version: 66.03
glider: 148
mission: 4
dive: 67
start: 8 11 108 19 57 51
data:
$ID,148
$MISSION,4
$DIVE,67
$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,-5283.1885
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,195007,2414.498,-15736.771,32,1.0,32,10.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-63.6
$GPS2,195657,2414.533,-15736.724,10,1.4,10,10.3
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT11
$TGT_LATLONG,2416.000,-15737.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.173,0.164
$KALMAN_X,114316.8,342.1,121.8,-127034.7,1710.0
$KALMAN_Y,11857.1,264.5,-169.0,43218.1,136.2
$MHEAD_RNG_PITCHd_Wd,303.3,2757,-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,-136.3,0.0,0.0,0,81,0.00,0.00,-61.75,0.000,2,0.000,0.000,416,1650,2808
$GC,83,-1.14,-136.3,3.5,-4.3,8,117,12.27,2.30,-10.57,0.000,4,0.158,0.044,2736,3065,3307
$GC,265,-1.14,-136.3,33.7,-14.7,37,274,0.00,2.30,0.00,0.000,6,0.000,0.041,2736,1658,3308
$GC,528,-1.14,-136.3,75.3,-12.9,62,532,0.00,2.30,0.00,0.000,4,0.000,0.048,2735,248,3309
$GC,605,-1.14,-136.3,85.5,-12.8,68,615,0.00,2.22,0.00,0.000,6,0.000,0.025,2736,1655,3309
$GC,870,-1.14,-136.3,114.7,-10.6,93,874,0.00,2.30,0.00,0.000,4,0.000,0.048,2735,255,3310
$GC,899,-1.14,-136.3,118.4,-12.7,95,903,0.00,2.20,0.00,0.000,6,0.000,0.024,2736,1675,3310
$GC,1163,-1.14,-136.3,149.5,-12.0,119,1167,0.00,2.35,0.00,0.000,4,0.000,0.048,2735,246,3311
$GC,1183,-1.14,-136.3,152.5,-11.5,120,1192,0.00,2.22,0.00,0.000,6,0.000,0.024,2736,1663,3311
$GC,1447,-1.14,-136.3,180.9,-10.1,145,1451,0.00,2.33,0.00,0.000,4,0.000,0.048,2735,247,3311
$GC,1508,-1.14,-136.3,187.2,-9.6,150,1512,0.00,2.20,0.00,0.000,6,0.000,0.025,2736,1663,3311
$GC,1773,-1.14,-136.3,210.0,-8.0,166,1777,0.00,2.33,0.00,0.000,4,0.000,0.052,2736,253,3311
$GC,1816,-1.14,-136.3,213.9,-8.9,167,1821,0.00,2.20,0.00,0.000,6,0.000,0.025,2735,1656,3312
$GC,2100,-1.14,-136.3,237.5,-8.8,174,2104,0.00,2.22,0.00,0.000,4,0.000,0.035,2735,3056,3312
$GC,2144,-1.14,-136.3,241.5,-8.8,175,2148,0.00,2.25,0.00,0.000,6,0.000,0.036,2736,1655,3311
$GC,2433,-1.14,-136.3,267.2,-9.0,182,2437,0.00,2.30,0.00,0.000,4,0.000,0.061,2736,257,3312
$GC,2464,-1.14,-136.3,270.4,-9.7,182,2471,0.00,2.22,0.00,0.000,6,0.000,0.028,2736,1658,3312
$GC,2715,-1.14,-136.3,291.4,-8.3,189,2719,0.00,2.35,0.00,0.000,4,0.000,0.064,2736,249,3311
$GC,2759,-1.14,-136.3,295.4,-8.9,190,2763,0.00,2.22,0.00,0.000,6,0.000,0.037,2736,1664,3311
$GC,3048,-1.14,-136.3,317.6,-7.5,197,3052,0.00,2.35,0.00,0.000,4,0.000,0.058,2735,253,3310
$GC,3074,-1.14,-136.3,319.8,-8.5,197,3079,0.00,2.25,0.00,0.000,6,0.000,0.038,2735,1661,3310
$GC,3336,-1.14,-136.3,339.9,-7.7,204,3340,0.00,2.35,0.00,0.000,4,0.000,0.060,2736,258,3308
