version: 66.04
glider: 147
mission: 3
dive: 236
start: 2 19 109 17 2 10
data:
$ID,147
$MISSION,3
$DIVE,236
$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,-22714.045
$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,38
$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
$GPS1,165636,2250.314,-15752.497,23,1.3,24,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-61.6
$GPS2,170114,2250.337,-15752.525,9,1.7,9,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT15
$TGT_LATLONG,2251.000,-15754.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.148,0.153
$KALMAN_X,-44516.9,-34.4,117.1,85573.6,-891.6
$KALMAN_Y,3464.0,232.3,334.7,162108.1,-474.3
$MHEAD_RNG_PITCHd_Wd,305.8,2800,-19.3,-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,-1.33,-102.2,0.0,0.0,0,84,0.00,0.00,-66.85,0.000,2,0.000,0.000,470,1903,2321
$GC,86,-1.36,-121.7,3.4,-3.3,10,129,12.57,2.12,-22.85,0.000,4,0.162,0.041,2777,3254,3036
$GC,174,-1.23,-121.7,11.6,-10.9,24,181,0.12,2.30,0.00,0.000,6,0.091,0.028,2806,1835,3038
$GC,446,-1.10,-121.7,48.6,-14.3,62,447,0.15,0.00,0.00,0.000,6,0.104,0.000,2836,1835,3038
$GC,701,-1.03,-121.7,82.2,-12.4,86,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1833,3039
$GC,955,-1.00,-121.7,109.3,-8.6,110,959,0.12,2.30,0.00,0.000,4,0.104,0.045,2862,428,3039
$GC,1015,-1.04,-121.7,113.4,-6.5,115,1021,0.00,2.20,0.00,0.000,6,0.000,0.021,2862,1850,3039
$GC,1277,-1.10,-121.7,136.6,-9.3,140,1281,0.00,2.20,0.00,0.000,4,0.000,0.031,2862,3244,3040
$GC,1411,-1.21,-121.7,148.5,-9.2,152,1416,0.20,2.25,0.00,0.000,6,0.037,0.030,2794,1829,3041
$GC,1672,-1.13,-121.7,176.7,-10.4,176,1673,0.17,0.00,0.00,0.000,6,0.088,0.000,2830,1828,3041
$GC,1929,-1.13,-121.7,200.2,-8.9,200,1933,0.00,2.25,0.00,0.000,4,0.000,0.031,2830,3240,3041
$GC,1945,-1.17,-121.7,201.9,-8.8,200,1949,0.00,2.22,0.00,0.000,6,0.000,0.029,2830,1839,3041
$GC,2213,-1.20,-121.7,222.6,-7.7,207,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1837,3041
$GC,2457,-1.25,-121.7,240.2,-7.3,213,2458,0.10,0.00,0.00,0.000,6,0.058,0.000,2787,1837,3041
$GC,2700,-1.21,-121.7,263.8,-9.8,219,2705,0.12,2.28,0.00,0.000,4,0.090,0.035,2813,3240,3041
$GC,2744,-1.27,-121.7,268.2,-9.8,220,2748,0.00,2.25,0.00,0.000,6,0.000,0.038,2813,1843,3041
$GC,3021,-1.27,-121.7,292.1,-8.2,227,3025,0.00,2.25,0.00,0.000,4,0.000,0.038,2813,3233,3041
$GC,3061,-1.32,-121.7,295.2,-7.4,228,3065,0.00,2.25,0.00,0.000,6,0.000,0.035,2813,1840,3041
$GC,3345,-1.36,-121.7,316.1,-7.5,235,3349,0.12,2.28,0.00,0.000,4,0.051,0.038,2766,3235,3041
$GC,3392,-1.32,-121.7,320.1,-9.1,236,3397,0.12,2.28,0.00,0.000,6,0.094,0.037,2791,1835,3041
