version: 66.04
glider: 147
mission: 3
dive: 325
start: 3 4 109 4 37 39
data:
$ID,147
$MISSION,3
$DIVE,325
$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,-24301.805
$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,28
$R_STBD_OVSHOOT,85
$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
$GPS1,043137,2248.817,-15752.631,37,1.0,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-62.6
$GPS2,043643,2248.759,-15752.678,14,1.0,14,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT15
$TGT_LATLONG,2251.000,-15754.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.011,0.231
$KALMAN_X,-128524.8,-378.7,23.9,169763.2,-493.0
$KALMAN_Y,-97898.8,-569.4,62.0,261630.6,-1891.9
$MHEAD_RNG_PITCHd_Wd,352.7,4725,-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,-121.7,0.0,0.0,0,84,0.00,0.00,-66.70,0.000,2,0.000,0.000,475,1886,2301
$GC,87,-1.25,-121.7,3.1,-2.2,10,130,12.52,2.17,-24.62,0.000,4,0.156,0.041,2801,3206,3037
$GC,176,-1.12,-121.7,10.0,-9.4,24,183,0.12,2.25,0.00,0.000,6,0.087,0.033,2832,1836,3039
$GC,443,-1.02,-121.7,39.3,-13.9,66,448,0.12,2.20,0.00,0.000,4,0.101,0.031,2856,3195,3039
$GC,483,-1.02,-121.7,44.9,-14.5,69,487,0.00,2.20,0.00,0.000,6,0.000,0.029,2856,1835,3039
$GC,745,-0.99,-121.7,74.6,-9.7,93,749,0.00,2.20,0.00,0.000,4,0.000,0.029,2857,3203,3040
$GC,814,-0.99,-121.7,80.9,-8.8,99,818,0.00,2.20,0.00,0.000,6,0.000,0.029,2857,1838,3040
$GC,1080,-0.96,-121.7,104.9,-9.0,123,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1837,3041
$GC,1341,-0.96,-121.7,126.5,-8.3,148,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1837,3041
$GC,1596,-0.96,-121.7,149.0,-9.8,172,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1837,3041
$GC,1852,-0.96,-121.7,172.9,-9.1,196,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1837,3042
$GC,2107,-0.96,-121.7,193.5,-6.9,220,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1837,3042
$GC,2375,-0.99,-121.7,208.9,-5.4,234,2378,0.00,2.20,0.00,0.000,4,0.000,0.031,2857,3198,3042
$GC,2392,-1.03,-121.7,209.9,-5.1,234,2400,0.00,2.20,0.00,0.000,6,0.000,0.029,2856,1834,3042
$GC,2667,-1.07,-121.7,226.8,-6.8,241,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1833,3042
$GC,2911,-1.12,-121.7,245.2,-7.7,247,2914,0.00,2.22,0.00,0.000,4,0.000,0.033,2856,3202,3042
$GC,2950,-1.20,-121.7,248.0,-6.9,247,2957,0.17,2.22,0.00,0.000,6,0.038,0.031,2792,1833,3043
$GC,3201,-1.11,-121.7,270.1,-8.6,254,3206,0.20,2.22,0.00,0.000,4,0.082,0.034,2837,3202,3042
$GC,3241,-1.16,-121.7,272.9,-6.5,255,3245,0.00,2.20,0.00,0.000,6,0.000,0.032,2837,1840,3042
$GC,3525,-1.16,-121.7,290.3,-6.3,262,3529,0.00,2.20,0.00,0.000,4,0.000,0.035,2837,3190,3042
$GC,3547,-1.16,-121.7,291.8,-6.2,262,3552,0.00,2.20,0.00,0.000,6,0.000,0.033,2837,1837,3043
