version: 66.03
glider: 148
mission: 4
dive: 59
start: 8 10 108 17 45 17
data:
$ID,148
$MISSION,4
$DIVE,59
$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,-5126.7549
$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,28
$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
$GPS1,173756,2404.982,-15736.510,12,1.9,29,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.0
$GPS2,174423,2405.023,-15736.488,10,3.6,29,10.3
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT10
$TGT_LATLONG,2412.000,-15754.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.237,-0.019
$KALMAN_X,101676.6,-78.1,26.8,-113470.6,2048.4
$KALMAN_Y,10833.9,68.9,-61.2,26716.9,575.9
$MHEAD_RNG_PITCHd_Wd,255.1,32280,-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,16,begin dive
$GC,17,-1.14,-136.3,0.0,0.0,0,81,0.00,0.00,-61.72,0.000,2,0.000,0.000,416,1645,2816
$GC,83,-1.14,-136.3,3.4,-4.3,8,117,12.27,2.35,-10.40,0.000,4,0.158,0.064,2738,256,3307
$GC,342,-1.14,-136.3,50.4,-17.6,42,346,0.00,2.20,0.00,0.000,6,0.000,0.026,2738,1666,3309
$GC,602,-1.14,-136.3,90.6,-13.8,66,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1669,3310
$GC,857,-1.14,-136.3,123.4,-12.0,90,861,0.00,2.33,0.00,0.000,4,0.000,0.050,2738,255,3311
$GC,966,-1.14,-136.3,134.9,-11.6,99,970,0.00,2.20,0.00,0.000,6,0.000,0.025,2738,1666,3311
$GC,1226,-1.14,-136.3,161.4,-10.1,123,1230,0.00,2.33,0.00,0.000,4,0.000,0.050,2738,256,3311
$GC,1291,-1.14,-136.3,168.4,-10.7,128,1298,0.00,2.22,0.00,0.000,6,0.000,0.026,2738,1665,3311
$GC,1553,-1.14,-136.3,192.3,-8.9,153,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1667,3312
$GC,1810,-1.14,-136.3,217.3,-10.1,166,1814,0.00,2.33,0.00,0.000,4,0.000,0.051,2738,255,3312
$GC,1870,-1.14,-136.3,224.2,-11.4,167,1875,0.00,2.22,0.00,0.000,6,0.000,0.028,2738,1657,3312
$GC,2137,-1.14,-136.3,250.8,-9.9,174,2141,0.00,2.25,0.00,0.000,4,0.000,0.040,2738,3073,3312
$GC,2170,-1.14,-136.3,253.7,-9.4,174,2176,0.00,2.28,0.00,0.000,6,0.000,0.035,2738,1657,3312
$GC,2419,-1.14,-136.3,274.2,-8.1,181,2423,0.00,2.33,0.00,0.000,4,0.000,0.057,2737,254,3312
$GC,2440,-1.14,-136.3,276.3,-9.6,181,2445,0.00,2.22,0.00,0.000,6,0.000,0.029,2738,1656,3312
$GC,2701,-1.14,-136.3,298.5,-8.5,188,2705,0.00,2.33,0.00,0.000,4,0.000,0.058,2738,257,3312
$GC,2722,-1.14,-136.3,300.5,-9.3,188,2727,0.00,2.22,0.00,0.000,6,0.000,0.036,2738,1649,3312
$GC,2989,-1.14,-136.3,321.9,-7.9,195,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1650,3311
$GC,3233,-1.14,-136.3,339.6,-7.2,201,3237,0.00,2.35,0.00,0.000,4,0.000,0.068,2738,256,3309
$GC,3271,-1.14,-136.3,342.5,-7.7,202,3275,0.00,2.25,0.00,0.000,6,0.000,0.038,2738,1668,3309
