version: 66.03
glider: 148
mission: 4
dive: 26
start: 8 6 108 11 27 2
data:
$ID,148
$MISSION,4
$DIVE,26
$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,-4395.9282
$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,15
$R_STBD_OVSHOOT,31
$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
$GPS1,112208,2343.646,-15731.579,31,1.4,31,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-65.0
$GPS2,112609,2343.641,-15731.561,14,1.4,14,10.2
$SPEED_LIMITS,0.164,0.255
$TGT_NAME,WPT6
$TGT_LATLONG,2350.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.011,0.254
$KALMAN_X,45192.5,-200.8,-453.3,-48028.8,3115.5
$KALMAN_Y,9507.3,150.4,-133.7,-11566.7,735.5
$MHEAD_RNG_PITCHd_Wd,347.3,12070,-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,-61.45,0.000,2,0.000,0.000,413,1678,2830
$GC,82,-1.22,-146.0,3.5,-5.7,8,115,12.25,2.30,-10.62,0.000,4,0.160,0.044,2719,3094,3346
$GC,198,-1.22,-146.0,25.9,-15.9,27,206,0.00,2.33,0.00,0.000,6,0.000,0.035,2718,1677,3347
$GC,469,-1.22,-146.0,77.1,-17.8,54,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1677,3348
$GC,721,-1.22,-146.0,112.5,-13.6,78,725,0.00,2.28,0.00,0.000,4,0.000,0.049,2718,284,3349
$GC,780,-1.22,-146.0,120.9,-15.6,83,784,0.00,2.22,0.00,0.000,6,0.000,0.026,2719,1704,3349
$GC,1039,-1.22,-146.0,153.9,-11.4,107,1043,0.00,2.35,0.00,0.000,4,0.000,0.051,2719,278,3350
$GC,1104,-1.22,-146.0,162.5,-13.1,112,1111,0.00,2.25,0.00,0.000,6,0.000,0.026,2718,1694,3350
$GC,1365,-1.22,-146.0,193.0,-12.0,137,1369,0.00,2.33,0.00,0.000,4,0.000,0.050,2719,283,3350
$GC,1415,-1.22,-146.0,199.3,-12.4,141,1419,0.00,2.20,0.00,0.000,6,0.000,0.027,2719,1691,3350
$GC,1669,-1.22,-146.0,228.2,-11.2,148,1673,0.00,2.33,0.00,0.000,4,0.000,0.051,2719,283,3350
$GC,1759,-1.22,-146.0,238.4,-11.2,150,1763,0.00,2.20,0.00,0.000,6,0.000,0.028,2718,1691,3351
$GC,2035,-1.22,-146.0,267.5,-10.5,157,2039,0.00,2.33,0.00,0.000,4,0.000,0.055,2718,282,3351
$GC,2112,-1.22,-146.0,276.2,-10.8,158,2117,0.00,2.25,0.00,0.000,6,0.000,0.031,2718,1688,3351
$GC,2368,-1.22,-146.0,301.5,-9.9,165,2372,0.00,2.33,0.00,0.000,4,0.000,0.058,2719,286,3351
$GC,2428,-1.22,-146.0,307.9,-10.8,166,2433,0.00,2.25,0.00,0.000,6,0.000,0.038,2719,1687,3351
$GC,2701,-1.22,-146.0,333.5,-9.3,173,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1688,3351
$GC,2944,-1.22,-146.0,354.4,-8.4,179,2948,0.00,2.38,0.00,0.000,4,0.000,0.064,2719,279,3350
$GC,3004,-1.22,-146.0,360.1,-9.3,180,3008,0.00,2.28,0.00,0.000,6,0.000,0.035,2719,1684,3350
$GC,3271,-1.22,-146.0,383.8,-8.8,187,3275,0.00,2.35,0.00,0.000,4,0.000,0.064,2719,287,3349
$GC,3325,-1.22,-146.0,389.3,-10.0,188,3330,0.00,2.28,0.00,0.000,6,0.000,0.041,2718,1685,3348
$GC,3598,-1.22,-146.0,412.8,-8.6,195,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1685,3347
$GC,3841,-1.22,-146.0,433.7,-8.6,201,3845,0.00,2.38,0.00,0.000,4,0.000,0.065,2718,289,3345
$GC,3884,-1.22,-146.0,437.7,-9.2,202,3888,0.00,2.30,0.00,0.000,6,0.000,0.041,2718,1691,3345
$GC,4168,-1.22,-146.0,460.3,-7.7,209,4172,0.00,2.40,0.00,0.000,4,0.000,0.074,2718,288,3344
$GC,4195,-1.22,-146.0,462.8,-9.5,209,4199,0.00,2.28,0.00,0.000,6,0.000,0.039,2719,1692,3343
$GC,4444,-1.22,-146.0,484.0,-8.7,215,4448,0.00,2.40,0.00,0.000,4,0.000,0.071,2719,290,3342
$GC,4470,-1.22,-146.0,486.7,-9.8,215,4475,0.00,2.30,0.00,0.000,6,0.000,0.046,2718,1688,3342
$GC,4726,-1.22,-146.0,508.9,-8.6,222,4730,0.00,2.40,0.00,0.000,4,0.000,0.077,2718,286,3340
$STATE,4740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4740,begin apogee
$GC,4746,-0.31,0.0,510.4,8.4,222,4867,0.90,0.00,118.15,0.905,6,0.100,0.000,2914,1677,2748
