version: 66.03
glider: 148
mission: 4
dive: 54
start: 8 10 108 1 21 59
data:
$ID,148
$MISSION,4
$DIVE,54
$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,-4995.2417
$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,25
$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
$GPS1,011423,2403.757,-15733.293,8,99.0,27,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-62.3
$GPS2,012105,2403.771,-15733.271,12,99.0,31,10.3
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT10
$TGT_LATLONG,2412.000,-15754.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.237,0.026
$KALMAN_X,92697.7,406.4,-163.0,-99338.8,1817.2
$KALMAN_Y,8177.4,170.4,50.6,26840.8,135.7
$MHEAD_RNG_PITCHd_Wd,265.9,38188,-15.6,-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,-1.14,-136.3,0.0,0.0,0,81,0.00,0.00,-61.92,0.000,2,0.000,0.000,415,1647,2822
$GC,83,-1.14,-136.3,3.4,-4.7,8,117,12.25,2.33,-10.23,0.000,4,0.156,0.046,2736,3068,3307
$GC,274,-1.14,-136.3,34.6,-14.7,38,278,0.00,2.28,0.00,0.000,6,0.000,0.036,2736,1660,3308
$GC,536,-1.14,-136.3,72.4,-13.0,62,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1660,3309
$GC,789,-1.14,-136.3,105.9,-12.2,86,793,0.00,2.30,0.00,0.000,4,0.000,0.049,2736,252,3309
$GC,832,-1.14,-136.3,111.7,-12.5,89,840,0.00,2.22,0.00,0.000,6,0.000,0.024,2736,1666,3310
$GC,1094,-1.14,-136.3,141.8,-10.8,114,1098,0.00,2.33,0.00,0.000,4,0.000,0.048,2736,251,3310
$GC,1112,-1.14,-136.3,143.4,-10.1,115,1116,0.00,2.20,0.00,0.000,6,0.000,0.024,2736,1675,3310
$GC,1374,-1.14,-136.3,170.6,-10.1,139,1379,0.00,2.35,0.00,0.000,4,0.000,0.048,2736,245,3311
$GC,1406,-1.14,-136.3,174.3,-9.9,141,1416,0.00,2.22,0.00,0.000,6,0.000,0.025,2736,1659,3311
$GC,1670,-1.14,-136.3,198.3,-9.0,166,1674,0.00,2.22,0.00,0.000,4,0.000,0.034,2736,3064,3311
$GC,1691,-1.14,-136.3,200.6,-9.6,167,1695,0.00,2.28,0.00,0.000,6,0.000,0.032,2736,1659,3311
$GC,1952,-1.14,-136.3,222.4,-8.6,174,1956,0.00,2.30,0.00,0.000,4,0.000,0.060,2736,249,3311
$GC,2000,-1.14,-136.3,226.9,-9.0,175,2005,0.00,2.22,0.00,0.000,6,0.000,0.026,2736,1656,3311
$GC,2286,-1.14,-136.3,250.2,-8.3,182,2290,0.00,2.22,0.00,0.000,4,0.000,0.035,2736,3060,3311
$GC,2301,-1.14,-136.3,251.7,-7.9,182,2306,0.00,2.28,0.00,0.000,6,0.000,0.035,2736,1662,3311
$GC,2568,-1.14,-136.3,272.9,-8.2,189,2572,0.00,2.33,0.00,0.000,4,0.000,0.058,2736,255,3311
$GC,2607,-1.14,-136.3,276.4,-9.5,190,2611,0.00,2.20,0.00,0.000,6,0.000,0.038,2736,1656,3311
$GC,2896,-1.14,-136.3,298.5,-7.4,197,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1656,3310
$GC,3139,-1.14,-136.3,317.6,-7.9,203,3143,0.00,2.28,0.00,0.000,4,0.000,0.048,2736,3067,3309
$GC,3177,-1.14,-136.3,320.9,-8.2,204,3181,0.00,2.30,0.00,0.000,6,0.000,0.040,2736,1654,3309
