version: 66.04
glider: 147
mission: 3
dive: 258
start: 2 22 109 17 50 22
data:
$ID,147
$MISSION,3
$DIVE,258
$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,-23102.441
$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,22
$R_STBD_OVSHOOT,89
$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
$GPS1,174428,2250.090,-15752.582,14,9.1,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-68.2
$GPS2,174926,2250.073,-15752.656,15,1.4,15,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT15
$TGT_LATLONG,2251.000,-15754.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.128,0.193
$KALMAN_X,-70964.4,110.6,-108.5,111881.0,-543.8
$KALMAN_Y,-2801.2,407.6,343.3,167700.2,-685.2
$MHEAD_RNG_PITCHd_Wd,316.4,2864,-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,-66.93,0.000,2,0.000,0.000,470,1884,2326
$GC,87,-1.25,-121.7,3.2,-3.3,10,136,12.82,2.15,-26.48,0.000,4,0.165,0.044,2801,3197,3036
$GC,236,-1.12,-121.7,17.5,-12.9,35,244,0.12,2.25,0.00,0.000,6,0.094,0.029,2830,1825,3037
$GC,501,-1.02,-121.7,46.5,-11.0,70,506,0.12,2.20,0.00,0.000,4,0.102,0.028,2855,3193,3038
$GC,574,-1.02,-121.7,53.2,-9.0,76,578,0.00,2.20,0.00,0.000,6,0.000,0.030,2855,1829,3038
$GC,836,-0.98,-121.7,77.9,-9.7,100,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1829,3038
$GC,1090,-0.94,-121.7,102.6,-10.0,124,1094,0.00,2.17,0.00,0.000,4,0.000,0.030,2854,3193,3039
$GC,1125,-0.94,-121.7,105.9,-9.6,127,1129,0.00,2.20,0.00,0.000,6,0.000,0.029,2855,1828,3039
$GC,1390,-0.90,-121.7,130.9,-9.0,151,1395,0.12,2.20,0.00,0.000,4,0.094,0.029,2883,3200,3039
$GC,1422,-0.94,-121.7,134.0,-7.8,153,1428,0.00,2.20,0.00,0.000,6,0.000,0.029,2883,1830,3039
$GC,1686,-0.98,-121.7,154.4,-7.8,178,1690,0.00,2.33,0.00,0.000,4,0.000,0.051,2883,432,3039
$GC,1708,-1.01,-121.7,156.3,-7.5,179,1714,0.00,2.12,0.00,0.000,6,0.000,0.021,2883,1815,3039
$GC,1970,-1.08,-121.7,174.6,-7.5,204,1975,0.17,2.25,0.00,0.000,4,0.038,0.029,2814,3230,3040
$GC,2027,-1.05,-121.7,180.2,-10.2,209,2032,0.17,2.25,0.00,0.000,6,0.080,0.030,2852,1832,3040
$GC,2318,-1.05,-121.7,203.3,-6.9,233,2322,0.00,2.25,0.00,0.000,4,0.000,0.031,2852,3234,3041
$GC,2340,-1.08,-121.7,204.8,-6.6,233,2344,0.00,2.25,0.00,0.000,6,0.000,0.028,2852,1829,3040
$GC,2597,-1.11,-121.7,222.8,-7.1,240,2601,0.00,2.25,0.00,0.000,4,0.000,0.032,2852,3223,3041
$GC,2653,-1.19,-121.7,226.9,-6.5,241,2658,0.15,2.22,0.00,0.000,6,0.044,0.030,2796,1839,3041
$GC,2920,-1.11,-121.7,248.6,-7.9,248,2925,0.17,2.35,0.00,0.000,4,0.084,0.053,2837,441,3041
$GC,2949,-1.07,-121.7,250.7,-7.4,248,2953,0.00,2.17,0.00,0.000,6,0.000,0.023,2837,1834,3041
$GC,3199,-1.07,-121.7,268.9,-7.2,254,3203,0.00,2.30,0.00,0.000,4,0.000,0.043,2837,3228,3041
$GC,3232,-1.12,-121.7,271.2,-7.2,254,3238,0.00,2.25,0.00,0.000,6,0.000,0.035,2837,1846,3041
$GC,3482,-1.12,-121.7,288.8,-7.1,261,3486,0.00,2.40,0.00,0.000,4,0.000,0.058,2837,427,3041
