version: 66.04
glider: 147
mission: 3
dive: 296
start: 2 28 109 2 2 45
data:
$ID,147
$MISSION,3
$DIVE,296
$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,-23769.432
$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,28
$R_STBD_OVSHOOT,71
$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
$GPS1,015534,2247.242,-15750.194,5,99.0,25,10.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-62.7
$GPS2,020149,2247.163,-15750.287,6,1.2,11,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.159,0.168
$KALMAN_X,-113524.9,184.7,6.4,158340.4,-1591.9
$KALMAN_Y,-48287.6,-73.9,-144.6,208780.0,-1738.3
$MHEAD_RNG_PITCHd_Wd,33.4,2689,-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,-121.7,0.0,0.0,0,84,0.00,0.00,-66.88,0.000,2,0.000,0.000,469,1874,2313
$GC,87,-1.25,-121.7,3.2,-3.1,10,136,12.73,2.45,-25.98,0.000,4,0.163,0.058,2801,438,3037
$GC,144,-1.16,-121.7,6.7,-7.5,18,152,0.08,2.17,0.00,0.000,6,0.111,0.020,2819,1832,3037
$GC,413,-1.02,-121.7,40.0,-11.1,59,418,0.17,2.22,0.00,0.000,4,0.098,0.027,2854,3224,3038
$GC,464,-1.02,-121.7,44.8,-8.8,63,468,0.00,2.25,0.00,0.000,6,0.000,0.028,2854,1825,3039
$GC,727,-0.97,-121.7,69.7,-10.1,87,731,0.00,2.33,0.00,0.000,4,0.000,0.051,2854,430,3039
$GC,757,-0.90,-121.7,72.9,-11.2,89,761,0.12,2.17,0.00,0.000,6,0.097,0.020,2881,1840,3039
$GC,1021,-0.90,-121.7,100.0,-9.9,113,1025,0.00,2.22,0.00,0.000,4,0.000,0.031,2881,3230,3039
$GC,1062,-0.96,-121.7,104.1,-9.4,116,1066,0.00,2.25,0.00,0.000,6,0.000,0.030,2881,1832,3040
$GC,1326,-0.96,-121.7,128.8,-8.9,140,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1831,3040
$GC,1591,-0.99,-121.7,152.9,-9.4,165,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1831,3040
$GC,1855,-1.06,-121.7,173.0,-7.4,190,1859,0.15,2.33,0.00,0.000,4,0.042,0.049,2824,438,3041
$GC,1890,-0.96,-121.7,176.7,-11.0,193,1895,0.22,2.17,0.00,0.000,6,0.080,0.021,2872,1844,3041
$GC,2152,-1.02,-121.7,194.9,-5.0,217,2156,0.00,2.22,0.00,0.000,4,0.000,0.033,2872,3228,3041
$GC,2214,-1.11,-121.7,198.9,-7.8,222,2222,0.12,2.28,0.00,0.000,6,0.029,0.030,2814,1832,3041
$GC,2478,-1.04,-121.7,220.9,-8.1,230,2482,0.17,2.35,0.00,0.000,4,0.083,0.050,2855,427,3041
$GC,2522,-1.08,-121.7,224.4,-6.6,231,2526,0.00,2.20,0.00,0.000,6,0.000,0.022,2855,1830,3041
$GC,2801,-1.12,-121.7,241.5,-6.2,238,2805,0.00,2.30,0.00,0.000,4,0.000,0.038,2855,3243,3041
$GC,2862,-1.20,-121.7,245.7,-7.2,239,2867,0.17,2.28,0.00,0.000,6,0.038,0.031,2792,1835,3041
$GC,3124,-1.11,-121.7,274.6,-11.9,246,3128,0.17,2.38,0.00,0.000,4,0.082,0.055,2834,428,3041
$GC,3173,-1.11,-121.7,280.1,-11.1,247,3177,0.00,2.22,0.00,0.000,6,0.000,0.024,2834,1842,3041
$GC,3446,-1.11,-121.7,304.6,-8.7,254,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1843,3041
