version: 66.03
glider: 148
mission: 6
dive: 14
start: 8 15 108 3 44 2
data:
$ID,148
$MISSION,6
$DIVE,14
$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,300
$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,410
$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,-6408.0991
$T_RSLEEP,3
$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,30
$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
$GPS1,033608,2254.333,-15757.423,37,1.0,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.7
$GPS2,034308,2254.381,-15757.437,8,1.2,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT3
$TGT_LATLONG,2251.000,-15748.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.115,-0.209
$KALMAN_X,-7478.6,419.1,-259.2,6510.9,110.8
$KALMAN_Y,15156.7,76.1,111.8,-3696.5,1923.0
$MHEAD_RNG_PITCHd_Wd,141.0,17279,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-1.14,-136.3,0.0,0.0,0,82,0.00,0.00,-61.83,0.000,2,0.000,0.000,416,1652,2703
$GC,85,-1.14,-136.3,3.0,-3.4,8,118,12.27,2.28,-13.82,0.000,4,0.158,0.063,2735,262,3305
$GC,181,-1.14,-136.3,16.5,-13.0,23,189,0.00,2.22,0.00,0.000,6,0.000,0.023,2735,1670,3306
$GC,454,-1.14,-136.3,53.9,-12.9,57,458,0.00,2.22,0.00,0.000,4,0.000,0.036,2735,3078,3307
$GC,483,-1.14,-136.3,57.6,-12.8,59,487,0.00,2.25,0.00,0.000,6,0.000,0.029,2735,1664,3307
$GC,747,-1.14,-136.3,88.0,-12.2,83,751,0.00,2.25,0.00,0.000,4,0.000,0.044,2735,266,3307
$GC,767,-1.14,-136.3,91.0,-11.6,84,777,0.00,2.20,0.00,0.000,6,0.000,0.021,2735,1678,3307
$GC,1030,-1.14,-136.3,119.8,-10.9,109,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1680,3308
$GC,1287,-1.14,-136.3,146.5,-10.5,133,1291,0.00,2.17,0.00,0.000,4,0.000,0.032,2735,3063,3309
$GC,1317,-1.14,-136.3,149.6,-9.9,135,1321,0.00,2.22,0.00,0.000,6,0.000,0.030,2735,1661,3309
$GC,1577,-1.14,-136.3,174.8,-9.9,159,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1660,3309
$GC,1831,-1.14,-136.3,200.0,-9.1,183,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1661,3309
$GC,2086,-1.14,-136.3,221.1,-8.0,190,2090,0.00,2.22,0.00,0.000,4,0.000,0.031,2735,3068,3309
$GC,2101,-1.14,-136.3,222.4,-7.7,190,2105,0.00,2.25,0.00,0.000,6,0.000,0.028,2736,1665,3309
$GC,2368,-1.14,-136.3,242.9,-7.7,197,2372,0.00,2.22,0.00,0.000,4,0.000,0.031,2735,3069,3309
$GC,2394,-1.14,-136.3,245.1,-7.9,197,2399,0.00,2.25,0.00,0.000,6,0.000,0.029,2735,1670,3309
$GC,2650,-1.14,-136.3,264.2,-7.3,204,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1670,3309
$GC,2894,-1.14,-136.3,281.0,-6.8,210,2897,0.00,2.20,0.00,0.000,4,0.000,0.042,2736,3061,3309
$GC,2971,-1.14,-136.3,286.1,-6.3,211,2975,0.00,2.25,0.00,0.000,6,0.000,0.041,2735,1672,3309
$GC,3226,-1.14,-136.3,302.3,-6.6,218,3230,0.00,2.20,0.00,0.000,4,0.000,0.043,2735,3060,3309
$GC,3247,-1.14,-136.3,303.9,-7.3,218,3251,0.00,2.25,0.00,0.000,6,0.000,0.037,2735,1669,3309
$GC,3514,-1.14,-136.3,320.8,-6.3,225,3518,0.00,2.33,0.00,0.000,4,0.000,0.058,2735,264,3309