$GC,3675,-1.32,-121.7,343.5,-8.2,243,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1834,3040
$GC,3918,-1.32,-121.7,364.0,-8.4,249,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1833,3039
$GC,4162,-1.32,-121.7,384.7,-8.6,255,4166,0.00,2.42,0.00,0.000,4,0.000,0.070,2791,427,3037
$GC,4211,-1.32,-121.7,389.3,-8.8,256,4215,0.00,2.25,0.00,0.000,6,0.000,0.033,2791,1822,3037
$GC,4490,-1.32,-121.7,412.3,-8.4,263,4494,0.00,2.40,0.00,0.000,4,0.000,0.057,2791,3244,3036
$GC,4511,-1.32,-121.7,414.5,-9.2,263,4515,0.00,2.33,0.00,0.000,6,0.000,0.041,2791,1829,3036
$GC,4772,-1.32,-121.7,437.6,-9.0,270,4776,0.00,2.35,0.00,0.000,4,0.000,0.046,2791,3245,3035
$GC,4800,-1.32,-121.7,440.1,-9.5,270,4804,0.00,2.33,0.00,0.000,6,0.000,0.043,2791,1838,3035
$GC,5056,-1.32,-121.7,462.6,-8.8,277,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1837,3033
$GC,5300,-1.32,-121.7,482.9,-8.3,283,5304,0.00,2.38,0.00,0.000,4,0.000,0.053,2791,3249,3032
$GC,5350,-1.37,-121.7,486.9,-7.6,284,5354,0.00,2.35,0.00,0.000,6,0.000,0.048,2792,1842,3031
$STATE,5540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5540,begin apogee
$GC,5546,-0.31,0.0,500.7,7.2,289,5648,1.00,0.00,98.55,0.910,6,0.080,0.000,3008,1746,2540
$STATE,5648,end apogee,CONTROL_FINISHED_OK
$STATE,5649,begin climb
$GC,5651,1.36,121.7,502.0,0.0,291,5758,1.58,0.00,103.07,0.888,6,0.038,0.000,3381,1745,2044
$GC,5985,1.20,121.7,466.6,12.6,300,5990,0.20,2.50,0.00,0.000,4,0.108,0.081,3340,354,2034
$GC,6012,1.05,121.7,463.1,11.7,300,6017,0.15,2.33,0.00,0.000,6,0.114,0.035,3312,1762,2034
$GC,6267,1.05,121.7,438.9,9.5,307,6271,0.00,2.47,0.00,0.000,4,0.000,0.066,3312,352,2031
$GC,6295,0.98,121.7,436.0,10.7,307,6299,0.00,2.33,0.00,0.000,6,0.000,0.035,3312,1771,2031
$GC,6544,0.98,121.7,412.1,9.6,313,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1771,2029
$GC,6788,0.98,122.2,390.3,9.0,319,6792,0.00,2.45,0.00,0.000,4,0.000,0.062,3312,347,2028
$GC,6854,0.92,122.2,383.5,10.3,320,6859,0.15,2.30,0.00,0.000,6,0.112,0.029,3283,1764,2027
$GC,7115,1.02,150.7,364.2,7.3,327,7144,0.00,2.53,23.33,0.812,4,0.000,0.067,3282,351,1924
$GC,7195,1.02,150.7,356.9,9.8,328,7202,0.00,2.33,0.00,0.000,6,0.000,0.028,3283,1779,1922
$GC,7446,1.12,162.4,335.7,8.3,335,7463,0.17,2.50,10.93,0.748,4,0.047,0.058,3333,345,1877
$GC,7479,1.06,162.4,332.1,11.7,335,7486,0.12,2.33,0.00,0.000,6,0.114,0.028,3310,1773,1875
$GC,7729,1.10,162.4,308.5,9.1,342,7733,0.00,2.45,0.00,0.000,4,0.000,0.058,3310,345,1873
$GC,7750,1.10,162.4,306.4,9.3,342,7754,0.00,2.30,0.00,0.000,6,0.000,0.028,3310,1768,1873
