version: 66.04
glider: 147
mission: 3
dive: 291
start: 2 27 109 9 4 5
data:
$ID,147
$MISSION,3
$DIVE,291
$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,-23692.074
$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,20
$R_STBD_OVSHOOT,45
$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
$GPS1,085137,2249.452,-15752.887,35,1.3,36,10.1
$_CALLS,3
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-57.0
$GPS2,090308,2249.411,-15753.080,10,1.4,10,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.230,0.021
$KALMAN_X,-105621.0,-382.3,40.1,146156.7,-831.1
$KALMAN_Y,-41311.1,-285.9,182.0,205847.3,-880.4
$MHEAD_RNG_PITCHd_Wd,74.6,7441,-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,-121.7,0.0,0.0,0,84,0.00,0.00,-66.28,0.000,2,0.000,0.000,471,1886,2320
$GC,87,-1.25,-121.7,3.2,-3.2,10,136,12.82,2.50,-25.20,0.000,4,0.166,0.058,2803,421,3037
$GC,282,-1.06,-121.7,22.9,-13.8,44,290,0.17,2.25,0.00,0.000,6,0.094,0.020,2843,1852,3038
$GC,549,-0.99,-121.7,49.5,-10.3,75,554,0.10,2.20,0.00,0.000,4,0.104,0.028,2863,3234,3038
$GC,578,-0.99,-121.7,52.4,-9.3,77,582,0.00,2.25,0.00,0.000,6,0.000,0.027,2863,1826,3039
$GC,840,-0.96,-121.7,76.5,-10.6,101,844,0.00,2.25,0.00,0.000,4,0.000,0.028,2863,3233,3038
$GC,862,-0.96,-121.7,79.1,-10.9,102,869,0.00,2.28,0.00,0.000,6,0.000,0.028,2863,1835,3039
$GC,1126,-0.96,-121.7,103.4,-8.9,127,1130,0.00,2.22,0.00,0.000,4,0.000,0.028,2863,3232,3039
$GC,1147,-0.96,-121.7,105.5,-8.4,128,1155,0.00,2.25,0.00,0.000,6,0.000,0.028,2863,1843,3039
$GC,1411,-0.96,-121.7,128.8,-9.4,153,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1842,3039
$GC,1663,-0.96,-121.7,151.8,-8.7,177,1666,0.00,2.22,0.00,0.000,4,0.000,0.029,2862,3230,3039
$GC,1697,-0.96,-121.7,154.8,-8.8,180,1701,0.00,2.25,0.00,0.000,6,0.000,0.029,2863,1832,3040
$GC,1961,-0.96,-121.7,176.7,-8.2,204,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1831,3040
$GC,2224,-0.96,-121.7,197.7,-7.0,229,2229,0.00,2.25,0.00,0.000,4,0.000,0.031,2863,3235,3040
$GC,2288,-1.05,-121.7,201.8,-6.7,232,2292,0.00,2.25,0.00,0.000,6,0.000,0.030,2863,1834,3040
$GC,2549,-1.09,-121.7,218.8,-6.8,239,2553,0.00,2.25,0.00,0.000,4,0.000,0.031,2863,3235,3040
$GC,2588,-1.19,-121.7,221.8,-7.2,239,2595,0.17,2.25,0.00,0.000,6,0.038,0.031,2797,1838,3041
$GC,2838,-1.09,-121.7,243.7,-8.6,246,2843,0.20,2.35,0.00,0.000,4,0.081,0.053,2842,440,3041
$GC,2916,-1.09,-121.7,249.1,-6.4,247,2922,0.00,2.17,0.00,0.000,6,0.000,0.022,2842,1834,3041
$GC,3166,-1.09,-121.7,265.8,-7.1,254,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1835,3041
$GC,3412,-1.09,-121.7,282.4,-6.6,260,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1835,3041
$GC,3655,-1.13,-121.7,300.6,-7.9,266,3659,0.00,2.33,0.00,0.000,4,0.000,0.043,2842,3242,3041
$GC,3716,-1.20,-121.7,305.1,-6.8,267,3721,0.10,2.30,0.00,0.000,6,0.055,0.035,2799,1839,3041
