version: 66.04
glider: 147
mission: 3
dive: 303
start: 3 1 109 1 46 34
data:
$ID,147
$MISSION,3
$DIVE,303
$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,-23910.408
$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,26
$R_STBD_OVSHOOT,78
$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
$GPS1,013636,2247.983,-15749.724,12,1.2,29,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-62.2
$GPS2,014538,2247.883,-15749.791,12,1.2,12,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT15
$TGT_LATLONG,2251.000,-15754.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.072,0.219
$KALMAN_X,-120645.0,74.6,256.0,166172.8,-1065.0
$KALMAN_Y,-62405.4,131.3,142.8,223730.2,-2227.8
$MHEAD_RNG_PITCHd_Wd,8.2,9215,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.25,-121.7,0.0,0.0,0,85,0.00,0.00,-66.93,0.000,2,0.000,0.000,472,1889,2322
$GC,88,-1.25,-121.7,3.2,-3.2,10,131,12.73,2.17,-24.50,0.000,4,0.163,0.043,2801,3213,3036
$GC,222,-1.13,-121.7,17.8,-13.9,32,229,0.10,2.22,0.00,0.000,6,0.089,0.025,2826,1833,3038
$GC,492,-1.02,-121.7,51.4,-10.6,65,496,0.15,2.20,0.00,0.000,4,0.096,0.027,2857,3207,3039
$GC,523,-0.98,-121.7,54.3,-9.7,67,527,0.00,2.20,0.00,0.000,6,0.000,0.037,2857,1844,3039
$GC,785,-0.94,-121.7,77.4,-8.7,91,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1844,3039
$GC,1042,-0.89,-121.7,100.6,-9.6,115,1047,0.12,2.20,0.00,0.000,4,0.092,0.027,2885,3217,3039
$GC,1072,-0.89,-121.7,103.8,-9.3,117,1076,0.00,2.22,0.00,0.000,6,0.000,0.028,2884,1833,3039
$GC,1337,-0.89,-121.7,128.2,-9.5,141,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1833,3039
$GC,1602,-0.89,-121.7,152.1,-8.0,166,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1832,3039
$GC,1863,-0.94,-121.7,171.8,-7.6,191,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1832,3040
$GC,2119,-1.01,-121.7,185.3,-4.7,215,2123,0.10,2.20,0.00,0.000,4,0.056,0.028,2837,3210,3040
$GC,2136,-1.04,-121.7,186.2,-4.9,216,2140,0.00,2.20,0.00,0.000,6,0.000,0.037,2837,1839,3040
$GC,2415,-1.04,-121.7,206.6,-8.1,236,2419,0.00,2.35,0.00,0.000,4,0.000,0.050,2836,432,3041
$GC,2431,-1.01,-121.7,208.4,-8.6,236,2436,0.10,2.15,0.00,0.000,6,0.094,0.021,2858,1825,3041
$GC,2692,-1.05,-121.7,229.5,-8.1,243,2696,0.00,2.28,0.00,0.000,4,0.000,0.035,2858,3237,3041
$GC,2732,-1.14,-121.7,232.4,-7.3,244,2737,0.12,2.25,0.00,0.000,6,0.048,0.030,2805,1838,3041
$GC,3016,-1.07,-121.7,260.5,-9.7,251,3021,0.17,2.25,0.00,0.000,4,0.081,0.034,2846,3226,3041
$GC,3056,-1.14,-121.7,263.5,-6.7,252,3060,0.00,2.25,0.00,0.000,6,0.000,0.031,2846,1834,3041
$GC,3340,-1.18,-121.7,279.5,-5.2,259,3345,0.12,2.38,0.00,0.000,4,0.048,0.055,2796,430,3041
$GC,3384,-1.10,-121.7,282.8,-8.2,260,3388,0.20,2.20,0.00,0.000,6,0.083,0.024,2838,1829,3041
$GC,3661,-1.10,-121.7,298.2,-5.5,267,3666,0.00,2.38,0.00,0.000,4,0.000,0.056,2838,430,3041
