version: 66.04
glider: 147
mission: 3
dive: 30
start: 1 23 109 6 13 47
data:
$ID,147
$MISSION,3
$DIVE,30
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,500
$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,185
$T_MISSION,300
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52633
$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,2130
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18637.287
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,2540
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.10227
$PRESSURE_SLOPE,0.00011648
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042839935
$SEABIRD_T_H,0.00062826771
$SEABIRD_T_I,2.331103e-05
$SEABIRD_T_J,2.4629044e-06
$SEABIRD_C_G,-9.8388109
$SEABIRD_C_H,1.1014243
$SEABIRD_C_I,-0.00163139
$SEABIRD_C_J,0.00020565242
$GPS1,060454,2131.610,-15824.472,36,1.3,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-67.7
$GPS2,061250,2131.720,-15824.506,12,1.2,12,9.8
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT4
$TGT_LATLONG,2134.000,-15830.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.226,-0.049
$KALMAN_X,23571.7,107.7,88.3,-37787.0,-363.8
$KALMAN_Y,15881.6,-111.8,157.0,4602.2,1829.5
$MHEAD_RNG_PITCHd_Wd,247.9,10362,-17.6,-9.009
$D_GRID,500
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.25,-121.7,0.0,0.0,0,96,0.00,0.00,-79.00,0.000,2,0.000,0.000,471,2052,2501
$GC,99,-1.25,-121.7,3.6,-3.7,10,132,11.98,2.22,-14.73,0.000,4,0.146,0.043,2739,3464,3036
$GC,269,-1.00,-121.7,33.5,-17.4,37,278,0.25,2.30,0.00,0.000,6,0.092,0.030,2794,2037,3038
$GC,534,-0.80,-121.7,73.8,-15.9,62,538,0.20,2.30,0.00,0.000,4,0.102,0.048,2839,644,3038
$GC,621,-0.73,-121.7,87.2,-13.5,69,628,0.10,2.22,0.00,0.000,6,0.104,0.025,2858,2056,3038
$GC,884,-0.73,-121.7,111.9,-8.3,94,888,0.00,2.35,0.00,0.000,4,0.000,0.051,2858,642,3039
$GC,1017,-0.73,-121.7,124.1,-8.6,105,1021,0.00,2.22,0.00,0.000,6,0.000,0.026,2858,2058,3039
$GC,1282,-0.77,-121.7,144.3,-7.5,129,1285,0.00,2.35,0.00,0.000,4,0.000,0.053,2858,640,3039
$GC,1433,-0.81,-121.7,157.4,-8.5,142,1437,0.00,2.22,0.00,0.000,6,0.000,0.029,2858,2052,3039
$GC,1698,-0.87,-121.7,178.3,-7.4,166,1703,0.12,2.35,0.00,0.000,4,0.052,0.055,2813,647,3040
$GC,1741,-0.80,-121.7,182.1,-9.4,169,1746,0.15,2.20,0.00,0.000,6,0.089,0.026,2845,2050,3040
$GC,2002,-0.84,-121.7,203.9,-8.3,190,2006,0.00,2.35,0.00,0.000,4,0.000,0.054,2845,648,3040
$GC,2114,-0.88,-121.7,214.3,-8.8,192,2118,0.00,2.22,0.00,0.000,6,0.000,0.028,2844,2050,3040
$GC,2370,-0.93,-121.7,232.3,-6.7,199,2375,0.12,2.38,0.00,0.000,4,0.052,0.055,2803,639,3040
$GC,2459,-0.87,-121.7,240.9,-9.9,201,2463,0.12,2.25,0.00,0.000,6,0.094,0.029,2828,2050,3040
$GC,2742,-0.87,-121.7,263.2,-7.9,208,2746,0.00,2.35,0.00,0.000,4,0.000,0.057,2828,649,3040
