version: 66.03
glider: 148
mission: 4
dive: 33
start: 8 7 108 8 5 44
data:
$ID,148
$MISSION,4
$DIVE,33
$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,150
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4531.4556
$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,1670
$C_ROLL_CLIMB,1660
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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
$GPS1,080026,2349.676,-15730.545,37,1.6,37,10.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-62.6
$GPS2,080451,2349.668,-15730.515,13,1.5,13,10.3
$SPEED_LIMITS,0.147,0.245
$TGT_NAME,WPT7
$TGT_LATLONG,2400.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.177,0.170
$KALMAN_X,57888.0,20.1,-215.2,-59410.7,2196.3
$KALMAN_Y,7067.7,-22.3,-141.0,2219.9,-527.3
$MHEAD_RNG_PITCHd_Wd,303.4,19154,-15.0,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.12,-146.0,0.0,0.0,0,80,0.00,0.00,-61.58,0.000,2,0.000,0.000,412,1665,2842
$GC,83,-1.12,-146.0,3.6,-5.1,8,115,12.45,2.33,-10.30,0.000,4,0.162,0.058,2740,3072,3346
$GC,237,-1.12,-146.0,31.5,-16.4,34,241,0.00,2.28,0.00,0.000,6,0.000,0.035,2740,1662,3348
$GC,505,-1.12,-146.0,72.0,-11.8,59,509,0.00,2.30,0.00,0.000,4,0.000,0.049,2740,262,3348
$GC,545,-1.12,-146.0,77.4,-13.3,62,549,0.00,2.22,0.00,0.000,6,0.000,0.026,2740,1677,3349
$GC,812,-1.12,-146.0,111.1,-11.7,87,816,0.00,2.35,0.00,0.000,4,0.000,0.050,2740,255,3349
$GC,864,-1.12,-146.0,117.4,-12.2,91,868,0.00,2.22,0.00,0.000,6,0.000,0.026,2740,1677,3350
$GC,1126,-1.12,-146.0,147.0,-11.0,115,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1678,3350
$GC,1381,-1.12,-146.0,173.5,-9.9,139,1385,0.00,2.33,0.00,0.000,4,0.000,0.051,2740,265,3351
$GC,1421,-1.12,-146.0,177.6,-11.0,142,1425,0.00,2.20,0.00,0.000,6,0.000,0.027,2740,1674,3351
$GC,1689,-1.12,-146.0,204.5,-9.9,164,1694,0.00,2.33,0.00,0.000,4,0.000,0.051,2740,265,3352
$GC,1710,-1.12,-146.0,206.6,-10.0,164,1715,0.00,2.22,0.00,0.000,6,0.000,0.027,2740,1672,3352
$GC,1973,-1.12,-146.0,230.2,-9.0,171,1977,0.00,2.33,0.00,0.000,4,0.000,0.054,2740,266,3352
$GC,2027,-1.12,-146.0,235.8,-9.7,172,2032,0.00,2.22,0.00,0.000,6,0.000,0.030,2740,1669,3352
$GC,2300,-1.12,-146.0,258.3,-8.0,179,2304,0.00,2.25,0.00,0.000,4,0.000,0.039,2740,3070,3352
$GC,2321,-1.12,-146.0,260.0,-8.0,179,2326,0.00,2.28,0.00,0.000,6,0.000,0.035,2740,1675,3352
$GC,2586,-1.12,-146.0,280.3,-7.9,186,2590,0.00,2.25,0.00,0.000,4,0.000,0.040,2740,3069,3352
$GC,2606,-1.12,-146.0,282.4,-8.5,186,2611,0.00,2.28,0.00,0.000,6,0.000,0.040,2740,1678,3352
$GC,2867,-1.12,-146.0,304.4,-8.4,193,2872,0.00,2.38,0.00,0.000,4,0.000,0.067,2740,260,3351
$GC,2962,-1.12,-146.0,312.6,-8.3,195,2966,0.00,2.25,0.00,0.000,6,0.000,0.039,2740,1665,3350
