version: 66.03
glider: 148
mission: 6
dive: 15
start: 8 15 108 7 19 14
data:
$ID,148
$MISSION,6
$DIVE,15
$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,-6420.7158
$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,24
$R_STBD_OVSHOOT,40
$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
$GPS1,071101,2254.116,-15756.675,36,0.8,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-62.6
$GPS2,071820,2254.166,-15756.716,10,0.9,10,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT3
$TGT_LATLONG,2251.000,-15748.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.204,-0.123
$KALMAN_X,-8126.3,522.6,129.1,7902.4,-749.8
$KALMAN_Y,17372.1,-584.2,667.0,-6206.8,804.6
$MHEAD_RNG_PITCHd_Wd,110.9,15989,-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,-61.62,0.000,2,0.000,0.000,414,1664,2713
$GC,85,-1.14,-136.3,3.2,-3.8,8,118,12.27,2.30,-13.40,0.000,4,0.159,0.066,2734,256,3305
$GC,153,-1.14,-136.3,14.1,-14.3,18,161,0.00,2.22,0.00,0.000,6,0.000,0.022,2734,1671,3306
$GC,422,-1.14,-136.3,50.8,-13.2,53,426,0.00,2.22,0.00,0.000,4,0.000,0.041,2735,3070,3306
$GC,468,-1.14,-136.3,57.0,-12.2,57,472,0.00,2.25,0.00,0.000,6,0.000,0.031,2734,1658,3306
$GC,730,-1.14,-136.3,85.2,-9.8,81,734,0.00,2.25,0.00,0.000,4,0.000,0.047,2735,266,3307
$GC,763,-1.14,-136.3,88.9,-10.6,84,767,0.00,2.17,0.00,0.000,6,0.000,0.022,2735,1672,3307
$GC,1023,-1.14,-136.3,114.1,-9.7,108,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1674,3308
$GC,1278,-1.14,-136.3,137.5,-9.4,132,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1675,3308
$GC,1533,-1.14,-136.3,161.5,-9.5,156,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1675,3308
$GC,1788,-1.14,-136.3,185.9,-10.2,180,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1675,3308
$GC,2070,-1.14,-136.3,210.9,-8.6,198,2074,0.00,2.22,0.00,0.000,4,0.000,0.035,2734,3076,3308
$GC,2096,-1.14,-136.3,213.4,-9.5,198,2100,0.00,2.25,0.00,0.000,6,0.000,0.029,2734,1676,3308
$GC,2352,-1.14,-136.3,233.3,-7.7,205,2356,0.00,2.30,0.00,0.000,4,0.000,0.047,2734,258,3308
$GC,2417,-1.14,-136.3,238.5,-7.3,206,2422,0.00,2.20,0.00,0.000,6,0.000,0.024,2735,1665,3308
$GC,2678,-1.14,-136.3,255.5,-6.8,213,2682,0.00,2.22,0.00,0.000,4,0.000,0.035,2734,3069,3309
$GC,2767,-1.14,-136.3,262.7,-8.6,215,2772,0.00,2.25,0.00,0.000,6,0.000,0.038,2734,1672,3309
$GC,3050,-1.14,-136.3,286.8,-8.2,222,3054,0.00,2.22,0.00,0.000,4,0.000,0.038,2734,3065,3308
$GC,3077,-1.14,-136.3,289.1,-8.5,222,3081,0.00,2.25,0.00,0.000,6,0.000,0.041,2734,1674,3308
$GC,3338,-1.14,-136.3,307.1,-6.6,229,3342,0.00,2.33,0.00,0.000,4,0.000,0.055,2734,262,3308
$GC,3382,-1.14,-136.3,310.4,-7.3,230,3386,0.00,2.20,0.00,0.000,6,0.000,0.027,2735,1656,3308
$GC,3665,-1.14,-136.3,328.6,-6.5,237,3669,0.00,2.28,0.00,0.000,4,0.000,0.042,2734,3070,3307
$GC,3726,-1.14,-136.3,333.1,-7.6,238,3730,0.00,2.28,0.00,0.000,6,0.000,0.043,2734,1676,3307
