version: 66.04
glider: 147
mission: 3
dive: 234
start: 2 19 109 10 29 54
data:
$ID,147
$MISSION,3
$DIVE,234
$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,-22666.816
$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,24
$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
$GPS1,102337,2247.966,-15749.136,39,0.9,40,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-65.0
$GPS2,102856,2248.002,-15749.192,11,1.2,11,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT15
$TGT_LATLONG,2251.000,-15754.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.172,0.154
$KALMAN_X,-42540.4,-116.1,-39.4,89592.0,-1270.6
$KALMAN_Y,3318.0,-159.0,-286.3,158942.6,414.9
$MHEAD_RNG_PITCHd_Wd,301.8,9907,-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,-66.75,0.000,2,0.000,0.000,472,1889,2322
$GC,87,-1.25,-121.7,3.1,-2.8,10,129,12.82,2.17,-24.48,0.000,4,0.166,0.043,2804,3207,3036
$GC,265,-1.12,-121.7,20.9,-11.5,41,272,0.10,2.25,0.00,0.000,6,0.091,0.029,2829,1833,3038
$GC,538,-1.01,-121.7,55.8,-13.8,73,545,0.15,0.00,0.00,0.000,6,0.094,0.000,2859,1833,3038
$GC,799,-0.95,-121.7,87.9,-12.3,98,802,0.00,2.20,0.00,0.000,4,0.000,0.029,2859,3210,3038
$GC,826,-0.90,-121.7,91.0,-11.6,100,834,0.08,2.22,0.00,0.000,6,0.084,0.028,2881,1838,3039
$GC,1090,-0.90,-121.7,116.7,-9.6,125,1093,0.00,2.20,0.00,0.000,4,0.000,0.029,2881,3211,3039
$GC,1117,-0.90,-121.7,119.6,-9.7,127,1124,0.00,2.20,0.00,0.000,6,0.000,0.030,2881,1838,3039
$GC,1381,-0.90,-121.7,142.4,-7.8,152,1385,0.00,2.33,0.00,0.000,4,0.000,0.055,2881,437,3039
$GC,1421,-0.95,-121.7,145.6,-7.7,155,1425,0.00,2.12,0.00,0.000,6,0.000,0.021,2881,1814,3039
$GC,1689,-1.00,-121.7,164.9,-8.1,180,1693,0.00,2.28,0.00,0.000,4,0.000,0.031,2881,3237,3040
$GC,1756,-1.09,-121.7,170.3,-7.6,185,1763,0.17,2.25,0.00,0.000,6,0.038,0.030,2817,1834,3040
$GC,2019,-1.02,-121.7,194.2,-8.2,210,2024,0.20,2.33,0.00,0.000,4,0.082,0.047,2862,432,3041
$GC,2037,-0.97,-121.7,195.9,-9.1,211,2041,0.00,2.20,0.00,0.000,6,0.000,0.021,2862,1853,3040
$GC,2299,-1.02,-121.7,216.9,-8.1,221,2303,0.00,2.22,0.00,0.000,4,0.000,0.035,2862,3239,3041
$GC,2346,-1.10,-121.7,220.1,-7.2,222,2351,0.10,2.25,0.00,0.000,6,0.056,0.031,2819,1833,3041
$GC,2632,-1.06,-121.7,241.0,-7.4,229,2636,0.12,2.35,0.00,0.000,4,0.087,0.052,2846,430,3041
$GC,2676,-1.06,-121.7,244.9,-7.6,230,2680,0.00,2.20,0.00,0.000,6,0.000,0.022,2845,1836,3041
$GC,2954,-1.09,-121.7,264.4,-7.1,237,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1837,3041
$GC,3198,-1.13,-121.7,279.0,-5.9,243,3202,0.00,2.33,0.00,0.000,4,0.000,0.044,2845,3243,3041
$GC,3220,-1.18,-121.7,280.4,-6.3,243,3224,0.00,2.28,0.00,0.000,6,0.000,0.034,2845,1846,3041
