version: 66.04
glider: 147
mission: 3
dive: 263
start: 2 23 109 10 57 57
data:
$ID,147
$MISSION,3
$DIVE,263
$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,-23209.131
$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,77
$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
$GPS1,105207,2248.023,-15751.383,37,0.9,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-66.6
$GPS2,105701,2248.021,-15751.438,8,1.0,13,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.227,0.044
$KALMAN_X,-77109.7,-342.9,58.4,120418.0,-1111.4
$KALMAN_Y,-6130.4,-450.4,-178.8,168619.6,-509.6
$MHEAD_RNG_PITCHd_Wd,68.8,4164,-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,-121.7,0.0,0.0,0,90,0.00,0.00,-73.30,0.000,2,0.000,0.000,464,1885,2447
$GC,93,-1.25,-121.7,3.4,-3.2,11,130,12.93,2.50,-18.30,0.000,4,0.166,0.057,2802,432,3036
$GC,143,-0.87,-121.7,8.6,-9.7,18,151,0.35,2.17,0.00,0.000,6,0.085,0.025,2890,1835,3037
$GC,412,-0.90,-121.7,29.4,-6.8,67,419,0.00,2.22,0.00,0.000,4,0.000,0.031,2890,3207,3039
$GC,449,-0.97,-121.7,32.0,-6.9,71,454,0.00,2.22,0.00,0.000,6,0.000,0.029,2890,1828,3039
$GC,712,-1.00,-121.7,52.7,-8.4,95,717,0.12,2.22,0.00,0.000,4,0.048,0.028,2839,3215,3039
$GC,744,-0.96,-121.7,56.1,-10.2,97,751,0.10,2.25,0.00,0.000,6,0.075,0.028,2866,1832,3039
$GC,1007,-0.96,-121.7,79.6,-9.1,122,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1832,3039
$GC,1259,-0.96,-121.7,102.7,-9.2,146,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1832,3040
$GC,1514,-0.96,-121.7,126.5,-9.2,170,1518,0.00,2.20,0.00,0.000,4,0.000,0.029,2866,3209,3040
$GC,1537,-0.96,-121.7,128.5,-8.4,172,1541,0.00,2.20,0.00,0.000,6,0.000,0.029,2866,1837,3040
$GC,1800,-0.96,-121.7,150.8,-7.9,196,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1836,3041
$GC,2053,-0.96,-121.7,169.5,-7.1,220,2061,0.00,2.20,0.00,0.000,4,0.000,0.030,2866,3217,3041
$GC,2094,-1.03,-121.7,172.5,-7.1,223,2100,0.00,2.20,0.00,0.000,6,0.000,0.029,2866,1842,3041
$GC,2357,-1.06,-121.7,188.7,-7.5,248,2360,0.00,2.17,0.00,0.000,4,0.000,0.029,2866,3209,3041
$GC,2396,-1.14,-121.7,191.8,-7.7,251,2403,0.15,2.20,0.00,0.000,6,0.043,0.029,2807,1835,3041
$GC,2652,-1.06,-121.7,217.7,-10.5,264,2656,0.17,2.33,0.00,0.000,4,0.085,0.050,2847,437,3041
$GC,2684,-1.06,-121.7,221.3,-9.4,264,2690,0.00,2.12,0.00,0.000,6,0.000,0.021,2848,1805,3041
$GC,2934,-1.06,-121.7,244.5,-9.0,271,2938,0.00,2.33,0.00,0.000,4,0.000,0.037,2847,3244,3041
$GC,3003,-1.13,-121.7,250.4,-9.1,272,3007,0.00,2.28,0.00,0.000,6,0.000,0.031,2848,1833,3041
$GC,3257,-1.13,-121.7,269.4,-7.2,279,3261,0.00,2.35,0.00,0.000,4,0.000,0.056,2848,431,3041
$GC,3304,-1.13,-121.7,272.2,-6.4,280,3309,0.00,2.22,0.00,0.000,6,0.000,0.023,2848,1850,3042
$GC,3588,-1.17,-121.7,288.3,-5.7,287,3593,0.00,2.38,0.00,0.000,4,0.000,0.053,2848,438,3041
$GC,3618,-1.17,-121.7,290.1,-6.9,287,3622,0.00,2.20,0.00,0.000,6,0.000,0.024,2848,1838,3041
