version: 66.04
glider: 147
mission: 3
dive: 293
start: 2 27 109 15 53 17
data:
$ID,147
$MISSION,3
$DIVE,293
$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,-23724.457
$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,26
$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
$GPS1,154636,2248.554,-15752.417,27,1.3,28,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-63.1
$GPS2,155220,2248.491,-15752.537,12,1.5,12,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.229,0.030
$KALMAN_X,-109255.1,-253.2,-376.8,151015.0,-831.7
$KALMAN_Y,-43846.3,-175.9,-380.9,207126.7,-589.3
$MHEAD_RNG_PITCHd_Wd,72.4,6108,-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,16,-1.25,-121.7,0.0,0.0,0,92,0.00,0.00,-73.68,0.000,2,0.000,0.000,469,1882,2476
$GC,95,-1.25,-121.7,3.3,-2.0,11,131,12.93,2.53,-17.25,0.000,4,0.168,0.063,2803,431,3036
$GC,149,-1.04,-121.7,8.8,-9.0,19,157,0.20,2.17,0.00,0.000,6,0.091,0.020,2848,1823,3037
$GC,424,-0.98,-121.7,35.9,-10.8,64,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1824,3038
$GC,679,-0.92,-121.7,62.5,-10.0,88,684,0.15,2.25,0.00,0.000,4,0.091,0.028,2880,3228,3038
$GC,711,-0.97,-121.7,65.7,-8.2,90,719,0.00,2.28,0.00,0.000,6,0.000,0.029,2880,1836,3039
$GC,976,-0.97,-121.7,87.0,-7.8,115,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1836,3039
$GC,1237,-0.97,-121.7,109.2,-8.6,140,1241,0.00,2.22,0.00,0.000,4,0.000,0.029,2880,3229,3039
$GC,1272,-1.02,-121.7,112.2,-9.1,143,1277,0.10,2.25,0.00,0.000,6,0.056,0.032,2836,1831,3039
$GC,1536,-0.94,-121.7,139.8,-11.1,167,1543,0.17,0.00,0.00,0.000,6,0.084,0.000,2873,1830,3040
$GC,1798,-0.94,-121.7,163.0,-9.1,192,1802,0.00,2.25,0.00,0.000,4,0.000,0.030,2873,3231,3040
$GC,1861,-1.02,-121.7,168.5,-8.0,197,1865,0.00,2.25,0.00,0.000,6,0.000,0.035,2874,1829,3041
$GC,2124,-1.08,-121.7,188.0,-7.7,221,2126,0.12,0.00,0.00,0.000,6,0.047,0.000,2823,1829,3041
$GC,2383,-1.03,-121.7,211.9,-9.1,237,2387,0.15,2.33,0.00,0.000,4,0.084,0.050,2855,439,3041
$GC,2404,-1.03,-121.7,213.9,-8.5,237,2408,0.00,2.15,0.00,0.000,6,0.000,0.021,2855,1825,3041
$GC,2666,-1.07,-121.7,233.2,-7.3,244,2670,0.00,2.28,0.00,0.000,4,0.000,0.035,2855,3233,3041
$GC,2687,-1.13,-121.7,234.8,-7.2,244,2691,0.00,2.25,0.00,0.000,6,0.000,0.030,2855,1835,3041
$GC,2949,-1.18,-121.7,252.9,-6.8,251,2953,0.15,2.28,0.00,0.000,4,0.043,0.033,2800,3238,3041
$GC,2988,-1.13,-121.7,256.1,-9.0,251,2995,0.15,2.25,0.00,0.000,6,0.085,0.031,2831,1841,3041
$GC,3238,-1.13,-121.7,274.1,-7.3,258,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1840,3041
$GC,3483,-1.13,-121.7,294.0,-8.2,264,3487,0.00,2.28,0.00,0.000,4,0.000,0.038,2831,3236,3041
$GC,3561,-1.17,-121.7,300.9,-8.3,265,3567,0.00,2.28,0.00,0.000,6,0.000,0.035,2831,1840,3041
