version: 66.03
glider: 148
mission: 4
dive: 65
start: 8 11 108 13 32 55
data:
$ID,148
$MISSION,4
$DIVE,65
$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,-5252.0537
$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
$GPS1,131459,2412.013,-15737.213,12,3.5,31,10.3
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-63.8
$GPS2,133202,2412.108,-15737.131,14,1.9,31,10.3
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT11
$TGT_LATLONG,2416.000,-15737.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.163,0.174
$KALMAN_X,110543.1,-103.0,-59.0,-123324.6,2026.8
$KALMAN_Y,11738.7,-92.5,137.5,38892.1,254.5
$MHEAD_RNG_PITCHd_Wd,306.6,7211,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.14,-136.3,0.0,0.0,0,83,0.00,0.00,-62.15,0.000,2,0.000,0.000,414,1632,2833
$GC,85,-1.14,-136.3,3.4,-4.3,8,118,12.30,2.33,-10.00,0.000,4,0.159,0.048,2734,3054,3307
$GC,220,-1.14,-136.3,26.3,-13.3,30,228,0.00,2.25,0.00,0.000,6,0.000,0.031,2734,1667,3309
$GC,492,-1.14,-136.3,71.1,-14.2,57,495,0.00,2.30,0.00,0.000,4,0.000,0.055,2734,251,3309
$GC,573,-1.14,-136.3,83.9,-15.7,64,583,0.00,2.22,0.00,0.000,6,0.000,0.024,2734,1670,3309
$GC,838,-1.14,-136.3,114.9,-11.0,89,842,0.00,2.33,0.00,0.000,4,0.000,0.051,2734,251,3309
$GC,898,-1.14,-136.3,122.8,-12.5,94,903,0.00,2.17,0.00,0.000,6,0.000,0.025,2734,1651,3310
$GC,1158,-1.14,-136.3,150.8,-10.7,118,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1653,3310
$GC,1415,-1.14,-136.3,176.5,-9.5,142,1419,0.00,2.30,0.00,0.000,4,0.000,0.049,2734,251,3310
$GC,1466,-1.14,-136.3,181.8,-9.9,146,1470,0.00,2.20,0.00,0.000,6,0.000,0.025,2734,1667,3310
$GC,1730,-1.14,-136.3,204.2,-8.8,168,1734,0.00,2.33,0.00,0.000,4,0.000,0.049,2734,255,3310
$GC,1774,-1.14,-136.3,208.7,-10.5,169,1778,0.00,2.20,0.00,0.000,6,0.000,0.025,2734,1659,3310
$GC,2058,-1.14,-136.3,232.7,-8.3,176,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1662,3310
$GC,2301,-1.14,-136.3,252.7,-8.3,182,2305,0.00,2.33,0.00,0.000,4,0.000,0.054,2734,254,3310
$GC,2361,-1.14,-136.3,258.3,-9.4,183,2366,0.00,2.20,0.00,0.000,6,0.000,0.028,2734,1653,3310
$GC,2628,-1.14,-136.3,280.0,-8.2,190,2632,0.00,2.22,0.00,0.000,4,0.000,0.035,2734,3057,3310
$GC,2644,-1.14,-136.3,281.3,-8.3,190,2648,0.00,2.28,0.00,0.000,6,0.000,0.041,2734,1656,3309
$GC,2911,-1.14,-136.3,300.9,-7.1,197,2915,0.00,2.30,0.00,0.000,4,0.000,0.065,2734,258,3308
$GC,2931,-1.14,-136.3,302.6,-8.0,197,2936,0.00,2.22,0.00,0.000,6,0.000,0.031,2734,1655,3308
$GC,3198,-1.14,-136.3,322.5,-7.5,204,3202,0.00,2.25,0.00,0.000,4,0.000,0.041,2734,3063,3307
$GC,3231,-1.14,-136.3,325.0,-7.3,204,3237,0.00,2.28,0.00,0.000,6,0.000,0.044,2734,1657,3307
