version: 66.04
glider: 147
mission: 3
dive: 285
start: 2 26 109 13 17 52
data:
$ID,147
$MISSION,3
$DIVE,285
$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,-23599.055
$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,58
$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
$GPS1,131137,2248.859,-15751.341,30,1.2,31,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-61.6
$GPS2,131656,2248.803,-15751.388,13,1.1,13,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT15
$TGT_LATLONG,2251.000,-15754.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.009,0.231
$KALMAN_X,-98510.9,-79.4,151.1,141545.9,-1208.2
$KALMAN_Y,-34847.1,9.7,-178.1,198321.0,-1380.7
$MHEAD_RNG_PITCHd_Wd,347.6,6036,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.25,-121.7,0.0,0.0,0,86,0.00,0.00,-67.12,0.000,2,0.000,0.000,470,1866,2329
$GC,89,-1.25,-121.7,3.1,-3.2,10,132,12.75,2.25,-25.12,0.000,4,0.163,0.040,2805,3239,3037
$GC,204,-1.14,-121.7,12.7,-10.2,29,211,0.08,2.30,0.00,0.000,6,0.088,0.029,2825,1836,3039
$GC,469,-1.03,-121.7,39.9,-9.9,68,471,0.15,0.00,0.00,0.000,6,0.093,0.000,2856,1835,3039
$GC,724,-0.99,-121.7,62.7,-8.4,92,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1835,3039
$GC,980,-0.96,-121.7,80.4,-8.4,116,984,0.00,2.25,0.00,0.000,4,0.000,0.028,2855,3237,3040
$GC,1025,-0.96,-121.7,84.7,-7.5,119,1031,0.00,2.28,0.00,0.000,6,0.000,0.030,2856,1828,3040
$GC,1287,-0.93,-121.7,109.9,-9.8,144,1289,0.10,0.00,0.00,0.000,6,0.098,0.000,2877,1827,3040
$GC,1544,-0.93,-121.7,131.2,-7.0,168,1548,0.00,2.25,0.00,0.000,4,0.000,0.030,2877,3230,3040
$GC,1566,-0.93,-121.7,133.1,-7.2,169,1573,0.00,2.25,0.00,0.000,6,0.000,0.028,2877,1832,3041
$GC,1831,-0.93,-121.7,150.1,-6.4,194,1835,0.00,2.22,0.00,0.000,4,0.000,0.030,2877,3223,3041
$GC,1853,-0.97,-121.7,151.8,-6.4,195,1860,0.00,2.25,0.00,0.000,6,0.000,0.028,2878,1840,3041
$GC,2117,-1.03,-121.7,167.9,-6.7,220,2120,0.00,2.22,0.00,0.000,4,0.000,0.031,2877,3227,3041
$GC,2188,-1.14,-121.7,172.9,-7.3,226,2193,0.20,2.22,0.00,0.000,6,0.036,0.029,2806,1838,3041
$GC,2479,-1.05,-121.7,205.5,-11.7,250,2481,0.20,0.00,0.00,0.000,6,0.081,0.000,2849,1837,3041
$GC,2725,-1.05,-121.7,225.5,-7.6,256,2729,0.00,2.25,0.00,0.000,4,0.000,0.033,2849,3228,3041
$GC,2786,-1.11,-121.7,229.6,-6.2,257,2790,0.00,2.25,0.00,0.000,6,0.000,0.031,2849,1837,3041
$GC,3048,-1.14,-121.7,243.4,-5.0,264,3052,0.00,2.25,0.00,0.000,4,0.000,0.034,2849,3228,3041
$GC,3093,-1.21,-121.7,245.7,-5.1,265,3098,0.15,2.25,0.00,0.000,6,0.043,0.031,2791,1837,3041
$GC,3371,-1.12,-121.7,268.7,-8.7,272,3375,0.17,2.38,0.00,0.000,4,0.087,0.056,2831,433,3041
$GC,3392,-1.07,-121.7,270.8,-9.0,272,3396,0.00,2.20,0.00,0.000,6,0.000,0.023,2831,1830,3041
$GC,3650,-1.07,-121.7,292.5,-8.6,279,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1832,3041