$GC,3869,-1.21,-121.7,305.3,-6.1,293,3873,0.15,2.33,0.00,0.000,4,0.044,0.046,2792,3241,3041
$GC,3981,-1.17,-121.7,314.9,-8.4,295,3986,0.15,2.30,0.00,0.000,6,0.087,0.036,2823,1835,3041
$GC,4242,-1.17,-121.7,336.0,-8.2,302,4246,0.00,2.30,0.00,0.000,4,0.000,0.043,2823,3235,3041
$GC,4269,-1.17,-121.7,338.4,-8.2,302,4273,0.00,2.30,0.00,0.000,6,0.000,0.038,2823,1832,3040
$GC,4524,-1.17,-121.7,361.2,-9.1,309,4528,0.00,2.33,0.00,0.000,4,0.000,0.043,2823,3239,3040
$GC,4556,-1.20,-121.7,364.3,-9.1,309,4563,0.00,2.30,0.00,0.000,6,0.000,0.039,2823,1843,3039
$GC,4808,-1.20,-121.7,385.4,-8.3,316,4813,0.00,2.45,0.00,0.000,4,0.000,0.071,2823,424,3039
$GC,4835,-1.20,-121.7,388.0,-9.1,316,4840,0.00,2.28,0.00,0.000,6,0.000,0.032,2823,1839,3039
$GC,5091,-1.20,-121.7,404.0,-5.9,323,5095,0.00,2.38,0.00,0.000,4,0.000,0.059,2823,3245,3037
$GC,5136,-1.25,-121.7,406.7,-5.7,324,5140,0.00,2.33,0.00,0.000,6,0.000,0.041,2823,1840,3037
$GC,5414,-1.25,-121.7,421.5,-5.3,331,5418,0.00,2.33,0.00,0.000,4,0.000,0.045,2823,3245,3036
$GC,5436,-1.28,-121.7,422.8,-5.3,331,5440,0.10,2.33,0.00,0.000,6,0.057,0.042,2784,1840,3035
$GC,5693,-1.22,-121.7,440.4,-7.1,338,5695,0.15,0.00,0.00,0.000,6,0.087,0.000,2815,1840,3035
$GC,5934,-1.22,-121.7,457.5,-7.0,344,5938,0.00,2.35,0.00,0.000,4,0.000,0.050,2815,3244,3033
$GC,5967,-1.25,-121.7,460.0,-7.8,344,5974,0.00,2.35,0.00,0.000,6,0.000,0.046,2815,1840,3033
$GC,6217,-1.25,-121.7,478.6,-7.5,351,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1839,3032
$GC,6461,-1.25,-121.7,497.0,-7.3,357,6465,0.00,2.40,0.00,0.000,4,0.000,0.056,2815,3252,3031
$STATE,6503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6503,begin apogee
$GC,6511,-0.31,0.0,500.6,8.5,358,6613,0.85,0.00,98.88,0.913,6,0.077,0.000,3006,1754,2540
$STATE,6614,end apogee,CONTROL_FINISHED_OK
$STATE,6614,begin climb
$GC,6617,1.25,121.7,503.2,0.0,360,6728,1.45,2.60,103.07,0.894,4,0.038,0.086,3355,351,2043
$GC,6746,1.03,121.7,497.3,10.3,363,6751,0.25,2.35,0.00,0.000,6,0.107,0.038,3306,1757,2041
$GC,7024,1.01,155.9,475.3,7.3,370,7055,0.00,0.00,29.17,0.860,6,0.000,0.000,3307,1757,1904
$GC,7267,0.99,170.7,455.2,8.3,376,7293,0.00,2.50,15.73,0.732,4,0.000,0.067,3306,344,1843
$GC,7343,0.90,170.7,447.4,11.2,377,7350,0.15,2.35,0.00,0.000,6,0.110,0.039,3278,1768,1841
$GC,7594,0.94,176.2,426.0,8.7,384,7604,0.00,2.50,5.75,0.675,4,0.000,0.065,3278,348,1820
$GC,7643,0.94,176.2,420.9,10.8,385,7647,0.00,2.33,0.00,0.000,6,0.000,0.031,3277,1771,1818
$GC,7921,0.98,176.2,395.3,9.2,392,7925,0.00,2.38,0.00,0.000,4,0.000,0.054,3277,3170,1817
$GC,7937,1.02,176.2,393.7,9.4,392,7942,0.10,2.38,0.00,0.000,6,0.060,0.041,3311,1751,1816
$GC,8197,1.02,176.2,366.2,10.5,399,8201,0.00,2.45,0.00,0.000,4,0.000,0.072,3311,351,1815
$GC,8286,0.95,176.2,355.5,12.0,401,8291,0.12,2.28,0.00,0.000,6,0.111,0.028,3288,1767,1814
$GC,8564,0.98,176.2,327.8,10.4,408,8568,0.00,2.45,0.00,0.000,4,0.000,0.066,3287,343,1814