$GC,3678,-1.10,-121.7,299.3,-6.0,267,3682,0.00,2.22,0.00,0.000,6,0.000,0.025,2838,1838,3041
$GC,3945,-1.13,-121.7,315.2,-6.0,274,3949,0.00,2.33,0.00,0.000,4,0.000,0.045,2838,3242,3041
$GC,3978,-1.18,-121.7,317.4,-6.5,274,3984,0.00,2.30,0.00,0.000,6,0.000,0.036,2838,1839,3040
$GC,4228,-1.22,-121.7,333.8,-6.6,281,4230,0.10,0.00,0.00,0.000,6,0.055,0.000,2796,1839,3040
$GC,4472,-1.15,-121.7,353.6,-8.1,287,4477,0.15,2.42,0.00,0.000,4,0.085,0.064,2827,428,3038
$GC,4496,-1.12,-121.7,355.3,-7.8,287,4500,0.00,2.25,0.00,0.000,6,0.000,0.029,2827,1831,3038
$GC,4753,-1.12,-121.7,373.0,-7.0,294,4757,0.00,2.38,0.00,0.000,4,0.000,0.053,2827,3240,3037
$GC,4837,-1.17,-121.7,379.5,-7.8,296,4842,0.00,2.33,0.00,0.000,6,0.000,0.041,2827,1841,3036
$GC,5124,-1.17,-121.7,403.2,-8.6,303,5128,0.00,2.45,0.00,0.000,4,0.000,0.073,2827,434,3035
$GC,5173,-1.17,-121.7,408.2,-9.7,304,5177,0.00,2.28,0.00,0.000,6,0.000,0.033,2827,1843,3034
$GC,5452,-1.17,-121.7,432.3,-8.7,311,5456,0.00,2.38,0.00,0.000,4,0.000,0.058,2827,3240,3034
$GC,5474,-1.21,-121.7,434.3,-8.2,311,5478,0.00,2.33,0.00,0.000,6,0.000,0.041,2827,1843,3033
$GC,5735,-1.24,-121.7,454.2,-7.5,318,5739,0.00,2.35,0.00,0.000,4,0.000,0.047,2827,3245,3032
$GC,5796,-1.29,-121.7,459.0,-7.7,319,5801,0.12,2.35,0.00,0.000,6,0.048,0.044,2780,1844,3032
$GC,6058,-1.22,-121.7,481.3,-8.5,326,6060,0.17,0.00,0.00,0.000,6,0.085,0.000,2816,1843,3031
$GC,6301,-1.22,-121.7,497.1,-6.3,332,6305,0.00,2.38,0.00,0.000,4,0.000,0.054,2816,3242,3029
$STATE,6348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6348,begin apogee
$GC,6357,-0.31,0.0,500.4,6.5,333,6459,0.85,0.00,99.00,0.907,6,0.074,0.000,3008,1760,2540
$STATE,6460,end apogee,CONTROL_FINISHED_OK
$STATE,6460,begin climb
$GC,6463,1.25,121.7,501.9,0.0,335,6575,1.45,2.60,104.93,0.887,4,0.038,0.085,3356,349,2043
$GC,6609,1.00,121.7,492.1,13.1,339,6614,0.30,2.35,0.00,0.000,6,0.105,0.042,3297,1758,2039
$GC,6870,0.99,143.1,470.4,7.9,346,6890,0.00,0.00,18.48,0.833,6,0.000,0.000,3297,1758,1956
$GC,7113,1.01,158.6,450.5,8.2,352,7132,0.00,2.53,14.23,0.811,4,0.000,0.067,3297,348,1893
$GC,7145,0.98,165.4,447.7,8.7,352,7159,0.00,2.35,8.02,0.732,6,0.000,0.038,3297,1766,1864
$GC,7444,0.99,174.9,421.9,8.5,360,7455,0.00,0.00,8.95,0.755,6,0.000,0.000,3297,1768,1827
$GC,7688,0.99,174.9,399.4,9.2,366,7692,0.00,2.47,0.00,0.000,4,0.000,0.062,3297,345,1823
$GC,7738,0.94,174.9,394.6,9.9,367,7742,0.00,2.33,0.00,0.000,6,0.000,0.030,3297,1773,1822
$GC,8010,0.94,174.9,368.4,9.8,374,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1774,1822
$GC,8253,0.94,174.9,342.1,10.8,380,8257,0.00,2.47,0.00,0.000,4,0.000,0.060,3297,340,1820
$GC,8303,0.91,174.9,336.1,12.6,381,8307,0.00,2.30,0.00,0.000,6,0.000,0.028,3297,1761,1820
