version: 66.04
glider: 147
mission: 3
dive: 48
start: 1 25 109 14 21 18
data:
$ID,147
$MISSION,3
$DIVE,48
$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,460
$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,-19029.936
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3010
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,31
$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
$GPS1,140424,2150.880,-15830.762,39,1.3,40,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-61.3
$GPS2,142022,2151.029,-15830.672,14,99.0,33,9.9
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT8
$TGT_LATLONG,2200.000,-15829.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.083,0.216
$KALMAN_X,37852.4,943.7,-254.8,-63194.6,17.3
$KALMAN_Y,54964.4,-616.2,-1139.4,3103.5,2999.3
$MHEAD_RNG_PITCHd_Wd,11.1,16860,-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,-121.7,0.0,0.0,0,97,0.00,0.00,-79.55,0.000,2,0.000,0.000,471,1999,2374
$GC,100,-1.25,-121.7,3.2,-3.2,10,141,11.95,2.25,-22.08,0.000,4,0.147,0.043,2730,3423,3037
$GC,243,-0.95,-121.7,25.1,-20.7,33,250,0.28,2.30,0.00,0.000,6,0.093,0.029,2799,1994,3037
$GC,510,-0.76,-121.7,65.7,-14.0,60,514,0.20,2.30,0.00,0.000,4,0.095,0.045,2843,587,3037
$GC,600,-0.68,-121.7,76.9,-11.0,68,604,0.00,2.22,0.00,0.000,6,0.000,0.022,2843,2012,3037
$GC,862,-0.63,-121.7,104.5,-11.1,92,867,0.12,2.35,0.00,0.000,4,0.095,0.048,2870,596,3037
$GC,917,-0.66,-121.7,111.5,-12.4,96,926,0.00,2.22,0.00,0.000,6,0.000,0.023,2870,1998,3037
$GC,1182,-0.70,-121.7,138.6,-9.4,121,1186,0.00,2.33,0.00,0.000,4,0.000,0.049,2870,598,3038
$GC,1229,-0.70,-121.7,143.2,-10.0,125,1233,0.00,2.20,0.00,0.000,6,0.000,0.023,2870,2008,3038
$GC,1492,-0.74,-121.7,165.1,-7.9,149,1496,0.00,2.35,0.00,0.000,4,0.000,0.051,2870,596,3038
$GC,1556,-0.78,-121.7,170.5,-8.6,154,1561,0.15,2.20,0.00,0.000,6,0.045,0.025,2816,2000,3038
$GC,1820,-0.73,-121.7,197.6,-9.6,178,1825,0.17,2.35,0.00,0.000,4,0.085,0.051,2852,592,3038
$GC,1863,-0.73,-121.7,201.5,-8.3,181,1867,0.00,2.22,0.00,0.000,6,0.000,0.026,2852,2003,3038
$GC,2147,-0.73,-121.7,224.6,-8.4,188,2151,0.00,2.35,0.00,0.000,4,0.000,0.055,2851,601,3038
$GC,2241,-0.73,-121.7,233.0,-9.5,190,2245,0.00,2.22,0.00,0.000,6,0.000,0.026,2852,1987,3038
$GC,2519,-0.78,-121.7,254.9,-7.6,197,2523,0.00,2.33,0.00,0.000,4,0.000,0.054,2852,601,3038
$GC,2587,-0.83,-121.7,260.0,-7.3,198,2592,0.00,2.20,0.00,0.000,6,0.000,0.026,2851,2002,3038
$GC,2847,-0.90,-121.7,278.8,-7.4,205,2852,0.17,2.38,0.00,0.000,4,0.043,0.055,2794,593,3037
$GC,2982,-0.84,-121.7,292.2,-10.7,208,2987,0.15,2.25,0.00,0.000,6,0.089,0.030,2824,2001,3037
$GC,3259,-0.84,-121.7,313.1,-7.0,215,3264,0.00,2.40,0.00,0.000,4,0.000,0.061,2824,595,3036
