version: 66.03
glider: 148
mission: 4
dive: 31
start: 8 7 108 2 10 7
data:
$ID,148
$MISSION,4
$DIVE,31
$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,-4496.7373
$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
$GPS1,020507,2348.573,-15730.449,26,1.0,26,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-64.6
$GPS2,020914,2348.597,-15730.413,12,1.1,12,10.3
$SPEED_LIMITS,0.147,0.245
$TGT_NAME,WPT6
$TGT_LATLONG,2350.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.189,0.157
$KALMAN_X,54362.3,18.3,-10.9,-55921.7,2789.8
$KALMAN_Y,8420.8,-345.1,-14.2,-925.4,55.8
$MHEAD_RNG_PITCHd_Wd,299.3,2690,-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,-61.38,0.000,2,0.000,0.000,417,1666,2827
$GC,83,-1.12,-146.0,3.4,-4.4,8,116,12.38,2.30,-10.85,0.000,4,0.160,0.045,2741,3080,3346
$GC,259,-1.12,-146.0,33.8,-15.0,36,264,0.00,2.28,0.00,0.000,6,0.000,0.036,2741,1672,3347
$GC,521,-1.12,-146.0,74.6,-13.7,60,525,0.00,2.30,0.00,0.000,4,0.000,0.052,2741,263,3348
$GC,558,-1.12,-146.0,80.2,-14.4,63,567,0.00,2.25,0.00,0.000,6,0.000,0.026,2741,1680,3348
$GC,819,-1.12,-146.0,113.0,-12.8,88,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1681,3349
$GC,1074,-1.12,-146.0,143.1,-12.1,112,1078,0.00,2.33,0.00,0.000,4,0.000,0.050,2741,262,3349
$GC,1099,-1.12,-146.0,146.4,-12.8,114,1109,0.00,2.22,0.00,0.000,6,0.000,0.026,2741,1673,3349
$GC,1363,-1.12,-146.0,176.0,-11.0,139,1367,0.00,2.33,0.00,0.000,4,0.000,0.051,2741,263,3350
$GC,1439,-1.12,-146.0,184.4,-10.7,145,1443,0.00,2.20,0.00,0.000,6,0.000,0.026,2741,1676,3350
$GC,1714,-1.12,-146.0,211.5,-9.4,162,1719,0.00,2.33,0.00,0.000,4,0.000,0.051,2741,263,3350
$GC,1763,-1.12,-146.0,216.5,-10.3,163,1768,0.00,2.22,0.00,0.000,6,0.000,0.027,2741,1667,3350
$GC,2042,-1.12,-146.0,241.1,-8.3,170,2046,0.00,2.33,0.00,0.000,4,0.000,0.061,2741,265,3350
$GC,2062,-1.12,-146.0,243.1,-8.9,170,2067,0.00,2.22,0.00,0.000,6,0.000,0.027,2741,1675,3350
$GC,2324,-1.12,-146.0,264.7,-8.2,177,2328,0.00,2.35,0.00,0.000,4,0.000,0.061,2741,259,3350
$GC,2384,-1.12,-146.0,269.5,-8.0,178,2388,0.00,2.22,0.00,0.000,6,0.000,0.037,2741,1661,3350
$GC,2650,-1.12,-146.0,291.2,-8.5,185,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1664,3350
$GC,2894,-1.12,-146.0,310.9,-8.2,191,2898,0.00,2.35,0.00,0.000,4,0.000,0.065,2741,261,3350
$GC,2920,-1.12,-146.0,313.3,-9.5,191,2925,0.00,2.25,0.00,0.000,6,0.000,0.032,2741,1659,3350
$GC,3176,-1.12,-146.0,332.4,-7.4,198,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1661,3349
$GC,3420,-1.12,-146.0,351.2,-7.7,204,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1660,3348