$GC,3811,-1.16,-121.7,311.3,-7.8,269,3815,0.00,2.22,0.00,0.000,4,0.000,0.037,2837,3190,3042
$GC,3851,-1.22,-121.7,314.7,-7.6,269,3857,0.10,2.22,0.00,0.000,6,0.054,0.035,2794,1832,3042
$GC,4101,-1.15,-121.7,336.3,-8.5,276,4106,0.15,2.25,0.00,0.000,4,0.088,0.040,2825,3196,3041
$GC,4164,-1.19,-121.7,340.7,-6.4,277,4168,0.00,2.22,0.00,0.000,6,0.000,0.037,2825,1840,3041
$GC,4425,-1.19,-121.7,357.2,-6.2,284,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1840,3040
$GC,4668,-1.19,-121.7,373.9,-7.0,290,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1839,3039
$GC,4913,-1.19,-121.7,392.7,-7.9,296,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1840,3038
$GC,5157,-1.19,-121.7,413.3,-8.6,302,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1839,3037
$GC,5401,-1.19,-121.7,434.0,-8.5,308,5405,0.00,2.30,0.00,0.000,4,0.000,0.051,2825,3188,3036
$GC,5423,-1.22,-121.7,436.0,-8.6,308,5427,0.00,2.25,0.00,0.000,6,0.000,0.044,2825,1847,3036
$GC,5678,-1.22,-121.7,456.5,-7.9,315,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1847,3034
$GC,5923,-1.22,-121.7,474.7,-7.4,321,5927,0.00,2.53,0.00,0.000,4,0.000,0.085,2825,430,3034
$GC,5973,-1.22,-121.7,479.1,-9.0,322,5977,0.00,2.22,0.00,0.000,6,0.000,0.039,2825,1783,3034
$GC,6252,-1.26,-121.7,499.1,-7.1,329,6256,0.00,2.42,0.00,0.000,4,0.000,0.069,2825,3185,3032
$STATE,6266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6266,begin apogee
$GC,6274,-0.31,0.0,500.4,7.1,329,6377,0.80,0.00,99.53,0.904,6,0.069,0.000,3008,1759,2540
$STATE,6378,end apogee,CONTROL_FINISHED_OK
$STATE,6378,begin climb
$GC,6380,1.25,121.7,502.6,0.0,332,6492,1.45,2.60,103.68,0.887,4,0.038,0.081,3355,351,2043
$GC,6543,1.02,121.7,489.1,15.5,336,6548,0.28,2.22,0.00,0.000,6,0.106,0.040,3302,1698,2039
$GC,6833,0.97,121.7,458.1,10.5,343,6837,0.00,2.40,0.00,0.000,4,0.000,0.067,3301,341,2033
$GC,6877,0.86,121.7,452.7,12.4,344,6882,0.17,2.25,0.00,0.000,6,0.107,0.041,3267,1706,2033
$GC,7155,0.90,121.7,426.9,9.1,351,7159,0.00,2.38,0.00,0.000,4,0.000,0.066,3267,351,2030
$GC,7209,0.90,121.7,421.3,9.9,352,7213,0.00,2.20,0.00,0.000,6,0.000,0.031,3267,1701,2030
$GC,7483,0.95,121.7,396.0,9.2,359,7487,0.00,2.40,0.00,0.000,4,0.000,0.052,3267,3110,2028
$GC,7493,1.00,121.7,394.9,9.0,359,7498,0.12,2.28,0.00,0.000,6,0.051,0.038,3307,1743,2028
$GC,7760,0.98,132.0,371.5,8.5,366,7774,0.00,2.50,7.62,0.717,4,0.000,0.070,3307,353,2001
$GC,7804,0.87,132.0,367.7,9.5,367,7809,0.20,2.20,0.00,0.000,6,0.103,0.028,3268,1713,2000
$GC,8087,0.99,177.5,347.9,6.7,374,8131,0.12,0.00,40.75,0.809,6,0.054,0.000,3307,1714,1815
$GC,8371,0.99,177.5,321.2,9.4,381,8375,0.00,2.45,0.00,0.000,4,0.000,0.044,3307,3167,1808