$GC,2815,-0.87,-121.7,269.6,-8.4,209,2819,0.00,2.25,0.00,0.000,6,0.000,0.029,2828,2057,3039
$GC,3075,-0.87,-121.7,290.0,-7.8,216,3080,0.00,2.40,0.00,0.000,4,0.000,0.060,2827,641,3038
$GC,3165,-0.87,-121.7,298.2,-8.9,218,3169,0.00,2.28,0.00,0.000,6,0.000,0.032,2828,2056,3038
$GC,3448,-0.90,-121.7,317.3,-6.3,225,3452,0.00,2.40,0.00,0.000,4,0.000,0.061,2828,644,3036
$GC,3526,-0.90,-121.7,322.9,-7.7,226,3532,0.00,2.28,0.00,0.000,6,0.000,0.031,2828,2059,3036
$GC,3777,-0.94,-121.7,341.8,-7.8,233,3781,0.00,2.40,0.00,0.000,4,0.000,0.062,2827,652,3035
$GC,3868,-0.99,-121.7,349.4,-8.0,235,3874,0.12,2.25,0.00,0.000,6,0.054,0.032,2786,2049,3034
$GC,4153,-0.95,-121.7,374.5,-8.8,242,4157,0.12,2.40,0.00,0.000,4,0.094,0.064,2811,651,3033
$GC,4201,-0.95,-121.7,379.1,-9.3,243,4206,0.00,2.28,0.00,0.000,6,0.000,0.032,2812,2047,3033
$GC,4482,-0.95,-121.7,401.3,-8.1,250,4486,0.00,2.42,0.00,0.000,4,0.000,0.068,2811,644,3031
$GC,4604,-0.95,-121.7,412.7,-9.2,252,4611,0.00,2.28,0.00,0.000,6,0.000,0.035,2812,2050,3031
$GC,4855,-0.95,-121.7,432.3,-7.6,259,4859,0.00,2.42,0.00,0.000,4,0.000,0.070,2811,652,3029
$GC,4939,-0.95,-121.7,439.2,-7.6,261,4943,0.00,2.28,0.00,0.000,6,0.000,0.036,2812,2055,3029
$GC,5222,-0.95,-121.7,461.6,-7.7,268,5227,0.00,2.45,-0.08,0.000,4,0.000,0.085,2811,646,3047
$GC,5325,-0.95,-121.7,470.0,-8.4,270,5329,0.00,2.30,0.00,0.000,6,0.000,0.038,2812,2051,3047
$GC,5596,-0.95,-121.7,488.6,-6.6,277,5601,0.00,2.47,0.00,0.000,4,0.000,0.077,2812,650,3046
$GC,5652,-0.95,-121.7,492.7,-7.5,278,5656,0.00,2.30,0.00,0.000,6,0.000,0.039,2811,2051,3046
$STATE,5760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5760,begin apogee
$GC,5765,-0.31,0.0,500.1,6.8,281,5870,0.65,0.00,102.32,0.907,6,0.080,0.000,2952,2051,2540
$STATE,5871,end apogee,CONTROL_FINISHED_OK
$STATE,5871,begin climb
$GC,5873,1.25,121.7,502.3,0.0,283,5983,1.48,0.00,103.62,0.884,6,0.055,0.000,3289,2051,2043
$GC,6242,1.22,127.7,475.6,8.7,292,6252,0.00,2.53,5.30,0.651,4,0.000,0.076,3289,649,2019
$GC,6325,1.14,127.7,467.4,10.0,294,6330,0.10,2.33,0.00,0.000,6,0.122,0.036,3270,2060,2017
$GC,6608,1.17,151.1,445.0,7.8,301,6634,0.00,2.53,21.25,0.838,4,0.000,0.071,3270,655,1923
$GC,6718,1.17,151.1,434.0,10.8,303,6722,0.00,2.30,0.00,0.000,6,0.000,0.033,3270,2059,1920
$GC,6979,1.17,151.1,408.1,9.7,310,6983,0.00,2.45,0.00,0.000,4,0.000,0.067,3270,653,1918
$GC,7089,1.17,151.1,396.4,10.7,312,7094,0.00,2.30,0.00,0.000,6,0.000,0.031,3270,2046,1918
$GC,7356,1.17,157.2,372.8,8.7,319,7367,0.00,2.45,6.05,0.679,4,0.000,0.064,3270,644,1898
$GC,7456,1.17,157.2,363.3,9.4,321,7460,0.00,2.33,0.00,0.000,6,0.000,0.030,3270,2058,1897
$GC,7729,1.22,165.5,339.7,8.6,328,7743,0.00,2.47,8.62,0.731,4,0.000,0.062,3270,659,1865