$GC,3299,-0.84,-121.7,316.2,-8.2,216,3303,0.00,2.25,0.00,0.000,6,0.000,0.032,2824,1996,3036
$GC,3582,-0.87,-121.7,337.8,-7.9,223,3586,0.00,2.38,0.00,0.000,4,0.000,0.061,2824,3404,3035
$GC,3649,-0.93,-121.7,343.0,-7.8,224,3653,0.00,2.28,0.00,0.000,6,0.000,0.040,2824,2010,3035
$GC,3910,-0.93,-121.7,360.1,-6.6,231,3914,0.00,2.45,0.00,0.000,4,0.000,0.073,2824,594,3033
$GC,3942,-0.93,-121.7,362.5,-7.4,231,3949,0.00,2.28,0.00,0.000,6,0.000,0.032,2824,2010,3033
$GC,4193,-0.96,-121.7,378.1,-6.2,238,4197,0.10,2.42,0.00,0.000,4,0.061,0.064,2787,592,3031
$GC,4237,-0.88,-121.7,381.7,-8.4,239,4242,0.15,2.28,0.00,0.000,6,0.092,0.032,2817,2007,3031
$GC,4514,-0.88,-121.7,404.2,-8.4,246,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2007,3029
$GC,4758,-0.88,-121.7,424.7,-8.2,252,4762,0.00,2.35,0.00,0.000,4,0.000,0.062,2817,3396,3028
$GC,4798,-0.93,-121.7,427.8,-7.8,253,4802,0.00,2.30,0.00,0.000,6,0.000,0.044,2817,2002,3027
$GC,5080,-0.93,-121.7,448.8,-7.2,260,5085,0.00,2.53,-0.08,0.000,4,0.000,0.096,2818,585,3044
$GC,5137,-0.93,-121.7,453.2,-8.2,261,5141,0.00,2.30,0.00,0.000,6,0.000,0.037,2817,1995,3045
$GC,5404,-0.96,-121.7,470.3,-6.1,268,5408,0.00,2.45,0.00,0.000,4,0.000,0.074,2817,590,3044
$GC,5476,-0.96,-121.7,475.3,-6.7,269,5480,0.00,2.30,0.00,0.000,6,0.000,0.037,2817,1997,3044
$GC,5733,-1.00,-121.7,491.3,-6.4,276,5737,0.12,2.47,0.00,0.000,4,0.056,0.075,2777,590,3042
$GC,5799,-0.94,-121.7,497.7,-9.7,277,5804,0.12,2.33,0.00,0.000,6,0.098,0.039,2801,2016,3042
$STATE,5854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5855,begin apogee
$GC,5859,-0.31,0.0,502.3,8.0,279,5964,0.65,0.00,101.82,0.913,6,0.080,0.000,2942,2016,2540
$STATE,5965,end apogee,CONTROL_FINISHED_OK
$STATE,5965,begin climb
$GC,5967,1.25,121.7,505.3,0.0,281,6076,1.52,0.00,105.15,0.887,6,0.055,0.000,3284,2016,2043
$GC,6300,1.27,140.5,484.3,8.1,290,6330,0.00,2.62,18.12,0.760,4,0.000,0.077,3284,590,1966
$GC,6386,1.21,140.5,476.1,10.6,292,6391,0.00,2.35,0.00,0.000,6,0.000,0.036,3284,2011,1963
$GC,6675,1.23,155.9,451.5,8.2,299,6695,0.00,2.55,14.02,0.820,4,0.000,0.069,3284,589,1903
$GC,6785,1.18,155.9,441.4,9.5,301,6789,0.00,2.33,0.00,0.000,6,0.000,0.033,3284,2008,1901
$GC,7052,1.22,187.6,420.9,7.4,308,7082,0.00,0.00,28.08,0.848,6,0.000,0.000,3284,2008,1775
$GC,7332,1.24,205.9,398.9,8.1,315,7355,0.00,2.50,16.48,0.816,4,0.000,0.064,3284,586,1698
$GC,7451,1.24,205.9,388.6,9.3,317,7455,0.00,2.33,0.00,0.000,6,0.000,0.031,3284,1994,1695
$GC,7707,1.29,221.7,367.9,8.2,324,7736,0.00,2.47,16.40,0.723,4,0.000,0.061,3284,583,1634
$GC,7815,1.29,221.7,357.4,9.9,326,7819,0.00,2.33,0.00,0.000,6,0.000,0.030,3284,1994,1632
