version: 66.03
glider: 148
mission: 4
dive: 84
start: 8 13 108 15 42 58
data:
$ID,148
$MISSION,4
$DIVE,84
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,210
$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,62
$T_MISSION,90
$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,430
$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,-5709.8394
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,153559,2411.260,-15731.812,11,99.0,30,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.0
$GPS2,154205,2411.284,-15731.764,13,2.1,32,10.3
$SPEED_LIMITS,0.140,0.234
$TGT_NAME,WPT14
$TGT_LATLONG,2411.600,-15731.200
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.124,0.076
$KALMAN_X,133358.6,0.7,6.5,-137206.1,493.7
$KALMAN_Y,24457.5,102.6,147.8,24442.1,302.5
$MHEAD_RNG_PITCHd_Wd,48.0,1117,-25.9,-8.065
$D_GRID,150
$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,18,-1.68,-49.3,0.0,0.0,0,91,0.00,0.00,-69.12,0.000,2,0.000,0.000,412,1652,2868
$GC,93,-1.72,-82.3,3.3,-4.4,9,118,11.55,2.25,-4.65,0.000,4,0.157,0.041,2608,3065,3088
$GC,126,-1.72,-82.3,12.2,-19.2,13,134,0.00,2.25,0.00,0.000,6,0.000,0.030,2608,1662,3089
$GC,395,-1.72,-82.3,64.5,-15.9,45,399,0.00,2.28,0.00,0.000,4,0.000,0.044,2608,255,3089
$GC,582,-1.72,-82.3,95.5,-16.1,61,586,0.00,2.17,0.00,0.000,6,0.000,0.022,2608,1674,3089
$GC,846,-1.72,-82.3,130.8,-12.5,85,849,0.00,2.30,0.00,0.000,4,0.000,0.053,2608,257,3089
$GC,965,-1.72,-82.3,148.8,-15.4,95,969,0.00,2.15,0.00,0.000,6,0.000,0.023,2607,1659,3089
$STATE,979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,979,begin apogee
$GC,983,-0.31,0.0,151.5,15.0,96,1054,1.45,0.00,65.25,0.578,6,0.100,0.000,2919,1660,2749
$STATE,1056,end apogee,CONTROL_FINISHED_OK
$STATE,1056,begin climb
$GC,1057,1.72,82.3,153.8,0.0,103,1126,1.83,0.00,64.20,0.570,6,0.041,0.000,3366,1661,2413
$GC,1379,1.72,82.3,128.8,10.8,133,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1661,2410
$GC,1633,1.73,95.0,107.5,6.7,157,1649,0.00,2.38,11.38,0.503,4,0.000,0.052,3366,242,2360
$GC,1808,1.73,95.0,91.2,10.1,172,1812,0.00,2.20,0.00,0.000,6,0.000,0.025,3366,1649,2359
$GC,2070,1.76,114.7,72.4,5.9,196,2096,0.00,2.33,16.15,0.508,4,0.000,0.042,3366,3051,2279
$GC,2190,1.76,115.2,63.8,8.0,206,2199,0.00,2.28,0.00,0.000,6,0.000,0.041,3366,1650,2279
$GC,2454,1.80,152.5,48.4,4.0,231,2493,0.00,2.35,30.60,0.511,4,0.000,0.049,3366,252,2126
$GC,2497,1.85,187.8,46.8,4.2,234,2534,0.08,2.22,29.33,0.502,6,0.049,0.025,3399,1649,1982
$GC,2792,1.85,187.8,9.8,15.9,273,2800,0.00,2.33,0.00,0.000,4,0.000,0.055,3399,255,1976
$GC,2808,1.85,187.8,7.4,15.7,275,2816,0.00,2.22,0.00,0.000,6,0.000,0.028,3399,1648,1976
$STATE,2840,end climb,SURFACE_DEPTH_REACHED
$STATE,2840,begin surface coast
$FINISH,0.3,1.023141
$STATE,2858,end surface coast,CONTROL_FINISHED_OK
$STATE,2858,begin surface
$SM_CCo,2877,128.05,0.479,0,0,994,430.01
$SM_GC,1.20,0.00,0.00,128.05,0.000,0.000,0.479,412,1651,994,-11.85,-0.25,430.01
$IRIDIUM_FIX,2401.56,-15732.44,071197,141447
$TT8_MAMPS,0.026845
$HUMID,1523
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,23.50
$XPDR_PINGS,236
$24V_AH,24.1,12.027
$10V_AH,10.2,10.488
$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,27.050,31.700,216.900,128.050,0.000,26.354,24.253,183.682,59.000,0.000,0.000,34.972,509.307,1048.298,361.367,1087.152,355.935,33.337,751.542,0.000,1069.289,0.000,0.472
$DEVICE_MAMPS,157.235,55.224,578.318,478.608,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,268.999,289.343,509.289,385.064,782.011,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22424,283
$CAP_FILE_SIZE,165763,0
$CFSIZE,260165632,253374464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130808,163350,2411.610,-15731.338,7,1.4,12,10.3