$GC,3977,-1.15,-121.7,323.6,-6.8,274,3981,0.15,2.30,0.00,0.000,4,0.084,0.040,2831,3232,3041
$GC,4044,-1.21,-121.7,327.3,-5.3,275,4048,0.00,2.30,0.00,0.000,6,0.000,0.037,2831,1832,3040
$GC,4305,-1.21,-121.7,344.5,-7.0,282,4309,0.00,2.40,0.00,0.000,4,0.000,0.066,2831,433,3039
$GC,4344,-1.21,-121.7,347.5,-7.6,283,4349,0.00,2.25,0.00,0.000,6,0.000,0.030,2831,1835,3039
$GC,4628,-1.21,-121.7,367.8,-7.2,290,4632,0.00,2.38,0.00,0.000,4,0.000,0.054,2831,3245,3037
$GC,4667,-1.26,-121.7,370.7,-7.4,290,4674,0.12,2.33,0.00,0.000,6,0.048,0.041,2781,1837,3037
$GC,4919,-1.18,-121.7,393.4,-9.4,297,4923,0.17,2.35,0.00,0.000,4,0.081,0.044,2821,3246,3036
$GC,4934,-1.15,-121.7,395.0,-9.2,297,4938,0.00,2.33,0.00,0.000,6,0.000,0.040,2821,1839,3036
$GC,5201,-1.15,-121.7,414.5,-7.3,304,5205,0.00,2.35,0.00,0.000,4,0.000,0.045,2821,3242,3035
$GC,5222,-1.18,-121.7,416.1,-7.4,304,5227,0.00,2.35,0.00,0.000,6,0.000,0.042,2821,1834,3034
$GC,5484,-1.18,-121.7,434.4,-7.1,311,5488,0.00,2.38,0.00,0.000,4,0.000,0.048,2821,3252,3033
$GC,5505,-1.21,-121.7,435.9,-6.9,311,5510,0.00,2.38,0.00,0.000,6,0.000,0.045,2821,1833,3033
$GC,5766,-1.21,-121.7,454.8,-7.3,318,5771,0.00,2.50,0.00,0.000,4,0.000,0.084,2821,427,3032
$GC,5811,-1.21,-121.7,458.4,-7.8,319,5815,0.00,2.33,0.00,0.000,6,0.000,0.038,2821,1846,3031
$GC,6088,-1.21,-121.7,475.3,-5.8,326,6093,0.00,2.40,0.00,0.000,4,0.000,0.065,2821,3246,3029
$GC,6150,-1.27,-121.7,478.8,-5.5,327,6154,0.00,2.38,0.00,0.000,6,0.000,0.048,2821,1832,3028
$GC,6418,-1.27,-121.7,493.9,-5.8,334,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1832,3027
$STATE,6536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6536,begin apogee
$GC,6542,-0.31,0.0,500.3,5.3,337,6644,0.85,0.00,98.80,0.914,6,0.073,0.000,3009,1751,2540
$STATE,6645,end apogee,CONTROL_FINISHED_OK
$STATE,6645,begin climb
$GC,6647,1.25,121.7,501.1,0.0,339,6759,1.45,2.60,104.10,0.890,4,0.040,0.086,3355,345,2043
$GC,6798,1.01,121.7,487.6,15.1,342,6803,0.28,2.38,0.00,0.000,6,0.109,0.035,3302,1772,2039
$GC,7048,0.97,121.7,461.9,9.9,348,7052,0.00,2.53,0.00,0.000,4,0.000,0.069,3301,349,2033
$GC,7070,0.88,121.7,459.4,11.2,348,7074,0.15,2.33,0.00,0.000,6,0.109,0.032,3273,1762,2033
$GC,7324,0.91,149.8,438.7,7.6,355,7353,0.00,2.55,23.30,0.843,4,0.000,0.067,3272,356,1928
$GC,7427,0.92,155.2,430.1,8.7,357,7438,0.00,2.33,5.93,0.677,6,0.000,0.032,3273,1766,1907
$GC,7694,1.03,215.4,413.2,6.0,364,7754,0.12,2.55,52.70,0.854,4,0.053,0.063,3311,354,1660
$GC,7782,0.95,215.4,406.1,10.0,366,7787,0.12,2.33,0.00,0.000,6,0.110,0.032,3288,1763,1656
$GC,8060,0.96,222.7,383.0,8.6,373,8073,0.00,2.47,6.38,0.685,4,0.000,0.061,3288,348,1631
$GC,8096,0.96,222.7,378.9,11.8,373,8103,0.00,2.33,0.00,0.000,6,0.000,0.031,3288,1763,1630
$GC,8346,0.96,222.7,352.1,10.9,380,8350,0.00,2.38,0.00,0.000,4,0.000,0.051,3288,3167,1628
$GC,8367,1.01,222.7,349.5,12.1,380,8371,0.00,2.38,0.00,0.000,6,0.000,0.041,3288,1748,1628
