version: 66.03
glider: 148
mission: 4
dive: 76
start: 8 13 108 1 36 46
data:
$ID,148
$MISSION,4
$DIVE,76
$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,-5505.0532
$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,39
$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
$GPS1,012853,2408.467,-15734.755,11,99.0,30,10.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-63.7
$GPS2,013553,2408.494,-15734.758,11,99.0,30,10.3
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT13
$TGT_LATLONG,2409.000,-15735.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.140,-0.047
$KALMAN_X,126908.7,49.3,-194.7,-135679.5,1164.6
$KALMAN_Y,20668.9,-215.1,-136.6,23669.9,1463.0
$MHEAD_RNG_PITCHd_Wd,241.2,1023,-27.0,-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,17,begin dive
$GC,18,-1.75,-49.4,0.0,0.0,0,82,0.00,0.00,-61.50,0.000,2,0.000,0.000,412,1640,2799
$GC,84,-1.79,-87.0,3.2,-4.2,8,110,11.55,2.25,-6.78,0.000,4,0.158,0.058,2591,252,3104
$GC,361,-1.79,-87.0,72.5,-23.4,42,365,0.00,2.20,0.00,0.000,6,0.000,0.023,2591,1675,3105
$GC,621,-1.79,-87.0,121.2,-15.9,66,625,0.00,2.33,0.00,0.000,4,0.000,0.044,2592,250,3108
$GC,882,-1.79,-87.0,167.0,-16.0,88,889,0.00,2.20,0.00,0.000,6,0.000,0.023,2591,1660,3108
$GC,1152,-1.79,-87.0,206.1,-13.7,111,1156,0.00,2.30,0.00,0.000,4,0.000,0.047,2591,253,3108
$GC,1408,-1.79,-87.0,246.0,-14.0,116,1415,0.00,2.20,0.00,0.000,6,0.000,0.024,2591,1660,3109
$GC,1658,-1.79,-87.0,276.6,-12.3,123,1662,0.00,2.30,0.00,0.000,4,0.000,0.057,2591,255,3109
$GC,1913,-1.79,-87.0,312.2,-14.1,128,1920,0.00,2.22,0.00,0.000,6,0.000,0.035,2591,1655,3109
$GC,2163,-1.79,-87.0,342.9,-12.3,135,2167,0.00,2.33,0.00,0.000,4,0.000,0.056,2591,258,3109
$GC,2206,-1.79,-87.0,348.9,-13.9,136,2211,0.00,2.22,0.00,0.000,6,0.000,0.035,2591,1654,3109
$GC,2490,-1.79,-87.0,381.0,-11.3,143,2494,0.00,2.35,0.00,0.000,4,0.000,0.061,2591,259,3108
$GC,2606,-1.79,-87.0,395.3,-11.7,145,2611,0.00,2.22,0.00,0.000,6,0.000,0.036,2591,1649,3107
$GC,2862,-1.79,-87.0,422.3,-10.6,152,2866,0.00,2.35,0.00,0.000,4,0.000,0.064,2591,259,3105
$GC,3023,-1.79,-87.0,443.8,-14.1,155,3028,0.00,2.28,0.00,0.000,6,0.000,0.036,2591,1656,3105
$GC,3278,-1.79,-87.0,475.1,-11.9,162,3282,0.00,2.38,0.00,0.000,4,0.000,0.068,2591,261,3103
$GC,3495,-1.79,-87.0,502.5,-12.3,166,3502,0.00,2.30,0.00,0.000,6,0.000,0.044,2591,1657,3102
$STATE,3581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3581,begin apogee
$GC,3585,-0.31,0.0,511.3,10.4,169,3665,1.55,0.00,71.28,0.898,6,0.111,0.000,2917,1658,2749
$STATE,3665,end apogee,CONTROL_FINISHED_OK
$STATE,3665,begin climb
$GC,3667,1.79,87.0,512.3,0.0,171,3748,1.98,0.00,72.03,0.876,6,0.051,0.000,3383,1658,2393
$GC,3990,1.79,87.0,473.3,14.1,179,3995,0.00,2.45,0.00,0.000,4,0.000,0.071,3384,243,2387
$GC,4067,1.79,87.0,461.9,15.4,180,4075,0.00,2.33,0.00,0.000,6,0.000,0.037,3383,1647,2386
