version: 66.03
glider: 148
mission: 4
dive: 30
start: 8 6 108 23 2 32
data:
$ID,148
$MISSION,4
$DIVE,30
$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,200
$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,-4482.0747
$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,1670
$C_ROLL_CLIMB,1660
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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
$GPS1,225735,2347.576,-15730.729,10,99.0,29,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-65.1
$GPS2,230139,2347.592,-15730.717,13,1.1,13,10.3
$SPEED_LIMITS,0.147,0.245
$TGT_NAME,WPT6
$TGT_LATLONG,2350.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.182,0.165
$KALMAN_X,52154.3,-162.3,-314.4,-53740.7,2689.9
$KALMAN_Y,8626.3,-317.0,-126.2,-2905.4,-106.9
$MHEAD_RNG_PITCHd_Wd,301.9,4623,-15.0,-8.500
$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,-1.12,-146.0,0.0,0.0,0,81,0.00,0.00,-61.70,0.000,2,0.000,0.000,415,1677,2850
$GC,84,-1.12,-146.0,3.6,-5.2,8,116,12.35,2.28,-10.15,0.000,4,0.159,0.048,2740,3070,3347
$GC,249,-1.12,-146.0,32.1,-15.3,35,253,0.00,2.28,0.00,0.000,6,0.000,0.035,2740,1661,3348
$GC,511,-1.12,-146.0,73.7,-14.7,59,515,0.00,2.30,0.00,0.000,4,0.000,0.049,2740,259,3349
$GC,584,-1.12,-146.0,84.3,-13.7,65,588,0.00,2.22,0.00,0.000,6,0.000,0.026,2740,1677,3349
$GC,846,-1.12,-146.0,116.6,-12.0,89,850,0.00,2.22,0.00,0.000,4,0.000,0.035,2740,3080,3350
$GC,883,-1.12,-146.0,121.2,-11.6,92,893,0.00,2.30,0.00,0.000,6,0.000,0.034,2740,1670,3350
$GC,1146,-1.12,-146.0,149.6,-10.5,117,1150,0.00,2.30,0.00,0.000,4,0.000,0.054,2740,264,3351
$GC,1203,-1.12,-146.0,156.0,-10.8,122,1207,0.00,2.20,0.00,0.000,6,0.000,0.027,2740,1670,3351
$GC,1462,-1.12,-146.0,183.7,-10.7,146,1466,0.00,2.22,0.00,0.000,4,0.000,0.035,2740,3076,3351
$GC,1487,-1.12,-146.0,186.1,-11.4,148,1491,0.00,2.25,0.00,0.000,6,0.000,0.033,2740,1669,3352
$GC,1752,-1.12,-146.0,213.3,-10.1,164,1756,0.00,2.30,0.00,0.000,4,0.000,0.054,2740,266,3352
$GC,1772,-1.12,-146.0,215.7,-10.9,164,1777,0.00,2.22,0.00,0.000,6,0.000,0.026,2740,1674,3352
$GC,2033,-1.12,-146.0,239.3,-8.8,171,2037,0.00,2.33,0.00,0.000,4,0.000,0.054,2740,265,3352
$GC,2094,-1.12,-146.0,244.8,-9.3,172,2098,0.00,2.22,0.00,0.000,6,0.000,0.035,2740,1668,3352
$GC,2366,-1.12,-146.0,268.1,-8.5,179,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1669,3352
$GC,2609,-1.12,-146.0,288.9,-8.5,185,2613,0.00,2.35,0.00,0.000,4,0.000,0.057,2740,262,3352
$GC,2636,-1.12,-146.0,291.3,-9.3,185,2641,0.00,2.25,0.00,0.000,6,0.000,0.030,2740,1667,3352
$GC,2892,-1.12,-146.0,311.7,-7.8,192,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1670,3352
$GC,3135,-1.12,-146.0,331.8,-8.4,198,3139,0.00,2.35,0.00,0.000,4,0.000,0.060,2740,267,3351
