version: 66.04
glider: 147
mission: 3
dive: 264
start: 2 23 109 14 25 58
data:
$ID,147
$MISSION,3
$DIVE,264
$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,-23243.232
$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,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
$GPS1,141937,2248.023,-15750.938,25,1.4,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-70.0
$GPS2,142504,2248.037,-15751.008,12,99.0,31,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.228,-0.036
$KALMAN_X,-78533.9,-221.8,-393.3,122916.3,-504.8
$KALMAN_Y,-6815.8,-67.5,-351.8,169113.8,358.1
$MHEAD_RNG_PITCHd_Wd,88.8,3428,-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,-121.7,0.0,0.0,0,90,0.00,0.00,-72.88,0.000,2,0.000,0.000,468,1912,2445
$GC,93,-1.25,-121.7,3.4,-2.6,11,129,12.77,0.00,-18.92,0.000,6,0.163,0.000,2803,1912,3038
$GC,395,-1.08,-121.7,39.7,-12.8,58,397,0.20,0.00,0.00,0.000,6,0.095,0.000,2843,1912,3039
$GC,649,-1.02,-121.7,64.4,-10.1,82,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1912,3039
$GC,904,-0.95,-121.7,90.3,-10.5,106,906,0.15,0.00,0.00,0.000,6,0.096,0.000,2874,1912,3040
$GC,1159,-0.95,-121.7,112.2,-8.4,130,1163,0.00,2.50,0.00,0.000,4,0.000,0.048,2875,423,3040
$GC,1191,-0.95,-121.7,115.4,-9.1,132,1198,0.00,2.25,0.00,0.000,6,0.000,0.020,2874,1861,3040
$GC,1456,-0.95,-121.7,135.8,-7.9,157,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1862,3041
$GC,1718,-0.95,-121.7,157.1,-8.2,182,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1862,3041
$GC,1972,-0.95,-121.7,177.6,-7.6,206,1976,0.00,2.17,0.00,0.000,4,0.000,0.030,2875,3229,3041
$GC,2002,-0.99,-121.7,180.0,-8.2,208,2008,0.00,2.25,0.00,0.000,6,0.000,0.028,2874,1825,3042
$GC,2266,-1.05,-121.7,200.1,-7.3,233,2270,0.00,2.25,0.00,0.000,4,0.000,0.031,2874,3232,3042
$GC,2299,-1.14,-121.7,202.8,-7.3,233,2304,0.17,2.25,0.00,0.000,6,0.038,0.029,2808,1830,3042
$GC,2551,-1.06,-121.7,226.2,-9.5,239,2556,0.17,2.25,0.00,0.000,4,0.083,0.030,2845,3236,3042
$GC,2583,-1.06,-121.7,229.3,-8.4,239,2590,0.00,2.22,0.00,0.000,6,0.000,0.030,2845,1839,3043
$GC,2833,-1.06,-121.7,246.5,-6.7,246,2837,0.00,2.35,0.00,0.000,4,0.000,0.055,2845,435,3043
$GC,2878,-1.06,-121.7,249.4,-6.9,247,2882,0.00,2.17,0.00,0.000,6,0.000,0.022,2845,1836,3043
$GC,3155,-1.10,-121.7,265.1,-5.6,254,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1837,3042
$GC,3399,-1.14,-121.7,279.8,-6.3,260,3404,0.00,2.30,0.00,0.000,4,0.000,0.044,2845,3239,3042
$GC,3472,-1.21,-121.7,284.9,-7.4,261,3476,0.12,2.28,0.00,0.000,6,0.048,0.035,2796,1838,3042
$GC,3726,-1.14,-121.7,308.1,-9.3,268,3731,0.17,2.28,0.00,0.000,4,0.081,0.039,2833,3228,3042
