version: 66.04
glider: 147
mission: 3
dive: 321
start: 3 3 109 15 1 6
data:
$ID,147
$MISSION,3
$DIVE,321
$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,-24238.725
$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,25
$R_STBD_OVSHOOT,50
$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
$GPS1,145437,2248.191,-15750.167,36,1.0,37,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-60.6
$GPS2,150008,2248.129,-15750.197,11,1.4,11,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT15
$TGT_LATLONG,2251.000,-15754.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.074,0.219
$KALMAN_X,-126850.5,409.0,211.6,171384.3,-1086.4
$KALMAN_Y,-90572.1,126.3,369.5,252133.2,-2213.1
$MHEAD_RNG_PITCHd_Wd,8.5,8389,-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,15,-1.25,-121.7,0.0,0.0,0,84,0.00,0.00,-66.15,0.000,2,0.000,0.000,464,1864,2302
$GC,87,-1.25,-121.7,3.3,-2.6,10,136,12.68,2.25,-26.58,0.000,4,0.160,0.041,2802,3240,3037
$GC,188,-1.12,-121.7,10.4,-10.7,26,195,0.12,2.30,0.00,0.000,6,0.087,0.029,2832,1831,3038
$GC,463,-1.02,-121.7,38.8,-10.4,68,467,0.12,2.25,0.00,0.000,4,0.102,0.027,2856,3238,3039
$GC,484,-0.95,-121.7,41.4,-10.6,69,491,0.00,2.28,0.00,0.000,6,0.000,0.028,2856,1840,3039
$GC,747,-0.90,-121.7,70.2,-12.7,94,748,0.12,0.00,0.00,0.000,6,0.097,0.000,2883,1840,3040
$GC,1000,-0.90,-121.7,92.6,-8.0,118,1004,0.00,2.25,0.00,0.000,4,0.000,0.030,2883,3239,3040
$GC,1028,-0.95,-121.7,94.9,-8.1,120,1032,0.00,2.25,0.00,0.000,6,0.000,0.030,2883,1841,3041
$GC,1298,-0.99,-121.7,114.0,-6.7,145,1302,0.00,2.35,0.00,0.000,4,0.000,0.049,2883,427,3041
$GC,1320,-1.02,-121.7,116.0,-7.0,146,1327,0.08,2.22,0.00,0.000,6,0.038,0.021,2836,1853,3040
$GC,1585,-0.97,-121.7,139.1,-8.8,171,1592,0.15,2.20,0.00,0.000,4,0.084,0.029,2868,3233,3041
$GC,1614,-1.01,-121.7,141.8,-7.4,173,1620,0.00,2.25,0.00,0.000,6,0.000,0.031,2868,1832,3041
$GC,1876,-1.05,-121.7,161.2,-7.0,198,1880,0.00,2.22,0.00,0.000,4,0.000,0.029,2868,3225,3041
$GC,1895,-1.09,-121.7,162.3,-7.3,199,1900,0.12,2.22,0.00,0.000,6,0.048,0.034,2817,1834,3041
$GC,2160,-1.01,-121.7,186.1,-8.9,223,2164,0.17,2.22,0.00,0.000,4,0.085,0.028,2857,3223,3041
$GC,2188,-1.01,-121.7,188.4,-7.1,225,2192,0.00,2.22,0.00,0.000,6,0.000,0.029,2856,1836,3041
$GC,2462,-1.01,-121.7,205.5,-6.2,245,2466,0.00,2.35,0.00,0.000,4,0.000,0.051,2856,428,3041
$GC,2495,-1.01,-121.7,207.8,-7.3,245,2501,0.00,2.17,0.00,0.000,6,0.000,0.021,2857,1835,3041
$GC,2745,-1.05,-121.7,224.4,-6.8,252,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1836,3041
$GC,2989,-1.09,-121.7,240.1,-6.3,258,2993,0.00,2.28,0.00,0.000,4,0.000,0.036,2857,3237,3041
$GC,3031,-1.17,-121.7,242.3,-5.7,259,3036,0.15,2.25,0.00,0.000,6,0.043,0.031,2797,1838,3041
$GC,3315,-1.09,-121.7,266.2,-8.7,266,3319,0.20,2.38,0.00,0.000,4,0.084,0.054,2843,427,3041
