version: 66.03
glider: 148
mission: 4
dive: 57
start: 8 10 108 11 16 46
data:
$ID,148
$MISSION,4
$DIVE,57
$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,-5078.6357
$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,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
$GPS1,110845,2405.061,-15735.386,12,1.9,30,10.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-59.9
$GPS2,111553,2405.101,-15735.373,11,2.1,30,10.3
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT10
$TGT_LATLONG,2412.000,-15754.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.235,-0.038
$KALMAN_X,98382.0,-359.7,-127.8,-107856.2,2016.8
$KALMAN_Y,10135.1,-155.8,-12.9,27733.4,786.0
$MHEAD_RNG_PITCHd_Wd,250.4,33960,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.14,-136.3,0.0,0.0,0,82,0.00,0.00,-62.25,0.000,2,0.000,0.000,417,1647,2853
$GC,84,-1.14,-136.3,3.4,-4.8,8,117,12.32,2.33,-9.65,0.000,4,0.160,0.064,2737,258,3307
$GC,343,-1.14,-136.3,48.5,-16.9,42,347,0.00,2.20,0.00,0.000,6,0.000,0.025,2736,1665,3309
$GC,603,-1.14,-136.3,87.8,-11.2,66,607,0.00,2.33,0.00,0.000,4,0.000,0.048,2737,253,3309
$GC,666,-1.14,-136.3,95.4,-11.8,71,670,0.00,2.20,0.00,0.000,6,0.000,0.025,2737,1669,3310
$GC,930,-1.14,-136.3,124.5,-11.0,95,933,0.00,2.20,0.00,0.000,4,0.000,0.031,2737,3064,3311
$GC,1005,-1.14,-136.3,132.5,-11.2,101,1009,0.00,2.25,0.00,0.000,6,0.000,0.033,2737,1660,3310
$GC,1265,-1.14,-136.3,159.5,-9.8,125,1269,0.00,2.30,0.00,0.000,4,0.000,0.049,2737,249,3311
$GC,1308,-1.14,-136.3,164.4,-11.0,128,1315,0.00,2.22,0.00,0.000,6,0.000,0.025,2737,1660,3311
$GC,1569,-1.14,-136.3,189.3,-9.9,153,1574,0.00,2.33,0.00,0.000,4,0.000,0.049,2737,246,3311
$GC,1622,-1.14,-136.3,194.3,-9.6,157,1626,0.00,2.20,0.00,0.000,6,0.000,0.025,2737,1664,3311
$GC,1883,-1.14,-136.3,217.5,-8.5,167,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1666,3311
$GC,2127,-1.14,-136.3,236.9,-8.0,173,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1667,3311
$GC,2370,-1.14,-136.3,257.2,-8.1,179,2374,0.00,2.35,0.00,0.000,4,0.000,0.060,2737,254,3311
$GC,2413,-1.14,-136.3,261.0,-9.0,180,2418,0.00,2.22,0.00,0.000,6,0.000,0.028,2737,1656,3311
$GC,2698,-1.14,-136.3,283.5,-8.2,187,2702,0.00,2.35,0.00,0.000,4,0.000,0.061,2737,250,3311
$GC,2729,-1.14,-136.3,286.4,-8.8,187,2736,0.00,2.25,0.00,0.000,6,0.000,0.031,2737,1657,3311
$GC,2979,-1.14,-136.3,306.4,-7.9,194,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1657,3310
$GC,3223,-1.14,-136.3,323.9,-7.0,200,3227,0.00,2.35,0.00,0.000,4,0.000,0.067,2737,258,3309
$GC,3271,-1.14,-136.3,327.9,-8.1,201,3276,0.00,2.25,0.00,0.000,6,0.000,0.033,2737,1660,3309