$GC,8421,1.04,187.5,317.0,8.5,382,8435,0.00,2.35,8.70,0.703,6,0.000,0.038,3307,1761,1774
$GC,8698,1.06,202.2,293.6,8.3,389,8713,0.00,0.00,13.68,0.732,6,0.000,0.000,3307,1761,1715
$GC,8941,1.06,202.2,270.8,9.5,395,8946,0.00,2.47,0.00,0.000,4,0.000,0.067,3307,348,1710
$GC,8963,1.06,202.2,268.4,11.0,395,8967,0.00,2.30,0.00,0.000,6,0.000,0.025,3307,1777,1710
$GC,9224,1.06,202.2,239.4,11.5,402,9228,0.00,2.28,0.00,0.000,4,0.000,0.044,3307,3155,1708
$GC,9286,1.13,202.2,232.1,11.1,403,9290,0.00,2.33,0.00,0.000,6,0.000,0.038,3307,1751,1709
$GC,9546,1.13,202.2,205.5,9.6,410,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1751,1708
$GC,9799,1.17,207.5,181.9,8.7,428,9808,0.12,0.00,4.78,0.521,6,0.052,0.000,3348,1751,1694
$GC,10064,1.14,207.5,154.9,10.6,453,10069,0.00,2.40,0.00,0.000,4,0.000,0.061,3349,352,1693
$GC,10143,1.07,207.5,145.3,11.9,459,10150,0.17,2.25,0.00,0.000,6,0.103,0.023,3314,1776,1692
$GC,10407,1.12,207.5,121.6,9.3,484,10412,0.00,2.42,0.00,0.000,4,0.000,0.054,3314,344,1692
$GC,10480,1.12,207.5,113.6,11.1,490,10484,0.00,2.25,0.00,0.000,6,0.000,0.023,3314,1766,1691
$GC,10743,1.21,237.7,91.1,7.5,514,10778,0.12,2.42,27.05,0.593,4,0.052,0.051,3357,346,1570
$GC,10806,1.14,237.7,85.0,11.1,519,10813,0.15,2.28,0.00,0.000,6,0.101,0.024,3328,1769,1567
$GC,11071,1.22,268.6,65.9,7.5,544,11107,0.00,2.47,27.30,0.562,4,0.000,0.052,3327,353,1443
$GC,11156,1.22,268.6,58.4,9.7,551,11164,0.00,2.28,0.00,0.000,6,0.000,0.027,3327,1749,1440
$GC,11419,1.22,268.6,32.5,9.6,576,11423,0.00,2.38,0.00,0.000,4,0.000,0.052,3327,347,1439
$GC,11440,1.22,268.6,29.7,12.2,577,11448,0.00,2.30,0.00,0.000,6,0.000,0.022,3327,1782,1439
$STATE,11681,end climb,SURFACE_DEPTH_REACHED
$STATE,11681,begin surface coast
$FINISH,1.4,1.024360
$STATE,11698,end surface coast,CONTROL_FINISHED_OK
$STATE,11698,begin surface
$SM_CCo,11720,109.43,0.512,0,0,908,400.08
$SM_GC,2.25,0.00,0.00,109.43,0.000,0.000,0.512,466,1881,908,-12.02,1.16,400.08
$IRIDIUM_FIX,2239.35,-15754.99,290598,010144
$TT8_MAMPS,0.027612
$HUMID,1843
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.80
$XPDR_PINGS,361
$24V_AH,23.9,45.190
$10V_AH,10.2,42.219
$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,28.875,115.100,333.075,109.425,0.000,28.082,29.413,130.701,101.000,0.000,0.000,16.086,1228.257,8280.742,551.750,1654.411,426.682,33.367,1308.536,0.000,1620.743,0.000,68.553,0.000
$DEVICE_MAMPS,156.468,101.244,904.293,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,437.569,322.998,0.000,519.253,734.104,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44522,624
$CAP_FILE_SIZE,110238,0
$CFSIZE,260165632,241504256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,075558,2249.077,-15753.141,9,2.6,29,10.1