$GC,3475,-1.22,-121.7,298.2,-7.3,250,3477,0.15,0.00,0.00,0.000,6,0.044,0.000,2790,1846,3041
$GC,3719,-1.14,-121.7,322.5,-10.1,256,3724,0.17,2.30,0.00,0.000,4,0.083,0.041,2831,3239,3041
$GC,3752,-1.18,-121.7,325.4,-8.2,256,3758,0.00,2.30,0.00,0.000,6,0.000,0.037,2831,1835,3040
$GC,4001,-1.18,-121.7,343.7,-7.0,263,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1833,3040
$GC,4246,-1.18,-121.7,363.3,-8.5,269,4250,0.00,2.42,0.00,0.000,4,0.000,0.067,2831,427,3038
$GC,4267,-1.18,-121.7,365.5,-9.7,269,4271,0.00,2.28,0.00,0.000,6,0.000,0.031,2831,1819,3038
$GC,4529,-1.21,-121.7,387.2,-7.9,276,4533,0.00,2.42,0.00,0.000,4,0.000,0.058,2831,3253,3037
$GC,4569,-1.27,-121.7,390.2,-7.5,277,4574,0.12,2.33,0.00,0.000,6,0.051,0.041,2782,1839,3037
$GC,4853,-1.20,-121.7,414.0,-8.3,284,4857,0.17,2.35,0.00,0.000,4,0.084,0.044,2822,3254,3035
$GC,4874,-1.20,-121.7,415.5,-6.7,284,4878,0.00,2.35,0.00,0.000,6,0.000,0.041,2822,1833,3035
$GC,5137,-1.20,-121.7,431.7,-6.4,291,5141,0.00,2.35,0.00,0.000,4,0.000,0.045,2822,3247,3035
$GC,5199,-1.26,-121.7,436.3,-7.2,292,5203,0.00,2.35,0.00,0.000,6,0.000,0.045,2822,1836,3033
$GC,5459,-1.26,-121.7,456.7,-8.1,299,5463,0.00,2.38,0.00,0.000,4,0.000,0.048,2822,3255,3032
$GC,5492,-1.30,-121.7,459.4,-8.4,299,5498,0.12,2.38,0.00,0.000,6,0.051,0.047,2775,1835,3032
$GC,5742,-1.23,-121.7,482.5,-9.1,306,5747,0.17,2.38,0.00,0.000,4,0.085,0.052,2816,3244,3030
$GC,5775,-1.26,-121.7,485.0,-6.8,306,5781,0.00,2.38,0.00,0.000,6,0.000,0.050,2816,1832,3030
$STATE,5982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5983,begin apogee
$GC,5988,-0.31,0.0,500.4,7.5,312,6090,0.88,0.00,98.45,0.906,6,0.072,0.000,3009,1751,2540
$STATE,6091,end apogee,CONTROL_FINISHED_OK
$STATE,6091,begin climb
$GC,6093,1.25,121.7,502.6,0.0,314,6204,1.45,2.62,103.32,0.887,4,0.040,0.089,3355,345,2043
$GC,6227,1.01,121.7,495.1,11.7,317,6232,0.28,2.38,0.00,0.000,6,0.107,0.039,3301,1759,2040
$GC,6500,0.98,135.2,472.0,8.3,324,6518,0.00,2.50,11.52,0.797,4,0.000,0.058,3302,3165,1987
$GC,6525,0.95,145.4,469.8,8.5,324,6541,0.00,2.40,10.20,0.773,6,0.000,0.044,3302,1751,1946
$GC,6784,0.92,145.4,442.9,10.6,331,6786,0.10,0.00,0.00,0.000,6,0.117,0.000,3282,1751,1941
$GC,7028,0.92,149.0,420.8,8.8,337,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1751,1939
$GC,7272,0.94,163.3,400.7,8.3,343,7289,0.00,0.00,15.90,0.814,6,0.000,0.000,3282,1751,1874
$GC,7515,0.94,163.3,377.2,9.9,349,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1751,1869
$GC,7759,0.98,163.3,353.2,9.7,355,7763,0.00,2.45,0.00,0.000,4,0.000,0.070,3282,350,1868
$GC,7786,0.98,163.3,350.3,11.1,355,7790,0.00,2.30,0.00,0.000,6,0.000,0.028,3282,1776,1868
$GC,8036,1.04,178.5,329.1,8.2,361,8056,0.10,2.53,13.55,0.768,4,0.059,0.058,3315,354,1812
