version: 66.03
glider: 148
mission: 4
dive: 62
start: 8 11 108 3 36 46
data:
$ID,148
$MISSION,4
$DIVE,62
$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,-5167.9287
$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,26
$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
$GPS1,032931,2407.749,-15737.501,40,1.4,45,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-63.6
$GPS2,033551,2407.760,-15737.500,10,1.8,10,10.3
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT11
$TGT_LATLONG,2416.000,-15737.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.121,0.205
$KALMAN_X,105900.8,-17.6,1.9,-119450.4,1597.8
$KALMAN_Y,11570.6,-126.8,-82.8,31268.7,202.8
$MHEAD_RNG_PITCHd_Wd,319.2,15283,-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,-136.2,0.0,0.0,0,81,0.00,0.00,-61.78,0.000,2,0.000,0.000,416,1648,2801
$GC,83,-1.14,-136.3,3.5,-4.5,8,117,12.25,2.33,-10.75,0.000,4,0.157,0.046,2736,3068,3308
$GC,240,-1.14,-136.3,29.9,-15.7,34,248,0.00,2.28,0.00,0.000,6,0.000,0.040,2736,1665,3309
$GC,502,-1.14,-136.3,72.9,-15.0,59,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1665,3310
$GC,757,-1.14,-136.3,106.4,-12.6,83,761,0.00,2.30,0.00,0.000,4,0.000,0.048,2736,255,3310
$GC,819,-1.14,-136.3,114.5,-12.4,88,823,0.00,2.20,0.00,0.000,6,0.000,0.025,2736,1666,3310
$GC,1079,-1.14,-136.3,141.8,-10.1,112,1083,0.00,2.33,0.00,0.000,4,0.000,0.048,2736,251,3311
$GC,1121,-1.14,-136.3,146.1,-11.2,115,1125,0.00,2.20,0.00,0.000,6,0.000,0.025,2736,1664,3311
$GC,1384,-1.14,-136.3,174.6,-9.8,139,1387,0.00,2.20,0.00,0.000,4,0.000,0.032,2736,3062,3311
$GC,1411,-1.14,-136.3,177.6,-9.9,141,1415,0.00,2.25,0.00,0.000,6,0.000,0.033,2736,1654,3311
$GC,1708,-1.14,-136.3,204.3,-9.1,166,1712,0.00,2.28,0.00,0.000,4,0.000,0.051,2736,256,3312
$GC,1763,-1.14,-136.3,209.6,-9.3,167,1767,0.00,2.20,0.00,0.000,6,0.000,0.025,2736,1656,3312
$GC,2035,-1.14,-136.3,231.9,-8.1,174,2039,0.00,2.33,0.00,0.000,4,0.000,0.053,2736,248,3312
$GC,2106,-1.14,-136.3,238.7,-9.7,175,2111,0.00,2.22,0.00,0.000,6,0.000,0.027,2736,1651,3312
$GC,2363,-1.14,-136.3,258.7,-7.9,182,2367,0.00,2.25,0.00,0.000,4,0.000,0.041,2736,3067,3312
$GC,2395,-1.14,-136.3,261.3,-7.7,182,2402,0.00,2.30,0.00,0.000,6,0.000,0.036,2736,1657,3312
$GC,2645,-1.14,-136.3,280.7,-7.8,189,2649,0.00,2.33,0.00,0.000,4,0.000,0.064,2736,252,3312
$GC,2671,-1.14,-136.3,282.9,-8.4,189,2675,0.00,2.22,0.00,0.000,6,0.000,0.038,2736,1649,3311
$GC,2927,-1.14,-136.3,302.7,-7.4,196,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1651,3311
$GC,3170,-1.14,-136.3,321.8,-7.9,202,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1651,3309
$GC,3414,-1.14,-136.3,339.9,-7.3,208,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1651,3308
$GC,3657,-1.14,-136.3,358.1,-7.4,214,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1651,3307
$GC,3901,-1.14,-136.3,377.4,-8.1,220,3905,0.00,2.30,0.00,0.000,4,0.000,0.044,2736,3067,3305
$GC,3927,-1.14,-136.3,379.8,-9.0,220,3932,0.00,2.30,0.00,0.000,6,0.000,0.041,2736,1669,3305
$GC,4184,-1.14,-136.3,400.6,-8.1,227,4188,0.00,2.38,0.00,0.000,4,0.000,0.073,2736,252,3304
$GC,4210,-1.14,-136.3,402.9,-8.4,227,4215,0.00,2.25,0.00,0.000,6,0.000,0.036,2736,1645,3304
$GC,4471,-1.14,-136.3,421.1,-6.8,234,4475,0.00,2.33,0.00,0.000,4,0.000,0.048,2736,3066,3302
$GC,4504,-1.14,-136.3,423.3,-6.7,234,4510,0.00,2.33,0.00,0.000,6,0.000,0.048,2736,1643,3302
$GC,4754,-1.14,-136.3,440.2,-6.9,241,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1643,3301
$GC,4997,-1.14,-136.3,457.6,-7.1,247,5001,0.00,2.35,0.00,0.000,4,0.000,0.071,2736,255,3300
$GC,5057,-1.14,-136.3,462.4,-7.9,248,5061,0.00,2.28,0.00,0.000,6,0.000,0.040,2736,1649,3299
$GC,5329,-1.14,-136.3,477.9,-5.5,255,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1649,3298
$GC,5573,-1.14,-136.3,492.1,-6.0,261,5577,0.00,2.38,0.00,0.000,4,0.000,0.056,2736,3072,3297
$GC,5594,-1.14,-136.3,493.5,-6.6,261,5599,0.00,2.35,0.00,0.000,6,0.000,0.048,2736,1662,3297