$GC,3336,-1.06,-121.7,268.1,-8.1,266,3341,0.00,2.20,0.00,0.000,6,0.000,0.022,2843,1835,3041
$GC,3592,-1.09,-121.7,285.1,-6.8,273,3597,0.00,2.38,0.00,0.000,4,0.000,0.054,2843,432,3041
$GC,3622,-1.09,-121.7,287.4,-7.8,273,3626,0.00,2.22,0.00,0.000,6,0.000,0.025,2843,1844,3041
$GC,3872,-1.13,-121.7,306.9,-7.8,279,3876,0.00,2.30,0.00,0.000,4,0.000,0.045,2843,3236,3041
$GC,3934,-1.21,-121.7,311.8,-7.3,280,3939,0.12,2.28,0.00,0.000,6,0.048,0.035,2793,1840,3041
$GC,4195,-1.14,-121.7,335.5,-9.2,287,4197,0.17,0.00,0.00,0.000,6,0.084,0.000,2830,1840,3040
$GC,4439,-1.14,-121.7,356.0,-8.6,293,4443,0.00,2.33,0.00,0.000,4,0.000,0.045,2830,3239,3039
$GC,4472,-1.18,-121.7,359.0,-8.6,293,4478,0.00,2.30,0.00,0.000,6,0.000,0.038,2829,1840,3039
$GC,4721,-1.18,-121.7,381.7,-9.1,300,4725,0.00,2.30,0.00,0.000,4,0.000,0.043,2830,3237,3038
$GC,4738,-1.18,-121.7,383.3,-9.4,300,4742,0.00,2.30,0.00,0.000,6,0.000,0.039,2830,1840,3038
$GC,5004,-1.18,-121.7,406.2,-8.4,307,5008,0.00,2.30,0.00,0.000,4,0.000,0.044,2830,3229,3037
$GC,5032,-1.23,-121.7,408.5,-8.2,307,5037,0.00,2.30,0.00,0.000,6,0.000,0.049,2829,1845,3037
$GC,5283,-1.26,-121.7,426.9,-7.5,313,5285,0.12,0.00,0.00,0.000,6,0.049,0.000,2781,1844,3035
$GC,5526,-1.19,-121.7,450.6,-9.9,319,5528,0.17,0.00,0.00,0.000,6,0.084,0.000,2818,1844,3035
$GC,5770,-1.19,-121.7,470.5,-8.1,325,5774,0.00,2.35,0.00,0.000,4,0.000,0.053,2818,3235,3034
$GC,5803,-1.22,-121.7,473.4,-8.7,325,5809,0.00,2.35,0.00,0.000,6,0.000,0.049,2818,1842,3033
$GC,6055,-1.22,-121.7,493.8,-8.1,332,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1842,3033
$STATE,6172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6172,begin apogee
$GC,6178,-0.31,0.0,503.0,7.7,335,6280,0.88,0.00,98.95,0.902,6,0.073,0.000,3011,1751,2540
$STATE,6281,end apogee,CONTROL_FINISHED_OK
$STATE,6281,begin climb
$GC,6284,1.25,121.7,505.1,0.0,337,6395,1.42,2.65,102.97,0.884,4,0.038,0.091,3356,351,2043
$GC,6435,1.01,121.7,494.2,14.4,340,6440,0.28,2.33,0.00,0.000,6,0.105,0.037,3302,1742,2039
$GC,6690,0.97,121.7,466.5,10.9,347,6694,0.00,2.47,0.00,0.000,4,0.000,0.069,3302,347,2034
$GC,6734,0.87,121.7,461.0,12.6,348,6739,0.17,2.35,0.00,0.000,6,0.108,0.041,3268,1764,2033
$GC,7012,0.91,121.7,435.1,9.3,355,7016,0.00,2.50,0.00,0.000,4,0.000,0.066,3268,344,2030
$GC,7072,0.91,121.7,428.9,9.9,356,7076,0.00,2.35,0.00,0.000,6,0.000,0.032,3268,1771,2030
$GC,7340,0.97,132.2,406.1,8.5,363,7350,0.10,0.00,8.23,0.736,6,0.061,0.000,3301,1771,2000
$GC,7582,0.97,132.2,383.1,9.3,369,7587,0.00,2.47,0.00,0.000,4,0.000,0.062,3301,345,1997
$GC,7638,0.89,132.2,376.6,11.7,370,7643,0.12,2.33,0.00,0.000,6,0.111,0.029,3278,1774,1996
$GC,7905,0.95,142.9,353.4,8.5,377,7920,0.00,2.50,10.40,0.747,4,0.000,0.061,3278,346,1956
$GC,7954,0.95,142.9,348.8,9.4,378,7958,0.00,2.30,0.00,0.000,6,0.000,0.027,3277,1764,1954
$GC,8233,1.06,202.7,330.6,6.0,385,8291,0.15,2.55,51.67,0.795,4,0.049,0.060,3322,343,1711
