version: 66.03
glider: 148
mission: 4
dive: 61
start: 8 11 108 0 21 46
data:
$ID,148
$MISSION,4
$DIVE,61
$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,-5154.9365
$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,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
$GPS1,001038,2406.557,-15737.509,37,1.2,37,10.3
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-64.6
$GPS2,002051,2406.560,-15737.510,10,1.2,10,10.3
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT11
$TGT_LATLONG,2416.000,-15737.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.127,0.202
$KALMAN_X,104434.3,109.5,-191.0,-117932.2,1651.0
$KALMAN_Y,11521.0,12.4,22.5,28846.8,273.1
$MHEAD_RNG_PITCHd_Wd,317.6,17505,-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,-136.2,0.0,0.0,0,82,0.00,0.00,-62.30,0.000,2,0.000,0.000,417,1650,2852
$GC,84,-1.14,-136.3,3.5,-4.6,8,118,12.35,2.30,-9.38,0.000,4,0.160,0.048,2735,3055,3308
$GC,219,-1.14,-136.3,28.3,-15.9,30,227,0.00,2.28,0.00,0.000,6,0.000,0.034,2735,1661,3308
$GC,490,-1.14,-136.3,71.7,-13.1,56,494,0.00,2.30,0.00,0.000,4,0.000,0.054,2735,248,3309
$GC,525,-1.14,-136.3,76.5,-12.9,59,529,0.00,2.20,0.00,0.000,6,0.000,0.025,2735,1663,3309
$GC,789,-1.14,-136.3,109.5,-11.9,83,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1666,3310
$GC,1049,-1.14,-136.3,139.2,-10.3,108,1053,0.00,2.33,0.00,0.000,4,0.000,0.049,2736,252,3310
$GC,1162,-1.14,-136.3,151.9,-11.2,117,1172,0.00,2.22,0.00,0.000,6,0.000,0.030,2736,1665,3310
$GC,1426,-1.14,-136.3,178.5,-10.3,142,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1667,3310
$GC,1688,-1.14,-136.3,204.7,-9.9,164,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1667,3311
$GC,1930,-1.14,-136.3,228.8,-9.7,170,1935,0.00,2.33,0.00,0.000,4,0.000,0.051,2736,256,3311
$GC,2047,-1.14,-136.3,239.9,-8.6,172,2052,0.00,2.20,0.00,0.000,6,0.000,0.027,2735,1653,3311
$GC,2302,-1.14,-136.3,261.4,-8.6,179,2306,0.00,2.25,0.00,0.000,4,0.000,0.036,2735,3067,3311
$GC,2323,-1.14,-136.3,263.3,-8.6,179,2328,0.00,2.28,0.00,0.000,6,0.000,0.035,2735,1668,3311
$GC,2586,-1.14,-136.3,284.0,-7.7,186,2590,0.00,2.35,0.00,0.000,4,0.000,0.060,2735,252,3311
$GC,2645,-1.14,-136.3,289.6,-9.1,187,2650,0.00,2.25,0.00,0.000,6,0.000,0.030,2736,1658,3311
$GC,2912,-1.14,-136.3,311.3,-7.9,194,2916,0.00,2.25,0.00,0.000,4,0.000,0.041,2736,3064,3309
$GC,2944,-1.14,-136.3,313.9,-7.8,194,2951,0.00,2.30,0.00,0.000,6,0.000,0.046,2735,1663,3309
$GC,3194,-1.14,-136.3,332.7,-7.5,201,3198,0.00,2.28,0.00,0.000,4,0.000,0.050,2735,3065,3308
$GC,3215,-1.14,-136.3,334.6,-8.5,201,3220,0.00,2.30,0.00,0.000,6,0.000,0.038,2735,1664,3308
$GC,3476,-1.14,-136.3,354.0,-7.6,208,3481,0.00,2.35,0.00,0.000,4,0.000,0.068,2735,255,3306
$GC,3531,-1.14,-136.3,358.8,-9.6,209,3536,0.00,2.25,0.00,0.000,6,0.000,0.031,2735,1655,3306
$GC,3805,-1.14,-136.3,379.8,-7.7,216,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1655,3305
$GC,4047,-1.14,-136.3,397.9,-7.5,222,4051,0.00,2.38,0.00,0.000,4,0.000,0.069,2735,251,3303
$GC,4074,-1.14,-136.3,400.1,-8.3,222,4078,0.00,2.28,0.00,0.000,6,0.000,0.038,2736,1659,3303
$GC,4329,-1.14,-136.3,418.1,-6.9,229,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1660,3302
$GC,4573,-1.14,-136.3,433.8,-6.4,235,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1660,3300
$GC,4817,-1.14,-136.3,449.4,-6.4,241,4821,0.00,2.40,0.00,0.000,4,0.000,0.068,2735,256,3299
$GC,4877,-1.14,-136.3,454.2,-8.2,242,4881,0.00,2.28,0.00,0.000,6,0.000,0.047,2736,1645,3299
$GC,5144,-1.14,-136.3,473.9,-7.4,249,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1645,3297
$GC,5387,-1.14,-136.3,491.0,-7.0,255,5391,0.00,2.38,0.00,0.000,4,0.000,0.056,2735,3072,3296
$GC,5414,-1.14,-136.3,493.1,-8.0,255,5418,0.00,2.35,0.00,0.000,6,0.000,0.048,2736,1664,3295
$STATE,5668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5668,begin apogee
$GC,5672,-0.31,0.0,511.8,7.3,262,5784,0.85,0.00,109.25,0.920,6,0.100,0.000,2917,1663,2749
