version: 66.04
glider: 147
mission: 3
dive: 255
start: 2 22 109 7 44 16
data:
$ID,147
$MISSION,3
$DIVE,255
$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,-23056.301
$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,36
$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
$GPS1,073836,2247.979,-15749.914,31,1.1,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-67.0
$GPS2,074320,2247.982,-15749.947,13,1.3,13,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.225,0.052
$KALMAN_X,-67134.7,-346.2,92.0,112983.3,-943.5
$KALMAN_Y,-1645.5,-292.1,234.5,163482.6,-543.4
$MHEAD_RNG_PITCHd_Wd,67.0,1618,-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,-66.80,0.000,2,0.000,0.000,478,1891,2311
$GC,87,-1.25,-121.7,3.1,-2.6,10,135,12.70,2.47,-25.98,0.000,4,0.163,0.057,2804,435,3037
$GC,165,-1.05,-121.7,9.7,-13.7,22,173,0.17,2.25,0.00,0.000,6,0.090,0.026,2844,1869,3037
$GC,432,-0.97,-121.7,39.4,-11.1,63,437,0.12,2.15,0.00,0.000,4,0.099,0.028,2869,3222,3038
$GC,453,-0.94,-121.7,41.8,-9.9,64,461,0.00,2.25,0.00,0.000,6,0.000,0.028,2869,1836,3039
$GC,715,-0.94,-121.7,65.8,-8.8,89,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1835,3038
$GC,972,-0.94,-121.7,88.5,-8.9,113,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1835,3039
$GC,1225,-0.94,-121.7,113.5,-10.8,137,1228,0.00,2.22,0.00,0.000,4,0.000,0.028,2869,3228,3039
$GC,1260,-0.94,-121.7,117.0,-10.2,140,1264,0.00,2.22,0.00,0.000,6,0.000,0.029,2869,1841,3040
$GC,1524,-0.94,-121.7,144.5,-10.7,164,1527,0.00,2.20,0.00,0.000,4,0.000,0.030,2869,3221,3040
$GC,1559,-0.97,-121.7,148.6,-11.2,167,1563,0.00,2.20,0.00,0.000,6,0.000,0.029,2869,1837,3040
$GC,1827,-1.01,-121.7,174.2,-8.1,192,1830,0.00,2.22,0.00,0.000,4,0.000,0.030,2869,3231,3041
$GC,1866,-1.07,-121.7,177.0,-6.7,195,1874,0.08,2.25,0.00,0.000,6,0.038,0.029,2823,1842,3041
$GC,2131,-1.02,-121.7,195.4,-6.7,220,2137,0.17,0.00,0.00,0.000,6,0.084,0.000,2860,1841,3042
$GC,2416,-1.05,-121.7,214.0,-7.1,233,2420,0.00,2.35,0.00,0.000,4,0.000,0.052,2860,429,3041
$GC,2460,-1.09,-121.7,218.0,-9.0,234,2464,0.00,2.17,0.00,0.000,6,0.000,0.021,2860,1829,3041
$GC,2739,-1.14,-121.7,240.6,-8.0,241,2741,0.12,0.00,0.00,0.000,6,0.048,0.000,2811,1831,3041
$GC,2982,-1.09,-121.7,261.5,-8.5,247,2984,0.15,0.00,0.00,0.000,6,0.086,0.000,2842,1831,3041
$GC,3225,-1.09,-121.7,277.1,-6.2,253,3229,0.00,2.30,0.00,0.000,4,0.000,0.041,2842,3232,3041
$GC,3297,-1.16,-121.7,281.7,-6.5,254,3302,0.00,2.28,0.00,0.000,6,0.000,0.035,2842,1835,3041
$GC,3548,-1.19,-121.7,296.6,-5.9,260,3552,0.00,2.30,0.00,0.000,4,0.000,0.039,2842,3239,3041
$GC,3609,-1.26,-121.7,300.5,-6.7,261,3614,0.17,2.28,0.00,0.000,6,0.040,0.035,2782,1842,3041