$GC,3664,-1.12,-146.0,369.2,-7.1,210,3668,0.00,2.35,0.00,0.000,4,0.000,0.068,2741,266,3347
$GC,3685,-1.12,-146.0,370.8,-7.3,210,3689,0.00,2.28,0.00,0.000,6,0.000,0.038,2741,1670,3347
$GC,3946,-1.12,-146.0,387.6,-6.4,217,3950,0.00,2.30,0.00,0.000,4,0.000,0.052,2741,3081,3345
$GC,3967,-1.12,-146.0,389.1,-6.8,217,3971,0.00,2.33,0.00,0.000,6,0.000,0.045,2741,1676,3345
$GC,4228,-1.12,-146.0,406.3,-6.6,224,4232,0.00,2.40,0.00,0.000,4,0.000,0.076,2741,264,3344
$GC,4243,-1.12,-146.0,407.4,-6.9,224,4247,0.00,2.28,0.00,0.000,6,0.000,0.036,2741,1665,3344
$GC,4509,-1.12,-146.0,424.6,-6.4,231,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1665,3342
$GC,4753,-1.12,-146.0,440.9,-6.7,237,4757,0.00,2.40,0.00,0.000,4,0.000,0.069,2741,261,3341
$GC,4785,-1.12,-146.0,443.6,-8.2,237,4791,0.00,2.30,0.00,0.000,6,0.000,0.045,2741,1661,3341
$GC,5034,-1.12,-146.0,461.7,-7.1,244,5039,0.00,2.40,0.00,0.000,4,0.000,0.074,2741,265,3339
$GC,5067,-1.12,-146.0,464.2,-7.5,244,5073,0.00,2.33,0.00,0.000,6,0.000,0.041,2741,1673,3339
$GC,5317,-1.12,-146.0,480.9,-6.4,251,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1673,3338
$GC,5560,-1.12,-146.0,495.7,-6.1,257,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1673,3336
$STATE,5802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5802,begin apogee
$GC,5806,-0.31,0.0,510.2,6.0,263,5926,0.82,0.00,117.12,0.920,6,0.104,0.000,2918,1674,2749
$STATE,5927,end apogee,CONTROL_FINISHED_OK
$STATE,5927,begin climb
$GC,5929,1.12,146.0,512.3,0.0,266,6059,1.35,2.58,120.65,0.890,4,0.058,0.082,3233,259,2152
$GC,6138,1.12,146.0,494.1,14.8,271,6142,0.00,2.35,0.00,0.000,6,0.000,0.042,3233,1662,2147
$GC,6426,1.12,146.0,457.8,12.5,278,6430,0.00,2.45,0.00,0.000,4,0.000,0.067,3233,256,2142
$GC,6446,1.12,146.0,455.1,12.6,278,6451,0.00,2.35,0.00,0.000,6,0.000,0.047,3233,1662,2142
$GC,6707,1.12,146.0,425.9,11.0,285,6711,0.00,2.45,0.00,0.000,4,0.000,0.074,3233,256,2140
$GC,6818,1.12,146.0,411.4,13.5,287,6822,0.00,2.35,0.00,0.000,6,0.000,0.044,3233,1664,2139
$GC,7079,1.12,146.0,382.8,10.9,294,7083,0.00,2.45,0.00,0.000,4,0.000,0.067,3233,255,2137
$GC,7121,1.12,146.0,377.4,12.9,295,7126,0.00,2.33,0.00,0.000,6,0.000,0.045,3233,1657,2137
$GC,7405,1.12,146.0,346.4,10.6,302,7409,0.00,2.42,0.00,0.000,4,0.000,0.066,3233,253,2136
$GC,7420,1.12,146.0,344.7,10.3,302,7425,0.00,2.33,0.00,0.000,6,0.000,0.043,3233,1662,2135
$GC,7687,1.12,146.0,316.6,10.5,309,7691,0.00,2.42,0.00,0.000,4,0.000,0.071,3233,252,2134
$GC,7713,1.12,146.0,313.1,13.4,309,7718,0.00,2.30,0.00,0.000,6,0.000,0.042,3233,1654,2134