$GC,3540,-1.14,-136.3,322.5,-6.6,225,3544,0.00,2.20,0.00,0.000,6,0.000,0.026,2735,1657,3309
$GC,3795,-1.14,-136.3,337.1,-5.6,232,3799,0.00,2.28,0.00,0.000,4,0.000,0.041,2735,3075,3308
$GC,3823,-1.14,-136.3,338.9,-6.1,232,3828,0.00,2.25,0.00,0.000,6,0.000,0.043,2736,1671,3308
$GC,4072,-1.14,-136.3,353.5,-6.0,238,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1671,3306
$GC,4316,-1.14,-136.3,367.7,-5.6,244,4320,0.00,2.35,0.00,0.000,4,0.000,0.061,2735,260,3306
$GC,4342,-1.14,-136.3,369.3,-5.9,244,4346,0.00,2.22,0.00,0.000,6,0.000,0.035,2735,1661,3305
$GC,4598,-1.14,-136.3,382.5,-5.4,251,4602,0.00,2.28,0.00,0.000,4,0.000,0.045,2735,3071,3303
$GC,4630,-1.14,-136.3,384.7,-6.2,251,4634,0.00,2.30,0.00,0.000,6,0.000,0.043,2736,1669,3304
$GC,4886,-1.14,-136.3,401.7,-6.8,258,4890,0.00,2.28,0.00,0.000,4,0.000,0.044,2735,3065,3302
$GC,4925,-1.14,-136.3,404.3,-6.5,259,4929,0.00,2.28,0.00,0.000,6,0.000,0.039,2735,1665,3302
$GC,5208,-1.14,-136.3,421.7,-6.0,266,5212,0.00,2.30,0.00,0.000,4,0.000,0.053,2735,3067,3300
$GC,5268,-1.14,-136.3,425.6,-6.2,267,5272,0.00,2.30,0.00,0.000,6,0.000,0.047,2735,1672,3300
$GC,5535,-1.14,-136.3,441.3,-5.9,274,5539,0.00,2.30,0.00,0.000,4,0.000,0.047,2736,3069,3298
$GC,5600,-1.14,-136.3,445.5,-6.2,275,5605,0.00,2.30,0.00,0.000,6,0.000,0.047,2736,1677,3298
$GC,5862,-1.14,-136.3,458.8,-5.0,282,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1677,3296
$GC,6105,-1.14,-136.3,470.0,-4.5,288,6109,0.00,2.30,0.00,0.000,4,0.000,0.052,2735,3066,3296
$GC,6132,-1.14,-136.3,471.0,-4.4,288,6136,0.00,2.30,0.00,0.000,6,0.000,0.048,2735,1677,3295
$GC,6387,-1.14,-136.3,482.5,-4.6,295,6391,0.00,2.30,0.00,0.000,4,0.000,0.057,2735,3065,3294
$GC,6408,-1.14,-136.3,483.5,-5.0,295,6413,0.00,2.30,0.00,0.000,6,0.000,0.046,2735,1677,3294
$GC,6675,-1.14,-136.3,496.2,-4.8,302,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1677,3293
$GC,6919,-1.14,-136.3,508.7,-5.1,308,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1677,3291
$STATE,6958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6958,begin apogee
$GC,6961,-0.31,0.0,510.8,5.1,309,7074,0.85,0.00,108.97,0.931,6,0.087,0.000,2923,1676,2748
$STATE,7074,end apogee,CONTROL_FINISHED_OK
$STATE,7074,begin climb
$GC,7076,1.14,136.3,513.0,0.0,311,7197,1.33,0.00,113.65,0.905,6,0.050,0.000,3237,1677,2192
$GC,7440,1.14,136.3,480.9,12.2,320,7444,0.00,2.50,0.00,0.000,4,0.000,0.078,3237,249,2184
$GC,7640,1.14,136.3,453.1,14.6,324,7645,0.00,2.30,0.00,0.000,6,0.000,0.035,3237,1640,2182
$GC,7901,1.14,136.3,421.2,12.3,331,7905,0.00,2.42,0.00,0.000,4,0.000,0.062,3237,3063,2180
$GC,7933,1.14,136.3,417.1,12.5,331,7940,0.00,2.35,0.00,0.000,6,0.000,0.042,3237,1664,2178
$GC,8183,1.14,136.3,387.0,12.1,338,8187,0.00,2.38,0.00,0.000,4,0.000,0.052,3238,3067,2177
$GC,8304,1.14,136.3,371.5,11.5,340,8311,0.00,2.35,0.00,0.000,6,0.000,0.046,3237,1663,2176