$GC,3812,-1.17,-121.7,321.9,-8.4,272,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1840,3041
$GC,4056,-1.17,-121.7,340.7,-7.5,278,4059,0.00,2.28,0.00,0.000,4,0.000,0.042,2831,3222,3040
$GC,4101,-1.23,-121.7,344.2,-7.3,279,4105,0.00,2.28,0.00,0.000,6,0.000,0.038,2831,1840,3040
$GC,4380,-1.23,-121.7,364.1,-6.9,286,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1839,3039
$GC,4622,-1.23,-121.7,379.4,-6.3,292,4626,0.00,2.30,0.00,0.000,4,0.000,0.044,2831,3225,3038
$GC,4650,-1.28,-121.7,381.2,-6.4,292,4655,0.12,2.30,0.00,0.000,6,0.050,0.041,2783,1833,3037
$GC,4903,-1.20,-121.7,401.6,-8.3,298,4908,0.17,2.33,0.00,0.000,4,0.084,0.044,2820,3224,3037
$GC,4936,-1.20,-121.7,404.0,-6.4,298,4942,0.00,2.30,0.00,0.000,6,0.000,0.041,2820,1842,3036
$GC,5187,-1.20,-121.7,421.0,-7.1,305,5191,0.00,2.30,0.00,0.000,4,0.000,0.045,2820,3222,3035
$GC,5220,-1.20,-121.7,423.7,-7.1,305,5226,0.00,2.30,0.00,0.000,6,0.000,0.043,2820,1840,3035
$GC,5470,-1.20,-121.7,443.6,-8.1,312,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1839,3034
$GC,5714,-1.20,-121.7,463.7,-8.3,318,5718,0.00,2.33,0.00,0.000,4,0.000,0.051,2820,3223,3033
$GC,5764,-1.24,-121.7,467.6,-7.7,319,5768,0.00,2.33,0.00,0.000,6,0.000,0.048,2820,1839,3033
$GC,6047,-1.24,-121.7,487.8,-7.0,326,6051,0.00,2.35,0.00,0.000,4,0.000,0.054,2820,3228,3031
$GC,6076,-1.28,-121.7,489.8,-7.2,326,6081,0.00,2.35,0.00,0.000,6,0.000,0.051,2820,1837,3031
$STATE,6248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6248,begin apogee
$GC,6254,-0.31,0.0,500.9,6.3,331,6357,0.88,0.00,99.20,0.906,6,0.073,0.000,3012,1756,2540
$STATE,6357,end apogee,CONTROL_FINISHED_OK
$STATE,6357,begin climb
$GC,6360,1.25,121.7,501.7,0.0,333,6471,1.42,2.62,103.55,0.885,4,0.039,0.089,3354,349,2043
$GC,6499,1.00,121.7,491.0,13.3,336,6504,0.28,2.33,0.00,0.000,6,0.107,0.036,3300,1744,2040
$GC,6760,0.97,121.7,465.7,9.4,343,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1745,2033
$GC,7004,0.99,140.6,445.8,8.1,349,7022,0.00,0.00,16.05,0.819,6,0.000,0.000,3300,1746,1966
$GC,7247,0.99,140.6,423.7,9.3,355,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1746,1961
$GC,7491,0.99,140.6,401.2,9.1,361,7495,0.00,2.42,0.00,0.000,4,0.000,0.064,3300,352,1959
$GC,7512,0.93,140.6,399.0,9.8,361,7517,0.00,2.33,0.00,0.000,6,0.000,0.037,3300,1777,1959
$GC,7774,0.95,150.6,376.7,8.5,368,7788,0.00,2.55,8.73,0.742,4,0.000,0.060,3300,347,1925
$GC,7817,0.88,150.6,372.6,9.8,369,7822,0.15,2.33,0.00,0.000,6,0.107,0.031,3271,1771,1925
$GC,8101,1.01,206.3,353.6,6.2,376,8156,0.12,2.55,48.45,0.815,4,0.054,0.060,3310,352,1697
$GC,8167,0.97,206.3,348.0,10.3,377,8172,0.00,2.33,0.00,0.000,6,0.000,0.028,3310,1770,1695