$GC,3892,-1.07,-121.7,311.4,-7.5,285,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1832,3041
$GC,4137,-1.07,-121.7,327.8,-6.7,291,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1832,3041
$GC,4379,-1.07,-121.7,343.2,-6.3,297,4383,0.00,2.38,0.00,0.000,4,0.000,0.050,2831,3243,3040
$GC,4440,-1.13,-121.7,346.9,-5.9,298,4444,0.00,2.33,0.00,0.000,6,0.000,0.039,2831,1837,3040
$GC,4706,-1.13,-121.7,362.6,-6.1,305,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1836,3038
$GC,4950,-1.16,-121.7,379.5,-7.1,311,4954,0.00,2.33,0.00,0.000,4,0.000,0.044,2831,3234,3037
$GC,4973,-1.20,-121.7,381.4,-8.0,311,4977,0.00,2.33,0.00,0.000,6,0.000,0.042,2831,1830,3037
$GC,5231,-1.23,-121.7,401.2,-7.8,318,5235,0.00,2.45,0.00,0.000,4,0.000,0.075,2831,428,3036
$GC,5252,-1.23,-121.7,403.2,-7.8,318,5256,0.00,2.28,0.00,0.000,6,0.000,0.033,2831,1830,3036
$GC,5514,-1.28,-121.7,421.3,-6.8,325,5519,0.12,2.40,0.00,0.000,4,0.050,0.057,2785,3247,3035
$GC,5570,-1.24,-121.7,425.8,-8.2,326,5575,0.12,2.35,0.00,0.000,6,0.093,0.043,2810,1833,3034
$GC,5836,-1.24,-121.7,444.5,-7.0,333,5841,0.00,2.38,0.00,0.000,4,0.000,0.048,2810,3250,3033
$GC,5904,-1.27,-121.7,449.4,-7.6,334,5908,0.00,2.38,0.00,0.000,6,0.000,0.047,2810,1833,3032
$GC,6165,-1.27,-121.7,467.2,-6.9,341,6169,0.00,2.38,0.00,0.000,4,0.000,0.051,2810,3250,3032
$GC,6212,-1.27,-121.7,470.5,-7.5,342,6217,0.00,2.38,0.00,0.000,6,0.000,0.049,2810,1838,3031
$GC,6497,-1.27,-121.7,490.8,-7.1,349,6501,0.00,2.38,0.00,0.000,4,0.000,0.054,2810,3242,3030
$GC,6519,-1.27,-121.7,492.5,-7.2,349,6523,0.00,2.38,0.00,0.000,6,0.000,0.051,2810,1836,3030
$STATE,6615,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6615,begin apogee
$GC,6621,-0.31,0.0,499.3,6.9,352,6723,0.90,0.00,99.50,0.908,6,0.073,0.000,3009,1755,2540
$STATE,6724,end apogee,CONTROL_FINISHED_OK
$STATE,6724,begin climb
$GC,6726,1.25,121.7,500.6,0.0,354,6835,1.45,0.00,104.25,0.887,6,0.038,0.000,3358,1755,2044
$GC,7053,1.09,121.7,467.9,12.3,362,7054,0.20,0.00,0.00,0.000,6,0.104,0.000,3319,1755,2034
$GC,7296,1.01,121.7,444.4,9.5,368,7300,0.00,2.53,0.00,0.000,4,0.000,0.081,3319,352,2031
$GC,7317,0.89,121.7,442.2,10.1,368,7322,0.22,2.33,0.00,0.000,6,0.105,0.033,3274,1765,2031
$GC,7573,0.98,163.2,423.9,6.9,375,7615,0.00,2.42,35.03,0.850,4,0.000,0.051,3274,3164,1872
$GC,7631,1.07,193.6,419.7,7.5,376,7666,0.17,2.40,26.77,0.830,6,0.044,0.042,3326,1752,1749
$GC,7945,1.02,193.6,387.2,10.9,384,7950,0.12,2.50,0.00,0.000,4,0.107,0.074,3302,349,1741
$GC,8000,0.99,193.6,380.6,11.5,385,8004,0.00,2.33,0.00,0.000,6,0.000,0.031,3302,1768,1740
$GC,8267,0.99,193.6,352.7,10.7,392,8271,0.00,2.47,0.00,0.000,4,0.000,0.061,3302,349,1737
$GC,8294,0.95,193.6,349.5,12.1,392,8299,0.00,2.30,0.00,0.000,6,0.000,0.028,3302,1764,1737
$GC,8544,0.95,193.6,321.1,11.3,398,8548,0.00,2.45,0.00,0.000,4,0.000,0.060,3301,349,1736