$GC,3481,-1.14,-136.3,343.9,-7.6,211,3485,0.00,2.35,0.00,0.000,4,0.000,0.069,2734,251,3306
$GC,3558,-1.14,-136.3,350.3,-8.5,212,3565,0.00,2.25,0.00,0.000,6,0.000,0.031,2734,1660,3305
$GC,3808,-1.14,-136.3,368.5,-7.3,219,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1660,3304
$GC,4052,-1.14,-136.3,387.1,-7.7,225,4056,0.00,2.38,0.00,0.000,4,0.000,0.065,2734,255,3302
$GC,4094,-1.14,-136.3,390.9,-8.6,226,4099,0.00,2.25,0.00,0.000,6,0.000,0.039,2734,1656,3302
$GC,4378,-1.14,-136.3,413.9,-8.2,233,4383,0.00,2.38,0.00,0.000,4,0.000,0.066,2734,257,3300
$GC,4411,-1.14,-136.3,416.9,-8.9,233,4417,0.00,2.28,0.00,0.000,6,0.000,0.041,2734,1661,3300
$GC,4660,-1.14,-136.3,436.6,-7.8,240,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1661,3299
$GC,4905,-1.14,-136.3,454.5,-7.1,246,4909,0.00,2.30,0.00,0.000,4,0.000,0.051,2734,3067,3297
$GC,4926,-1.14,-136.3,456.0,-6.9,246,4930,0.00,2.35,0.00,0.000,6,0.000,0.051,2734,1658,3297
$GC,5192,-1.14,-136.3,473.4,-6.5,253,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1658,3295
$GC,5436,-1.14,-136.3,489.8,-6.8,259,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1658,3294
$GC,5680,-1.14,-136.3,507.2,-7.3,265,5684,0.00,2.42,0.00,0.000,4,0.000,0.076,2734,251,3293
$GC,5706,-1.14,-136.3,509.2,-7.9,265,5710,0.00,2.30,0.00,0.000,6,0.000,0.043,2734,1651,3293
$STATE,5716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5716,begin apogee
$GC,5720,-0.31,0.0,510.1,7.6,266,5832,0.85,0.00,108.97,0.924,6,0.097,0.000,2917,1650,2749
$STATE,5833,end apogee,CONTROL_FINISHED_OK
$STATE,5833,begin climb
$GC,5834,1.14,136.3,511.5,0.0,268,5959,1.38,2.53,112.90,0.896,4,0.060,0.073,3236,248,2192
$GC,6008,1.14,136.3,498.8,14.7,272,6013,0.00,2.35,0.00,0.000,6,0.000,0.044,3236,1647,2188
$GC,6291,1.14,136.3,462.1,12.8,279,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1648,2183
$GC,6535,1.14,136.3,433.2,11.6,285,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1648,2181
$GC,6779,1.14,136.3,407.2,10.6,291,6783,0.00,2.42,0.00,0.000,4,0.000,0.072,3236,245,2179
$GC,6845,1.14,136.3,399.2,12.7,292,6850,0.00,2.33,0.00,0.000,6,0.000,0.036,3236,1655,2178
$GC,7106,1.14,136.3,369.1,11.7,299,7110,0.00,2.42,0.00,0.000,4,0.000,0.070,3236,246,2177
$GC,7235,1.14,136.3,352.3,13.8,302,7239,0.00,2.28,0.00,0.000,6,0.000,0.035,3236,1655,2176
$GC,7517,1.14,136.3,322.3,10.5,309,7521,0.00,2.42,0.00,0.000,4,0.000,0.070,3237,242,2175
$GC,7543,1.14,136.3,319.3,11.2,309,7547,0.00,2.30,0.00,0.000,6,0.000,0.038,3236,1651,2174
$GC,7799,1.14,136.3,293.1,10.3,316,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1652,2174
$GC,8042,1.14,136.3,268.7,9.8,322,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1652,2173
