version: 66.04
glider: 147
mission: 3
dive: 273
start: 2 24 109 21 23 45
data:
$ID,147
$MISSION,3
$DIVE,273
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,550
$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,220
$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,400
$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,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23372.244
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3080
$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,1840
$C_ROLL_CLIMB,1760
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$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
$GPS1,211006,2250.432,-15753.478,34,1.3,40,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-68.2
$GPS2,212249,2250.385,-15753.553,8,1.2,13,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT15
$TGT_LATLONG,2251.000,-15754.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.024,0.230
$KALMAN_X,-86288.4,286.9,398.4,124971.0,-803.9
$KALMAN_Y,-17565.5,161.9,385.2,183254.4,-1760.9
$MHEAD_RNG_PITCHd_Wd,355.9,1370,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.25,-121.7,0.0,0.0,0,84,0.00,0.00,-65.30,0.000,2,0.000,0.000,472,1902,2296
$GC,87,-1.25,-121.7,3.2,-3.1,10,136,12.75,2.20,-26.27,0.000,4,0.164,0.044,2801,3257,3038
$GC,181,-1.12,-121.7,10.7,-11.2,25,188,0.12,2.35,0.00,0.000,6,0.100,0.029,2829,1821,3039
$GC,449,-1.00,-121.7,41.9,-11.9,65,454,0.15,2.30,0.00,0.000,4,0.099,0.029,2860,3253,3039
$GC,478,-0.95,-121.7,44.8,-10.3,67,482,0.00,2.28,0.00,0.000,6,0.000,0.028,2860,1834,3039
$GC,741,-0.91,-121.7,70.2,-9.1,91,745,0.10,2.25,0.00,0.000,4,0.100,0.028,2881,3247,3039
$GC,804,-0.96,-121.7,74.6,-6.6,96,808,0.00,2.28,0.00,0.000,6,0.000,0.028,2881,1834,3040
$GC,1066,-0.96,-121.7,95.1,-8.0,120,1070,0.00,2.28,0.00,0.000,4,0.000,0.029,2881,3257,3040
$GC,1095,-1.00,-121.7,97.4,-8.2,122,1099,0.00,2.28,0.00,0.000,6,0.000,0.036,2881,1836,3040
$GC,1358,-1.00,-121.7,118.3,-8.2,146,1362,0.00,2.28,0.00,0.000,4,0.000,0.030,2881,3255,3040
$GC,1385,-1.00,-121.7,120.7,-8.2,148,1389,0.00,2.28,0.00,0.000,6,0.000,0.028,2881,1835,3040
$GC,1648,-1.00,-121.7,143.1,-8.5,172,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1835,3041
$GC,1904,-1.04,-121.7,162.3,-7.0,196,1909,0.12,2.33,0.00,0.000,4,0.047,0.054,2830,438,3041
$GC,1982,-0.95,-121.7,169.9,-9.2,202,1990,0.20,2.20,0.00,0.000,6,0.081,0.021,2874,1867,3041
$GC,2243,-1.00,-121.7,185.0,-5.3,227,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1868,3040
$GC,2497,-1.05,-121.7,203.0,-7.3,248,2502,0.10,2.40,0.00,0.000,4,0.054,0.049,2829,437,3041
$GC,2546,-1.00,-121.7,208.1,-10.4,249,2551,0.15,2.17,0.00,0.000,6,0.088,0.021,2860,1836,3041
$GC,2818,-1.04,-121.7,229.8,-7.7,256,2823,0.00,2.25,0.00,0.000,4,0.000,0.035,2860,3236,3041
$GC,2874,-1.13,-121.7,233.8,-6.6,257,2879,0.12,2.25,0.00,0.000,6,0.048,0.030,2810,1833,3041