$GC,3992,-1.14,-136.3,351.0,-6.7,245,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1675,3306
$GC,4236,-1.14,-136.3,366.6,-6.5,251,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1675,3305
$GC,4480,-1.14,-136.3,382.8,-6.4,257,4484,0.00,2.28,0.00,0.000,4,0.000,0.044,2734,3070,3304
$GC,4540,-1.14,-136.3,386.3,-5.6,258,4544,0.00,2.28,0.00,0.000,6,0.000,0.038,2734,1667,3304
$GC,4812,-1.14,-136.3,400.9,-5.4,265,4816,0.00,2.30,0.00,0.000,4,0.000,0.050,2734,3065,3302
$GC,4839,-1.14,-136.3,402.3,-5.4,265,4843,0.00,2.30,0.00,0.000,6,0.000,0.040,2734,1671,3302
$GC,5100,-1.14,-136.3,415.5,-5.0,272,5104,0.00,2.30,0.00,0.000,4,0.000,0.048,2734,3067,3300
$GC,5172,-1.14,-136.3,419.2,-4.9,273,5176,0.00,2.30,0.00,0.000,6,0.000,0.041,2734,1675,3300
$GC,5427,-1.14,-136.3,431.1,-4.7,280,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1675,3299
$GC,5671,-1.14,-136.3,444.2,-5.6,286,5675,0.00,2.30,0.00,0.000,4,0.000,0.057,2734,3065,3297
$GC,5704,-1.14,-136.3,446.3,-6.3,286,5710,0.00,2.33,0.00,0.000,6,0.000,0.044,2734,1647,3297
$GC,5953,-1.14,-136.3,461.7,-6.2,293,5957,0.00,2.35,0.00,0.000,4,0.000,0.058,2735,3068,3296
$GC,5980,-1.14,-136.3,463.4,-6.7,293,5984,0.00,2.33,0.00,0.000,6,0.000,0.044,2734,1671,3295
$GC,6241,-1.14,-136.3,477.6,-5.3,300,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1671,3293
$GC,6485,-1.14,-136.3,489.8,-5.0,306,6489,0.00,2.33,0.00,0.000,4,0.000,0.054,2734,3061,3293
$GC,6534,-1.14,-136.3,492.3,-5.3,307,6538,0.00,2.33,0.00,0.000,6,0.000,0.046,2734,1670,3292
$GC,6812,-1.14,-136.3,507.1,-5.3,314,6816,0.00,2.33,0.00,0.000,4,0.000,0.053,2734,3065,3291
$GC,6843,-1.14,-136.3,509.0,-5.5,314,6850,0.00,2.33,0.00,0.000,6,0.000,0.050,2734,1672,3291
$STATE,6889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6889,begin apogee
$GC,6892,-0.31,0.0,511.3,5.1,316,7004,0.85,0.00,108.80,0.932,6,0.087,0.000,2922,1672,2748
$STATE,7005,end apogee,CONTROL_FINISHED_OK
$STATE,7005,begin climb
$GC,7007,1.14,136.3,512.8,0.0,318,7125,1.33,0.00,113.97,0.904,6,0.051,0.000,3236,1672,2193
$GC,7336,1.14,136.3,479.0,13.6,327,7340,0.00,2.50,0.00,0.000,4,0.000,0.079,3236,249,2185
$GC,7384,1.14,136.3,471.5,15.2,328,7389,0.00,2.33,0.00,0.000,6,0.000,0.038,3236,1650,2184
$GC,7662,1.14,136.3,435.7,12.8,335,7666,0.00,2.42,0.00,0.000,4,0.000,0.064,3236,247,2181
$GC,7778,1.14,136.3,419.9,13.6,337,7782,0.00,2.33,0.00,0.000,6,0.000,0.035,3236,1659,2180
$GC,8033,1.14,136.3,390.2,11.5,344,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1659,2178
$GC,8277,1.14,136.3,361.2,12.2,350,8281,0.00,2.38,0.00,0.000,4,0.000,0.064,3236,3069,2176
$GC,8316,1.14,136.3,357.0,11.5,351,8320,0.00,2.35,0.00,0.000,6,0.000,0.044,3236,1652,2175
$GC,8598,1.14,136.3,328.1,10.0,358,8599,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1652,2174