$GC,3526,-1.12,-121.7,292.3,-7.7,262,3530,0.00,2.22,0.00,0.000,6,0.000,0.025,2837,1833,3041
$GC,3810,-1.12,-121.7,312.6,-7.2,269,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1834,3041
$GC,4054,-1.15,-121.7,330.8,-7.6,275,4058,0.00,2.35,0.00,0.000,4,0.000,0.048,2837,3242,3039
$GC,4084,-1.20,-121.7,333.0,-7.8,275,4088,0.00,2.30,0.00,0.000,6,0.000,0.038,2837,1842,3040
$GC,4334,-1.24,-121.7,349.9,-6.5,281,4342,0.12,2.33,0.00,0.000,4,0.048,0.042,2789,3239,3038
$GC,4383,-1.20,-121.7,353.7,-7.9,282,4387,0.12,2.30,0.00,0.000,6,0.088,0.040,2815,1839,3037
$GC,4672,-1.20,-121.7,374.4,-6.9,289,4676,0.00,2.42,0.00,0.000,4,0.000,0.069,2815,434,3036
$GC,4694,-1.17,-121.7,376.1,-7.7,289,4698,0.00,2.25,0.00,0.000,6,0.000,0.031,2815,1836,3036
$GC,4954,-1.17,-121.7,394.6,-7.1,296,4959,0.00,2.38,0.00,0.000,4,0.000,0.054,2815,3249,3035
$GC,4982,-1.17,-121.7,396.6,-7.5,296,4986,0.00,2.33,0.00,0.000,6,0.000,0.041,2815,1842,3035
$GC,5232,-1.17,-121.7,415.7,-7.8,302,5236,0.00,2.33,0.00,0.000,4,0.000,0.044,2815,3242,3034
$GC,5271,-1.17,-121.7,419.0,-8.0,303,5275,0.00,2.33,0.00,0.000,6,0.000,0.043,2815,1842,3034
$GC,5556,-1.17,-121.7,441.7,-7.8,310,5560,0.00,2.35,0.00,0.000,4,0.000,0.048,2815,3247,3032
$GC,5623,-1.20,-121.7,446.5,-7.1,311,5627,0.00,2.35,0.00,0.000,6,0.000,0.046,2815,1842,3032
$GC,5883,-1.20,-121.7,463.6,-6.5,318,5888,0.00,2.35,0.00,0.000,4,0.000,0.050,2815,3242,3030
$GC,5940,-1.24,-121.7,467.4,-6.7,319,5944,0.00,2.38,0.00,0.000,6,0.000,0.048,2815,1832,3030
$GC,6206,-1.24,-121.7,483.0,-5.7,326,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1832,3029
$GC,6451,-1.24,-121.7,498.9,-6.8,332,6456,0.00,2.40,0.00,0.000,4,0.000,0.062,2815,3246,3027
$STATE,6466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6466,begin apogee
$GC,6474,-0.31,0.0,500.3,7.2,332,6576,0.85,0.00,98.18,0.913,6,0.075,0.000,3007,1761,2540
$STATE,6577,end apogee,CONTROL_FINISHED_OK
$STATE,6577,begin climb
$GC,6579,1.25,121.7,503.0,0.0,335,6690,1.50,2.62,103.80,0.894,4,0.038,0.087,3360,346,2043
$GC,6718,0.99,121.7,495.0,10.8,337,6723,0.32,2.38,0.00,0.000,6,0.108,0.037,3296,1762,2040
$GC,6974,1.00,156.7,475.9,7.3,344,7009,0.00,2.58,29.75,0.863,4,0.000,0.071,3296,341,1900
$GC,7076,0.93,156.7,466.5,10.2,345,7080,0.00,2.38,0.00,0.000,6,0.000,0.035,3296,1772,1897
$GC,7336,0.93,156.7,442.0,9.6,352,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1771,1892
$GC,7580,0.93,156.7,416.5,10.5,358,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1772,1891
$GC,7824,0.94,164.6,394.6,8.6,364,7837,0.00,2.45,7.03,0.713,4,0.000,0.051,3296,3171,1868
$GC,7872,0.99,165.5,390.3,9.0,365,7877,0.00,2.40,0.00,0.000,6,0.000,0.042,3296,1746,1866
$GC,8150,1.01,185.3,367.7,8.0,372,8174,0.00,2.55,18.83,0.806,4,0.000,0.074,3296,353,1783
$GC,8242,0.97,185.3,358.9,9.6,374,8246,0.00,2.30,0.00,0.000,6,0.000,0.031,3296,1770,1780
