version: 66.04
glider: 147
mission: 3
dive: 241
start: 2 20 109 9 59 12
data:
$ID,147
$MISSION,3
$DIVE,241
$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,-22812.072
$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,76
$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
$GPS1,094954,2249.017,-15751.296,32,1.8,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-64.2
$GPS2,095816,2249.028,-15751.400,11,2.6,30,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.217,-0.078
$KALMAN_X,-50380.7,-239.5,34.7,93670.5,-1019.7
$KALMAN_Y,3463.3,-381.7,-276.2,160911.8,229.3
$MHEAD_RNG_PITCHd_Wd,99.7,4519,-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,-121.7,0.0,0.0,0,78,0.00,0.00,-60.67,0.000,2,0.000,0.000,466,1888,2198
$GC,81,-1.25,-121.7,3.0,-2.5,8,135,12.90,2.50,-34.62,0.000,4,0.167,0.054,2802,420,3036
$GC,246,-1.06,-121.7,20.2,-14.4,35,254,0.17,2.20,0.00,0.000,6,0.097,0.020,2841,1825,3038
$GC,517,-0.96,-121.7,51.5,-13.8,67,522,0.15,2.25,0.00,0.000,4,0.098,0.028,2872,3234,3038
$GC,539,-0.91,-121.7,54.9,-14.6,68,546,0.00,2.28,0.00,0.000,6,0.000,0.028,2872,1832,3039
$GC,801,-0.91,-121.7,85.5,-11.2,93,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1831,3039
$GC,1055,-0.91,-121.7,114.7,-9.7,117,1059,0.00,2.22,0.00,0.000,4,0.000,0.029,2872,3225,3039
$GC,1083,-0.91,-121.7,117.5,-9.2,119,1089,0.00,2.22,0.00,0.000,6,0.000,0.028,2872,1835,3039
$GC,1345,-0.91,-121.7,139.3,-8.2,144,1349,0.00,2.22,0.00,0.000,4,0.000,0.030,2872,3232,3040
$GC,1381,-0.96,-121.7,142.3,-8.5,147,1385,0.00,2.22,0.00,0.000,6,0.000,0.034,2872,1835,3040
$GC,1643,-0.99,-121.7,166.9,-9.4,171,1647,0.00,2.22,0.00,0.000,4,0.000,0.029,2871,3229,3040
$GC,1676,-1.06,-121.7,169.9,-8.6,174,1681,0.10,2.22,0.00,0.000,6,0.055,0.028,2828,1832,3040
$GC,1944,-1.02,-121.7,196.6,-9.2,199,1949,0.15,2.33,0.00,0.000,4,0.085,0.049,2860,434,3040
$GC,1988,-1.07,-121.7,200.7,-8.6,202,1992,0.00,2.17,0.00,0.000,6,0.000,0.021,2860,1838,3040
$GC,2267,-1.11,-121.7,220.5,-7.0,209,2271,0.00,2.25,0.00,0.000,4,0.000,0.036,2860,3240,3041
$GC,2324,-1.21,-121.7,224.7,-7.4,210,2329,0.20,2.25,0.00,0.000,6,0.037,0.031,2791,1835,3041
$GC,2597,-1.11,-121.7,251.0,-9.8,217,2599,0.22,0.00,0.00,0.000,6,0.084,0.000,2838,1833,3041
$GC,2840,-1.11,-121.7,267.5,-6.2,223,2844,0.00,2.28,0.00,0.000,4,0.000,0.037,2838,3228,3041
$GC,2912,-1.16,-121.7,271.8,-5.4,224,2916,0.00,2.25,0.00,0.000,6,0.000,0.033,2838,1840,3040
$GC,3162,-1.16,-121.7,287.0,-6.0,230,3166,0.00,2.40,0.00,0.000,4,0.000,0.058,2838,428,3041
$GC,3200,-1.16,-121.7,289.7,-7.2,230,3206,0.00,2.22,0.00,0.000,6,0.000,0.025,2838,1835,3041
$GC,3450,-1.19,-121.7,307.8,-7.6,237,3454,0.00,2.33,0.00,0.000,4,0.000,0.046,2838,3243,3040
