version: 66.03
glider: 148
mission: 4
dive: 37
start: 8 7 108 20 59 9
data:
$ID,148
$MISSION,4
$DIVE,37
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4627.9536
$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,27
$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
$GPS1,205355,2353.949,-15731.237,23,1.6,40,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-62.0
$GPS2,205815,2353.960,-15731.197,15,1.5,15,10.3
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT7
$TGT_LATLONG,2400.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.172,0.165
$KALMAN_X,65679.2,-187.7,-247.4,-68123.5,2365.8
$KALMAN_Y,7161.3,251.6,-191.1,9844.2,-291.2
$MHEAD_RNG_PITCHd_Wd,303.6,11368,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.14,-136.3,0.0,0.0,0,81,0.00,0.00,-61.08,0.000,2,0.000,0.000,414,1648,2806
$GC,83,-1.14,-136.3,3.5,-4.7,8,116,12.30,2.30,-10.48,0.000,4,0.159,0.046,2734,3053,3308
$GC,281,-1.14,-136.3,36.4,-15.3,39,285,0.00,2.25,0.00,0.000,6,0.000,0.035,2734,1661,3309
$GC,544,-1.14,-136.3,76.9,-13.8,63,548,0.00,2.33,0.00,0.000,4,0.000,0.057,2734,246,3310
$GC,606,-1.14,-136.3,85.2,-12.4,68,610,0.00,2.22,0.00,0.000,6,0.000,0.026,2734,1668,3310
$GC,868,-1.14,-136.3,118.7,-12.9,92,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1670,3310
$GC,1122,-1.14,-136.3,147.9,-11.2,116,1126,0.00,2.33,0.00,0.000,4,0.000,0.055,2734,256,3311
$GC,1154,-1.14,-136.3,152.2,-11.7,118,1163,0.00,2.22,0.00,0.000,6,0.000,0.026,2734,1661,3311
$GC,1417,-1.14,-136.3,180.2,-10.8,143,1421,0.00,2.33,0.00,0.000,4,0.000,0.050,2734,251,3311
$GC,1502,-1.14,-136.3,189.5,-9.9,150,1512,0.00,2.22,0.00,0.000,6,0.000,0.026,2734,1662,3311
$GC,1790,-1.14,-136.3,214.5,-8.7,166,1794,0.00,2.33,0.00,0.000,4,0.000,0.052,2734,255,3312
$GC,1811,-1.14,-136.3,216.8,-10.0,166,1816,0.00,2.22,0.00,0.000,6,0.000,0.027,2734,1668,3312
$GC,2072,-1.14,-136.3,238.1,-8.1,173,2076,0.00,2.35,0.00,0.000,4,0.000,0.056,2734,254,3312
$GC,2132,-1.14,-136.3,243.9,-9.5,174,2137,0.00,2.22,0.00,0.000,6,0.000,0.028,2734,1655,3312
$GC,2401,-1.14,-136.3,267.2,-8.7,181,2405,0.00,2.25,0.00,0.000,4,0.000,0.037,2734,3066,3311
$GC,2415,-1.14,-136.3,268.8,-8.9,181,2420,0.00,2.28,0.00,0.000,6,0.000,0.042,2734,1666,3312
$GC,2684,-1.14,-136.3,291.5,-8.4,188,2688,0.00,2.35,0.00,0.000,4,0.000,0.065,2734,256,3312
$GC,2727,-1.14,-136.3,295.5,-8.9,189,2731,0.00,2.22,0.00,0.000,6,0.000,0.031,2734,1647,3312
$GC,3013,-1.14,-136.3,317.3,-7.6,196,3017,0.00,2.28,0.00,0.000,4,0.000,0.047,2734,3064,3311
$GC,3039,-1.14,-136.3,319.7,-8.5,196,3044,0.00,2.30,0.00,0.000,6,0.000,0.045,2734,1665,3311
$GC,3294,-1.14,-136.3,339.6,-8.0,203,3298,0.00,2.38,0.00,0.000,4,0.000,0.070,2734,254,3310