$GC,3239,-1.12,-146.0,332.2,-7.0,202,3243,0.00,2.28,0.00,0.000,4,0.000,0.042,2740,3074,3349
$GC,3283,-1.12,-146.0,335.2,-6.8,203,3287,0.00,2.30,0.00,0.000,6,0.000,0.040,2740,1677,3349
$GC,3566,-1.12,-146.0,355.0,-7.2,210,3570,0.00,2.40,0.00,0.000,4,0.000,0.072,2740,256,3348
$GC,3626,-1.12,-146.0,360.3,-9.1,211,3631,0.00,2.28,0.00,0.000,6,0.000,0.035,2740,1659,3347
$GC,3893,-1.12,-146.0,381.7,-8.0,218,3897,0.00,2.33,0.00,0.000,4,0.000,0.048,2740,3080,3346
$GC,3925,-1.12,-146.0,384.4,-8.0,218,3932,0.00,2.30,0.00,0.000,6,0.000,0.048,2740,1669,3346
$GC,4175,-1.12,-146.0,403.9,-7.8,225,4179,0.00,2.40,0.00,0.000,4,0.000,0.070,2740,259,3344
$GC,4201,-1.12,-146.0,406.0,-8.0,225,4205,0.00,2.28,0.00,0.000,6,0.000,0.035,2740,1663,3345
$GC,4456,-1.12,-146.0,424.7,-7.3,232,4460,0.00,2.33,0.00,0.000,4,0.000,0.049,2740,3080,3343
$GC,4483,-1.12,-146.0,426.7,-7.8,232,4487,0.00,2.35,0.00,0.000,6,0.000,0.048,2740,1672,3343
$GC,4738,-1.12,-146.0,444.3,-6.9,239,4742,0.00,2.40,0.00,0.000,4,0.000,0.071,2740,264,3342
$GC,4804,-1.12,-146.0,449.4,-8.0,240,4809,0.00,2.30,0.00,0.000,6,0.000,0.038,2740,1666,3341
$GC,5065,-1.12,-146.0,466.2,-6.4,247,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1666,3340
$GC,5309,-1.12,-146.0,481.7,-6.5,253,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1666,3339
$GC,5553,-1.12,-146.0,498.7,-7.1,259,5557,0.00,2.42,0.00,0.000,4,0.000,0.074,2740,264,3337
$GC,5603,-1.12,-146.0,502.7,-8.4,260,5608,0.00,2.30,0.00,0.000,6,0.000,0.048,2740,1673,3337
$STATE,5716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5716,begin apogee
$GC,5720,-0.31,0.0,511.4,7.4,263,5840,0.82,0.00,117.38,0.921,6,0.097,0.000,2917,1674,2749
$STATE,5841,end apogee,CONTROL_FINISHED_OK
$STATE,5841,begin climb
$GC,5842,1.12,146.0,515.4,0.0,266,5968,1.40,0.00,121.82,0.893,6,0.060,0.000,3238,1674,2153
$GC,6201,1.12,146.0,483.0,11.9,275,6206,0.00,2.53,0.00,0.000,4,0.000,0.074,3238,252,2144
$GC,6301,1.12,146.0,469.4,13.6,277,6306,0.00,2.38,0.00,0.000,6,0.000,0.041,3238,1662,2142
$GC,6573,1.12,146.0,439.4,10.6,284,6577,0.00,2.45,0.00,0.000,4,0.000,0.067,3238,254,2140
$GC,6695,1.12,146.0,424.3,12.3,286,6700,0.00,2.35,0.00,0.000,6,0.000,0.039,3238,1666,2139
$GC,6951,1.12,146.0,396.3,11.0,293,6955,0.00,2.45,0.00,0.000,4,0.000,0.074,3238,251,2137
$GC,6971,1.12,146.0,393.9,11.4,293,6976,0.00,2.33,0.00,0.000,6,0.000,0.042,3238,1656,2137
$GC,7238,1.12,146.0,364.5,11.1,300,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1656,2136
$GC,7484,1.12,146.0,338.6,10.7,306,7488,0.00,2.42,0.00,0.000,4,0.000,0.068,3238,255,2135
$GC,7594,1.12,146.0,325.2,12.2,308,7599,0.00,2.30,0.00,0.000,6,0.000,0.035,3238,1653,2134
$GC,7855,1.12,146.0,300.1,9.6,315,7859,0.00,2.40,0.00,0.000,4,0.000,0.065,3238,254,2133
$GC,7983,1.12,146.0,285.4,11.4,318,7988,0.00,2.28,0.00,0.000,6,0.000,0.035,3238,1667,2133