$GC,3873,-1.16,-121.7,323.0,-9.0,268,3875,0.20,0.00,0.00,0.000,6,0.082,0.000,2824,1842,3041
$GC,4114,-1.16,-121.7,342.8,-8.2,274,4118,0.00,2.42,0.00,0.000,4,0.000,0.064,2824,424,3040
$GC,4135,-1.16,-121.7,344.8,-9.2,274,4139,0.00,2.25,0.00,0.000,6,0.000,0.029,2824,1831,3040
$GC,4396,-1.16,-121.7,367.1,-8.5,281,4400,0.00,2.38,0.00,0.000,4,0.000,0.054,2824,3240,3039
$GC,4441,-1.21,-121.7,370.8,-8.2,282,4445,0.00,2.33,0.00,0.000,6,0.000,0.041,2824,1833,3038
$GC,4719,-1.21,-121.7,392.0,-7.4,289,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1833,3037
$GC,4962,-1.21,-121.7,408.2,-6.6,295,4966,0.00,2.35,0.00,0.000,4,0.000,0.047,2824,3242,3036
$GC,4984,-1.24,-121.7,409.8,-6.9,295,4988,0.00,2.33,0.00,0.000,6,0.000,0.043,2824,1839,3036
$GC,5244,-1.24,-121.7,426.1,-6.3,302,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1839,3035
$GC,5488,-1.24,-121.7,441.0,-6.1,308,5492,0.00,2.35,0.00,0.000,4,0.000,0.048,2824,3243,3034
$GC,5538,-1.30,-121.7,444.2,-6.1,309,5543,0.12,2.35,0.00,0.000,6,0.049,0.045,2778,1837,3033
$GC,5811,-1.23,-121.7,466.2,-8.5,316,5816,0.15,2.50,0.00,0.000,4,0.088,0.084,2809,430,3032
$GC,5850,-1.23,-121.7,469.6,-8.1,317,5855,0.00,2.30,0.00,0.000,6,0.000,0.045,2809,1840,3031
$GC,6140,-1.23,-121.7,491.7,-7.7,324,6144,0.00,2.42,0.00,0.000,4,0.000,0.067,2809,3254,3030
$GC,6201,-1.23,-121.7,496.3,-7.3,325,6205,0.00,2.38,0.00,0.000,6,0.000,0.048,2809,1835,3030
$STATE,6256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6256,begin apogee
$GC,6262,-0.31,0.0,500.4,7.1,327,6364,0.93,0.00,99.00,0.910,6,0.075,0.000,3012,1751,2540
$STATE,6365,end apogee,CONTROL_FINISHED_OK
$STATE,6365,begin climb
$GC,6367,1.25,121.7,502.0,0.0,329,6475,1.45,0.00,104.25,0.891,6,0.037,0.000,3357,1751,2044
$GC,6702,1.08,121.7,467.5,12.6,338,6704,0.20,0.00,0.00,0.000,6,0.107,0.000,3319,1751,2034
$GC,6946,1.01,121.7,441.8,10.5,344,6950,0.00,2.50,0.00,0.000,4,0.000,0.077,3319,352,2032
$GC,7040,0.88,121.7,430.1,13.0,346,7045,0.22,2.33,0.00,0.000,6,0.106,0.033,3274,1772,2030
$GC,7312,0.93,138.9,406.9,8.1,353,7332,0.00,2.55,13.93,0.799,4,0.000,0.064,3274,353,1972
$GC,7376,0.93,138.9,401.3,9.2,354,7380,0.00,2.30,0.00,0.000,6,0.000,0.029,3274,1762,1971
$GC,7644,1.02,180.7,382.4,6.9,361,7687,0.12,2.55,36.78,0.831,4,0.054,0.060,3312,348,1802
$GC,7715,0.92,180.7,376.0,11.6,362,7720,0.15,2.33,0.00,0.000,6,0.107,0.032,3282,1777,1799
$GC,7970,0.98,197.5,354.3,8.2,369,7987,0.00,0.00,14.73,0.779,6,0.000,0.000,3282,1777,1733
$GC,8214,1.02,197.5,332.7,9.2,375,8218,0.00,2.47,0.00,0.000,4,0.000,0.059,3282,344,1729
$GC,8291,1.02,197.5,324.3,10.9,376,8297,0.00,2.30,0.00,0.000,6,0.000,0.028,3282,1759,1728
$GC,8541,1.08,197.5,300.7,9.4,383,8546,0.15,2.38,0.00,0.000,4,0.049,0.048,3328,3172,1726