$GC,3337,-1.14,-136.3,343.6,-8.8,204,3342,0.00,2.25,0.00,0.000,6,0.000,0.041,2734,1648,3309
$GC,3623,-1.14,-136.3,366.0,-7.8,211,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1648,3307
$GC,3865,-1.14,-136.3,384.9,-7.8,217,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1648,3306
$GC,4109,-1.14,-136.3,402.9,-7.2,223,4113,0.00,2.33,0.00,0.000,4,0.000,0.049,2734,3068,3305
$GC,4147,-1.14,-136.3,405.7,-6.6,224,4151,0.00,2.33,0.00,0.000,6,0.000,0.044,2734,1654,3305
$GC,4432,-1.14,-136.3,425.2,-6.8,231,4436,0.00,2.38,0.00,0.000,4,0.000,0.071,2734,256,3304
$GC,4520,-1.14,-136.3,432.1,-7.9,233,4524,0.00,2.28,0.00,0.000,6,0.000,0.044,2734,1653,3303
$GC,4803,-1.14,-136.3,452.1,-7.1,240,4807,0.00,2.35,0.00,0.000,4,0.000,0.055,2734,3071,3301
$GC,4857,-1.14,-136.3,455.9,-6.5,241,4862,0.00,2.35,0.00,0.000,6,0.000,0.048,2734,1667,3301
$GC,5130,-1.14,-136.3,474.6,-6.8,248,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1667,3299
$GC,5375,-1.14,-136.3,489.8,-6.2,254,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1667,3298
$GC,5617,-1.14,-136.3,504.2,-5.8,260,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1667,3297
$STATE,5737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5738,begin apogee
$GC,5741,-0.31,0.0,511.4,6.0,263,5854,0.88,0.00,109.85,0.920,6,0.103,0.000,2921,1667,2749
$STATE,5855,end apogee,CONTROL_FINISHED_OK
$STATE,5855,begin climb
$GC,5857,1.14,136.3,512.5,0.0,265,5974,1.38,0.00,113.88,0.891,6,0.061,0.000,3240,1666,2192
$GC,6185,1.14,136.3,481.9,12.2,274,6189,0.00,2.53,0.00,0.000,4,0.000,0.078,3240,242,2185
$GC,6224,1.14,136.3,476.7,14.1,275,6228,0.00,2.33,0.00,0.000,6,0.000,0.047,3240,1642,2183
$GC,6507,1.14,136.3,445.6,10.6,282,6511,0.00,2.45,0.00,0.000,4,0.000,0.071,3239,3057,2180
$GC,6521,1.14,136.3,443.9,10.0,282,6526,0.00,2.40,0.00,0.000,6,0.000,0.047,3240,1649,2180
$GC,6788,1.14,136.3,416.8,10.2,289,6792,0.00,2.47,0.00,0.000,4,0.000,0.083,3240,245,2179
$GC,6875,1.14,136.3,406.0,12.7,291,6880,0.00,2.33,0.00,0.000,6,0.000,0.044,3240,1648,2178
$GC,7159,1.14,136.3,373.7,11.4,298,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1648,2176
$GC,7402,1.14,136.3,346.2,11.4,304,7406,0.00,2.42,0.00,0.000,4,0.000,0.066,3240,243,2175
$GC,7428,1.14,136.3,342.8,13.3,304,7433,0.00,2.30,0.00,0.000,6,0.000,0.037,3240,1645,2174
$GC,7686,1.14,136.3,315.3,10.7,311,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1645,2174
$GC,7928,1.14,136.3,290.9,9.9,317,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1645,2173
$GC,8171,1.14,136.3,267.8,9.4,323,8176,0.00,2.40,0.00,0.000,4,0.000,0.063,3240,243,2173
$GC,8248,1.14,136.3,259.4,11.4,324,8256,0.00,2.30,0.00,0.000,6,0.000,0.032,3239,1660,2172