$GC,8519,0.97,185.3,334.3,9.1,381,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1770,1777
$GC,8763,0.97,185.3,310.1,10.0,387,8767,0.00,2.47,0.00,0.000,4,0.000,0.059,3296,343,1776
$GC,8803,0.94,185.3,305.7,11.6,388,8807,0.00,2.30,0.00,0.000,6,0.000,0.034,3296,1772,1776
$GC,9086,0.94,185.3,278.6,9.3,395,9090,0.00,2.45,0.00,0.000,4,0.000,0.058,3296,352,1775
$GC,9191,0.94,185.3,267.4,10.2,397,9195,0.00,2.28,0.00,0.000,6,0.000,0.026,3296,1769,1775
$GC,9459,1.00,196.3,244.9,8.5,404,9473,0.00,2.47,9.55,0.678,4,0.000,0.058,3296,346,1739
$GC,9529,1.00,196.3,238.3,10.1,405,9534,0.00,2.30,0.00,0.000,6,0.000,0.025,3296,1758,1737
$GC,9791,1.07,207.0,216.1,8.5,412,9807,0.00,2.35,10.48,0.664,4,0.000,0.041,3296,3162,1695
$GC,9846,1.20,222.0,211.5,8.3,413,9866,0.20,2.35,14.75,0.676,6,0.040,0.038,3356,1747,1633
$GC,10118,1.15,222.0,180.9,11.1,428,10122,0.12,2.40,0.00,0.000,4,0.104,0.061,3331,355,1629
$GC,10189,1.15,222.0,172.6,10.9,434,10196,0.00,2.25,0.00,0.000,6,0.000,0.023,3332,1778,1627
$GC,10453,1.21,249.9,151.5,7.6,459,10486,0.00,2.33,24.30,0.638,4,0.000,0.034,3331,3154,1520
$GC,10492,1.26,262.8,148.0,8.4,462,10510,0.00,2.33,13.00,0.597,6,0.000,0.034,3332,1763,1468
$GC,10767,1.26,262.8,119.4,11.0,488,10771,0.00,2.40,0.00,0.000,4,0.000,0.058,3332,353,1463
$GC,10807,1.26,262.8,114.4,12.6,491,10811,0.00,2.22,0.00,0.000,6,0.000,0.021,3332,1770,1462
$GC,11072,1.26,262.8,85.1,10.7,516,11076,0.00,2.25,0.00,0.000,4,0.000,0.035,3332,3157,1461
$GC,11094,1.29,262.8,82.7,10.4,517,11101,0.12,2.28,0.00,0.000,6,0.051,0.033,3377,1758,1461
$GC,11358,1.21,262.8,46.6,14.2,542,11365,0.17,0.00,0.00,0.000,6,0.094,0.000,3341,1758,1461
$GC,11622,1.21,262.8,14.8,12.3,579,11629,0.00,2.30,0.00,0.000,4,0.000,0.031,3341,3158,1461
$GC,11659,1.25,262.8,10.5,12.3,585,11666,0.00,2.33,0.00,0.000,6,0.000,0.034,3341,1750,1461
$STATE,11725,end climb,SURFACE_DEPTH_REACHED
$STATE,11726,begin surface coast
$FINISH,1.4,1.023652
$STATE,11743,end surface coast,CONTROL_FINISHED_OK
$STATE,11743,begin surface
$SM_CCo,11764,113.50,0.512,0,0,908,400.08
$SM_GC,2.10,0.00,0.00,113.50,0.000,0.000,0.512,468,1873,908,-12.01,0.96,400.08
$IRIDIUM_FIX,2239.35,-15754.11,190598,141451
$TT8_MAMPS,0.026845
$HUMID,1793
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,23.20
$XPDR_PINGS,360
$24V_AH,23.9,37.282
$10V_AH,10.2,36.179
$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,29.200,148.725,329.650,113.500,0.000,24.317,39.007,129.345,100.750,0.000,0.000,16.813,1240.367,8266.478,575.491,1690.248,411.370,33.372,1375.441,0.000,1648.890,0.000,69.870,0.000
$DEVICE_MAMPS,164.905,86.671,913.497,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,423.042,297.607,0.000,484.911,685.504,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44444,600
$CAP_FILE_SIZE,119828,0
$CFSIZE,260165632,245235712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220209,210936,2250.920,-15753.920,37,1.5,38,10.1