$GC,3479,-1.24,-121.7,310.1,-8.5,237,3484,0.12,2.30,0.00,0.000,6,0.048,0.036,2788,1833,3040
$GC,3729,-1.16,-121.7,336.3,-10.5,243,3733,0.17,2.33,0.00,0.000,4,0.086,0.043,2828,3239,3040
$GC,3795,-1.20,-121.7,342.2,-8.6,244,3799,0.00,2.30,0.00,0.000,6,0.000,0.037,2829,1829,3039
$GC,4050,-1.20,-121.7,359.1,-6.3,251,4054,0.00,2.33,0.00,0.000,4,0.000,0.042,2828,3239,3038
$GC,4083,-1.25,-121.7,361.2,-6.2,251,4090,0.00,2.30,0.00,0.000,6,0.000,0.038,2829,1836,3037
$GC,4335,-1.29,-121.7,376.8,-6.3,258,4340,0.12,2.42,0.00,0.000,4,0.049,0.069,2782,434,3037
$GC,4368,-1.17,-121.7,379.7,-9.3,258,4376,0.20,2.28,0.00,0.000,6,0.084,0.032,2823,1844,3037
$GC,4618,-1.17,-121.7,397.1,-6.8,265,4622,0.00,2.42,0.00,0.000,4,0.000,0.063,2823,434,3035
$GC,4639,-1.17,-121.7,398.8,-7.6,265,4643,0.00,2.28,0.00,0.000,6,0.000,0.032,2823,1838,3035
$GC,4901,-1.17,-121.7,418.7,-7.7,272,4905,0.00,2.38,0.00,0.000,4,0.000,0.058,2823,3243,3034
$GC,4945,-1.23,-121.7,422.3,-8.1,273,4949,0.00,2.33,0.00,0.000,6,0.000,0.042,2823,1838,3034
$GC,5223,-1.23,-121.7,442.8,-7.3,280,5227,0.00,2.47,0.00,0.000,4,0.000,0.080,2823,431,3032
$GC,5250,-1.23,-121.7,445.1,-8.1,280,5254,0.00,2.30,0.00,0.000,6,0.000,0.037,2823,1838,3032
$GC,5501,-1.23,-121.7,463.4,-7.3,286,5505,0.00,2.42,0.00,0.000,4,0.000,0.064,2823,3255,3030
$GC,5551,-1.28,-121.7,467.2,-7.3,287,5556,0.10,2.35,0.00,0.000,6,0.057,0.044,2782,1840,3030
$GC,5824,-1.22,-121.7,490.7,-8.6,294,5829,0.15,2.38,0.00,0.000,4,0.090,0.052,2812,3249,3029
$GC,5840,-1.22,-121.7,492.2,-8.4,294,5845,0.00,2.38,0.00,0.000,6,0.000,0.047,2812,1831,3029
$STATE,5978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5978,begin apogee
$GC,5984,-0.31,0.0,502.3,7.3,298,6085,0.90,0.00,98.45,0.907,6,0.073,0.000,3012,1751,2541
$STATE,6086,end apogee,CONTROL_FINISHED_OK
$STATE,6086,begin climb
$GC,6088,1.25,121.7,504.2,0.0,300,6196,1.45,0.00,103.75,0.890,6,0.035,0.000,3359,1751,2044
$GC,6423,1.08,121.7,471.4,12.5,309,6428,0.17,2.53,0.00,0.000,4,0.107,0.081,3321,352,2034
$GC,6479,0.94,121.7,464.6,12.0,310,6484,0.17,2.35,0.00,0.000,6,0.110,0.042,3287,1768,2034
$GC,6745,0.95,133.5,441.8,8.4,317,6759,0.00,2.53,9.50,0.768,4,0.000,0.067,3287,352,1994
$GC,6782,0.89,133.5,438.2,10.5,317,6788,0.00,2.33,0.00,0.000,6,0.000,0.031,3287,1761,1994
$GC,7032,0.94,171.6,419.7,7.1,324,7074,0.00,2.53,34.20,0.846,4,0.000,0.064,3287,348,1838
$GC,7135,0.94,171.6,410.2,10.6,326,7139,0.00,2.35,0.00,0.000,6,0.000,0.031,3287,1757,1835
$GC,7407,0.94,171.6,384.3,9.7,333,7411,0.00,2.45,0.00,0.000,4,0.000,0.061,3287,348,1832
$GC,7456,0.94,171.6,378.7,11.5,334,7460,0.00,2.33,0.00,0.000,6,0.000,0.029,3287,1775,1831