$GC,8554,1.14,136.3,344.4,10.4,347,8558,0.00,2.42,0.00,0.000,4,0.000,0.069,3237,254,2175
$GC,8659,1.14,136.3,331.7,12.7,349,8664,0.00,2.28,0.00,0.000,6,0.000,0.038,3237,1658,2174
$GC,8926,1.14,136.3,304.4,9.8,356,8930,0.00,2.40,0.00,0.000,4,0.000,0.060,3237,250,2174
$GC,8980,1.14,136.3,298.6,10.7,357,8985,0.00,2.28,0.00,0.000,6,0.000,0.030,3237,1660,2173
$GC,9253,1.14,136.3,270.8,10.3,364,9257,0.00,2.35,0.00,0.000,4,0.000,0.061,3237,3062,2173
$GC,9357,1.14,136.3,261.2,9.0,366,9362,0.00,2.33,0.00,0.000,6,0.000,0.038,3237,1656,2171
$GC,9624,1.15,143.8,239.0,8.2,373,9628,0.00,2.30,0.00,0.000,4,0.000,0.044,3237,3058,2171
$GC,9702,1.17,162.5,233.3,7.7,374,9727,0.00,2.30,19.77,0.717,6,0.000,0.037,3237,1656,2086
$GC,9994,1.17,162.5,203.8,10.9,382,9998,0.00,2.33,0.00,0.000,4,0.000,0.060,3237,254,2082
$GC,10184,1.17,162.5,182.0,11.1,396,10193,0.00,2.25,0.00,0.000,6,0.000,0.028,3237,1666,2082
$GC,10447,1.17,162.5,159.1,9.0,421,10451,0.00,2.35,0.00,0.000,4,0.000,0.058,3238,248,2081
$GC,10498,1.17,162.5,153.6,11.1,425,10502,0.00,2.22,0.00,0.000,6,0.000,0.034,3237,1667,2081
$GC,10760,1.17,162.5,128.5,10.3,449,10764,0.00,2.33,0.00,0.000,4,0.000,0.054,3237,256,2081
$GC,10798,1.17,162.5,124.0,12.1,452,10802,0.00,2.20,0.00,0.000,6,0.000,0.026,3238,1665,2082
$GC,11058,1.17,162.5,98.9,8.9,476,11062,0.00,2.33,0.00,0.000,4,0.000,0.057,3238,256,2081
$GC,11099,1.17,162.5,95.2,10.5,479,11103,0.00,2.20,0.00,0.000,6,0.000,0.029,3238,1665,2082
$GC,11361,1.22,199.3,75.0,6.9,503,11395,0.00,0.00,31.88,0.571,6,0.000,0.000,3237,1666,1936
$GC,11649,1.23,209.3,51.9,8.1,530,11661,0.00,0.00,9.62,0.502,6,0.000,0.000,3238,1667,1894
$GC,11914,1.23,209.3,29.5,9.0,555,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1667,1893
$GC,12191,1.23,209.3,3.3,9.0,604,12199,0.00,2.28,0.00,0.000,4,0.000,0.042,3237,3054,1893
$STATE,12206,end climb,SURFACE_DEPTH_REACHED
$STATE,12206,begin surface coast
$FINISH,1.0,1.023113
$STATE,12213,end surface coast,CONTROL_FINISHED_OK
$STATE,12214,begin surface
$SM_CCo,12234,108.00,0.503,0,0,1077,410.14
$SM_GC,1.37,0.00,0.00,108.00,0.000,0.000,0.503,414,1663,1077,-11.85,-0.17,410.14
$IRIDIUM_FIX,2244.02,-15751.06,091197,000023
$TT8_MAMPS,0.027612
$HUMID,1565
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.60
$XPDR_PINGS,130
$24V_AH,23.7,13.682
$10V_AH,10.1,11.948
$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,26.000,132.550,283.900,108.000,0.000,28.715,26.049,244.855,32.500,0.000,0.000,15.231,1211.239,8491.979,517.294,2035.267,488.322,33.350,1315.414,0.000,2069.459,0.000,0.470
$DEVICE_MAMPS,158.002,78.234,931.138,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,447.278,365.550,656.678,501.385,1035.194,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44507,607
$CAP_FILE_SIZE,247648,0
$CFSIZE,260165632,257339392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150808,071101,2254.116,-15756.675,36,0.8,41,10.1