$GC,3146,-1.08,-121.7,256.1,-7.9,264,3151,0.15,2.35,0.00,0.000,4,0.084,0.053,2842,435,3041
$GC,3185,-1.08,-121.7,259.0,-7.7,265,3189,0.00,2.20,0.00,0.000,6,0.000,0.023,2842,1840,3041
$GC,3469,-1.11,-121.7,275.3,-5.3,272,3473,0.00,2.30,0.00,0.000,4,0.000,0.041,2842,3247,3041
$GC,3582,-1.20,-121.7,281.5,-5.9,274,3586,0.10,2.28,0.00,0.000,6,0.056,0.035,2797,1847,3041
$GC,3838,-1.14,-121.7,301.8,-8.1,281,3840,0.17,0.00,0.00,0.000,6,0.084,0.000,2834,1847,3041
$GC,4080,-1.14,-121.7,319.8,-7.3,287,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1847,3040
$GC,4324,-1.14,-121.7,337.4,-7.1,293,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1846,3039
$GC,4568,-1.17,-121.7,355.8,-7.7,299,4572,0.00,2.33,0.00,0.000,4,0.000,0.045,2834,3240,3038
$GC,4612,-1.23,-121.7,359.2,-7.8,300,4617,0.10,2.33,0.00,0.000,6,0.058,0.039,2792,1831,3037
$GC,4891,-1.17,-121.7,383.4,-8.8,307,4896,0.15,2.33,0.00,0.000,4,0.087,0.043,2823,3231,3036
$GC,4918,-1.17,-121.7,385.7,-7.8,307,4922,0.00,2.30,0.00,0.000,6,0.000,0.039,2823,1840,3036
$GC,5174,-1.17,-121.7,404.5,-7.5,314,5178,0.00,2.33,0.00,0.000,4,0.000,0.044,2823,3239,3035
$GC,5202,-1.21,-121.7,406.8,-8.3,314,5206,0.00,2.30,0.00,0.000,6,0.000,0.041,2823,1843,3035
$GC,5457,-1.21,-121.7,425.6,-7.4,321,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1843,3034
$GC,5701,-1.21,-121.7,443.5,-7.3,327,5705,0.00,2.33,0.00,0.000,4,0.000,0.048,2823,3233,3032
$GC,5723,-1.24,-121.7,445.1,-7.1,327,5727,0.00,2.33,0.00,0.000,6,0.000,0.044,2823,1839,3031
$GC,5984,-1.24,-121.7,461.2,-5.8,334,5988,0.00,2.33,0.00,0.000,4,0.000,0.049,2823,3231,3030
$GC,6030,-1.29,-121.7,463.9,-5.8,335,6035,0.12,2.33,0.00,0.000,6,0.049,0.047,2776,1842,3030
$GC,6315,-1.21,-121.7,486.9,-8.6,342,6317,0.20,0.00,0.00,0.000,6,0.084,0.000,2817,1842,3028
$STATE,6514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6514,begin apogee
$GC,6520,-0.31,0.0,502.4,7.6,347,6622,0.88,0.00,98.82,0.912,6,0.074,0.000,3010,1748,2540
$STATE,6623,end apogee,CONTROL_FINISHED_OK
$STATE,6623,begin climb
$GC,6625,1.25,121.7,504.9,0.0,349,6737,1.45,2.60,103.82,0.891,4,0.040,0.089,3356,354,2043
$GC,6765,1.00,121.7,497.1,11.7,352,6770,0.30,2.33,0.00,0.000,6,0.107,0.038,3297,1742,2040
$GC,7026,0.98,135.9,475.0,8.3,359,7040,0.00,0.00,12.30,0.803,6,0.000,0.000,3297,1742,1985
$GC,7269,0.99,139.7,453.7,8.8,365,7278,0.00,2.47,4.28,0.584,4,0.000,0.068,3296,351,1970
$GC,7314,0.90,139.7,449.1,11.3,366,7318,0.00,2.33,0.00,0.000,6,0.000,0.033,3297,1765,1969
$GC,7596,0.90,139.7,422.3,9.5,373,7601,0.00,2.47,0.00,0.000,4,0.000,0.064,3297,348,1966
$GC,7675,0.83,139.7,414.0,10.6,374,7682,0.17,2.33,0.00,0.000,6,0.105,0.031,3262,1771,1966
$GC,7925,0.93,161.9,393.6,7.9,381,7950,0.00,2.53,20.20,0.820,4,0.000,0.062,3261,345,1879
$GC,7967,0.97,164.8,390.1,8.9,382,7977,0.12,2.33,4.10,0.551,6,0.056,0.031,3298,1758,1868
