version: 66.03
glider: 148
mission: 4
dive: 27
start: 8 6 108 14 16 20
data:
$ID,148
$MISSION,4
$DIVE,27
$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,-4409.7832
$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,26
$R_STBD_OVSHOOT,35
$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
$GPS1,141128,2345.007,-15730.556,28,2.3,47,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.0
$GPS2,141527,2345.027,-15730.523,11,1.8,11,10.2
$SPEED_LIMITS,0.164,0.255
$TGT_NAME,WPT6
$TGT_LATLONG,2350.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.212,0.141
$KALMAN_X,46618.1,-227.2,-8.3,-48112.9,2420.7
$KALMAN_Y,9032.8,212.5,78.8,-8793.3,-170.0
$MHEAD_RNG_PITCHd_Wd,293.4,9252,-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,-61.38,0.000,2,0.000,0.000,413,1661,2848
$GC,82,-1.22,-146.0,3.6,-5.9,8,115,12.32,2.35,-10.25,0.000,4,0.162,0.047,2720,3094,3348
$GC,258,-1.22,-146.0,37.6,-17.0,34,262,0.00,2.28,0.00,0.000,6,0.000,0.035,2720,1691,3348
$GC,518,-1.22,-146.0,83.8,-14.6,58,521,0.00,2.30,0.00,0.000,4,0.000,0.056,2720,283,3349
$GC,633,-1.22,-146.0,99.6,-12.4,68,637,0.00,2.22,0.00,0.000,6,0.000,0.025,2720,1708,3349
$GC,901,-1.22,-146.0,135.2,-13.2,93,905,0.00,2.35,0.00,0.000,4,0.000,0.049,2720,277,3350
$GC,948,-1.22,-146.0,142.2,-15.7,97,952,0.00,2.20,0.00,0.000,6,0.000,0.026,2720,1690,3350
$GC,1210,-1.22,-146.0,175.0,-11.5,121,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1692,3351
$GC,1482,-1.22,-146.0,204.7,-10.1,144,1486,0.00,2.33,0.00,0.000,4,0.000,0.051,2720,281,3352
$GC,1508,-1.22,-146.0,207.5,-10.9,144,1513,0.00,2.22,0.00,0.000,6,0.000,0.025,2720,1691,3352
$GC,1763,-1.22,-146.0,233.9,-10.6,151,1767,0.00,2.33,0.00,0.000,4,0.000,0.052,2720,280,3352
$GC,1879,-1.22,-146.0,247.3,-11.1,153,1884,0.00,2.22,0.00,0.000,6,0.000,0.028,2720,1683,3352
$GC,2135,-1.22,-146.0,271.8,-9.6,160,2139,0.00,2.33,0.00,0.000,4,0.000,0.056,2720,280,3352
$GC,2201,-1.22,-146.0,278.9,-10.7,161,2206,0.00,2.25,0.00,0.000,6,0.000,0.036,2720,1687,3352
$GC,2462,-1.22,-146.0,301.8,-8.7,168,2466,0.00,2.35,0.00,0.000,4,0.000,0.057,2720,278,3352
$GC,2483,-1.22,-146.0,303.5,-8.1,168,2488,0.00,2.25,0.00,0.000,6,0.000,0.039,2720,1680,3352
$GC,2744,-1.22,-146.0,324.4,-8.0,175,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1680,3352
$GC,2987,-1.22,-146.0,345.7,-8.9,181,2991,0.00,2.35,0.00,0.000,4,0.000,0.067,2720,280,3351
$GC,3053,-1.22,-146.0,352.2,-9.6,182,3058,0.00,2.28,0.00,0.000,6,0.000,0.042,2720,1683,3351
$GC,3314,-1.22,-146.0,375.4,-8.7,189,3318,0.00,2.35,0.00,0.000,4,0.000,0.067,2720,287,3350
$GC,3340,-1.22,-146.0,377.8,-9.5,189,3345,0.00,2.28,0.00,0.000,6,0.000,0.041,2720,1691,3349
$GC,3596,-1.22,-146.0,398.0,-7.8,196,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1691,3348
$GC,3840,-1.22,-146.0,416.1,-7.4,202,3844,0.00,2.38,0.00,0.000,4,0.000,0.069,2721,284,3346
$GC,3866,-1.22,-146.0,418.1,-8.1,202,3870,0.00,2.30,0.00,0.000,6,0.000,0.042,2720,1692,3347
$GC,4127,-1.22,-146.0,438.3,-7.9,209,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1692,3345
$GC,4371,-1.22,-146.0,458.7,-8.5,215,4375,0.00,2.40,0.00,0.000,4,0.000,0.070,2720,289,3343
$GC,4392,-1.22,-146.0,460.6,-8.9,215,4396,0.00,2.28,0.00,0.000,6,0.000,0.037,2720,1684,3343
$GC,4653,-1.22,-146.0,483.5,-9.0,222,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1685,3342
$GC,4897,-1.22,-146.0,504.8,-8.5,228,4901,0.00,2.40,0.00,0.000,4,0.000,0.074,2720,290,3340
$GC,4923,-1.22,-146.0,507.1,-9.1,228,4928,0.00,2.30,0.00,0.000,6,0.000,0.048,2721,1680,3340
$STATE,4974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4974,begin apogee
$GC,4977,-0.31,0.0,511.1,7.8,230,5099,0.93,0.00,118.05,0.907,6,0.104,0.000,2917,1680,2749
$STATE,5099,end apogee,CONTROL_FINISHED_OK
$STATE,5099,begin climb