$GC,8576,0.91,174.9,308.6,10.0,388,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1762,1819
$GC,8819,0.91,174.9,284.7,9.8,394,8823,0.00,2.42,0.00,0.000,4,0.000,0.058,3297,345,1819
$GC,8885,0.88,174.9,277.5,10.8,395,8890,0.12,2.28,0.00,0.000,6,0.109,0.026,3273,1762,1817
$GC,9146,0.99,202.8,257.2,7.6,402,9176,0.00,2.53,23.50,0.740,4,0.000,0.058,3272,348,1712
$GC,9222,1.05,202.8,250.3,10.1,403,9226,0.15,2.30,0.00,0.000,6,0.048,0.027,3317,1771,1710
$GC,9471,1.05,202.8,226.2,9.6,409,9475,0.00,2.33,0.00,0.000,4,0.000,0.045,3317,3168,1707
$GC,9498,1.05,202.8,223.7,9.3,409,9502,0.00,2.35,0.00,0.000,6,0.000,0.038,3317,1749,1707
$GC,9748,1.05,202.8,200.9,9.2,415,9752,0.00,2.42,0.00,0.000,4,0.000,0.066,3318,351,1706
$GC,9803,1.05,202.8,195.2,11.0,417,9810,0.00,2.30,0.00,0.000,6,0.000,0.025,3317,1771,1705
$GC,10068,1.11,223.3,173.8,8.0,442,10093,0.00,2.53,18.17,0.660,4,0.000,0.054,3317,345,1628
$GC,10135,1.11,223.3,167.4,9.6,448,10139,0.00,2.28,0.00,0.000,6,0.000,0.025,3317,1765,1626
$GC,10398,1.21,247.3,147.9,7.8,472,10425,0.10,2.33,21.85,0.634,4,0.058,0.037,3353,3164,1529
$GC,10466,1.25,247.3,141.4,10.0,478,10470,0.00,2.33,0.00,0.000,6,0.000,0.035,3353,1758,1528
$GC,10726,1.25,247.3,114.8,11.0,502,10730,0.00,2.40,0.00,0.000,4,0.000,0.058,3353,347,1525
$GC,10806,1.19,247.3,104.9,13.6,509,10810,0.00,2.25,0.00,0.000,6,0.000,0.022,3353,1771,1524
$GC,11069,1.15,247.3,72.5,12.5,533,11077,0.12,0.00,0.00,0.000,6,0.101,0.000,3328,1772,1523
$GC,11332,1.15,247.3,43.3,10.6,558,11336,0.00,2.28,0.00,0.000,4,0.000,0.038,3328,3161,1523
$GC,11353,1.15,247.3,41.1,9.2,559,11360,0.00,2.33,0.00,0.000,6,0.000,0.033,3328,1758,1523
$GC,11618,1.22,304.9,12.8,6.1,599,11672,0.00,0.00,48.65,0.521,6,0.000,0.000,3328,1758,1296
$STATE,11715,end climb,SURFACE_DEPTH_REACHED
$STATE,11715,begin surface coast
$FINISH,1.6,1.010993
$STATE,11727,end surface coast,CONTROL_FINISHED_OK
$STATE,11727,begin surface
$SM_CCo,11749,79.93,0.509,0,0,908,400.08
$SM_GC,2.12,0.00,0.00,79.93,0.000,0.000,0.509,465,1872,908,-12.02,0.90,400.08
$IRIDIUM_FIX,2239.35,-15800.20,260598,010132
$TT8_MAMPS,0.027612
$HUMID,1847
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.00
$XPDR_PINGS,390
$24V_AH,23.9,42.570
$10V_AH,10.2,40.238
$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,29.275,130.550,365.775,79.925,0.000,57.170,81.059,229.435,108.250,0.000,0.000,14.377,1233.123,8325.845,557.598,1642.294,619.522,33.369,1337.637,0.000,1623.877,0.000,68.546,0.000
$DEVICE_MAMPS,163.371,85.137,907.361,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,439.704,308.178,0.000,495.276,700.053,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44465,617
$CAP_FILE_SIZE,119203,0
$CFSIZE,260165632,242733056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010309,050506,2248.058,-15749.537,38,1.8,44,10.1