$GC,8629,1.04,222.7,319.1,11.6,387,8633,0.00,2.45,0.00,0.000,4,0.000,0.072,3288,352,1626
$GC,8678,1.04,222.7,312.7,13.0,388,8682,0.00,2.30,0.00,0.000,6,0.000,0.027,3288,1779,1625
$GC,8956,1.09,222.7,284.7,9.3,395,8961,0.12,2.28,0.00,0.000,4,0.054,0.039,3331,3164,1624
$GC,8983,1.09,222.7,282.0,9.9,395,8987,0.00,2.35,0.00,0.000,6,0.000,0.038,3331,1748,1625
$GC,9233,1.05,222.7,254.2,11.5,401,9238,0.12,2.42,0.00,0.000,4,0.107,0.067,3307,353,1623
$GC,9260,1.02,222.7,250.6,13.1,401,9264,0.00,2.28,0.00,0.000,6,0.000,0.025,3307,1775,1623
$GC,9515,1.02,222.7,225.1,9.9,408,9519,0.00,2.45,0.00,0.000,4,0.000,0.057,3307,345,1623
$GC,9569,1.02,222.7,218.9,10.9,409,9574,0.00,2.28,0.00,0.000,6,0.000,0.026,3307,1769,1623
$GC,9823,1.07,222.7,194.7,10.0,417,9827,0.00,2.42,0.00,0.000,4,0.000,0.056,3306,345,1623
$GC,9850,1.07,222.7,191.6,11.4,419,9855,0.00,2.25,0.00,0.000,6,0.000,0.025,3307,1763,1622
$GC,10113,1.14,222.7,165.0,9.5,443,10114,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1764,1622
$GC,10368,1.24,242.2,143.7,8.0,467,10388,0.17,0.00,16.70,0.627,6,0.042,0.000,3364,1764,1551
$GC,10645,1.20,242.2,111.4,11.9,493,10651,0.12,0.00,0.00,0.000,6,0.102,0.000,3340,1764,1548
$GC,10906,1.20,242.2,81.5,12.4,518,10910,0.00,2.40,0.00,0.000,4,0.000,0.052,3339,349,1547
$GC,10946,1.15,242.2,76.3,14.2,521,10950,0.00,2.25,0.00,0.000,6,0.000,0.024,3340,1768,1548
$GC,11208,1.15,242.2,44.0,10.9,545,11212,0.00,2.28,0.00,0.000,4,0.000,0.037,3340,3171,1547
$GC,11226,1.15,242.2,42.0,11.7,546,11230,0.00,2.30,0.00,0.000,6,0.000,0.032,3340,1752,1547
$GC,11490,1.15,242.2,11.4,10.6,584,11497,0.00,2.35,0.00,0.000,4,0.000,0.054,3340,365,1548
$GC,11552,1.09,242.2,2.8,14.4,595,11560,0.08,2.22,0.00,0.000,6,0.073,0.026,3316,1799,1547
$STATE,11565,end climb,SURFACE_DEPTH_REACHED
$STATE,11565,begin surface coast
$FINISH,1.6,1.023992
$STATE,11583,end surface coast,CONTROL_FINISHED_OK
$STATE,11583,begin surface
$SM_CCo,11604,131.45,0.515,0,0,908,400.08
$SM_GC,2.12,0.00,0.00,131.45,0.000,0.000,0.515,469,1799,908,-12.01,-1.16,400.08
$IRIDIUM_FIX,2239.35,-15752.82,240598,090903
$TT8_MAMPS,0.027612
$HUMID,1826
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.00
$XPDR_PINGS,385
$24V_AH,23.9,41.131
$10V_AH,10.2,39.160
$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,29.250,145.050,307.900,131.450,0.000,80.105,88.860,285.294,107.250,0.000,0.000,12.226,1215.973,8293.839,561.358,1650.104,715.488,33.382,1354.597,0.000,1624.831,0.000,72.744,0.000
$DEVICE_MAMPS,166.439,85.904,914.264,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,426.974,298.452,0.000,490.055,692.961,0.000,0.000,0.000
$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,121760,0
$CFSIZE,260165632,243404800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270209,122100,2248.893,-15752.557,35,1.1,41,10.1