$GC,3691,-1.11,-121.7,322.2,-6.9,260,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1843,3041
$GC,3933,-1.11,-121.7,336.9,-5.9,266,3937,0.00,2.35,0.00,0.000,4,0.000,0.049,2834,3241,3041
$GC,3960,-1.15,-121.7,338.6,-5.7,266,3965,0.00,2.30,0.00,0.000,6,0.000,0.037,2834,1846,3040
$GC,4210,-1.15,-121.7,352.8,-5.8,272,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1844,3040
$GC,4454,-1.15,-121.7,369.8,-7.2,278,4462,0.00,2.33,0.00,0.000,4,0.000,0.042,2833,3239,3038
$GC,4479,-1.20,-121.7,371.8,-7.6,278,4483,0.00,2.33,0.00,0.000,6,0.000,0.040,2834,1838,3038
$GC,4741,-1.23,-121.7,391.8,-7.7,285,4745,0.00,2.33,0.00,0.000,4,0.000,0.043,2834,3233,3037
$GC,4781,-1.29,-121.7,395.0,-8.0,286,4786,0.15,2.33,0.00,0.000,6,0.044,0.041,2780,1832,3037
$GC,5065,-1.20,-121.7,422.9,-10.0,293,5067,0.17,0.00,0.00,0.000,6,0.085,0.000,2816,1831,3035
$GC,5309,-1.20,-121.7,442.9,-8.1,299,5313,0.00,2.35,0.00,0.000,4,0.000,0.049,2816,3232,3035
$GC,5364,-1.23,-121.7,447.2,-7.7,300,5368,0.00,2.33,0.00,0.000,6,0.000,0.045,2816,1842,3034
$GC,5630,-1.23,-121.7,466.3,-7.2,307,5634,0.00,2.33,0.00,0.000,4,0.000,0.050,2816,3229,3033
$GC,5670,-1.27,-121.7,469.1,-6.9,308,5674,0.00,2.35,0.00,0.000,6,0.000,0.048,2816,1831,3033
$GC,5954,-1.27,-121.7,489.4,-7.2,315,5958,0.00,2.38,0.00,0.000,4,0.000,0.055,2816,3236,3032
$GC,6003,-1.30,-121.7,493.4,-8.2,316,6007,0.00,2.38,0.00,0.000,6,0.000,0.051,2816,1833,3031
$STATE,6117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6117,begin apogee
$GC,6123,-0.31,0.0,501.9,7.4,319,6225,0.88,0.00,98.95,0.907,6,0.071,0.000,3010,1754,2539
$STATE,6226,end apogee,CONTROL_FINISHED_OK
$STATE,6226,begin climb
$GC,6229,1.25,121.7,503.4,0.0,321,6340,1.42,2.62,103.38,0.887,4,0.037,0.087,3354,343,2043
$GC,6354,1.04,121.7,495.2,11.2,324,6359,0.22,2.35,0.00,0.000,6,0.109,0.037,3311,1749,2041
$GC,6637,0.99,121.7,463.7,11.1,331,6641,0.00,2.47,0.00,0.000,4,0.000,0.069,3311,349,2033
$GC,6653,0.90,121.7,461.7,11.4,331,6657,0.17,2.35,0.00,0.000,6,0.106,0.035,3277,1771,2033
$GC,6918,0.90,121.7,436.6,9.2,338,6923,0.00,2.50,0.00,0.000,4,0.000,0.066,3277,348,2030
$GC,6963,0.86,121.7,431.9,10.7,339,6967,0.00,2.33,0.00,0.000,6,0.000,0.037,3277,1762,2030
$GC,7241,0.91,136.2,408.6,8.3,346,7259,0.00,2.55,11.50,0.783,4,0.000,0.063,3277,348,1984
$GC,7304,0.91,136.2,402.4,10.0,347,7308,0.00,2.33,0.00,0.000,6,0.000,0.031,3277,1761,1982
$GC,7572,0.97,154.6,380.3,8.1,354,7591,0.00,0.00,17.25,0.801,6,0.000,0.000,3277,1761,1908
$GC,7815,1.02,155.7,358.9,9.0,360,7820,0.10,2.45,0.00,0.000,4,0.061,0.059,3309,345,1903
$GC,7837,0.98,155.7,356.5,10.7,360,7841,0.00,2.33,0.00,0.000,6,0.000,0.028,3309,1777,1903
$GC,8092,0.98,155.7,330.4,10.1,367,8096,0.00,2.47,0.00,0.000,4,0.000,0.059,3309,341,1902