$GC,7777,1.22,165.5,335.2,9.5,329,7782,0.00,2.28,0.00,0.000,6,0.000,0.029,3270,2062,1864
$GC,8062,1.30,187.3,312.4,7.9,336,8087,0.15,2.47,20.08,0.779,4,0.056,0.062,3312,652,1775
$GC,8216,1.21,187.3,295.2,10.8,339,8221,0.15,2.28,0.00,0.000,6,0.113,0.028,3284,2063,1771
$GC,8471,1.25,187.3,272.4,9.2,346,8475,0.00,2.42,0.00,0.000,4,0.000,0.061,3283,651,1769
$GC,8593,1.25,187.3,259.3,10.2,348,8599,0.00,2.28,0.00,0.000,6,0.000,0.028,3284,2050,1768
$GC,8844,1.31,195.5,237.8,8.6,355,8858,0.00,2.47,7.32,0.647,4,0.000,0.058,3283,646,1742
$GC,8941,1.31,195.5,227.5,10.6,357,8946,0.00,2.28,0.00,0.000,6,0.000,0.027,3283,2051,1741
$GC,9220,1.38,197.4,202.2,8.9,364,9225,0.15,2.40,0.00,0.000,4,0.054,0.057,3327,641,1739
$GC,9366,1.31,197.4,185.8,10.7,374,9373,0.12,2.25,0.00,0.000,6,0.115,0.028,3304,2051,1739
$GC,9629,1.36,200.0,163.6,8.9,399,9643,0.00,2.40,5.10,0.527,4,0.000,0.055,3303,655,1723
$GC,9747,1.36,200.0,151.9,10.9,409,9751,0.00,2.22,0.00,0.000,6,0.000,0.026,3303,2056,1722
$GC,10010,1.42,200.0,126.6,9.4,433,10015,0.10,2.35,0.00,0.000,4,0.064,0.054,3336,642,1722
$GC,10103,1.36,200.0,116.5,11.3,441,10107,0.00,2.22,0.00,0.000,6,0.000,0.027,3336,2049,1722
$GC,10365,1.36,200.0,90.0,9.9,465,10369,0.00,2.35,0.00,0.000,4,0.000,0.054,3336,648,1721
$GC,10562,1.36,200.0,71.5,10.1,482,10570,0.00,2.25,0.00,0.000,6,0.000,0.025,3336,2052,1721
$GC,10827,1.41,212.7,50.2,8.4,507,10844,0.00,2.40,12.45,0.524,4,0.000,0.053,3336,637,1672
$GC,10952,1.41,212.7,37.5,10.5,518,10956,0.00,2.25,0.00,0.000,6,0.000,0.026,3336,2056,1670
$GC,11219,1.41,212.7,11.7,9.5,559,11228,0.00,2.38,0.00,0.000,4,0.000,0.051,3336,652,1670
$STATE,11326,end climb,SURFACE_DEPTH_REACHED
$STATE,11326,begin surface coast
$FINISH,1.2,1.001987
$STATE,11349,end surface coast,CONTROL_FINISHED_OK
$STATE,11351,begin surface
$SM_CCo,11373,176.73,0.499,0,0,786,430.01
$SM_GC,1.72,0.00,0.00,176.73,0.000,0.000,0.499,473,2061,786,-11.72,0.28,430.01
$IRIDIUM_FIX,2122.58,-15824.82,190498,020202
$TT8_MAMPS,0.027612
$HUMID,1653
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.10
$XPDR_PINGS,397
$24V_AH,23.8,10.738
$10V_AH,10.2,6.218
$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,Compass2
$DEVICE_SECS,28.100,140.025,292.125,176.725,0.000,30.392,29.562,272.478,110.000,0.000,0.000,13.849,1255.469,7374.160,576.844,2249.542,557.404,33.359,1484.508,0.000,2217.589,0.000,69.675,0.000
$DEVICE_MAMPS,145.730,85.137,907.361,499.317,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,422.682,291.728,453.368,469.455,991.153,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44564,582
$CAP_FILE_SIZE,123963,0
$CFSIZE,260165632,257986560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230109,092727,2132.498,-15825.816,15,1.5,33,9.8