$GC,8012,1.16,175.9,284.6,8.2,349,8026,0.00,0.00,12.88,0.732,6,0.000,0.000,3310,1768,1821
$GC,8255,1.21,175.9,261.2,10.1,355,8257,0.15,0.00,0.00,0.000,6,0.050,0.000,3354,1768,1818
$GC,8498,1.21,175.9,231.4,12.4,361,8502,0.00,2.33,0.00,0.000,4,0.000,0.047,3354,3165,1817
$GC,8531,1.21,175.9,227.4,12.1,361,8538,0.00,2.33,0.00,0.000,6,0.000,0.038,3354,1752,1816
$GC,8781,1.21,175.9,202.3,9.8,368,8785,0.00,2.42,0.00,0.000,4,0.000,0.067,3354,347,1816
$GC,8820,1.14,175.9,198.0,11.7,369,8825,0.12,2.25,0.00,0.000,6,0.111,0.023,3331,1771,1815
$GC,9083,1.21,187.5,176.9,8.3,393,9099,0.00,2.47,10.07,0.628,4,0.000,0.054,3331,349,1774
$GC,9174,1.21,187.5,167.7,10.9,401,9178,0.00,2.25,0.00,0.000,6,0.000,0.024,3330,1766,1772
$GC,9438,1.29,198.5,144.3,8.4,425,9454,0.12,2.40,10.57,0.602,4,0.054,0.051,3370,355,1729
$GC,9477,1.22,198.5,140.2,10.2,428,9481,0.12,2.25,0.00,0.000,6,0.110,0.023,3347,1770,1728
$GC,9745,1.27,198.5,114.2,9.5,453,9749,0.00,2.28,0.00,0.000,4,0.000,0.038,3347,3171,1725
$GC,9801,1.36,198.5,108.5,10.2,457,9808,0.12,2.30,0.00,0.000,6,0.050,0.034,3390,1753,1725
$GC,10063,1.32,198.5,80.6,10.0,482,10068,0.12,2.38,0.00,0.000,4,0.104,0.057,3366,349,1725
$GC,10081,1.26,198.5,78.8,10.0,483,10086,0.00,2.22,0.00,0.000,6,0.000,0.021,3366,1778,1725
$GC,10344,1.26,203.4,53.9,8.7,507,10356,0.00,2.40,5.32,0.445,4,0.000,0.050,3366,346,1709
$GC,10395,1.21,203.4,48.2,11.4,511,10403,0.08,2.25,0.00,0.000,6,0.100,0.022,3346,1756,1709
$GC,10659,1.27,203.4,21.6,10.9,543,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1758,1709
$STATE,10838,end climb,SURFACE_DEPTH_REACHED
$STATE,10838,begin surface coast
$FINISH,1.4,1.024080
$STATE,10862,end surface coast,CONTROL_FINISHED_OK
$STATE,10862,begin surface
$SM_CCo,10883,161.70,0.510,0,0,908,400.08
$SM_GC,2.08,0.00,0.00,161.70,0.000,0.000,0.510,472,1886,908,-12.00,1.30,400.08
$IRIDIUM_FIX,2239.35,-15749.78,160598,131352
$TT8_MAMPS,0.027612
$HUMID,1776
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.50
$XPDR_PINGS,328
$24V_AH,23.9,34.755
$10V_AH,10.2,34.229
$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,29.875,111.850,274.725,161.700,0.000,30.855,25.957,122.834,92.750,0.000,0.000,11.459,1161.880,7703.523,567.374,1508.146,391.224,33.379,1253.527,0.000,1492.536,0.000,68.541,0.000
$DEVICE_MAMPS,161.837,84.370,910.429,510.055,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,410.960,291.626,0.000,483.233,683.069,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41268,580
$CAP_FILE_SIZE,106396,0
$CFSIZE,260165632,246439936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190209,200730,2251.204,-15754.067,36,1.7,37,10.1