$GC,8501,1.14,136.3,234.9,9.8,331,8505,0.00,2.42,0.00,0.000,4,0.000,0.067,3240,238,2172
$GC,8549,1.14,136.3,229.1,11.8,332,8554,0.00,2.28,0.00,0.000,6,0.000,0.031,3240,1646,2171
$GC,8827,1.14,136.3,202.6,9.1,339,8831,0.00,2.38,0.00,0.000,4,0.000,0.060,3240,241,2171
$GC,8837,1.14,136.3,201.7,8.6,339,8841,0.00,2.28,0.00,0.000,6,0.000,0.031,3240,1650,2171
$GC,9102,1.16,148.1,181.2,8.0,362,9115,0.00,2.40,7.53,0.606,4,0.000,0.059,3240,241,2144
$GC,9215,1.16,148.1,170.2,10.1,372,9219,0.00,2.25,0.00,0.000,6,0.000,0.031,3240,1653,2144
$GC,9478,1.16,150.9,149.2,8.4,396,9491,0.00,2.42,4.00,0.452,4,0.000,0.063,3240,245,2133
$GC,9560,1.16,150.9,141.4,9.9,403,9564,0.00,2.25,0.00,0.000,6,0.000,0.035,3240,1663,2133
$GC,9822,1.19,178.2,120.6,7.3,427,9852,0.00,2.33,24.42,0.621,4,0.000,0.041,3240,3047,2021
$GC,9904,1.19,178.2,114.1,8.9,434,9908,0.00,2.30,0.00,0.000,6,0.000,0.039,3240,1644,2019
$GC,10166,1.19,178.2,92.2,8.7,458,10170,0.00,2.30,0.00,0.000,4,0.000,0.047,3240,3049,2019
$GC,10184,1.21,195.3,90.8,7.8,459,10211,0.00,2.28,15.60,0.575,6,0.000,0.044,3240,1648,1951
$GC,10465,1.26,230.9,67.9,7.0,485,10504,0.10,2.38,31.05,0.568,4,0.064,0.056,3276,246,1806
$GC,10528,1.26,230.9,62.2,10.3,490,10532,0.00,2.25,0.00,0.000,6,0.000,0.028,3276,1658,1805
$GC,10792,1.26,230.9,36.9,9.9,514,10796,0.00,2.38,0.00,0.000,4,0.000,0.054,3276,242,1801
$GC,10812,1.26,230.9,34.1,11.1,515,10822,0.00,2.25,0.00,0.000,6,0.000,0.026,3276,1652,1801
$GC,11081,1.26,230.9,8.4,10.1,560,11089,0.00,2.38,0.00,0.000,4,0.000,0.054,3276,248,1801
$GC,11108,1.26,230.9,5.1,11.5,564,11116,0.00,2.22,0.00,0.000,6,0.000,0.027,3276,1648,1801
$STATE,11127,end climb,SURFACE_DEPTH_REACHED
$STATE,11127,begin surface coast
$FINISH,0.7,1.023076
$STATE,11151,end surface coast,CONTROL_FINISHED_OK
$STATE,11151,begin surface
$SM_CCo,11169,92.88,0.509,0,0,1158,390.03
$SM_GC,1.56,0.00,0.00,92.88,0.000,0.000,0.509,416,1652,1158,-11.84,-0.25,390.03
$IRIDIUM_FIX,2345.05,-15732.96,011197,171740
$TT8_MAMPS,0.027612
$HUMID,1526
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.30
$XPDR_PINGS,94
$24V_AH,23.7,7.260
$10V_AH,10.2,5.677
$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,26.400,125.275,306.325,92.875,0.000,24.365,34.447,118.114,23.500,0.000,0.000,16.578,1122.851,7392.500,523.111,2177.292,315.901,33.356,1265.470,0.000,1825.660,0.000,0.468
$DEVICE_MAMPS,158.769,82.836,919.633,508.521,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.529,1616.026,444.725,450.603,951.560,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41355,571
$CAP_FILE_SIZE,96404,0
$CFSIZE,260165632,256704512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080808,000807,2354.949,-15731.521,36,1.3,41,10.3