$STATE,5785,end apogee,CONTROL_FINISHED_OK
$STATE,5785,begin climb
$GC,5787,1.14,136.3,513.8,0.0,264,5904,1.38,0.00,113.80,0.894,6,0.062,0.000,3236,1663,2193
$GC,6116,1.14,136.3,484.6,12.0,273,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1664,2185
$GC,6359,1.14,136.3,455.9,11.5,279,6363,0.00,2.50,0.00,0.000,4,0.000,0.081,3236,237,2182
$GC,6386,1.14,136.3,452.5,12.8,279,6390,0.00,2.35,0.00,0.000,6,0.000,0.039,3236,1651,2181
$GC,6642,1.14,136.3,424.9,10.6,286,6646,0.00,2.42,0.00,0.000,4,0.000,0.067,3236,245,2179
$GC,6692,1.14,136.3,418.6,12.8,287,6696,0.00,2.30,0.00,0.000,6,0.000,0.039,3236,1654,2178
$GC,6968,1.14,136.3,389.7,9.9,294,6972,0.00,2.42,0.00,0.000,4,0.000,0.065,3236,244,2177
$GC,6989,1.14,136.3,387.2,11.2,294,6994,0.00,2.33,0.00,0.000,6,0.000,0.042,3236,1654,2177
$GC,7257,1.14,136.3,358.8,11.1,301,7261,0.00,2.42,0.00,0.000,4,0.000,0.068,3236,244,2176
$GC,7356,1.14,136.3,346.5,12.7,303,7361,0.00,2.30,0.00,0.000,6,0.000,0.035,3236,1651,2175
$GC,7628,1.14,136.3,315.7,11.3,310,7632,0.00,2.42,0.00,0.000,4,0.000,0.064,3236,239,2174
$GC,7668,1.14,136.3,310.9,12.7,311,7672,0.00,2.28,0.00,0.000,6,0.000,0.041,3236,1650,2173
$GC,7950,1.14,136.3,281.6,9.9,318,7954,0.00,2.40,0.00,0.000,4,0.000,0.063,3236,244,2173
$GC,7976,1.14,136.3,278.7,11.6,318,7981,0.00,2.28,0.00,0.000,6,0.000,0.034,3236,1644,2172
$GC,8232,1.14,136.3,253.2,9.9,325,8236,0.00,2.38,0.00,0.000,4,0.000,0.061,3236,243,2172
$GC,8264,1.14,136.3,249.3,12.7,325,8272,0.00,2.28,0.00,0.000,6,0.000,0.038,3236,1646,2171
$GC,8514,1.14,136.3,226.3,9.3,332,8518,0.00,2.38,0.00,0.000,4,0.000,0.060,3236,241,2171
$GC,8585,1.14,136.3,219.4,9.6,333,8589,0.00,2.28,0.00,0.000,6,0.000,0.030,3236,1652,2171
$GC,8840,1.16,154.1,199.0,7.7,340,8862,0.00,2.42,12.57,0.673,4,0.000,0.057,3236,232,2119
$GC,8911,1.16,154.1,192.0,11.5,346,8915,0.00,2.28,0.00,0.000,6,0.000,0.032,3236,1651,2118
$GC,9173,1.16,154.1,168.1,8.7,370,9177,0.00,2.30,0.00,0.000,4,0.000,0.047,3236,3054,2118
$GC,9190,1.17,158.7,166.6,8.3,371,9202,0.00,2.30,5.28,0.534,6,0.000,0.041,3236,1644,2101
$GC,9456,1.17,158.7,143.9,8.7,396,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1644,2101
$GC,9710,1.17,158.7,121.1,8.9,420,9714,0.00,2.33,0.00,0.000,4,0.000,0.056,3236,239,2100
$GC,9852,1.17,158.7,107.3,9.5,432,9856,0.00,2.22,0.00,0.000,6,0.000,0.027,3236,1662,2100
$GC,10112,1.21,190.6,87.6,7.2,456,10150,0.00,2.45,27.88,0.592,4,0.000,0.061,3236,245,1971
$GC,10222,1.21,190.6,78.4,9.7,465,10226,0.00,2.22,0.00,0.000,6,0.000,0.027,3236,1647,1970
$GC,10485,1.25,222.6,58.2,7.1,489,10525,0.10,2.33,27.98,0.559,4,0.064,0.044,3275,3045,1838
$GC,10584,1.25,222.6,48.7,10.4,497,10594,0.00,2.30,0.00,0.000,6,0.000,0.036,3276,1652,1836
$GC,10853,1.25,222.6,21.5,9.5,529,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1652,1835
$STATE,11042,end climb,SURFACE_DEPTH_REACHED
$STATE,11042,begin surface coast
$FINISH,0.4,1.012323
$STATE,11071,end surface coast,CONTROL_FINISHED_OK
$STATE,11071,begin surface
$SM_CCo,11089,94.80,0.509,0,0,1157,390.03
$SM_GC,1.51,0.00,0.00,94.80,0.000,0.000,0.509,415,1648,1157,-11.84,-0.34,390.03
$IRIDIUM_FIX,2359.20,-15426.31,051197,000021
$TT8_MAMPS,0.027612
$HUMID,1557
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.20
$XPDR_PINGS,142
$24V_AH,23.7,9.756
$10V_AH,10.1,8.178
$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,26.450,115.925,296.750,94.800,0.000,53.423,74.507,306.477,35.500,0.000,0.000,12.181,1100.601,7634.292,521.513,1877.862,646.506,33.372,1240.843,0.000,1916.896,0.000,0.469
$DEVICE_MAMPS,160.303,80.535,920.400,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,471.424,396.813,751.588,476.920,969.445,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41304,567
$CAP_FILE_SIZE,287633,0
$CFSIZE,260165632,254795776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110808,032931,2407.749,-15737.501,40,1.4,45,10.3