,2.33,0.00,0.000,6,0.000,0.037,3256,1678,2135
$GC,6864,1.22,146.0,311.0,11.4,276,6868,0.00,2.42,0.00,0.000,4,0.000,0.067,3256,270,2134
$GC,6999,1.22,146.0,293.6,13.6,279,7003,0.00,2.28,0.00,0.000,6,0.000,0.036,3256,1682,2133
$GC,7275,1.22,146.0,265.1,9.8,286,7279,0.00,2.42,0.00,0.000,4,0.000,0.071,3256,269,2133
$GC,7301,1.22,146.0,262.4,10.4,286,7306,0.00,2.30,0.00,0.000,6,0.000,0.042,3256,1681,2133
$GC,7557,1.22,147.7,238.4,9.4,293,7561,0.00,2.42,0.00,0.000,4,0.000,0.065,3256,263,2133
$GC,7572,1.23,153.8,236.9,9.2,293,7583,0.00,2.30,4.20,0.526,6,0.000,0.040,3256,1678,2121
$GC,7838,1.23,159.6,211.9,9.2,300,7851,0.00,2.45,6.60,0.614,4,0.000,0.061,3256,264,2098
$GC,8075,1.23,159.6,186.3,11.1,312,8085,0.00,2.30,0.00,0.000,6,0.000,0.033,3257,1681,2097
$GC,8339,1.29,201.8,162.9,7.6,337,8378,0.00,0.00,36.92,0.668,6,0.000,0.000,3256,1681,1926
$GC,8634,1.29,201.8,131.9,10.8,365,8637,0.00,2.40,0.00,0.000,4,0.000,0.058,3256,260,1921
$GC,8660,1.29,201.8,128.0,13.7,367,8667,0.00,2.30,0.00,0.000,6,0.000,0.038,3256,1677,1920
$GC,8921,1.29,201.8,98.1,10.5,392,8925,0.00,2.38,0.00,0.000,4,0.000,0.061,3256,263,1920
$GC,8994,1.29,201.8,89.3,11.6,398,8998,0.00,2.28,0.00,0.000,6,0.000,0.030,3256,1691,1920
$GC,9262,1.29,201.8,64.6,9.5,423,9266,0.00,2.25,0.00,0.000,4,0.000,0.042,3256,3083,1919
$GC,9291,1.30,214.6,62.0,8.9,425,9308,0.00,2.30,11.50,0.535,6,0.000,0.045,3256,1662,1873
$GC,9572,1.36,262.2,38.6,7.4,451,9625,0.12,2.42,40.25,0.545,4,0.059,0.041,3298,3084,1676
$GC,9682,1.36,262.2,26.8,12.1,462,9690,0.00,2.30,0.00,0.000,6,0.000,0.037,3298,1688,1673
$STATE,9876,end climb,SURFACE_DEPTH_REACHED
$STATE,9877,begin surface coast
$FINISH,0.3,1.012245
$STATE,9900,end surface coast,CONTROL_FINISHED_OK
$STATE,9900,begin surface
$SM_CCo,9918,83.15,0.509,0,0,1159,390.03
$SM_GC,1.45,0.00,0.00,83.15,0.000,0.000,0.509,413,1685,1159,-11.85,-0.71,390.03
$IRIDIUM_FIX,2333.28,-15729.51,301097,161600
$TT8_MAMPS,0.026845
$HUMID,1550
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.10
$XPDR_PINGS,75
$24V_AH,23.7,5.601
$10V_AH,10.2,4.062
$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,26.775,126.325,338.950,83.150,0.000,24.165,44.885,121.457,18.750,0.000,0.000,35.168,1014.338,6705.908,503.698,1775.223,298.938,33.350,1250.031,0.000,1750.285,0.000,0.469
$DEVICE_MAMPS,162.604,84.370,916.565,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.484,315.158,387.687,394.003,831.771,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38188,501
$CAP_FILE_SIZE,91211,0
$CFSIZE,260165632,257499136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050808,215707,2343.779,-15729.552,30,0.8,30,10.2