$GC,3549,-1.14,-136.3,348.0,-7.3,208,3553,0.00,2.28,0.00,0.000,4,0.000,0.042,2737,3068,3307
$GC,3576,-1.14,-136.3,350.1,-8.1,208,3580,0.00,2.33,0.00,0.000,6,0.000,0.047,2737,1659,3307
$GC,3832,-1.14,-136.3,368.4,-7.3,215,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1660,3306
$GC,4075,-1.14,-136.3,385.2,-6.8,221,4080,0.00,2.38,0.00,0.000,4,0.000,0.065,2737,255,3305
$GC,4119,-1.14,-136.3,388.5,-7.3,222,4123,0.00,2.25,0.00,0.000,6,0.000,0.035,2737,1647,3304
$GC,4403,-1.14,-136.3,406.7,-6.5,229,4407,0.00,2.30,0.00,0.000,4,0.000,0.051,2737,3064,3303
$GC,4446,-1.14,-136.3,409.9,-7.3,230,4451,0.00,2.33,0.00,0.000,6,0.000,0.049,2737,1665,3302
$GC,4730,-1.14,-136.3,430.5,-7.4,237,4735,0.00,2.40,0.00,0.000,4,0.000,0.074,2737,254,3301
$GC,4779,-1.14,-136.3,434.8,-8.7,238,4784,0.00,2.28,0.00,0.000,6,0.000,0.044,2737,1649,3300
$GC,5058,-1.14,-136.3,454.1,-6.9,245,5062,0.00,2.33,0.00,0.000,4,0.000,0.050,2737,3064,3299
$GC,5097,-1.14,-136.3,456.7,-6.8,246,5101,0.00,2.33,0.00,0.000,6,0.000,0.048,2737,1658,3299
$GC,5379,-1.14,-136.3,476.2,-7.0,253,5383,0.00,2.35,0.00,0.000,4,0.000,0.054,2737,3071,3297
$GC,5412,-1.14,-136.3,478.8,-7.1,253,5418,0.00,2.38,0.00,0.000,6,0.000,0.051,2737,1657,3297
$GC,5661,-1.14,-136.3,497.4,-7.6,260,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1657,3296
$STATE,5863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5863,begin apogee
$GC,5866,-0.31,0.0,512.9,7.6,265,5979,0.85,0.00,109.45,0.921,6,0.098,0.000,2920,1657,2749
$STATE,5980,end apogee,CONTROL_FINISHED_OK
$STATE,5980,begin climb
$GC,5981,1.14,136.3,515.2,0.0,267,6099,1.38,0.00,113.97,0.895,6,0.058,0.000,3239,1657,2193
$GC,6311,1.14,136.3,488.2,11.4,276,6315,0.00,2.50,0.00,0.000,4,0.000,0.081,3239,245,2185
$GC,6343,1.14,136.3,483.8,13.5,276,6349,0.00,2.35,0.00,0.000,6,0.000,0.046,3239,1645,2183
$GC,6592,1.14,136.3,454.0,11.9,283,6596,0.00,2.45,0.00,0.000,4,0.000,0.067,3239,3055,2182
$GC,6613,1.14,136.3,451.3,12.9,283,6618,0.00,2.40,0.00,0.000,6,0.000,0.050,3239,1652,2180
$GC,6874,1.14,136.3,419.3,12.2,290,6878,0.00,2.38,0.00,0.000,4,0.000,0.053,3239,3057,2179
$GC,6884,1.14,136.3,418.0,11.9,290,6888,0.00,2.38,0.00,0.000,6,0.000,0.044,3239,1653,2179
$GC,7162,1.14,136.3,385.7,11.6,297,7166,0.00,2.45,0.00,0.000,4,0.000,0.074,3238,243,2177
$GC,7176,1.14,136.3,383.9,11.6,297,7182,0.00,2.33,0.00,0.000,6,0.000,0.035,3239,1658,2177
$GC,7443,1.14,136.3,354.4,11.0,304,7447,0.00,2.45,0.00,0.000,4,0.000,0.066,3239,239,2176
$GC,7554,1.14,136.3,340.7,12.8,306,7559,0.00,2.30,0.00,0.000,6,0.000,0.038,3239,1646,2175
$GC,7815,1.14,136.3,312.9,10.6,313,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1646,2175
$GC,8059,1.14,136.3,288.4,9.9,319,8063,0.00,2.42,0.00,0.000,4,0.000,0.064,3239,238,2174