$GC,8249,0.97,164.8,361.5,10.0,389,8253,0.00,2.40,0.00,0.000,4,0.000,0.052,3299,3172,1864
$GC,8270,0.97,168.9,359.5,8.8,389,8280,0.00,2.38,4.68,0.600,6,0.000,0.040,3299,1754,1851
$GC,8530,0.97,168.9,334.1,9.8,396,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1754,1849
$GC,8773,0.97,168.9,309.9,10.0,402,8778,0.00,2.45,0.00,0.000,4,0.000,0.071,3298,352,1848
$GC,8874,0.93,168.9,299.4,10.2,404,8878,0.00,2.28,0.00,0.000,6,0.000,0.027,3298,1766,1848
$GC,9146,0.94,177.0,275.5,8.6,411,9156,0.00,0.00,8.07,0.683,6,0.000,0.000,3298,1768,1818
$GC,9390,0.95,188.5,254.7,8.4,417,9403,0.00,0.00,11.12,0.703,6,0.000,0.000,3298,1768,1771
$GC,9634,0.99,188.5,231.6,9.8,423,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1768,1767
$GC,9878,1.06,203.2,210.3,8.3,429,9893,0.00,0.00,13.52,0.683,6,0.000,0.000,3298,1768,1711
$GC,10125,1.19,246.3,192.8,6.9,441,10172,0.17,2.47,38.25,0.691,4,0.043,0.054,3359,352,1533
$GC,10234,1.09,246.3,180.4,13.3,450,10242,0.17,2.30,0.00,0.000,6,0.094,0.025,3320,1762,1530
$GC,10499,1.14,246.3,154.8,9.3,475,10504,0.00,2.42,0.00,0.000,4,0.000,0.054,3319,345,1526
$GC,10633,1.14,246.3,139.5,11.4,486,10640,0.00,2.30,0.00,0.000,6,0.000,0.025,3319,1765,1524
$GC,10896,1.19,246.3,113.8,9.8,511,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1766,1524
$GC,11150,1.23,246.3,88.9,9.8,535,11152,0.12,0.00,0.00,0.000,6,0.051,0.000,3361,1766,1524
$GC,11405,1.19,246.3,58.6,11.8,559,11410,0.10,2.30,0.00,0.000,4,0.106,0.037,3342,3175,1524
$GC,11434,1.19,246.3,55.2,11.9,561,11439,0.00,2.33,0.00,0.000,6,0.000,0.035,3342,1751,1524
$GC,11698,1.19,246.3,25.6,11.1,588,11705,0.00,2.38,0.00,0.000,4,0.000,0.056,3342,359,1524
$GC,11723,1.16,246.3,22.4,12.2,592,11731,0.00,2.22,0.00,0.000,6,0.000,0.021,3341,1773,1524
$STATE,11907,end climb,SURFACE_DEPTH_REACHED
$STATE,11907,begin surface coast
$FINISH,1.5,1.024154
$STATE,11924,end surface coast,CONTROL_FINISHED_OK
$STATE,11924,begin surface
$SM_CCo,11945,126.68,0.511,0,0,908,400.08
$SM_GC,2.12,0.00,0.00,126.68,0.000,0.000,0.511,470,1855,908,-12.01,0.42,400.08
$IRIDIUM_FIX,2244.02,-15754.11,210598,212134
$TT8_MAMPS,0.027612
$HUMID,1809
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,23.50
$XPDR_PINGS,413
$24V_AH,23.9,39.041
$10V_AH,10.2,37.557
$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,30.125,116.525,319.175,126.675,0.000,119.626,110.920,236.282,114.000,0.000,0.000,15.445,1250.943,8657.893,557.249,1677.701,699.491,33.365,1326.388,0.000,1648.487,0.000,68.564,0.000
$DEVICE_MAMPS,164.138,88.972,911.963,510.822,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,445.611,315.249,0.000,510.727,721.867,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44526,629
$CAP_FILE_SIZE,120349,0
$CFSIZE,260165632,244391936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250209,004607,2250.574,-15753.931,30,1.0,31,10.1