$GC,8272,1.12,146.0,258.0,9.3,325,8276,0.00,2.35,0.00,0.000,4,0.000,0.057,3238,3063,2133
$GC,8292,1.12,146.0,255.9,10.0,325,8297,0.00,2.35,0.00,0.000,6,0.000,0.044,3238,1659,2132
$GC,8554,1.12,146.0,233.3,8.5,332,8558,0.00,2.40,0.00,0.000,4,0.000,0.069,3237,246,2132
$GC,8675,1.12,146.0,220.3,10.9,334,8683,0.00,2.30,0.00,0.000,6,0.000,0.040,3238,1663,2131
$GC,8929,1.12,146.0,197.9,8.7,341,8933,0.00,2.40,0.00,0.000,4,0.000,0.058,3238,245,2132
$GC,8959,1.12,146.0,194.9,9.6,343,8963,0.00,2.28,0.00,0.000,6,0.000,0.034,3238,1668,2131
$GC,9221,1.13,155.1,172.9,8.1,367,9231,0.00,0.00,5.22,0.535,6,0.000,0.000,3238,1668,2115
$GC,9484,1.17,188.7,152.3,7.2,392,9518,0.00,2.50,29.42,0.651,4,0.000,0.059,3238,249,1978
$GC,9543,1.17,188.7,147.3,9.8,397,9547,0.00,2.28,0.00,0.000,6,0.000,0.031,3238,1661,1977
$GC,9807,1.17,188.7,124.2,8.8,421,9811,0.00,2.38,0.00,0.000,4,0.000,0.057,3238,251,1975
$GC,9836,1.17,188.7,121.4,10.0,423,9840,0.00,2.25,0.00,0.000,6,0.000,0.029,3238,1666,1975
$GC,10098,1.20,213.5,99.8,7.5,447,10125,0.00,2.42,21.98,0.588,4,0.000,0.061,3238,251,1877
$GC,10190,1.20,213.5,90.9,11.0,455,10195,0.00,2.25,0.00,0.000,6,0.000,0.035,3238,1670,1876
$GC,10452,1.20,213.5,65.2,9.9,479,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1673,1874
$GC,10708,1.22,231.1,44.7,7.8,503,10734,0.00,2.30,15.85,0.525,4,0.000,0.039,3238,3054,1804
$GC,10747,1.26,265.0,41.9,7.2,506,10787,0.12,2.28,29.02,0.532,6,0.056,0.044,3281,1644,1667
$GC,11045,1.26,265.0,10.5,9.5,549,11053,0.00,2.33,0.00,0.000,4,0.000,0.051,3281,255,1662
$GC,11066,1.26,265.0,7.8,10.8,552,11075,0.00,2.25,0.00,0.000,6,0.000,0.028,3281,1650,1662
$STATE,11103,end climb,SURFACE_DEPTH_REACHED
$STATE,11103,begin surface coast
$FINISH,0.4,1.023137
$STATE,11126,end surface coast,CONTROL_FINISHED_OK
$STATE,11127,begin surface
$SM_CCo,11144,78.68,0.502,0,0,1159,390.03
$SM_GC,1.48,0.00,0.00,78.68,0.000,0.000,0.502,413,1653,1159,-11.85,-0.48,390.03
$IRIDIUM_FIX,2337.99,-15733.86,011197,050504
$TT8_MAMPS,0.027612
$HUMID,1530
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.40
$XPDR_PINGS,84
$24V_AH,23.7,6.859
$10V_AH,10.2,5.250
$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,26.600,134.825,340.700,78.675,0.000,25.244,31.164,129.900,21.000,0.000,0.000,14.673,1127.331,7429.776,531.238,2100.505,309.853,33.353,1297.089,0.000,1860.589,0.000,0.469
$DEVICE_MAMPS,161.837,74.399,921.167,501.618,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.837,1264.764,434.603,440.461,929.883,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41298,562
$CAP_FILE_SIZE,99149,0
$CFSIZE,260165632,256905216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070808,111411,2350.797,-15731.099,28,3.0,47,10.3