$GC,4318,1.79,87.0,431.6,11.8,187,4322,0.00,2.40,0.00,0.000,4,0.000,0.062,3383,248,2383
$GC,4574,1.79,87.0,398.5,12.1,192,4581,0.00,2.30,0.00,0.000,6,0.000,0.040,3383,1650,2381
$GC,4824,1.79,87.0,369.3,11.5,199,4828,0.00,2.38,0.00,0.000,4,0.000,0.059,3383,248,2379
$GC,5080,1.79,87.0,335.3,13.4,204,5087,0.00,2.30,0.00,0.000,6,0.000,0.038,3383,1655,2377
$GC,5331,1.79,87.0,308.1,10.6,211,5335,0.00,2.38,0.00,0.000,4,0.000,0.064,3383,249,2377
$GC,5587,1.79,87.0,277.4,10.9,216,5594,0.00,2.28,0.00,0.000,6,0.000,0.039,3383,1650,2375
$GC,5837,1.80,87.8,255.4,8.4,223,5841,0.00,2.38,0.00,0.000,4,0.000,0.061,3383,241,2374
$GC,6094,1.80,92.3,233.2,8.0,228,6101,0.00,2.28,0.00,0.000,6,0.000,0.037,3383,1652,2374
$GC,6344,1.82,107.1,215.6,6.8,235,6363,0.00,2.40,14.02,0.691,4,0.000,0.061,3383,243,2312
$GC,6515,1.82,107.1,200.7,8.8,238,6522,0.00,2.28,0.00,0.000,6,0.000,0.030,3383,1650,2310
$GC,6775,1.83,111.6,178.0,8.0,260,6787,0.00,2.35,5.28,0.540,4,0.000,0.057,3383,246,2293
$GC,7040,1.83,111.6,153.8,8.5,283,7047,0.00,2.22,0.00,0.000,6,0.000,0.035,3383,1666,2292
$GC,7301,1.83,114.1,132.8,8.2,308,7315,0.00,2.40,3.67,0.415,4,0.000,0.054,3383,244,2282
$GC,7572,1.83,118.8,110.0,8.0,331,7583,0.00,2.22,5.57,0.497,6,0.000,0.034,3383,1649,2264
$GC,7848,1.85,134.6,93.2,6.7,357,7868,0.00,0.00,14.40,0.571,6,0.000,0.000,3383,1649,2200
$GC,8122,1.86,142.8,70.9,7.6,383,8136,0.00,2.28,8.40,0.513,4,0.000,0.043,3383,3055,2165
$GC,8241,1.87,145.5,61.9,8.2,393,8255,0.00,2.28,3.83,0.377,6,0.000,0.041,3383,1648,2155
$GC,8511,1.89,162.0,41.8,6.6,418,8529,0.00,0.00,15.50,0.525,6,0.000,0.000,3383,1648,2087
$GC,8790,1.89,162.0,17.4,9.3,456,8799,0.00,2.33,0.00,0.000,4,0.000,0.050,3383,249,2085
$GC,8942,1.89,162.0,3.5,10.8,482,8950,0.00,2.20,0.00,0.000,6,0.000,0.025,3383,1646,2084
$STATE,8956,end climb,SURFACE_DEPTH_REACHED
$STATE,8957,begin surface coast
$FINISH,0.6,1.022866
$STATE,8990,end surface coast,CONTROL_FINISHED_OK
$STATE,8990,begin surface
$SM_CCo,9009,130.20,0.504,0,0,1158,390.03
$SM_GC,1.48,0.00,0.00,130.20,0.000,0.000,0.504,416,1650,1158,-11.84,-0.28,390.03
$IRIDIUM_FIX,2401.56,-15734.62,061197,222230
$TT8_MAMPS,0.027612
$HUMID,1545
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.50
$XPDR_PINGS,109
$24V_AH,23.8,11.359
$10V_AH,10.1,9.764
$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,27.275,82.825,213.975,130.200,0.000,28.649,26.062,229.395,27.250,0.000,0.000,33.025,1017.283,5458.884,452.797,2129.682,482.583,33.369,1247.519,0.000,2139.340,0.000,0.468
$DEVICE_MAMPS,158.002,71.331,898.157,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,430.335,391.390,695.346,454.854,917.461,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38093,489
$CAP_FILE_SIZE,257468,0
$CFSIZE,260165632,253726720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130808,041007,2408.522,-15734.873,26,1.0,26,10.3