$GC,3554,-1.14,-136.3,362.1,-7.0,209,3558,0.00,2.40,0.00,0.000,4,0.000,0.069,2738,252,3308
$GC,3580,-1.14,-136.3,364.2,-8.1,209,3584,0.00,2.28,0.00,0.000,6,0.000,0.039,2738,1662,3308
$GC,3836,-1.14,-136.3,383.7,-7.8,216,3840,0.00,2.38,0.00,0.000,4,0.000,0.067,2738,251,3306
$GC,3856,-1.14,-136.3,385.6,-8.8,216,3861,0.00,2.28,0.00,0.000,6,0.000,0.033,2737,1660,3307
$GC,4123,-1.14,-136.3,406.5,-7.7,223,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1660,3305
$GC,4367,-1.14,-136.3,424.6,-7.4,229,4371,0.00,2.40,0.00,0.000,4,0.000,0.066,2738,255,3303
$GC,4421,-1.14,-136.3,429.1,-8.4,230,4426,0.00,2.28,0.00,0.000,6,0.000,0.044,2738,1650,3303
$GC,4694,-1.14,-136.3,448.7,-7.1,237,4698,0.00,2.33,0.00,0.000,4,0.000,0.058,2737,3067,3301
$GC,4743,-1.14,-136.3,452.2,-6.6,238,4747,0.00,2.35,0.00,0.000,6,0.000,0.047,2738,1664,3301
$GC,5020,-1.14,-136.3,471.8,-7.3,245,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1664,3300
$GC,5265,-1.14,-136.3,490.0,-7.5,251,5269,0.00,2.42,0.00,0.000,4,0.000,0.081,2738,255,3298
$GC,5297,-1.14,-136.3,492.8,-8.2,251,5304,0.00,2.30,0.00,0.000,6,0.000,0.042,2737,1652,3298
$STATE,5546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5546,begin apogee
$GC,5549,-0.31,0.0,511.1,7.2,258,5662,0.85,0.00,110.05,0.917,6,0.095,0.000,2922,1652,2749
$STATE,5663,end apogee,CONTROL_FINISHED_OK
$STATE,5663,begin climb
$GC,5665,1.14,136.3,512.9,0.0,260,5789,1.35,2.53,112.65,0.893,4,0.056,0.079,3238,253,2192
$GC,5833,1.14,136.3,502.4,13.4,264,5837,0.00,2.33,0.00,0.000,6,0.000,0.045,3238,1646,2189
$GC,6125,1.14,136.3,471.0,10.5,271,6129,0.00,2.45,0.00,0.000,4,0.000,0.074,3238,246,2183
$GC,6145,1.14,136.3,468.2,11.2,271,6150,0.00,2.35,0.00,0.000,6,0.000,0.039,3238,1650,2182
$GC,6406,1.14,136.3,440.9,10.3,278,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1650,2180
$GC,6650,1.14,136.3,413.9,11.1,284,6654,0.00,2.45,0.00,0.000,4,0.000,0.068,3238,239,2179
$GC,6760,1.14,136.3,399.4,13.4,286,6765,0.00,2.33,0.00,0.000,6,0.000,0.035,3238,1648,2178
$GC,7021,1.14,136.3,370.9,10.9,293,7025,0.00,2.42,0.00,0.000,4,0.000,0.065,3238,244,2177
$GC,7137,1.14,136.3,357.1,12.5,295,7142,0.00,2.30,0.00,0.000,6,0.000,0.041,3238,1649,2176
$GC,7393,1.14,136.3,331.8,9.8,302,7397,0.00,2.42,0.00,0.000,4,0.000,0.069,3238,241,2175
$GC,7433,1.14,136.3,327.3,12.4,303,7438,0.00,2.28,0.00,0.000,6,0.000,0.034,3238,1656,2174
$GC,7716,1.14,136.3,299.9,9.1,310,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1658,2173
$GC,7960,1.14,136.3,275.7,10.0,316,7964,0.00,2.42,0.00,0.000,4,0.000,0.065,3238,243,2173