$GC,8124,1.14,136.3,281.4,10.6,320,8129,0.00,2.30,0.00,0.000,6,0.000,0.032,3239,1656,2173
$GC,8386,1.14,136.3,257.9,9.1,327,8390,0.00,2.42,0.00,0.000,4,0.000,0.069,3239,242,2172
$GC,8560,1.14,136.3,237.9,11.3,331,8564,0.00,2.25,0.00,0.000,6,0.000,0.031,3239,1652,2172
$GC,8842,1.14,138.2,213.2,8.4,338,8846,0.00,2.33,0.00,0.000,4,0.000,0.060,3239,3045,2172
$GC,8979,1.15,140.3,202.2,8.4,341,8984,0.00,2.33,0.00,0.000,6,0.000,0.048,3239,1648,2171
$GC,9250,1.17,156.1,180.7,7.8,364,9272,0.00,2.42,14.45,0.666,4,0.000,0.059,3239,246,2111
$GC,9432,1.17,156.1,164.4,9.0,380,9436,0.00,2.25,0.00,0.000,6,0.000,0.030,3239,1658,2110
$GC,9692,1.18,167.3,143.2,8.0,404,9708,0.00,2.45,10.30,0.606,4,0.000,0.058,3239,238,2067
$GC,9823,1.18,167.3,129.5,11.3,415,9827,0.00,2.25,0.00,0.000,6,0.000,0.029,3239,1656,2066
$GC,10087,1.21,188.6,107.2,7.6,439,10112,0.00,2.28,19.20,0.601,4,0.000,0.044,3239,3051,1979
$GC,10137,1.21,188.6,102.9,8.6,443,10141,0.00,2.30,0.00,0.000,6,0.000,0.042,3239,1646,1977
$GC,10400,1.21,188.6,78.6,9.7,467,10404,0.00,2.28,0.00,0.000,4,0.000,0.044,3239,3048,1977
$GC,10419,1.21,188.6,76.7,9.3,468,10423,0.00,2.28,0.00,0.000,6,0.000,0.043,3239,1648,1977
$GC,10682,1.27,239.7,55.8,6.3,492,10736,0.12,2.35,43.47,0.562,4,0.057,0.037,3284,3048,1770
$GC,10805,1.27,239.7,44.8,9.8,502,10809,0.00,2.28,0.00,0.000,6,0.000,0.043,3284,1651,1765
$GC,11075,1.27,239.7,14.7,12.5,537,11084,0.00,2.35,0.00,0.000,4,0.000,0.055,3284,248,1765
$GC,11136,1.27,239.7,6.9,12.6,547,11144,0.00,2.22,0.00,0.000,6,0.000,0.025,3284,1663,1765
$STATE,11167,end climb,SURFACE_DEPTH_REACHED
$STATE,11167,begin surface coast
$FINISH,0.6,1.023185
$STATE,11191,end surface coast,CONTROL_FINISHED_OK
$STATE,11191,begin surface
$SM_CCo,11210,92.40,0.510,0,0,1159,390.03
$SM_GC,1.72,0.00,0.00,92.40,0.000,0.000,0.510,411,1667,1159,-11.86,0.20,390.03
$IRIDIUM_FIX,2354.48,-15733.34,041197,080809
$TT8_MAMPS,0.026845
$HUMID,1556
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.10
$XPDR_PINGS,122
$24V_AH,23.7,9.326
$10V_AH,10.1,7.752
$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,26.525,129.950,310.850,92.400,0.000,27.986,25.689,239.696,30.500,0.000,0.000,32.699,1118.861,7638.333,524.486,1951.010,479.430,33.365,1282.901,0.000,1958.317,0.000,0.469
$DEVICE_MAMPS,159.536,81.302,921.167,510.055,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,453.748,376.310,725.196,449.159,910.226,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41350,556
$CAP_FILE_SIZE,284600,0
$CFSIZE,260165632,255098880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100808,142625,2405.079,-15735.926,23,1.4,41,10.3