$GC,3748,-1.14,-121.7,310.3,-9.7,268,3752,0.00,2.28,0.00,0.000,6,0.000,0.036,2833,1830,3042
$GC,4006,-1.14,-121.7,331.3,-8.3,275,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1830,3041
$GC,4248,-1.14,-121.7,351.4,-8.2,281,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1829,3040
$GC,4494,-1.17,-121.7,370.6,-7.8,287,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1829,3040
$GC,4735,-1.21,-121.7,388.9,-7.5,293,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1829,3038
$GC,4981,-1.24,-121.7,406.3,-7.1,299,4985,0.10,2.35,0.00,0.000,4,0.057,0.051,2793,3224,3037
$GC,5022,-1.21,-121.7,409.6,-8.7,300,5027,0.10,2.30,0.00,0.000,6,0.097,0.044,2814,1835,3036
$GC,5312,-1.21,-121.7,431.9,-7.7,307,5316,0.00,2.33,0.00,0.000,4,0.000,0.047,2814,3235,3035
$GC,5373,-1.24,-121.7,436.6,-7.1,308,5377,0.00,2.30,0.00,0.000,6,0.000,0.044,2815,1843,3035
$GC,5641,-1.24,-121.7,454.0,-6.4,315,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1842,3034
$GC,5883,-1.24,-121.7,468.4,-5.9,321,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1841,3033
$GC,6129,-1.24,-121.7,482.3,-5.7,327,6133,0.00,2.33,0.00,0.000,4,0.000,0.054,2814,3222,3032
$GC,6171,-1.27,-121.7,484.9,-7.0,328,6175,0.00,2.33,0.00,0.000,6,0.000,0.049,2814,1842,3031
$STATE,6413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6413,begin apogee
$GC,6419,-0.31,0.0,501.4,7.0,334,6522,0.90,0.00,98.97,0.908,6,0.074,0.000,3013,1748,2540
$STATE,6522,end apogee,CONTROL_FINISHED_OK
$STATE,6522,begin climb
$GC,6525,1.25,121.7,503.4,0.0,336,6634,1.42,0.00,103.30,0.890,6,0.039,0.000,3356,1748,2044
$GC,6893,1.09,121.7,470.2,11.1,345,6898,0.20,2.53,0.00,0.000,4,0.105,0.084,3314,352,2034
$GC,6926,0.95,121.7,466.4,10.9,345,6933,0.15,2.30,0.00,0.000,6,0.111,0.036,3286,1745,2034
$GC,7175,0.98,141.9,446.0,8.0,352,7199,0.00,2.55,16.95,0.824,4,0.000,0.067,3286,349,1959
$GC,7228,0.91,141.9,441.7,9.1,353,7233,0.00,2.33,0.00,0.000,6,0.000,0.033,3286,1761,1957
$GC,7500,0.96,179.5,421.4,7.1,360,7546,0.00,2.53,35.08,0.810,4,0.000,0.064,3286,348,1807
$GC,7562,0.96,179.5,416.1,10.2,361,7566,0.00,2.33,0.00,0.000,6,0.000,0.031,3286,1762,1805
$GC,7824,0.96,181.4,392.3,8.9,368,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1764,1800
$GC,8067,0.96,181.4,369.5,9.5,374,8071,0.00,2.45,0.00,0.000,4,0.000,0.061,3286,344,1799
$GC,8116,0.96,181.4,364.0,12.0,375,8120,0.00,2.30,0.00,0.000,6,0.000,0.029,3286,1762,1798
$GC,8394,0.99,181.4,335.2,10.5,382,8398,0.00,2.42,0.00,0.000,4,0.000,0.059,3286,349,1796
$GC,8415,0.99,181.4,332.6,11.3,382,8420,0.00,2.28,0.00,0.000,6,0.000,0.028,3286,1764,1796
$GC,8677,1.03,181.4,307.0,9.5,389,8681,0.00,2.42,0.00,0.000,4,0.000,0.058,3285,345,1795