$GC,3184,-1.12,-146.0,336.4,-9.3,199,3189,0.00,2.25,0.00,0.000,6,0.000,0.033,2740,1665,3351
$GC,3462,-1.12,-146.0,358.4,-7.7,206,3466,0.00,2.30,0.00,0.000,4,0.000,0.044,2741,3081,3349
$GC,3489,-1.12,-146.0,360.4,-7.4,206,3493,0.00,2.33,0.00,0.000,6,0.000,0.041,2740,1674,3350
$GC,3744,-1.12,-146.0,378.0,-7.0,213,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1674,3349
$GC,3988,-1.12,-146.0,395.6,-7.3,219,3992,0.00,2.40,0.00,0.000,4,0.000,0.068,2740,258,3347
$GC,4014,-1.12,-146.0,397.7,-8.3,219,4018,0.00,2.28,0.00,0.000,6,0.000,0.041,2741,1664,3347
$GC,4275,-1.12,-146.0,417.4,-7.7,226,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1664,3345
$GC,4519,-1.12,-146.0,435.5,-7.4,232,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1664,3343
$GC,4762,-1.12,-146.0,453.9,-7.5,238,4766,0.00,2.40,0.00,0.000,4,0.000,0.070,2741,263,3342
$GC,4805,-1.12,-146.0,457.7,-8.9,239,4810,0.00,2.30,0.00,0.000,6,0.000,0.040,2740,1660,3342
$GC,5090,-1.12,-146.0,479.6,-7.7,246,5094,0.00,2.38,0.00,0.000,4,0.000,0.056,2740,3084,3341
$GC,5116,-1.12,-146.0,481.7,-8.2,246,5121,0.00,2.35,0.00,0.000,6,0.000,0.052,2740,1679,3340
$GC,5372,-1.12,-146.0,501.2,-7.6,253,5376,0.00,2.45,0.00,0.000,4,0.000,0.083,2740,255,3339
$GC,5392,-1.12,-146.0,503.0,-8.2,253,5397,0.00,2.33,0.00,0.000,6,0.000,0.042,2740,1671,3339
$STATE,5495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5495,begin apogee
$GC,5499,-0.31,0.0,510.7,7.4,256,5620,0.85,0.00,117.50,0.913,6,0.101,0.000,2922,1671,2749
$STATE,5620,end apogee,CONTROL_FINISHED_OK
$STATE,5620,begin climb
$GC,5622,1.12,146.0,513.7,0.0,259,5752,1.33,2.53,120.88,0.887,4,0.057,0.071,3233,3067,2151
$GC,5762,1.12,146.0,506.4,11.0,262,5767,0.00,2.42,0.00,0.000,6,0.000,0.054,3233,1664,2148
$GC,6029,1.12,146.0,471.6,13.0,269,6033,0.00,2.53,0.00,0.000,4,0.000,0.081,3233,249,2143
$GC,6049,1.12,146.0,468.8,13.1,269,6054,0.00,2.35,0.00,0.000,6,0.000,0.041,3233,1654,2143
$GC,6316,1.12,146.0,438.0,11.4,276,6320,0.00,2.45,0.00,0.000,4,0.000,0.067,3233,246,2141
$GC,6399,1.12,146.0,427.6,12.9,278,6403,0.00,2.33,0.00,0.000,6,0.000,0.042,3233,1671,2140
$GC,6686,1.12,146.0,394.7,11.4,285,6690,0.00,2.45,0.00,0.000,4,0.000,0.067,3233,247,2138
$GC,6786,1.12,146.0,381.7,13.7,287,6791,0.00,2.35,0.00,0.000,6,0.000,0.041,3233,1662,2137
$GC,7064,1.12,146.0,350.2,11.4,294,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1662,2136
$GC,7307,1.12,146.0,324.8,10.3,300,7312,0.00,2.42,0.00,0.000,4,0.000,0.066,3233,250,2135
$GC,7368,1.12,146.0,317.5,12.4,301,7372,0.00,2.33,0.00,0.000,6,0.000,0.037,3233,1666,2134
$GC,7640,1.12,146.0,289.3,10.2,308,7644,0.00,2.42,0.00,0.000,4,0.000,0.064,3233,251,2134
$GC,7655,1.12,146.0,287.6,10.1,308,7660,0.00,2.30,0.00,0.000,6,0.000,0.034,3233,1664,2134