$GC,3364,-1.14,-136.3,342.3,-8.3,204,3368,0.00,2.20,0.00,0.000,6,0.000,0.037,2736,1660,3308
$GC,3613,-1.14,-136.3,362.7,-8.2,210,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1661,3307
$GC,3857,-1.14,-136.3,381.3,-7.4,216,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1660,3306
$GC,4100,-1.14,-136.3,398.0,-6.8,222,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1660,3305
$GC,4344,-1.14,-136.3,413.9,-6.3,228,4348,0.00,2.40,0.00,0.000,4,0.000,0.070,2736,251,3304
$GC,4364,-1.14,-136.3,415.3,-6.8,228,4369,0.00,2.25,0.00,0.000,6,0.000,0.041,2735,1648,3303
$GC,4625,-1.14,-136.3,431.2,-6.0,235,4629,0.00,2.38,0.00,0.000,4,0.000,0.066,2736,251,3302
$GC,4673,-1.14,-136.3,434.8,-7.5,236,4678,0.00,2.28,0.00,0.000,6,0.000,0.042,2736,1648,3302
$GC,4951,-1.14,-136.3,454.1,-7.1,243,4955,0.00,2.33,0.00,0.000,4,0.000,0.051,2735,3066,3301
$GC,5000,-1.14,-136.3,457.8,-7.4,244,5005,0.00,2.35,0.00,0.000,6,0.000,0.048,2736,1661,3300
$GC,5279,-1.14,-136.3,477.4,-7.0,251,5283,0.00,2.42,0.00,0.000,4,0.000,0.075,2736,247,3298
$GC,5305,-1.14,-136.3,479.4,-8.1,251,5310,0.00,2.33,0.00,0.000,6,0.000,0.040,2736,1659,3298
$GC,5561,-1.14,-136.3,495.9,-6.4,258,5564,0.00,2.35,0.00,0.000,4,0.000,0.062,2736,3069,3297
$GC,5581,-1.14,-136.3,497.3,-6.7,258,5586,0.00,2.35,0.00,0.000,6,0.000,0.051,2736,1661,3297
$STATE,5806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5806,begin apogee
$GC,5810,-0.31,0.0,511.7,6.5,264,5923,0.85,0.00,109.88,0.930,6,0.099,0.000,2918,1661,2749
$STATE,5923,end apogee,CONTROL_FINISHED_OK
$STATE,5923,begin climb
$GC,5925,1.14,136.3,513.4,0.0,266,6047,1.40,0.00,113.50,0.901,6,0.061,0.000,3240,1661,2192
$GC,6289,1.14,136.3,483.3,10.9,275,6293,0.00,2.42,0.00,0.000,4,0.000,0.068,3240,3058,2184
$GC,6321,1.14,136.3,479.7,10.9,275,6329,0.00,2.40,0.00,0.000,6,0.000,0.048,3240,1655,2183
$GC,6571,1.14,136.3,452.9,10.7,282,6575,0.00,2.47,0.00,0.000,4,0.000,0.081,3240,242,2180
$GC,6620,1.14,136.3,446.8,12.1,283,6625,0.00,2.33,0.00,0.000,6,0.000,0.041,3240,1646,2179
$GC,6898,1.14,136.3,417.1,10.8,290,6902,0.00,2.42,0.00,0.000,4,0.000,0.066,3240,242,2178
$GC,7042,1.14,136.3,398.2,13.3,293,7046,0.00,2.33,0.00,0.000,6,0.000,0.041,3240,1652,2177
$GC,7314,1.14,136.3,368.7,10.7,300,7318,0.00,2.38,0.00,0.000,4,0.000,0.059,3240,3052,2176
$GC,7340,1.14,136.3,365.9,10.8,300,7345,0.00,2.38,0.00,0.000,6,0.000,0.048,3240,1642,2175
$GC,7596,1.14,136.3,340.4,10.1,307,7600,0.00,2.38,0.00,0.000,4,0.000,0.049,3240,3054,2174
$GC,7622,1.14,136.3,337.6,10.1,307,7626,0.00,2.33,0.00,0.000,6,0.000,0.046,3240,1658,2173
$GC,7877,1.14,136.3,313.7,9.4,314,7881,0.00,2.42,0.00,0.000,4,0.000,0.067,3240,241,2173
$GC,7909,1.14,136.3,310.2,11.1,314,7916,0.00,2.30,0.00,0.000,6,0.000,0.035,3240,1657,2172