$GC,8286,1.14,136.3,246.1,9.2,328,8290,0.00,2.40,0.00,0.000,4,0.000,0.064,3236,240,2173
$GC,8314,1.14,136.3,243.4,10.1,328,8318,0.00,2.25,0.00,0.000,6,0.000,0.031,3236,1656,2171
$GC,8562,1.14,136.3,221.7,8.5,334,8566,0.00,2.40,0.00,0.000,4,0.000,0.059,3236,237,2171
$GC,8712,1.14,136.3,206.6,10.1,337,8717,0.00,2.28,0.00,0.000,6,0.000,0.031,3236,1653,2171
$GC,8978,1.17,158.7,185.7,7.6,355,9001,0.00,2.40,16.42,0.681,4,0.000,0.058,3236,239,2102
$GC,9068,1.17,158.7,176.3,11.9,363,9072,0.00,2.25,0.00,0.000,6,0.000,0.030,3236,1649,2100
$GC,9328,1.17,158.7,150.5,9.7,387,9332,0.00,2.35,0.00,0.000,4,0.000,0.055,3236,242,2099
$GC,9379,1.17,158.7,145.4,10.4,391,9383,0.00,2.25,0.00,0.000,6,0.000,0.035,3236,1665,2099
$GC,9643,1.19,178.1,123.6,7.7,415,9667,0.00,2.40,17.27,0.621,4,0.000,0.054,3236,242,2022
$GC,9692,1.19,178.1,119.1,10.0,419,9696,0.00,2.25,0.00,0.000,6,0.000,0.034,3236,1654,2021
$GC,9956,1.19,178.1,95.6,9.6,443,9960,0.00,2.38,0.00,0.000,4,0.000,0.054,3237,236,2019
$GC,10032,1.19,178.1,87.8,10.2,449,10039,0.00,2.25,0.00,0.000,6,0.000,0.035,3236,1650,2019
$GC,10295,1.19,178.1,64.4,8.6,474,10299,0.00,2.35,0.00,0.000,4,0.000,0.054,3236,239,2019
$GC,10324,1.19,178.1,62.0,8.6,476,10328,0.00,2.22,0.00,0.000,6,0.000,0.031,3236,1659,2019
$GC,10586,1.32,278.0,46.8,4.3,500,10677,0.15,2.25,83.12,0.558,4,0.052,0.035,3289,3050,1613
$GC,10690,1.32,278.0,38.4,11.0,508,10695,0.00,2.30,0.00,0.000,6,0.000,0.040,3289,1638,1611
$GC,10965,1.32,278.0,4.4,13.7,550,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1638,1606
$STATE,10979,end climb,SURFACE_DEPTH_REACHED
$STATE,10979,begin surface coast
$FINISH,0.4,1.008951
$STATE,11004,end surface coast,CONTROL_FINISHED_OK
$STATE,11004,begin surface
$SM_CCo,11022,69.40,0.509,0,0,1159,390.03
$SM_GC,1.45,0.00,0.00,69.40,0.000,0.000,0.509,411,1634,1159,-11.86,-0.74,390.03
$IRIDIUM_FIX,2401.56,-15739.89,051197,131324
$TT8_MAMPS,0.026845
$HUMID,1576
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,22.90
$XPDR_PINGS,174
$24V_AH,23.7,10.202
$10V_AH,10.1,8.602
$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,26.550,119.975,338.700,69.400,0.000,120.946,130.443,441.048,43.500,0.000,0.000,33.304,1092.481,7701.985,483.624,1918.652,899.681,33.369,1251.532,0.000,1910.613,0.000,0.469
$DEVICE_MAMPS,158.769,75.933,924.235,508.521,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,466.605,397.146,734.734,461.590,940.674,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41399,556
$CAP_FILE_SIZE,290892,0
$CFSIZE,260165632,254496768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110808,163901,2413.373,-15737.027,38,1.3,38,10.3