$GC,8186,0.91,155.7,319.7,10.9,369,8191,0.15,2.30,0.00,0.000,6,0.104,0.028,3280,1765,1901
$GC,8459,0.99,170.6,297.0,8.3,376,8478,0.00,2.40,14.40,0.744,4,0.000,0.050,3280,3166,1844
$GC,8513,1.09,170.6,292.3,9.1,377,8518,0.15,2.38,0.00,0.000,6,0.047,0.041,3326,1747,1842
$GC,8785,1.06,170.6,263.4,10.6,384,8789,0.00,2.42,0.00,0.000,4,0.000,0.067,3326,352,1839
$GC,8908,0.97,170.6,249.9,10.6,386,8914,0.17,2.28,0.00,0.000,6,0.104,0.025,3292,1768,1839
$GC,9158,1.08,206.0,231.9,7.2,393,9194,0.10,2.47,30.23,0.723,4,0.060,0.057,3325,353,1698
$GC,9210,1.02,206.0,227.0,10.2,393,9215,0.12,2.28,0.00,0.000,6,0.109,0.025,3302,1761,1696
$GC,9477,1.11,229.5,205.0,7.8,400,9500,0.00,0.00,20.85,0.687,6,0.000,0.000,3301,1761,1604
$GC,9730,1.17,233.4,184.8,8.8,418,9742,0.15,2.35,4.15,0.474,4,0.048,0.041,3349,3168,1587
$GC,9814,1.17,233.4,175.5,11.0,425,9820,0.00,2.35,0.00,0.000,6,0.000,0.036,3349,1746,1587
$GC,10074,1.17,233.4,145.8,11.4,450,10079,0.00,2.40,0.00,0.000,4,0.000,0.061,3349,352,1585
$GC,10182,1.12,233.4,132.1,13.6,459,10187,0.12,2.25,0.00,0.000,6,0.105,0.024,3325,1764,1584
$GC,10448,1.15,233.4,102.5,11.5,483,10452,0.00,2.38,0.00,0.000,4,0.000,0.053,3325,355,1584
$GC,10469,1.15,233.4,99.4,11.5,484,10477,0.00,2.25,0.00,0.000,6,0.000,0.022,3325,1763,1584
$GC,10734,1.20,247.9,75.8,8.3,509,10752,0.00,0.00,13.40,0.555,6,0.000,0.000,3325,1765,1529
$GC,11009,1.28,273.2,50.9,7.7,535,11038,0.15,2.42,23.15,0.548,4,0.046,0.051,3373,352,1425
$GC,11051,1.19,273.2,45.7,13.9,538,11056,0.17,2.25,0.00,0.000,6,0.097,0.025,3339,1751,1424
$GC,11315,1.19,273.2,16.2,13.5,571,11321,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1753,1421
$STATE,11424,end climb,SURFACE_DEPTH_REACHED
$STATE,11424,begin surface coast
$FINISH,1.5,1.024399
$STATE,11441,end surface coast,CONTROL_FINISHED_OK
$STATE,11441,begin surface
$SM_CCo,11463,105.25,0.514,0,0,909,400.08
$SM_GC,2.11,0.00,0.00,105.25,0.000,0.000,0.514,472,1899,909,-12.00,1.67,400.08
$IRIDIUM_FIX,2239.35,-15751.94,240598,222222
$TT8_MAMPS,0.027612
$HUMID,1826
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.20
$XPDR_PINGS,368
$24V_AH,23.9,41.732
$10V_AH,10.2,39.610
$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,30.350,131.075,337.250,105.250,0.000,26.460,32.920,207.494,102.750,0.000,0.000,13.252,1219.572,7995.144,562.357,1657.980,516.226,33.368,1349.239,0.000,1633.098,0.000,68.551,0.000
$DEVICE_MAMPS,163.371,87.438,906.594,513.890,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,420.069,297.794,0.000,486.878,687.837,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44384,594
$CAP_FILE_SIZE,118303,0
$CFSIZE,260165632,243130368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280209,051636,2247.105,-15749.828,23,1.3,24,10.1