$GC,8160,1.14,136.3,285.3,10.1,321,8164,0.00,2.42,0.00,0.000,4,0.000,0.063,3240,239,2172
$GC,8174,1.14,136.3,283.6,10.2,321,8179,0.00,2.28,0.00,0.000,6,0.000,0.033,3240,1648,2171
$GC,8441,1.14,136.3,257.4,9.4,328,8445,0.00,2.40,0.00,0.000,4,0.000,0.061,3241,236,2171
$GC,8614,1.14,136.3,239.1,11.8,332,8618,0.00,2.25,0.00,0.000,6,0.000,0.030,3240,1655,2171
$GC,8903,1.14,136.3,213.3,8.9,339,8907,0.00,2.38,0.00,0.000,4,0.000,0.060,3241,245,2171
$GC,8912,1.14,136.3,212.3,9.2,339,8917,0.00,2.25,0.00,0.000,6,0.000,0.030,3240,1646,2171
$GC,9169,1.14,136.3,189.3,8.5,353,9173,0.00,2.30,0.00,0.000,4,0.000,0.044,3240,3052,2171
$GC,9186,1.15,146.9,188.0,8.1,354,9200,0.00,2.30,6.28,0.591,6,0.000,0.042,3240,1641,2150
$GC,9455,1.15,146.9,164.3,8.8,379,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1641,2150
$GC,9708,1.18,165.7,144.0,7.7,403,9732,0.00,2.35,17.70,0.640,4,0.000,0.061,3240,240,2072
$GC,9779,1.18,165.7,138.4,9.2,409,9783,0.00,2.25,0.00,0.000,6,0.000,0.035,3240,1657,2070
$GC,10043,1.18,169.9,116.7,8.3,433,10055,0.00,2.35,4.50,0.462,4,0.000,0.054,3240,245,2056
$GC,10123,1.18,169.9,108.2,11.2,440,10127,0.00,2.22,0.00,0.000,6,0.000,0.029,3241,1653,2055
$GC,10383,1.20,182.7,86.1,8.0,464,10397,0.00,0.00,12.45,0.565,6,0.000,0.000,3240,1654,2004
$GC,10652,1.22,203.3,63.8,7.6,489,10677,0.00,2.42,18.75,0.559,4,0.000,0.059,3240,246,1919
$GC,10688,1.25,228.0,61.2,7.5,492,10715,0.10,2.22,22.27,0.553,6,0.064,0.033,3277,1653,1819
$GC,10967,1.25,228.0,31.2,10.9,518,10971,0.00,2.35,0.00,0.000,4,0.000,0.059,3277,246,1813
$GC,10991,1.25,228.0,28.4,11.4,520,11000,0.00,2.22,0.00,0.000,6,0.000,0.026,3276,1647,1813
$STATE,11226,end climb,SURFACE_DEPTH_REACHED
$STATE,11226,begin surface coast
$FINISH,0.4,1.023207
$STATE,11256,end surface coast,CONTROL_FINISHED_OK
$STATE,11256,begin surface
$SM_CCo,11274,88.97,0.509,0,0,1158,390.03
$SM_GC,1.35,0.00,0.00,88.97,0.000,0.000,0.509,414,1651,1158,-11.85,-0.23,390.03
$IRIDIUM_FIX,2403.92,-15736.81,051197,161634
$TT8_MAMPS,0.027612
$HUMID,1561
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,22.90
$XPDR_PINGS,120
$24V_AH,23.7,10.412
$10V_AH,10.1,8.811
$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,26.400,138.925,305.325,88.975,0.000,23.425,29.031,240.887,30.000,0.000,0.000,12.366,1132.611,7696.622,507.015,1937.865,482.310,33.370,1285.251,0.000,1963.983,0.000,0.469
$DEVICE_MAMPS,158.002,81.302,930.371,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,474.449,385.156,736.449,460.333,936.885,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41403,566
$CAP_FILE_SIZE,289981,0
$CFSIZE,260165632,254353408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110808,230831,2415.560,-15737.063,35,1.3,41,10.3