$GC,8303,0.98,202.7,325.2,9.3,386,8308,0.15,2.33,0.00,0.000,6,0.108,0.027,3294,1764,1710
$GC,8552,1.00,217.3,304.0,8.3,392,8571,0.00,2.53,12.70,0.726,4,0.000,0.059,3294,348,1653
$GC,8596,1.00,217.3,299.9,10.3,393,8600,0.00,2.30,0.00,0.000,6,0.000,0.028,3294,1764,1652
$GC,8880,1.04,217.3,270.7,10.9,400,8884,0.00,2.45,0.00,0.000,4,0.000,0.058,3294,344,1648
$GC,8923,1.04,217.3,264.7,13.6,401,8927,0.00,2.30,0.00,0.000,6,0.000,0.027,3294,1766,1648
$GC,9207,1.09,217.3,233.3,10.9,408,9212,0.10,2.45,0.00,0.000,4,0.060,0.057,3328,340,1646
$GC,9240,1.02,217.3,229.3,13.0,408,9247,0.12,2.30,0.00,0.000,6,0.110,0.032,3304,1770,1646
$GC,9490,1.06,217.3,202.5,10.6,415,9494,0.00,2.33,0.00,0.000,4,0.000,0.043,3304,3170,1646
$GC,9512,1.12,217.3,200.0,10.6,415,9516,0.00,2.35,0.00,0.000,6,0.000,0.038,3304,1749,1646
$GC,9781,1.18,221.2,174.8,8.8,440,9785,0.15,2.40,0.00,0.000,4,0.048,0.063,3351,356,1645
$GC,9844,1.09,221.2,167.2,12.5,445,9849,0.17,2.25,0.00,0.000,6,0.100,0.025,3316,1769,1645
$GC,10110,1.13,223.9,143.8,8.9,469,10122,0.00,2.28,5.78,0.531,4,0.000,0.035,3316,3160,1626
$GC,10168,1.23,223.9,137.9,9.1,474,10172,0.12,2.33,0.00,0.000,6,0.051,0.036,3360,1747,1626
$GC,10432,1.19,223.9,107.3,12.1,498,10436,0.00,2.30,0.00,0.000,4,0.000,0.033,3359,3161,1625
$GC,10476,1.19,223.9,101.6,12.6,501,10482,0.00,2.30,0.00,0.000,6,0.000,0.035,3360,1761,1625
$GC,10738,1.19,223.9,71.4,10.7,526,10742,0.00,2.40,0.00,0.000,4,0.000,0.058,3360,347,1625
$GC,10768,1.10,223.9,68.2,11.5,528,10773,0.20,2.22,0.00,0.000,6,0.096,0.021,3319,1770,1625
$GC,11032,1.16,223.9,44.4,9.7,552,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1772,1625
$GC,11287,1.23,244.1,21.5,8.0,586,11309,0.12,0.00,18.35,0.523,6,0.049,0.000,3364,1772,1545
$STATE,11446,end climb,SURFACE_DEPTH_REACHED
$STATE,11446,begin surface coast
$FINISH,1.4,1.024504
$STATE,11458,end surface coast,CONTROL_FINISHED_OK
$STATE,11458,begin surface
$SM_CCo,11480,129.55,0.513,0,0,909,400.08
$SM_GC,2.19,0.00,0.00,129.55,0.000,0.000,0.513,463,1881,909,-12.04,1.16,400.08
$IRIDIUM_FIX,2239.35,-15731.98,280598,111139
$TT8_MAMPS,0.027612
$HUMID,1853
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,22.70
$XPDR_PINGS,385
$ALTIM_BOTTOM_PING,140.0,6.9
$24V_AH,23.9,44.701
$10V_AH,10.2,41.853
$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,30.675,139.675,309.050,129.550,0.000,27.344,30.324,163.255,98.250,0.000,0.000,13.093,1224.491,8060.529,569.140,1627.860,468.163,33.395,1334.648,0.000,1613.756,0.000,15.702,0.000
$DEVICE_MAMPS,159.536,95.108,901.992,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,435.258,314.846,0.000,522.717,739.178,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44441,616
$CAP_FILE_SIZE,116394,0
$CFSIZE,260165632,241721344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030309,181555,2248.156,-15749.923,39,1.5,40,10.1