$STATE,4868,end apogee,CONTROL_FINISHED_OK
$STATE,4868,begin climb
$GC,4870,1.22,146.0,513.6,0.0,225,4995,1.50,0.00,121.72,0.877,6,0.058,0.000,3259,1677,2153
$GC,5215,1.22,146.0,477.5,13.9,234,5219,0.00,2.47,0.00,0.000,4,0.000,0.073,3259,270,2146
$GC,5269,1.22,146.0,469.0,14.7,235,5274,0.00,2.33,0.00,0.000,6,0.000,0.039,3259,1659,2143
$GC,5542,1.22,146.0,433.1,13.2,242,5546,0.00,2.40,0.00,0.000,4,0.000,0.066,3259,269,2141
$GC,5607,1.22,146.0,423.8,14.4,243,5612,0.00,2.33,0.00,0.000,6,0.000,0.044,3259,1667,2140
$GC,5868,1.22,146.0,391.3,12.2,250,5872,0.00,2.42,0.00,0.000,4,0.000,0.070,3259,265,2138
$GC,5878,1.22,146.0,389.9,12.3,250,5883,0.00,2.30,0.00,0.000,6,0.000,0.035,3259,1664,2138
$GC,6150,1.22,146.0,358.5,11.2,257,6154,0.00,2.40,0.00,0.000,4,0.000,0.067,3259,267,2136
$GC,6228,1.22,146.0,348.7,12.7,258,6234,0.00,2.30,0.00,0.000,6,0.000,0.038,3259,1668,2136
$GC,6477,1.22,146.0,321.3,10.9,265,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1668,2135
$GC,6721,1.22,146.0,295.2,10.6,271,6725,0.00,2.40,0.00,0.000,4,0.000,0.071,3259,264,2134
$GC,6820,1.22,146.0,283.8,11.6,273,6825,0.00,2.30,0.00,0.000,6,0.000,0.033,3259,1675,2133
$GC,7098,1.24,160.9,257.3,8.8,280,7114,0.00,2.40,10.48,0.693,4,0.000,0.068,3259,269,2092
$GC,7213,1.24,160.9,244.0,12.5,282,7218,0.00,2.28,0.00,0.000,6,0.000,0.039,3259,1667,2091
$GC,7469,1.24,160.9,218.0,9.7,289,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1667,2090
$GC,7718,1.24,160.9,194.0,9.4,298,7722,0.00,2.35,0.00,0.000,4,0.000,0.064,3259,266,2089
$GC,7894,1.24,160.9,173.6,11.0,313,7898,0.00,2.25,0.00,0.000,6,0.000,0.035,3259,1684,2089
$GC,8158,1.24,160.9,148.1,9.8,337,8162,0.00,2.38,0.00,0.000,4,0.000,0.062,3259,266,2089
$GC,8298,1.24,161.6,134.2,9.4,349,8302,0.00,2.22,0.00,0.000,6,0.000,0.028,3259,1678,2088
$GC,8560,1.29,206.6,114.4,7.5,373,8607,0.00,2.40,39.28,0.608,4,0.000,0.054,3259,263,1905
$GC,8678,1.29,206.6,102.6,12.7,383,8682,0.00,2.25,0.00,0.000,6,0.000,0.038,3259,1666,1903
$GC,8940,1.29,206.6,75.4,9.9,407,8944,0.00,2.33,0.00,0.000,4,0.000,0.061,3259,265,1900
$GC,8998,1.29,206.6,68.9,10.6,412,9008,0.00,2.25,0.00,0.000,6,0.000,0.034,3259,1671,1900
$GC,9262,1.33,238.8,46.5,8.0,437,9301,0.00,2.35,27.02,0.539,4,0.000,0.040,3259,3070,1773
$GC,9305,1.35,250.5,42.5,8.9,440,9328,0.05,2.33,10.82,0.492,6,0.057,0.035,3289,1664,1726
$GC,9584,1.35,250.5,10.5,12.5,480,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1664,1723
$STATE,9652,end climb,SURFACE_DEPTH_REACHED
$STATE,9652,begin surface coast
$FINISH,0.5,1.010325
$STATE,9681,end surface coast,CONTROL_FINISHED_OK
$STATE,9681,begin surface
$SM_CCo,9700,82.55,0.502,0,0,1158,390.03
$SM_GC,1.20,0.00,0.00,82.55,0.000,0.000,0.502,413,1661,1158,-11.85,-0.82,390.03
$IRIDIUM_FIX,2333.28,-15730.41,311097,090958
$TT8_MAMPS,0.026845
$HUMID,1544
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.30
$XPDR_PINGS,89
$24V_AH,23.7,6.181
$10V_AH,10.2,4.586
$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,26.525,111.375,327.475,82.550,0.000,27.890,26.418,110.585,22.250,0.000,0.000,15.646,992.727,6576.818,514.658,1684.385,267.860,33.347,1204.768,0.000,1682.673,0.000,0.468
$DEVICE_MAMPS,159.536,77.467,905.060,501.618,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.332,293.242,387.595,404.239,853.599,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38204,497
$CAP_FILE_SIZE,85128,0
$CFSIZE,260165632,257245184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060808,141128,2345.007,-15730.556,28,2.3,47,10.2