$GC,8134,0.97,178.5,319.2,11.3,363,8138,0.12,2.28,0.00,0.000,6,0.109,0.027,3291,1760,1809
$GC,8413,1.02,191.0,295.7,8.4,370,8431,0.00,2.45,11.55,0.733,4,0.000,0.044,3292,3174,1760
$GC,8455,1.10,202.9,292.1,8.4,371,8474,0.12,2.38,11.73,0.723,6,0.051,0.038,3333,1751,1712
$GC,8742,1.06,202.9,262.6,10.5,378,8746,0.10,2.45,0.00,0.000,4,0.113,0.068,3314,352,1707
$GC,8819,1.03,202.9,253.8,11.2,379,8825,0.00,2.28,0.00,0.000,6,0.000,0.025,3313,1767,1706
$GC,9068,1.03,202.9,229.5,9.8,386,9073,0.00,2.42,0.00,0.000,4,0.000,0.057,3314,350,1705
$GC,9146,1.03,202.9,220.1,12.1,387,9153,0.00,2.28,0.00,0.000,6,0.000,0.025,3314,1773,1705
$GC,9399,1.06,202.9,194.0,10.4,397,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1774,1704
$GC,9654,1.12,230.1,171.1,7.6,421,9688,0.00,2.53,23.62,0.663,4,0.000,0.054,3313,352,1599
$GC,9750,1.12,230.1,161.7,10.7,429,9757,0.00,2.28,0.00,0.000,6,0.000,0.025,3313,1754,1596
$GC,10011,1.17,230.1,134.4,10.8,454,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1755,1594
$GC,10266,1.29,263.9,113.3,7.3,478,10302,0.17,2.33,29.25,0.607,4,0.044,0.035,3372,3168,1463
$GC,10363,1.29,263.9,103.0,11.2,486,10371,0.00,2.35,0.00,0.000,6,0.000,0.035,3372,1758,1461
$GC,10626,1.24,263.9,73.2,12.6,511,10631,0.12,2.40,0.00,0.000,4,0.100,0.057,3347,347,1458
$GC,10689,1.24,263.9,65.6,13.0,516,10693,0.00,2.22,0.00,0.000,6,0.000,0.022,3347,1762,1458
$GC,10951,1.24,263.9,33.1,13.2,540,10955,0.00,2.38,0.00,0.000,4,0.000,0.049,3347,346,1457
$GC,10968,1.24,263.9,31.1,12.0,541,10972,0.00,2.22,0.00,0.000,6,0.000,0.022,3347,1762,1457
$STATE,11224,end climb,SURFACE_DEPTH_REACHED
$STATE,11224,begin surface coast
$FINISH,1.4,1.022272
$STATE,11236,end surface coast,CONTROL_FINISHED_OK
$STATE,11236,begin surface
$SM_CCo,11257,112.68,0.514,0,0,908,400.08
$SM_GC,2.09,0.00,0.00,112.68,0.000,0.000,0.514,474,1876,908,-11.99,1.02,400.08
$IRIDIUM_FIX,2237.01,-15747.62,160598,070704
$TT8_MAMPS,0.027612
$HUMID,1780
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.30
$XPDR_PINGS,346
$24V_AH,23.9,34.529
$10V_AH,10.2,34.062
$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,30.000,125.975,329.100,112.675,0.000,30.855,31.927,156.877,97.250,0.000,0.000,13.380,1185.916,7951.354,562.222,1580.105,422.303,33.397,1311.853,0.000,1548.325,0.000,68.549,0.000
$DEVICE_MAMPS,165.672,88.972,905.827,513.890,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,418.112,295.137,0.000,474.581,670.539,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44431,589
$CAP_FILE_SIZE,113580,0
$CFSIZE,260165632,246542336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190209,134028,2249.347,-15750.908,5,99.0,25,10.1