$GC,8422,0.97,206.3,321.4,10.6,384,8427,0.00,2.47,0.00,0.000,4,0.000,0.060,3310,347,1689
$GC,8455,0.91,206.3,317.6,12.2,384,8462,0.15,2.30,0.00,0.000,6,0.105,0.033,3280,1765,1689
$GC,8705,0.97,206.3,293.4,9.5,391,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1765,1687
$GC,8948,1.04,206.3,270.3,9.5,397,8950,0.12,0.00,0.00,0.000,6,0.052,0.000,3320,1765,1687
$GC,9192,1.04,206.3,241.7,12.0,403,9196,0.00,2.45,0.00,0.000,4,0.000,0.058,3321,341,1686
$GC,9207,1.01,206.3,239.8,11.8,403,9212,0.00,2.30,0.00,0.000,6,0.000,0.025,3321,1777,1686
$GC,9474,1.01,206.3,209.8,11.1,410,9478,0.00,2.45,0.00,0.000,4,0.000,0.056,3321,348,1685
$GC,9519,0.97,206.3,204.7,10.8,411,9523,0.15,2.28,0.00,0.000,6,0.106,0.025,3291,1772,1685
$GC,9786,1.10,245.1,184.7,7.1,431,9824,0.12,2.50,32.33,0.681,4,0.051,0.056,3333,340,1539
$GC,9886,1.10,245.1,173.7,11.8,439,9892,0.00,2.30,0.00,0.000,6,0.000,0.027,3333,1763,1535
$GC,10148,1.13,245.1,145.9,10.8,464,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1764,1533
$GC,10402,1.13,245.1,118.4,10.6,488,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1764,1532
$GC,10656,1.13,245.1,91.7,10.1,512,10661,0.00,2.40,0.00,0.000,4,0.000,0.051,3333,347,1532
$GC,10689,1.13,245.1,88.1,10.6,514,10696,0.00,2.28,0.00,0.000,6,0.000,0.025,3333,1760,1531
$GC,10951,1.13,245.1,61.0,10.2,539,10955,0.00,2.40,0.00,0.000,4,0.000,0.052,3333,343,1531
$GC,10991,1.13,245.1,56.7,11.3,542,10995,0.00,2.25,0.00,0.000,6,0.000,0.025,3333,1758,1531
$GC,11253,1.13,245.1,28.3,10.9,567,11260,0.00,2.35,0.00,0.000,4,0.000,0.044,3333,3167,1531
$GC,11279,1.17,245.1,25.6,11.0,571,11286,0.00,2.33,0.00,0.000,6,0.000,0.033,3333,1751,1532
$STATE,11491,end climb,SURFACE_DEPTH_REACHED
$STATE,11491,begin surface coast
$FINISH,1.4,1.020661
$STATE,11508,end surface coast,CONTROL_FINISHED_OK
$STATE,11508,begin surface
$SM_CCo,11529,127.85,0.513,0,0,908,400.08
$SM_GC,2.06,0.00,0.00,127.85,0.000,0.000,0.513,469,1895,908,-12.01,1.55,400.08
$IRIDIUM_FIX,2239.35,-15751.94,240598,121222
$TT8_MAMPS,0.027612
$HUMID,1829
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.00
$XPDR_PINGS,361
$24V_AH,23.9,41.371
$10V_AH,10.2,39.341
$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,29.525,116.800,308.300,127.850,0.000,30.124,25.613,180.019,101.000,0.000,0.000,14.065,1201.557,8201.888,550.512,1579.850,476.999,33.374,1285.262,0.000,1560.842,0.000,69.953,0.000
$DEVICE_MAMPS,167.973,88.972,905.827,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,436.219,309.802,0.000,510.718,721.855,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44626,613
$CAP_FILE_SIZE,109954,0
$CFSIZE,260165632,243302400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270209,190854,2248.217,-15751.598,23,1.1,41,10.1