$GC,8693,1.03,181.4,305.2,9.1,389,8697,0.00,2.30,0.00,0.000,6,0.000,0.027,3286,1758,1795
$GC,8961,1.10,197.5,282.7,8.2,396,8978,0.15,0.00,14.57,0.738,6,0.049,0.000,3332,1759,1734
$GC,9204,1.07,197.5,256.9,10.7,402,9208,0.00,2.35,0.00,0.000,4,0.000,0.047,3331,3167,1730
$GC,9248,1.10,197.5,251.9,11.3,403,9253,0.00,2.35,0.00,0.000,6,0.000,0.039,3331,1748,1730
$GC,9528,1.10,197.5,223.0,10.7,410,9532,0.00,2.40,0.00,0.000,4,0.000,0.063,3331,352,1729
$GC,9538,1.06,197.5,221.5,10.5,410,9542,0.00,2.25,0.00,0.000,6,0.000,0.023,3332,1776,1729
$GC,9792,1.06,197.5,195.4,9.8,418,9796,0.00,2.42,0.00,0.000,4,0.000,0.055,3331,348,1728
$GC,9870,1.01,197.5,186.2,12.2,425,9875,0.15,2.22,0.00,0.000,6,0.103,0.024,3302,1757,1727
$GC,10132,1.14,224.7,165.8,7.7,449,10166,0.12,2.40,23.48,0.653,4,0.052,0.038,3344,3168,1623
$GC,10240,1.19,224.7,155.7,9.0,458,10246,0.00,2.33,0.00,0.000,6,0.000,0.035,3344,1751,1621
$GC,10502,1.19,224.7,129.3,10.5,483,10506,0.00,2.38,0.00,0.000,4,0.000,0.058,3343,353,1618
$GC,10553,1.13,224.7,123.2,11.8,487,10557,0.00,2.22,0.00,0.000,6,0.000,0.022,3343,1768,1617
$GC,10817,1.13,224.7,94.1,11.0,511,10822,0.00,2.40,0.00,0.000,4,0.000,0.052,3344,346,1617
$GC,10857,1.07,224.7,89.0,11.8,514,10861,0.15,2.22,0.00,0.000,6,0.101,0.023,3314,1760,1617
$GC,11120,1.12,224.7,63.2,9.4,538,11124,0.00,2.28,0.00,0.000,4,0.000,0.043,3314,3164,1617
$GC,11139,1.18,224.7,61.2,9.9,539,11143,0.10,2.30,0.00,0.000,6,0.056,0.034,3353,1750,1617
$GC,11403,1.15,224.7,34.8,9.3,563,11407,0.12,2.35,0.00,0.000,4,0.103,0.055,3329,348,1618
$GC,11443,1.11,224.7,29.2,12.9,566,11450,0.00,2.25,0.00,0.000,6,0.000,0.022,3329,1766,1618
$STATE,11705,end climb,SURFACE_DEPTH_REACHED
$STATE,11705,begin surface coast
$FINISH,1.3,0.999877
$STATE,11722,end surface coast,CONTROL_FINISHED_OK
$STATE,11722,begin surface
$SM_CCo,11743,144.60,0.507,0,0,908,400.08
$SM_GC,2.15,0.00,0.00,144.60,0.000,0.000,0.507,468,1892,908,-12.02,1.47,400.08
$IRIDIUM_FIX,2239.35,-15749.78,200598,111131
$TT8_MAMPS,0.027612
$HUMID,1794
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,23.50
$XPDR_PINGS,381
$24V_AH,23.9,37.990
$10V_AH,10.2,36.731
$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,29.075,111.850,292.350,144.600,0.000,28.423,42.951,131.547,106.000,0.000,0.000,33.470,1229.008,8377.993,552.226,1644.695,417.177,33.372,1293.758,0.000,1599.069,0.000,68.556,0.000
$DEVICE_MAMPS,163.371,89.739,908.128,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,436.783,310.993,0.000,508.887,719.723,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44679,618
$CAP_FILE_SIZE,109557,0
$CFSIZE,260165632,244908032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230209,174513,2247.735,-15750.104,10,1.3,28,10.1