$GC,8576,0.90,193.6,317.2,12.7,398,8583,0.12,2.30,0.00,0.000,6,0.108,0.028,3278,1769,1735
$GC,8826,0.98,193.6,293.4,9.3,405,8830,0.00,2.45,0.00,0.000,4,0.000,0.059,3277,346,1734
$GC,8858,0.98,193.6,289.9,10.6,405,8862,0.00,2.30,0.00,0.000,6,0.000,0.026,3277,1775,1734
$GC,9114,1.05,193.6,266.7,9.0,412,9119,0.12,2.45,0.00,0.000,4,0.053,0.058,3318,349,1734
$GC,9163,0.99,193.6,261.4,11.0,413,9168,0.12,2.28,0.00,0.000,6,0.109,0.026,3294,1771,1734
$GC,9436,1.06,208.0,239.1,8.3,420,9452,0.00,2.47,11.00,0.685,4,0.000,0.056,3293,341,1691
$GC,9468,1.06,208.0,236.0,9.2,420,9475,0.00,2.30,0.00,0.000,6,0.000,0.025,3294,1769,1690
$GC,9719,1.13,211.4,213.7,8.8,427,9729,0.12,2.35,4.35,0.509,4,0.052,0.043,3334,3160,1677
$GC,9763,1.13,211.4,209.2,11.1,428,9768,0.00,2.33,0.00,0.000,6,0.000,0.038,3334,1754,1677
$GC,10022,1.13,211.4,181.3,10.8,444,10026,0.00,2.30,0.00,0.000,4,0.000,0.035,3334,3161,1677
$GC,10094,1.17,211.4,174.6,9.0,450,10098,0.00,2.30,0.00,0.000,6,0.000,0.036,3334,1761,1676
$GC,10355,1.17,211.4,149.4,9.3,474,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1761,1676
$GC,10609,1.17,211.4,122.4,10.8,498,10613,0.00,2.28,0.00,0.000,4,0.000,0.032,3334,3170,1676
$GC,10627,1.17,211.4,120.5,12.1,499,10631,0.00,2.30,0.00,0.000,6,0.000,0.034,3335,1759,1676
$GC,10890,1.17,211.4,87.6,13.0,523,10894,0.00,2.40,0.00,0.000,4,0.000,0.061,3334,342,1676
$GC,10911,1.17,211.4,84.7,11.9,524,10919,0.00,2.28,0.00,0.000,6,0.000,0.021,3334,1774,1676
$GC,11174,1.17,211.4,56.7,11.0,549,11178,0.00,2.40,0.00,0.000,4,0.000,0.052,3334,348,1676
$GC,11206,1.13,211.4,52.4,11.8,551,11214,0.00,2.25,0.00,0.000,6,0.000,0.023,3335,1755,1676
$GC,11471,1.13,211.4,19.8,11.4,583,11478,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1758,1676
$STATE,11627,end climb,SURFACE_DEPTH_REACHED
$STATE,11627,begin surface coast
$FINISH,1.3,1.015201
$STATE,11645,end surface coast,CONTROL_FINISHED_OK
$STATE,11646,begin surface
$SM_CCo,11667,156.18,0.516,0,0,909,400.08
$SM_GC,2.03,0.00,0.00,156.18,0.000,0.000,0.516,468,1896,909,-12.02,1.55,400.08
$IRIDIUM_FIX,2241.69,-15824.51,230598,101008
$TT8_MAMPS,0.027612
$HUMID,1824
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.10
$XPDR_PINGS,370
$24V_AH,23.9,40.426
$10V_AH,10.2,38.632
$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,29.300,130.875,280.900,156.175,0.000,27.980,28.575,155.037,103.000,0.000,0.000,15.016,1240.817,8242.641,567.122,1647.932,451.824,33.371,1323.072,0.000,1623.139,0.000,66.996,0.000
$DEVICE_MAMPS,163.371,85.904,908.128,516.191,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,436.995,310.431,0.000,517.562,731.875,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44460,615
$CAP_FILE_SIZE,115491,0
$CFSIZE,260165632,243732480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260209,163606,2249.644,-15752.053,31,1.2,32,10.1