$GC,7969,1.12,146.0,286.3,10.3,316,7973,0.00,2.40,0.00,0.000,4,0.000,0.069,3233,250,2134
$GC,7983,1.12,146.0,284.5,10.2,316,7988,0.00,2.30,0.00,0.000,6,0.000,0.041,3233,1659,2134
$GC,8256,1.12,146.0,256.5,10.1,323,8260,0.00,2.42,0.00,0.000,4,0.000,0.065,3233,249,2133
$GC,8345,1.12,146.0,246.4,10.4,325,8349,0.00,2.28,0.00,0.000,6,0.000,0.038,3233,1670,2133
$GC,8621,1.12,147.2,222.6,8.5,332,8625,0.00,2.42,0.00,0.000,4,0.000,0.061,3233,247,2132
$GC,8843,1.12,147.2,200.4,9.7,337,8848,0.00,2.28,0.00,0.000,6,0.000,0.032,3233,1655,2132
$GC,9107,1.12,148.7,176.5,8.4,359,9111,0.00,2.38,0.00,0.000,4,0.000,0.061,3233,252,2132
$GC,9250,1.12,148.7,163.1,8.8,371,9257,0.00,2.28,0.00,0.000,6,0.000,0.038,3233,1666,2132
$GC,9511,1.17,192.4,143.7,6.8,396,9553,0.00,2.42,36.12,0.647,4,0.000,0.058,3234,252,1963
$GC,9646,1.17,192.4,130.9,11.1,407,9652,0.00,2.28,0.00,0.000,6,0.000,0.030,3233,1658,1961
$GC,9906,1.17,192.4,107.0,8.9,432,9910,0.00,2.38,0.00,0.000,4,0.000,0.061,3233,249,1958
$GC,9972,1.17,192.4,99.5,11.6,437,9979,0.00,2.28,0.00,0.000,6,0.000,0.031,3233,1663,1958
$GC,10236,1.17,192.4,76.7,8.7,462,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1666,1958
$GC,10491,1.23,241.3,58.6,6.6,486,10543,0.10,2.45,40.90,0.561,4,0.064,0.061,3270,252,1764
$GC,10589,1.23,241.3,50.3,10.3,494,10593,0.00,2.22,0.00,0.000,6,0.000,0.028,3270,1661,1763
$GC,10853,1.23,241.3,24.3,9.9,523,10861,0.00,2.38,0.00,0.000,4,0.000,0.051,3270,252,1760
$GC,10923,1.23,241.3,16.8,10.7,535,10932,0.00,2.25,0.00,0.000,6,0.000,0.027,3270,1664,1760
$STATE,11079,end climb,SURFACE_DEPTH_REACHED
$STATE,11079,begin surface coast
$FINISH,0.4,1.010273
$STATE,11109,end surface coast,CONTROL_FINISHED_OK
$STATE,11109,begin surface
$SM_CCo,11127,83.95,0.502,0,0,1159,390.03
$SM_GC,1.50,0.00,0.00,83.95,0.000,0.000,0.502,415,1667,1159,-11.85,-0.08,390.03
$IRIDIUM_FIX,2337.99,-15731.68,311097,232334
$TT8_MAMPS,0.026845
$HUMID,1532
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.40
$XPDR_PINGS,82
$24V_AH,23.7,6.678
$10V_AH,10.2,5.054
$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,26.325,126.000,314.800,83.950,0.000,23.180,25.376,118.781,20.500,0.000,0.000,14.033,1116.329,7672.125,496.602,1902.146,279.588,33.359,1275.242,0.000,1896.457,0.000,0.469
$DEVICE_MAMPS,160.303,82.069,919.633,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,381.240,328.120,438.725,457.669,966.184,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41423,568
$CAP_FILE_SIZE,96496,0
$CFSIZE,260165632,256999424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070808,051808,2349.427,-15730.473,31,0.9,31,10.3