$GC,3461,-1.14,-136.3,343.4,-7.9,211,3465,0.00,2.35,0.00,0.000,4,0.000,0.064,2736,254,3307
$GC,3499,-1.14,-136.3,346.5,-8.5,212,3503,0.00,2.22,0.00,0.000,6,0.000,0.035,2736,1658,3308
$GC,3781,-1.14,-136.3,367.2,-7.2,219,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1659,3306
$GC,4025,-1.14,-136.3,385.7,-7.6,225,4029,0.00,2.28,0.00,0.000,4,0.000,0.046,2736,3060,3305
$GC,4056,-1.14,-136.3,388.2,-7.2,225,4064,0.00,2.33,0.00,0.000,6,0.000,0.048,2736,1659,3305
$GC,4306,-1.14,-136.3,405.9,-7.1,232,4311,0.00,2.38,0.00,0.000,4,0.000,0.072,2736,254,3303
$GC,4367,-1.14,-136.3,411.0,-8.4,233,4371,0.00,2.28,0.00,0.000,6,0.000,0.034,2736,1661,3303
$GC,4633,-1.14,-136.3,430.6,-7.4,240,4637,0.00,2.30,0.00,0.000,4,0.000,0.053,2736,3063,3301
$GC,4654,-1.14,-136.3,432.3,-7.4,240,4659,0.00,2.33,0.00,0.000,6,0.000,0.048,2736,1667,3301
$GC,4916,-1.14,-136.3,450.4,-7.0,247,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1666,3300
$GC,5159,-1.14,-136.3,466.9,-6.7,253,5163,0.00,2.42,0.00,0.000,4,0.000,0.077,2736,252,3298
$GC,5202,-1.14,-136.3,470.0,-7.5,254,5206,0.00,2.30,0.00,0.000,6,0.000,0.040,2736,1655,3298
$GC,5486,-1.14,-136.3,488.7,-6.6,261,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1655,3297
$GC,5729,-1.14,-136.3,503.7,-6.1,267,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1655,3295
$STATE,5849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5849,begin apogee
$GC,5853,-0.31,0.0,511.6,6.4,270,5966,0.85,0.00,109.43,0.923,6,0.094,0.000,2920,1655,2749
$STATE,5966,end apogee,CONTROL_FINISHED_OK
$STATE,5966,begin climb
$GC,5968,1.14,136.3,513.3,0.0,272,6088,1.38,2.55,112.82,0.896,4,0.059,0.083,3239,243,2192
$GC,6160,1.14,136.3,499.6,13.9,277,6165,0.00,2.35,0.00,0.000,6,0.000,0.046,3240,1639,2187
$GC,6427,1.14,136.3,468.2,11.6,284,6431,0.00,2.45,0.00,0.000,4,0.000,0.069,3240,242,2183
$GC,6560,1.14,136.3,450.4,13.4,287,6564,0.00,2.35,0.00,0.000,6,0.000,0.044,3239,1649,2181
$GC,6843,1.14,136.3,418.8,11.1,294,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1650,2179
$GC,7087,1.14,136.3,392.1,10.8,300,7091,0.00,2.45,0.00,0.000,4,0.000,0.074,3239,237,2177
$GC,7204,1.14,136.3,378.6,11.7,302,7208,0.00,2.33,0.00,0.000,6,0.000,0.041,3239,1649,2177
$GC,7459,1.14,136.3,353.6,9.8,309,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1649,2176
$GC,7703,1.14,136.3,327.8,10.7,315,7707,0.00,2.42,0.00,0.000,4,0.000,0.071,3239,244,2175
$GC,7746,1.14,136.3,322.7,12.5,316,7751,0.00,2.30,0.00,0.000,6,0.000,0.041,3239,1650,2175
$GC,8030,1.14,136.3,293.5,10.2,323,8034,0.00,2.35,0.00,0.000,4,0.000,0.061,3239,3051,2173
$GC,8057,1.14,136.3,290.8,9.7,323,8062,0.00,2.33,0.00,0.000,6,0.000,0.050,3240,1642,2173