$GC,8008,1.14,136.3,270.2,11.4,317,8013,0.00,2.28,0.00,0.000,6,0.000,0.032,3238,1646,2172
$GC,8286,1.14,136.3,244.0,9.1,324,8290,0.00,2.40,0.00,0.000,4,0.000,0.064,3238,238,2172
$GC,8318,1.14,136.3,240.8,10.2,324,8325,0.00,2.28,0.00,0.000,6,0.000,0.038,3238,1653,2171
$GC,8569,1.16,154.2,221.1,7.7,331,8588,0.00,2.38,12.73,0.689,4,0.000,0.057,3238,3045,2119
$GC,8594,1.16,154.2,218.9,8.9,331,8598,0.00,2.33,0.00,0.000,6,0.000,0.042,3238,1641,2118
$GC,8848,1.16,154.2,196.7,8.9,340,8852,0.00,2.35,0.00,0.000,4,0.000,0.064,3237,239,2118
$GC,9005,1.16,154.2,178.8,11.9,354,9009,0.00,2.25,0.00,0.000,6,0.000,0.030,3238,1655,2117
$GC,9265,1.17,159.9,156.3,8.3,378,9279,0.00,2.40,6.32,0.555,4,0.000,0.061,3238,252,2095
$GC,9418,1.17,159.9,141.7,10.2,391,9422,0.00,2.22,0.00,0.000,6,0.000,0.030,3238,1654,2095
$GC,9682,1.22,202.6,122.3,6.7,415,9731,0.00,2.45,36.85,0.625,4,0.000,0.055,3238,243,1922
$GC,9801,1.22,202.6,110.8,11.2,425,9805,0.00,2.25,0.00,0.000,6,0.000,0.029,3238,1657,1919
$GC,10065,1.22,202.6,85.1,9.6,449,10069,0.00,2.38,0.00,0.000,4,0.000,0.060,3238,238,1917
$GC,10085,1.22,202.6,82.6,9.9,450,10095,0.00,2.25,0.00,0.000,6,0.000,0.028,3238,1647,1917
$GC,10351,1.24,216.6,59.9,7.9,475,10369,0.00,2.28,12.90,0.536,4,0.000,0.038,3238,3058,1864
$GC,10507,1.25,222.8,47.9,8.2,488,10522,0.10,2.30,6.45,0.465,6,0.063,0.037,3275,1640,1839
$GC,10778,1.25,222.8,22.4,9.8,519,10787,0.00,2.33,0.00,0.000,4,0.000,0.052,3275,247,1839
$GC,10823,1.25,222.8,17.4,11.7,526,10831,0.00,2.22,0.00,0.000,6,0.000,0.025,3275,1652,1839
$STATE,10968,end climb,SURFACE_DEPTH_REACHED
$STATE,10968,begin surface coast
$FINISH,0.5,1.010851
$STATE,11003,end surface coast,CONTROL_FINISHED_OK
$STATE,11003,begin surface
$SM_CCo,11021,93.80,0.507,0,0,1158,390.03
$SM_GC,1.43,0.00,0.00,93.80,0.000,0.000,0.507,415,1656,1158,-11.85,-0.11,390.03
$IRIDIUM_FIX,2356.84,-15731.16,041197,141406
$TT8_MAMPS,0.026845
$HUMID,1538
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.30
$XPDR_PINGS,115
$24V_AH,23.7,9.532
$10V_AH,10.1,7.961
$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,26.300,125.400,297.950,93.800,0.000,27.288,26.599,200.569,28.750,0.000,0.000,32.785,1110.647,7456.950,490.042,1966.433,461.556,33.367,1263.010,0.000,1985.358,0.000,0.469
$DEVICE_MAMPS,158.002,80.535,917.332,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,450.065,377.007,736.161,468.957,947.686,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41433,557
$CAP_FILE_SIZE,283979,0
$CFSIZE,260165632,254951424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100808,205138,2405.082,-15737.318,30,1.1,30,10.3