$GC,7734,0.94,171.6,349.6,10.6,341,7738,0.00,2.47,0.00,0.000,4,0.000,0.060,3287,347,1829
$GC,7788,0.94,171.6,343.6,10.8,342,7793,0.00,2.30,0.00,0.000,6,0.000,0.027,3287,1768,1829
$GC,8061,1.00,194.8,321.4,7.9,349,8085,0.00,2.42,18.95,0.775,4,0.000,0.052,3287,3169,1743
$GC,8132,1.10,209.5,315.8,8.3,350,8152,0.15,2.38,14.20,0.746,6,0.048,0.044,3334,1750,1684
$GC,8436,1.06,209.5,281.8,11.7,358,8440,0.12,2.45,0.00,0.000,4,0.105,0.067,3309,348,1679
$GC,8479,1.06,209.5,276.0,13.2,359,8483,0.00,2.30,0.00,0.000,6,0.000,0.026,3309,1779,1677
$GC,8762,1.06,209.5,242.6,11.8,366,8766,0.00,2.30,0.00,0.000,4,0.000,0.042,3309,3168,1676
$GC,8835,1.15,209.5,234.4,11.6,367,8839,0.00,2.35,0.00,0.000,6,0.000,0.039,3309,1747,1676
$GC,9091,1.18,209.5,207.4,10.1,374,9095,0.12,2.33,0.00,0.000,4,0.054,0.035,3350,3167,1675
$GC,9139,1.18,209.5,201.9,10.7,375,9144,0.00,2.33,0.00,0.000,6,0.000,0.036,3349,1757,1675
$GC,9409,1.15,209.5,174.5,10.2,398,9414,0.00,2.45,0.00,0.000,4,0.000,0.067,3350,344,1675
$GC,9518,1.08,209.5,162.1,10.5,407,9523,0.17,2.25,0.00,0.000,6,0.100,0.023,3314,1768,1674
$GC,9782,1.14,222.2,140.2,8.4,431,9799,0.00,0.00,10.55,0.595,6,0.000,0.000,3315,1769,1633
$GC,10056,1.22,222.2,117.1,9.5,457,10062,0.15,0.00,0.00,0.000,6,0.048,0.000,3362,1769,1631
$GC,10318,1.19,222.2,86.8,13.2,482,10322,0.12,2.40,0.00,0.000,4,0.101,0.051,3337,346,1631
$GC,10361,1.19,222.2,80.6,13.2,485,10367,0.00,2.22,0.00,0.000,6,0.000,0.021,3337,1762,1630
$GC,10623,1.19,222.2,53.0,9.5,510,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1764,1630
$GC,10879,1.22,245.0,28.6,7.9,535,10906,0.00,0.00,20.55,0.524,6,0.000,0.000,3337,1764,1539
$STATE,11145,end climb,SURFACE_DEPTH_REACHED
$STATE,11145,begin surface coast
$FINISH,1.5,1.024088
$STATE,11162,end surface coast,CONTROL_FINISHED_OK
$STATE,11162,begin surface
$SM_CCo,11183,128.27,0.509,0,0,909,400.08
$SM_GC,2.13,0.00,0.00,128.27,0.000,0.000,0.509,466,1883,909,-12.02,1.22,400.08
$IRIDIUM_FIX,2239.35,-15751.94,170598,101023
$TT8_MAMPS,0.027612
$HUMID,1790
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.60
$XPDR_PINGS,357
$24V_AH,23.9,35.337
$10V_AH,10.2,34.691
$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,30.025,135.575,310.150,128.275,0.000,59.059,51.323,203.230,100.000,0.000,0.000,34.556,1196.949,7838.237,577.554,1664.960,543.838,33.368,1342.545,0.000,1613.562,0.000,68.559,0.000
$DEVICE_MAMPS,167.206,87.438,907.361,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,413.491,342.364,0.000,490.058,692.722,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41460,586
$CAP_FILE_SIZE,117144,0
$CFSIZE,260165632,246149120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200209,130901,2248.620,-15750.806,39,1.8,40,10.1