$GC,8306,1.14,136.3,266.9,9.5,329,8310,0.00,2.35,0.00,0.000,4,0.000,0.046,3239,3056,2172
$GC,8320,1.14,136.3,265.6,9.2,329,8325,0.00,2.35,0.00,0.000,6,0.000,0.050,3239,1651,2172
$GC,8588,1.14,136.3,241.8,9.2,336,8592,0.00,2.40,0.00,0.000,4,0.000,0.068,3239,245,2172
$GC,8642,1.14,136.3,236.0,11.0,337,8647,0.00,2.28,0.00,0.000,6,0.000,0.031,3239,1649,2171
$GC,8914,1.14,136.3,212.5,8.6,344,8918,0.00,2.38,0.00,0.000,4,0.000,0.061,3239,246,2171
$GC,8935,1.14,136.3,210.5,10.2,344,8940,0.00,2.28,0.00,0.000,6,0.000,0.031,3239,1652,2171
$GC,9192,1.15,142.6,189.4,8.2,359,9196,0.00,2.38,0.00,0.000,4,0.000,0.057,3240,239,2171
$GC,9280,1.16,150.2,181.7,8.2,366,9294,0.00,2.28,9.23,0.637,6,0.000,0.036,3240,1650,2136
$GC,9552,1.20,179.8,160.7,7.3,391,9586,0.00,0.00,26.48,0.667,6,0.000,0.000,3239,1651,2014
$GC,9837,1.20,179.8,135.5,8.5,418,9842,0.00,2.38,0.00,0.000,4,0.000,0.057,3239,240,2010
$GC,9903,1.20,179.8,128.9,11.5,423,9907,0.00,2.25,0.00,0.000,6,0.000,0.029,3239,1653,2009
$GC,10167,1.20,179.8,103.3,10.0,447,10171,0.00,2.38,0.00,0.000,4,0.000,0.058,3239,235,2009
$GC,10183,1.20,179.8,101.4,9.7,448,10187,0.00,2.25,0.00,0.000,6,0.000,0.036,3239,1653,2009
$GC,10445,1.22,203.9,78.3,7.5,472,10472,0.00,2.40,20.92,0.575,4,0.000,0.054,3239,237,1916
$GC,10555,1.22,203.9,68.7,9.0,481,10565,0.00,2.28,0.00,0.000,6,0.000,0.035,3240,1647,1915
$GC,10819,1.29,255.2,49.5,6.3,506,10867,0.12,0.00,42.88,0.556,6,0.056,0.000,3283,1649,1707
$GC,11127,1.29,255.2,13.9,12.1,545,11135,0.00,2.38,0.00,0.000,4,0.000,0.058,3283,248,1702
$GC,11171,1.29,255.2,8.8,12.3,552,11179,0.00,2.25,0.00,0.000,6,0.000,0.028,3283,1650,1701
$STATE,11224,end climb,SURFACE_DEPTH_REACHED
$STATE,11225,begin surface coast
$FINISH,0.5,1.010241
$STATE,11259,end surface coast,CONTROL_FINISHED_OK
$STATE,11259,begin surface
$SM_CCo,11277,84.53,0.511,0,0,1159,390.03
$SM_GC,1.46,0.00,0.00,84.53,0.000,0.000,0.511,411,1653,1159,-11.86,-0.20,390.03
$IRIDIUM_FIX,2354.48,-15734.24,031197,222247
$TT8_MAMPS,0.027612
$HUMID,1564
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.00
$XPDR_PINGS,100
$24V_AH,23.7,9.003
$10V_AH,10.1,7.438
$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,26.350,125.125,321.750,84.525,0.000,31.306,26.683,207.113,25.000,0.000,0.000,34.709,1121.359,7725.306,491.128,1959.660,448.775,33.362,1270.495,0.000,1949.457,0.000,0.469
$DEVICE_MAMPS,156.468,82.836,923.468,510.822,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,481.507,399.457,739.668,465.320,947.897,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41413,567
$CAP_FILE_SIZE,287877,0
$CFSIZE,260165632,255315968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100808,043232,2404.151,-15733.902,36,1.1,36,10.3