$GC,8582,1.08,197.5,296.5,11.5,384,8586,0.00,2.35,0.00,0.000,6,0.000,0.039,3328,1757,1726
$GC,8864,1.08,197.5,265.9,10.6,391,8868,0.00,2.33,0.00,0.000,4,0.000,0.036,3328,3169,1725
$GC,8959,1.11,197.5,256.3,9.5,393,8963,0.00,2.33,0.00,0.000,6,0.000,0.038,3327,1761,1724
$GC,9237,1.11,197.5,228.8,10.1,400,9241,0.00,2.45,0.00,0.000,4,0.000,0.064,3327,344,1724
$GC,9281,1.04,197.5,223.9,11.1,401,9285,0.00,2.28,0.00,0.000,6,0.000,0.024,3328,1778,1724
$GC,9564,1.04,197.5,196.6,9.5,408,9568,0.00,2.42,0.00,0.000,4,0.000,0.054,3328,352,1723
$GC,9693,1.00,197.5,182.6,10.5,419,9698,0.15,2.22,0.00,0.000,6,0.104,0.024,3298,1760,1723
$GC,9955,1.13,229.5,162.2,7.4,443,9989,0.12,2.33,27.00,0.650,4,0.051,0.035,3341,3165,1603
$GC,10062,1.18,229.5,152.4,9.2,452,10068,0.00,2.33,0.00,0.000,6,0.000,0.035,3341,1750,1599
$GC,10324,1.18,229.5,127.9,9.6,477,10328,0.00,2.38,0.00,0.000,4,0.000,0.058,3341,349,1597
$GC,10367,1.14,229.5,122.9,10.9,480,10375,0.00,2.25,0.00,0.000,6,0.000,0.022,3341,1761,1597
$GC,10631,1.14,229.5,96.4,10.4,505,10632,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1762,1596
$GC,10884,1.14,229.5,68.6,10.8,529,10888,0.00,2.38,0.00,0.000,4,0.000,0.051,3340,349,1596
$GC,10914,1.09,229.5,65.1,12.3,531,10919,0.12,2.22,0.00,0.000,6,0.105,0.022,3316,1762,1596
$GC,11177,1.13,229.5,38.6,10.1,555,11181,0.00,2.28,0.00,0.000,4,0.000,0.038,3317,3161,1597
$GC,11195,1.19,229.5,36.6,10.4,556,11199,0.10,2.28,0.00,0.000,6,0.055,0.033,3357,1758,1597
$GC,11457,1.16,229.5,5.2,12.2,599,11465,0.12,2.40,0.00,0.000,4,0.103,0.054,3332,350,1598
$STATE,11481,end climb,SURFACE_DEPTH_REACHED
$STATE,11482,begin surface coast
$FINISH,1.4,1.024250
$STATE,11498,end surface coast,CONTROL_FINISHED_OK
$STATE,11498,begin surface
$SM_CCo,11521,140.40,0.508,0,0,909,400.08
$SM_GC,2.10,0.00,0.00,140.40,0.000,0.000,0.508,465,1877,909,-12.03,1.05,400.08
$IRIDIUM_FIX,2239.35,-15747.62,190598,040456
$TT8_MAMPS,0.027612
$HUMID,1799
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,23.50
$XPDR_PINGS,369
$24V_AH,23.9,36.937
$10V_AH,10.2,35.913
$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,29.675,125.925,295.675,140.400,0.000,30.704,28.296,123.570,103.000,0.000,0.000,14.527,1219.977,8118.274,583.949,1645.388,386.504,33.373,1327.552,0.000,1613.575,0.000,68.556,0.000
$DEVICE_MAMPS,162.604,84.370,910.429,507.754,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,428.551,305.043,0.000,498.643,705.126,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44566,606
$CAP_FILE_SIZE,113008,0
$CFSIZE,260165632,245403648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220209,105955,2247.918,-15749.272,39,1.1,40,10.1