$STATE,5854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5854,begin apogee
$GC,5857,-0.31,0.0,512.1,7.3,268,5970,0.85,0.00,109.90,0.924,6,0.101,0.000,2918,1662,2749
$STATE,5971,end apogee,CONTROL_FINISHED_OK
$STATE,5971,begin climb
$GC,5973,1.14,136.3,514.4,0.0,270,6097,1.38,2.47,113.07,0.898,4,0.058,0.064,3240,3059,2191
$GC,6145,1.14,136.3,505.6,11.5,274,6150,0.00,2.40,0.00,0.000,6,0.000,0.048,3240,1660,2186
$GC,6430,1.14,136.3,472.4,11.6,281,6435,0.00,2.53,0.00,0.000,4,0.000,0.087,3239,235,2183
$GC,6473,1.14,136.3,466.7,13.6,282,6478,0.00,2.35,0.00,0.000,6,0.000,0.038,3240,1652,2182
$GC,6757,1.14,136.3,436.7,10.5,289,6761,0.00,2.45,0.00,0.000,4,0.000,0.069,3240,239,2179
$GC,6845,1.14,136.3,425.9,12.1,291,6849,0.00,2.33,0.00,0.000,6,0.000,0.040,3240,1645,2178
$GC,7128,1.14,136.3,396.6,10.1,298,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1645,2177
$GC,7372,1.14,136.3,371.7,10.4,304,7376,0.00,2.40,0.00,0.000,4,0.000,0.064,3240,242,2176
$GC,7398,1.14,136.3,368.5,12.5,304,7403,0.00,2.30,0.00,0.000,6,0.000,0.036,3240,1649,2176
$GC,7654,1.14,136.3,342.4,10.3,311,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1649,2175
$GC,7898,1.14,136.3,316.1,10.9,317,7902,0.00,2.40,0.00,0.000,4,0.000,0.064,3240,244,2174
$GC,7941,1.14,136.3,310.7,12.7,318,7945,0.00,2.30,0.00,0.000,6,0.000,0.037,3240,1655,2173
$GC,8224,1.14,136.3,281.2,10.2,325,8228,0.00,2.42,0.00,0.000,4,0.000,0.068,3239,238,2173
$GC,8301,1.14,136.3,272.2,11.5,326,8308,0.00,2.30,0.00,0.000,6,0.000,0.038,3240,1656,2172
$GC,8551,1.14,136.3,247.9,9.5,333,8555,0.00,2.40,0.00,0.000,4,0.000,0.061,3240,242,2172
$GC,8566,1.14,136.3,246.2,10.4,333,8571,0.00,2.28,0.00,0.000,6,0.000,0.031,3239,1654,2172
$GC,8833,1.15,141.9,222.4,8.3,340,8838,0.00,2.40,0.00,0.000,4,0.000,0.067,3240,234,2171
$GC,8905,1.15,141.9,216.0,9.1,341,8909,0.00,2.28,0.00,0.000,6,0.000,0.038,3240,1646,2171
$GC,9160,1.19,177.4,197.9,7.0,348,9199,0.00,2.42,32.12,0.705,4,0.000,0.062,3240,245,2025
$GC,9232,1.19,177.4,191.3,11.7,354,9241,0.00,2.30,0.00,0.000,6,0.000,0.033,3240,1659,2023
$GC,9496,1.19,177.4,164.4,10.0,379,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1659,2019
$GC,9749,1.19,177.4,138.1,10.6,403,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1659,2019
$GC,10006,1.21,194.2,114.9,7.8,427,10030,0.00,2.33,14.62,0.601,4,0.000,0.041,3240,3052,1955
$GC,10046,1.22,200.0,111.3,8.3,430,10059,0.00,2.35,6.62,0.518,6,0.000,0.039,3239,1637,1933
$GC,10320,1.22,200.0,88.4,8.6,456,10324,0.00,2.30,0.00,0.000,4,0.000,0.055,3240,246,1931
$GC,10362,1.22,200.0,83.7,11.7,459,10370,0.00,2.25,0.00,0.000,6,0.000,0.035,3240,1652,1931
$GC,10629,1.25,221.1,60.6,7.6,484,10657,0.00,0.00,19.20,0.557,6,0.000,0.000,3240,1655,1847
$GC,10911,1.29,253.2,38.0,7.1,511,10951,0.12,2.42,27.40,0.540,4,0.057,0.052,3284,242,1715
$GC,10964,1.29,253.2,32.5,12.3,515,10968,0.00,2.22,0.00,0.000,6,0.000,0.035,3284,1652,1714
$STATE,11235,end climb,SURFACE_DEPTH_REACHED
$STATE,11235,begin surface coast
$FINISH,0.6,1.010983
$STATE,11258,end surface coast,CONTROL_FINISHED_OK
$STATE,11258,begin surface
$SM_CCo,11276,81.25,0.511,0,0,1158,390.03
$SM_GC,1.47,0.00,0.00,81.25,0.000,0.000,0.511,411,1656,1158,-11.86,-0.14,390.03
$IRIDIUM_FIX,2356.84,-15740.79,051197,000038
$TT8_MAMPS,0.027612
$HUMID,1576
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.20
$XPDR_PINGS,111
$24V_AH,23.7,9.861
$10V_AH,10.1,8.282
$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,26.325,116.025,322.950,81.250,0.000,26.299,28.840,211.183,27.750,0.000,0.000,12.362,1096.271,7816.121,492.546,1867.799,448.989,33.400,1241.215,0.000,1887.791,0.000,0.469
$DEVICE_MAMPS,157.235,86.671,924.235,510.822,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,483.288,402.789,730.375,461.280,940.579,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41288,564
$CAP_FILE_SIZE,282153,0
$CFSIZE,260165632,254734336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110808,064708,2408.969,-15737.605,29,0.9,29,10.3