version: 66.03
glider: 148
mission: 4
dive: 45
start: 8 8 108 21 12 40
data:
$ID,148
$MISSION,4
$DIVE,45
$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,140
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4776.124
$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,1660
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,38
$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
$GPS1,210155,2400.452,-15730.408,30,1.0,38,10.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-64.4
$GPS2,211145,2400.472,-15730.396,12,1.0,12,10.3
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT7
$TGT_LATLONG,2400.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.165,-0.047
$KALMAN_X,78381.1,-39.2,-245.1,-79614.3,2647.9
$KALMAN_Y,5562.8,214.5,-33.0,23377.0,-308.1
$MHEAD_RNG_PITCHd_Wd,243.9,1101,-23.0,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.52,-67.0,0.0,0.0,0,82,0.00,0.00,-63.25,0.000,2,0.000,0.000,416,1646,2896
$GC,84,-1.57,-108.0,3.4,-5.0,8,110,11.73,2.30,-6.20,0.000,4,0.157,0.061,2642,255,3191
$GC,332,-1.57,-108.0,64.0,-22.5,38,341,0.00,2.22,0.00,0.000,6,0.000,0.026,2642,1653,3192
$GC,597,-1.57,-108.0,107.5,-15.7,63,601,0.00,2.30,0.00,0.000,4,0.000,0.048,2642,253,3193
$GC,774,-1.57,-108.0,139.7,-16.5,78,785,0.00,2.22,0.00,0.000,6,0.000,0.024,2642,1669,3194
$GC,1038,-1.57,-108.0,178.0,-14.3,103,1042,0.00,2.33,0.00,0.000,4,0.000,0.048,2642,254,3194
$GC,1137,-1.57,-108.0,194.4,-16.8,111,1147,0.00,2.20,0.00,0.000,6,0.000,0.025,2642,1653,3194
$GC,1420,-1.57,-108.0,231.3,-12.2,121,1424,0.00,2.30,0.00,0.000,4,0.000,0.050,2642,255,3195
$GC,1468,-1.57,-108.0,237.0,-11.5,122,1473,0.00,2.20,0.00,0.000,6,0.000,0.025,2642,1658,3194
$GC,1746,-1.57,-108.0,269.6,-11.9,129,1750,0.00,2.33,0.00,0.000,4,0.000,0.053,2642,256,3195
$GC,1845,-1.57,-108.0,282.8,-12.9,131,1850,0.00,2.22,0.00,0.000,6,0.000,0.028,2642,1653,3194
$GC,2118,-1.57,-108.0,313.6,-11.1,138,2122,0.00,2.35,0.00,0.000,4,0.000,0.064,2642,252,3194
$GC,2201,-1.57,-108.0,323.9,-12.0,140,2205,0.00,2.22,0.00,0.000,6,0.000,0.031,2642,1666,3194
$GC,2490,-1.57,-108.0,357.0,-11.4,147,2494,0.00,2.38,0.00,0.000,4,0.000,0.060,2642,258,3193
$GC,2515,-1.57,-108.0,360.4,-12.5,147,2520,0.00,2.25,0.00,0.000,6,0.000,0.033,2642,1655,3194
$GC,2771,-1.57,-108.0,387.9,-10.6,154,2775,0.00,2.38,0.00,0.000,4,0.000,0.064,2642,258,3192
$GC,2910,-1.57,-108.0,404.4,-11.8,157,2915,0.00,2.28,0.00,0.000,6,0.000,0.035,2642,1657,3192
$GC,3188,-1.57,-108.0,431.3,-9.6,164,3192,0.00,2.40,0.00,0.000,4,0.000,0.071,2642,258,3190
$GC,3242,-1.57,-108.0,437.7,-11.4,165,3247,0.00,2.30,0.00,0.000,6,0.000,0.044,2642,1656,3190
$GC,3515,-1.57,-108.0,465.8,-10.2,172,3519,0.00,2.40,0.00,0.000,4,0.000,0.076,2642,262,3188
$GC,3591,-1.57,-108.0,474.7,-11.1,173,3598,0.00,2.30,0.00,0.000,6,0.000,0.040,2642,1659,3187
$GC,3841,-1.57,-108.0,500.6,-10.3,180,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1659,3186
$STATE,3961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3962,begin apogee
$GC,3965,-0.31,0.0,513.1,10.3,183,4056,1.30,0.00,87.60,0.906,6,0.102,0.000,2921,1659,2748
$STATE,4057,end apogee,CONTROL_FINISHED_OK
$STATE,4057,begin climb
$GC,4059,1.57,108.0,514.8,0.0,185,4156,1.75,2.47,89.32,0.881,4,0.052,0.074,3335,3059,2307