$GC,5101,1.22,146.0,513.8,0.0,233,5231,1.45,2.58,120.78,0.880,4,0.059,0.076,3253,266,2152
$GC,5270,1.22,146.0,500.3,15.3,237,5275,0.00,2.38,0.00,0.000,6,0.000,0.046,3253,1671,2149
$GC,5553,1.22,146.0,461.7,13.3,244,5558,0.00,2.45,0.00,0.000,4,0.000,0.066,3254,264,2143
$GC,5602,1.22,146.0,454.5,14.8,245,5607,0.00,2.35,0.00,0.000,6,0.000,0.044,3254,1674,2142
$GC,5880,1.22,146.0,419.5,12.5,252,5884,0.00,2.45,0.00,0.000,4,0.000,0.071,3253,262,2140
$GC,5895,1.22,146.0,417.5,12.3,252,5900,0.00,2.33,0.00,0.000,6,0.000,0.037,3253,1665,2139
$GC,6162,1.22,146.0,385.6,11.6,259,6166,0.00,2.42,0.00,0.000,4,0.000,0.064,3254,263,2138
$GC,6183,1.22,146.0,382.8,12.5,259,6188,0.00,2.33,0.00,0.000,6,0.000,0.043,3253,1672,2137
$GC,6450,1.22,146.0,351.1,12.0,266,6454,0.00,2.42,0.00,0.000,4,0.000,0.064,3254,265,2136
$GC,6510,1.22,146.0,343.2,13.8,267,6514,0.00,2.30,0.00,0.000,6,0.000,0.035,3253,1662,2135
$GC,6777,1.22,146.0,314.1,10.5,274,6781,0.00,2.40,0.00,0.000,4,0.000,0.064,3253,266,2134
$GC,6815,1.22,146.0,309.6,11.4,275,6819,0.00,2.28,0.00,0.000,6,0.000,0.036,3253,1680,2134
$GC,7103,1.22,146.0,277.8,11.1,282,7107,0.00,2.42,0.00,0.000,4,0.000,0.067,3253,266,2134
$GC,7175,1.22,146.0,268.8,12.3,283,7179,0.00,2.28,0.00,0.000,6,0.000,0.038,3254,1667,2133
$GC,7430,1.22,146.0,242.0,10.3,290,7434,0.00,2.40,0.00,0.000,4,0.000,0.067,3253,260,2133
$GC,7462,1.22,146.0,238.9,9.9,290,7470,0.00,2.28,0.00,0.000,6,0.000,0.037,3253,1669,2133
$GC,7712,1.23,155.4,216.0,9.0,297,7722,0.00,2.38,5.32,0.568,4,0.000,0.059,3253,266,2116
$GC,7833,1.23,155.4,203.1,11.7,299,7840,0.00,2.28,0.00,0.000,6,0.000,0.031,3254,1671,2116
$GC,8092,1.23,155.4,177.3,9.7,321,8096,0.00,2.38,0.00,0.000,4,0.000,0.057,3254,259,2115
$GC,8158,1.23,155.4,170.4,10.5,326,8165,0.00,2.28,0.00,0.000,6,0.000,0.030,3254,1673,2115
$GC,8423,1.26,182.0,146.9,8.3,351,8456,0.00,2.38,23.83,0.639,4,0.000,0.044,3254,3070,2004
$GC,8478,1.28,194.8,142.1,8.9,356,8495,0.00,2.30,12.10,0.595,6,0.000,0.041,3254,1669,1954
$GC,8757,1.28,194.8,114.6,10.1,382,8761,0.00,2.35,0.00,0.000,4,0.000,0.059,3254,264,1951
$GC,8806,1.28,194.8,109.0,10.9,386,8810,0.00,2.22,0.00,0.000,6,0.000,0.037,3254,1671,1951
$GC,9075,1.28,196.5,83.0,9.4,411,9079,0.00,2.35,0.00,0.000,4,0.000,0.061,3254,256,1950
$GC,9209,1.29,202.5,69.7,9.2,423,9223,0.00,2.22,7.75,0.502,6,0.000,0.027,3253,1676,1923
$GC,9478,1.33,240.0,48.6,7.8,448,9516,0.10,2.40,32.35,0.545,4,0.064,0.054,3291,259,1769
$GC,9576,1.33,240.0,38.6,10.0,456,9585,0.00,2.25,0.00,0.000,6,0.000,0.028,3291,1654,1767
$GC,9844,1.33,240.0,9.4,13.1,497,9853,0.00,2.35,0.00,0.000,4,0.000,0.054,3291,265,1765
$GC,9876,1.33,240.0,5.7,11.3,502,9885,0.00,2.25,0.00,0.000,6,0.000,0.029,3291,1662,1765
$STATE,9902,end climb,SURFACE_DEPTH_REACHED
$STATE,9902,begin surface coast
$FINISH,0.5,1.011467
$STATE,9925,end surface coast,CONTROL_FINISHED_OK
$STATE,9925,begin surface
$SM_CCo,9943,92.03,0.505,0,0,1158,390.27
$SM_GC,1.45,0.00,0.00,92.03,0.000,0.000,0.505,412,1666,1158,-11.86,-0.68,390.27
$IRIDIUM_FIX,2335.63,-15729.51,311097,111100
$TT8_MAMPS,0.027612
$HUMID,1545
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.40
$XPDR_PINGS,90
$24V_AH,23.7,6.280
$10V_AH,10.2,4.676
$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,26.625,125.700,320.175,92.025,0.000,28.609,24.345,110.620,22.500,0.000,0.000,13.225,1019.470,6765.591,500.423,1721.387,278.588,33.351,1227.948,0.000,1724.626,0.000,0.469
$DEVICE_MAMPS,161.837,75.933,906.594,504.686,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.148,297.613,398.902,407.777,860.066,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38159,510
$CAP_FILE_SIZE,90548,0
$CFSIZE,260165632,257191936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060808,170437,2345.853,-15730.677,10,1.4,26,10.2