$GC,8842,1.14,136.3,301.2,11.4,364,8846,0.00,2.35,0.00,0.000,4,0.000,0.055,3236,3064,2174
$GC,8851,1.14,136.3,299.9,11.4,364,8856,0.00,2.33,0.00,0.000,6,0.000,0.039,3236,1663,2173
$GC,9124,1.14,136.3,272.1,10.3,371,9128,0.00,2.40,0.00,0.000,4,0.000,0.072,3236,255,2172
$GC,9239,1.14,136.3,261.1,9.6,373,9244,0.00,2.28,0.00,0.000,6,0.000,0.028,3236,1673,2172
$GC,9495,1.14,136.3,239.8,8.5,380,9499,0.00,2.30,0.00,0.000,4,0.000,0.052,3236,3061,2172
$GC,9641,1.14,136.3,226.2,9.0,383,9645,0.00,2.30,0.00,0.000,6,0.000,0.039,3236,1649,2170
$GC,9906,1.14,136.3,203.4,8.9,390,9910,0.00,2.33,0.00,0.000,4,0.000,0.054,3236,247,2170
$GC,10034,1.14,136.3,190.2,12.4,399,10038,0.00,2.22,0.00,0.000,6,0.000,0.028,3236,1663,2170
$GC,10295,1.16,149.2,167.3,8.0,423,10309,0.00,2.35,8.55,0.601,4,0.000,0.057,3236,251,2139
$GC,10422,1.16,149.2,154.9,10.7,434,10426,0.00,2.22,0.00,0.000,6,0.000,0.027,3236,1668,2139
$GC,10682,1.16,151.8,132.4,8.4,458,10696,0.00,2.40,3.88,0.420,4,0.000,0.054,3236,252,2130
$GC,10730,1.16,151.8,127.8,10.0,462,10734,0.00,2.22,0.00,0.000,6,0.000,0.034,3236,1667,2130
$GC,10990,1.16,151.8,105.4,8.7,486,10994,0.00,2.35,0.00,0.000,4,0.000,0.051,3236,247,2129
$GC,11009,1.16,151.8,104.1,8.6,487,11013,0.00,2.22,0.00,0.000,6,0.000,0.030,3236,1668,2130
$GC,11273,1.17,159.1,81.6,8.2,511,11287,0.00,2.40,8.23,0.516,4,0.000,0.056,3236,253,2100
$GC,11321,1.17,159.1,76.4,10.4,515,11331,0.00,2.22,0.00,0.000,6,0.000,0.031,3236,1652,2099
$GC,11585,1.21,191.6,55.2,7.1,540,11624,0.00,2.38,28.35,0.551,4,0.000,0.057,3236,253,1965
$GC,11683,1.21,191.6,46.4,9.8,548,11687,0.00,2.22,0.00,0.000,6,0.000,0.026,3236,1666,1964
$GC,11949,1.23,211.1,25.4,7.7,577,11973,0.10,2.28,17.40,0.511,4,0.064,0.040,3274,3061,1887
$GC,12003,1.23,211.1,20.3,9.8,585,12011,0.00,2.30,0.00,0.000,6,0.000,0.035,3274,1660,1885
$STATE,12167,end climb,SURFACE_DEPTH_REACHED
$STATE,12167,begin surface coast
$FINISH,0.6,1.010020
$STATE,12203,end surface coast,CONTROL_FINISHED_OK
$STATE,12204,begin surface
$SM_CCo,12222,106.72,0.503,0,0,1076,410.14
$SM_GC,1.35,0.00,0.00,106.72,0.000,0.000,0.503,415,1656,1076,-11.84,-0.40,410.14
$IRIDIUM_FIX,2246.36,-15758.45,091197,030347
$TT8_MAMPS,0.026845
$HUMID,1569
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.30
$XPDR_PINGS,151
$24V_AH,23.7,13.789
$10V_AH,10.1,12.061
$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,26.250,133.150,289.175,106.725,0.000,25.667,28.125,265.531,37.750,0.000,0.000,11.986,1227.855,8419.513,522.541,2049.310,530.196,33.351,1328.831,0.000,2077.583,0.000,0.469
$DEVICE_MAMPS,158.769,79.001,931.905,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.605,414.302,689.120,508.291,1048.349,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47685,620
$CAP_FILE_SIZE,253070,0
$CFSIZE,260165632,257249280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150808,104556,2253.822,-15755.537,38,1.3,38,10.1