$GC,8585,0.98,176.2,325.5,10.7,408,8590,0.00,2.30,0.00,0.000,6,0.000,0.027,3287,1758,1813
$GC,8847,1.02,176.2,298.3,10.4,415,8851,0.00,2.33,0.00,0.000,4,0.000,0.044,3288,3162,1813
$GC,8869,1.08,176.2,296.1,9.6,415,8874,0.12,2.33,0.00,0.000,6,0.052,0.038,3328,1753,1813
$GC,9124,1.05,176.2,269.1,10.6,422,9128,0.00,2.33,0.00,0.000,4,0.000,0.035,3328,3171,1812
$GC,9190,1.05,176.2,261.6,11.3,423,9194,0.00,2.35,0.00,0.000,6,0.000,0.038,3328,1765,1812
$GC,9451,1.05,176.2,236.2,9.1,430,9455,0.00,2.45,0.00,0.000,4,0.000,0.067,3328,344,1811
$GC,9517,0.98,176.2,229.9,9.6,431,9522,0.17,2.25,0.00,0.000,6,0.104,0.025,3293,1777,1810
$GC,9778,1.06,197.0,209.3,8.0,438,9797,0.00,0.00,16.95,0.686,6,0.000,0.000,3294,1779,1737
$GC,10056,1.18,218.5,187.1,7.9,456,10079,0.17,0.00,19.65,0.667,6,0.044,0.000,3347,1779,1648
$GC,10332,1.18,218.5,160.2,10.3,482,10336,0.00,2.25,0.00,0.000,4,0.000,0.037,3347,3161,1644
$GC,10416,1.22,218.5,151.7,10.5,489,10420,0.00,2.33,0.00,0.000,6,0.000,0.035,3347,1744,1644
$GC,10677,1.22,218.5,126.2,10.0,513,10682,0.00,2.35,0.00,0.000,4,0.000,0.059,3347,356,1642
$GC,10710,1.15,218.5,122.3,11.9,515,10717,0.00,2.22,0.00,0.000,6,0.000,0.022,3347,1772,1642
$GC,10971,1.15,218.5,95.3,10.7,540,10975,0.00,2.38,0.00,0.000,4,0.000,0.051,3347,355,1642
$GC,11004,1.07,218.5,91.1,12.5,542,11012,0.12,2.22,0.00,0.000,6,0.091,0.024,3316,1751,1642
$GC,11268,1.12,218.5,65.3,9.8,567,11272,0.00,2.30,0.00,0.000,4,0.000,0.038,3316,3169,1642
$GC,11286,1.17,218.5,63.4,9.9,568,11290,0.00,2.30,0.00,0.000,6,0.000,0.033,3316,1748,1642
$GC,11549,1.21,218.5,38.2,10.5,592,11554,0.12,2.30,0.00,0.000,4,0.051,0.031,3361,3171,1642
$GC,11570,1.21,218.5,35.5,11.5,593,11577,0.00,2.33,0.00,0.000,6,0.000,0.033,3361,1766,1643
$GC,11836,1.13,218.5,2.7,12.8,638,11843,0.17,0.00,0.00,0.000,6,0.091,0.000,3321,1767,1644
$STATE,11848,end climb,SURFACE_DEPTH_REACHED
$STATE,11848,begin surface coast
$FINISH,1.4,1.005413
$STATE,11865,end surface coast,CONTROL_FINISHED_OK
$STATE,11865,begin surface
$SM_CCo,11886,149.27,0.511,0,0,908,400.08
$SM_GC,2.19,0.00,0.00,149.27,0.000,0.000,0.511,468,1912,908,-12.02,2.04,400.08
$IRIDIUM_FIX,2239.35,-15751.94,200598,070704
$TT8_MAMPS,0.027612
$HUMID,1784
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,23.40
$XPDR_PINGS,412
$24V_AH,23.9,37.875
$10V_AH,10.2,36.642
$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,29.875,148.575,289.200,149.275,0.000,27.535,27.840,132.369,113.750,0.000,0.000,14.711,1298.352,8277.192,579.307,1772.345,409.374,33.372,1396.562,0.000,1733.324,0.000,68.560,0.000
$DEVICE_MAMPS,166.439,85.904,912.730,510.822,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,454.057,328.511,0.000,548.509,774.416,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47698,643
$CAP_FILE_SIZE,122146,0
$CFSIZE,260165632,244948992
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230209,141937,2248.023,-15750.938,25,1.4,26,10.1