$GC,8082,1.34,221.7,331.5,9.7,333,8086,0.00,2.40,0.00,0.000,4,0.000,0.060,3284,587,1629
$GC,8127,1.34,221.7,326.7,11.2,334,8131,0.00,2.28,0.00,0.000,6,0.000,0.029,3284,2007,1629
$GC,8416,1.43,251.5,303.0,7.5,341,8450,0.15,2.55,26.50,0.781,4,0.054,0.058,3327,581,1513
$GC,8518,1.36,251.5,291.3,12.8,343,8523,0.12,2.30,0.00,0.000,6,0.114,0.028,3304,2004,1510
$GC,8784,1.36,251.5,261.5,11.3,350,8788,0.00,2.42,0.00,0.000,4,0.000,0.057,3304,587,1506
$GC,8928,1.36,251.5,241.8,13.0,353,8933,0.00,2.30,0.00,0.000,6,0.000,0.028,3304,2004,1505
$GC,9207,1.42,251.5,211.9,11.1,360,9211,0.00,2.42,0.00,0.000,4,0.000,0.057,3304,582,1505
$GC,9329,1.42,251.5,195.5,13.2,362,9335,0.00,2.28,0.00,0.000,6,0.000,0.027,3304,1993,1505
$GC,9590,1.48,251.5,165.9,11.3,387,9595,0.12,2.38,0.00,0.000,4,0.057,0.054,3343,583,1503
$GC,9644,1.42,251.5,158.8,14.7,391,9649,0.12,2.25,0.00,0.000,6,0.109,0.026,3320,2002,1504
$GC,9909,1.48,251.5,126.4,11.5,415,9913,0.00,2.38,0.00,0.000,4,0.000,0.052,3319,584,1503
$GC,10024,1.48,251.5,112.8,11.0,425,10028,0.00,2.22,0.00,0.000,6,0.000,0.025,3319,2002,1502
$GC,10288,1.55,251.5,86.1,9.7,449,10293,0.12,2.35,0.00,0.000,4,0.054,0.051,3361,586,1503
$GC,10349,1.55,251.5,78.4,12.2,454,10358,0.00,2.25,0.00,0.000,6,0.000,0.025,3361,1990,1503
$GC,10612,1.55,251.5,49.3,11.2,479,10616,0.00,2.35,0.00,0.000,4,0.000,0.051,3361,579,1503
$GC,10697,1.50,251.5,38.9,12.6,486,10702,0.12,2.22,0.00,0.000,6,0.101,0.023,3337,2004,1503
$GC,10966,1.55,251.5,12.8,9.7,526,10973,0.00,2.38,0.00,0.000,4,0.000,0.056,3336,589,1504
$GC,11040,1.55,251.5,3.6,13.3,539,11049,0.00,2.25,0.00,0.000,6,0.000,0.028,3336,1999,1504
$STATE,11055,end climb,SURFACE_DEPTH_REACHED
$STATE,11055,begin surface coast
$FINISH,1.6,1.023532
$STATE,11073,end surface coast,CONTROL_FINISHED_OK
$STATE,11073,begin surface
$SM_CCo,11093,170.35,0.502,0,0,663,460.18
$SM_GC,1.81,0.00,0.00,170.35,0.000,0.000,0.502,473,2002,663,-11.67,0.06,460.18
$IRIDIUM_FIX,2143.45,-15831.75,210498,141412
$TT8_MAMPS,0.027612
$HUMID,1679
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.80
$XPDR_PINGS,369
$24V_AH,23.8,13.244
$10V_AH,10.2,8.037
$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,28.475,140.225,326.575,170.350,0.000,84.846,96.250,486.784,103.000,0.000,0.000,36.162,1176.836,7479.792,629.172,2018.253,906.279,33.357,1460.705,0.000,1971.217,0.000,68.548,0.000
$DEVICE_MAMPS,147.264,95.875,913.497,501.618,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.912,262.221,410.104,424.657,894.021,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41382,544
$CAP_FILE_SIZE,126576,0
$CFSIZE,260165632,256970752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250109,173006,2152.876,-15830.348,16,1.8,27,9.9