$GC,4172,1.57,108.0,507.5,12.2,187,4179,0.00,2.42,0.00,0.000,6,0.000,0.049,3335,1657,2305
$GC,4422,1.57,108.0,472.6,13.9,194,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1657,2300
$GC,4665,1.57,108.0,438.9,13.7,200,4669,0.00,2.50,0.00,0.000,4,0.000,0.081,3335,244,2297
$GC,4742,1.57,108.0,427.8,14.9,201,4747,0.00,2.35,0.00,0.000,6,0.000,0.038,3335,1649,2296
$GC,4998,1.57,108.0,394.7,12.9,208,5002,0.00,2.42,0.00,0.000,4,0.000,0.066,3335,243,2294
$GC,5159,1.57,108.0,372.6,14.1,211,5163,0.00,2.33,0.00,0.000,6,0.000,0.043,3335,1650,2292
$GC,5414,1.57,108.0,343.1,11.5,218,5418,0.00,2.42,0.00,0.000,4,0.000,0.066,3335,241,2291
$GC,5429,1.57,108.0,341.1,10.9,218,5434,0.00,2.33,0.00,0.000,6,0.000,0.042,3335,1649,2290
$GC,5696,1.57,108.0,312.3,10.9,225,5700,0.00,2.42,0.00,0.000,4,0.000,0.071,3335,237,2289
$GC,5823,1.57,108.0,296.2,13.1,227,5830,0.00,2.30,0.00,0.000,6,0.000,0.035,3335,1644,2288
$GC,6073,1.57,108.0,268.0,11.4,234,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1644,2287
$GC,6316,1.57,108.0,242.8,10.2,240,6321,0.00,2.38,0.00,0.000,4,0.000,0.060,3335,241,2287
$GC,6573,1.57,108.0,213.4,11.1,245,6581,0.00,2.30,0.00,0.000,6,0.000,0.032,3335,1660,2286
$GC,6826,1.60,129.2,194.4,6.7,255,6850,0.00,2.45,14.45,0.674,4,0.000,0.058,3335,232,2222
$GC,7053,1.60,129.2,169.6,12.0,275,7057,0.00,2.28,0.00,0.000,6,0.000,0.031,3335,1660,2220
$GC,7320,1.60,131.0,143.8,8.3,300,7324,0.00,2.40,0.00,0.000,4,0.000,0.061,3335,231,2219
$GC,7541,1.61,136.4,121.3,8.0,319,7554,0.00,2.25,7.30,0.550,6,0.000,0.030,3335,1649,2192
$GC,7807,1.63,156.5,100.6,6.8,344,7832,0.00,2.40,18.60,0.592,4,0.000,0.053,3335,232,2109
$GC,8084,1.63,156.5,72.6,10.7,368,8093,0.00,2.28,0.00,0.000,6,0.000,0.030,3335,1645,2107
$GC,8348,1.67,189.2,56.2,5.7,393,8382,0.00,2.38,27.77,0.554,4,0.000,0.044,3335,3051,1976
$GC,8390,1.70,208.9,53.6,6.8,397,8417,0.10,2.30,17.85,0.530,6,0.066,0.043,3367,1639,1896
$GC,8673,1.70,208.9,17.6,13.9,431,8680,0.00,2.33,0.00,0.000,4,0.000,0.060,3367,252,1892
$GC,8755,1.70,208.9,5.6,15.0,445,8763,0.00,2.22,0.00,0.000,6,0.000,0.026,3367,1659,1891
$STATE,8776,end climb,SURFACE_DEPTH_REACHED
$STATE,8776,begin surface coast
$FINISH,0.5,1.023144
$STATE,8794,end surface coast,CONTROL_FINISHED_OK
$STATE,8794,begin surface
$SM_CCo,8813,106.60,0.506,0,0,1158,390.03
$SM_GC,1.50,0.00,0.00,106.60,0.000,0.000,0.506,416,1664,1158,-11.84,0.11,390.03
$IRIDIUM_FIX,2354.48,-15734.24,021197,212131
$TT8_MAMPS,0.027612
$HUMID,1547
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.10
$XPDR_PINGS,138
$24V_AH,23.7,8.058
$10V_AH,10.1,6.490
$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,27.025,97.800,262.900,106.600,0.000,54.629,70.039,276.494,34.500,0.000,0.000,14.024,923.831,5787.410,459.338,1759.486,567.679,33.354,1171.675,0.000,1768.439,0.000,0.471
$DEVICE_MAMPS,157.235,80.535,905.827,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,386.576,364.298,604.219,387.384,784.223,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34976,451
$CAP_FILE_SIZE,235993,0
$CFSIZE,260165632,256028672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080808,234229,2400.306,-15730.779,13,99.0,32,10.3