$GC,7928,1.12,146.0,261.0,9.9,315,7932,0.00,2.40,0.00,0.000,4,0.000,0.063,3233,250,2133
$GC,7948,1.12,146.0,258.8,10.5,315,7953,0.00,2.28,0.00,0.000,6,0.000,0.040,3233,1657,2133
$GC,8209,1.12,146.0,236.5,8.6,322,8213,0.00,2.40,0.00,0.000,4,0.000,0.061,3233,246,2133
$GC,8438,1.12,146.0,213.1,9.6,327,8443,0.00,2.30,0.00,0.000,6,0.000,0.032,3233,1664,2132
$GC,8701,1.16,178.5,191.7,7.2,341,8735,0.00,2.50,24.62,0.683,4,0.000,0.064,3233,246,2021
$GC,8760,1.16,178.5,186.7,10.2,346,8765,0.00,2.28,0.00,0.000,6,0.000,0.031,3233,1664,2020
$GC,9023,1.16,178.5,163.6,8.7,370,9027,0.00,2.40,0.00,0.000,4,0.000,0.063,3233,241,2017
$GC,9064,1.16,178.5,159.4,11.3,373,9068,0.00,2.28,0.00,0.000,6,0.000,0.030,3233,1669,2017
$GC,9326,1.16,178.5,134.6,9.4,397,9330,0.00,2.40,0.00,0.000,4,0.000,0.064,3233,244,2017
$GC,9413,1.16,178.5,124.6,11.2,404,9423,0.00,2.28,0.00,0.000,6,0.000,0.028,3233,1667,2017
$GC,9677,1.16,178.5,99.9,8.9,429,9681,0.00,2.38,0.00,0.000,4,0.000,0.055,3233,241,2017
$GC,9701,1.16,178.5,97.8,8.9,431,9705,0.00,2.25,0.00,0.000,6,0.000,0.035,3233,1667,2017
$GC,9964,1.17,194.1,75.3,7.9,455,9989,0.00,2.35,14.35,0.552,4,0.000,0.051,3233,3057,1956
$GC,10036,1.19,205.8,69.8,8.0,461,10053,0.00,2.30,11.68,0.532,6,0.000,0.039,3233,1645,1908
$GC,10318,1.25,255.1,50.1,6.6,487,10371,0.12,2.38,41.10,0.548,4,0.057,0.062,3276,263,1708
$GC,10395,1.25,255.1,42.9,12.0,493,10399,0.00,2.22,0.00,0.000,6,0.000,0.028,3276,1661,1706
$GC,10662,1.25,255.1,13.8,11.2,530,10670,0.00,2.38,0.00,0.000,4,0.000,0.051,3276,255,1703
$GC,10710,1.25,255.1,7.8,12.8,538,10718,0.00,2.25,0.00,0.000,6,0.000,0.028,3276,1661,1703
$STATE,10757,end climb,SURFACE_DEPTH_REACHED
$STATE,10757,begin surface coast
$FINISH,0.4,1.012096
$STATE,10792,end surface coast,CONTROL_FINISHED_OK
$STATE,10792,begin surface
$SM_CCo,10810,82.90,0.504,0,0,1158,390.03
$SM_GC,1.27,0.00,0.00,82.90,0.000,0.000,0.504,417,1665,1158,-11.84,-0.14,390.03
$IRIDIUM_FIX,2337.99,-15731.68,311097,202051
$TT8_MAMPS,0.027612
$HUMID,1552
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.40
$XPDR_PINGS,77
$24V_AH,23.7,6.580
$10V_AH,10.2,4.955
$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,26.475,135.225,330.125,82.900,0.000,31.190,27.333,106.250,19.250,0.000,0.000,15.135,1096.434,7414.965,498.459,1847.594,289.816,33.351,1283.761,0.000,1848.513,0.000,0.469
$DEVICE_MAMPS,158.769,82.836,913.497,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.548,332.892,432.539,442.214,933.547,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41237,552
$CAP_FILE_SIZE,96180,0
$CFSIZE,260165632,257048576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070808,020507,2348.573,-15730.449,26,1.0,26,10.3