version: 66.04
glider: 147
mission: 3
dive: 297
start: 2 28 109 5 22 52
data:
$ID,147
$MISSION,3
$DIVE,297
$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,-23785.959
$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,24
$R_STBD_OVSHOOT,29
$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
$GPS1,051636,2247.105,-15749.828,23,1.3,24,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-62.5
$GPS2,052156,2247.047,-15749.892,14,1.3,14,10.1
$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,-114345.8,188.1,-284.3,160124.0,-695.5
$KALMAN_Y,-49770.2,-256.4,-552.0,210627.4,-643.5
$MHEAD_RNG_PITCHd_Wd,33.3,2331,-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,-66.62,0.000,2,0.000,0.000,472,1900,2296
$GC,87,-1.25,-121.7,3.0,-2.0,10,136,12.80,2.50,-25.92,0.000,4,0.166,0.057,2800,434,3036
$GC,202,-1.05,-121.7,12.2,-13.5,29,210,0.20,2.25,0.00,0.000,6,0.090,0.020,2845,1858,3037
$GC,474,-0.97,-121.7,38.0,-9.1,71,476,0.10,0.00,0.00,0.000,6,0.104,0.000,2866,1860,3038
$GC,730,-0.94,-121.7,59.5,-8.8,95,734,0.00,2.20,0.00,0.000,4,0.000,0.031,2866,3228,3039
$GC,757,-0.94,-121.7,62.6,-10.3,97,765,0.00,2.28,0.00,0.000,6,0.000,0.028,2866,1837,3039
$GC,1019,-0.94,-121.7,87.9,-9.6,122,1023,0.00,2.25,0.00,0.000,4,0.000,0.029,2866,3239,3039
$GC,1036,-0.94,-121.7,89.6,-9.9,123,1041,0.00,2.25,0.00,0.000,6,0.000,0.028,2866,1835,3039
$GC,1303,-0.94,-121.7,115.8,-10.0,148,1307,0.00,2.25,0.00,0.000,4,0.000,0.029,2866,3242,3039
$GC,1325,-0.94,-121.7,118.2,-10.3,149,1331,0.00,2.25,0.00,0.000,6,0.000,0.028,2866,1838,3040
$GC,1587,-0.94,-121.7,144.8,-9.3,174,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1837,3040
$GC,1841,-0.94,-121.7,167.4,-8.2,198,1845,0.00,2.25,0.00,0.000,4,0.000,0.029,2866,3240,3040
$GC,1869,-0.99,-121.7,169.5,-6.8,200,1875,0.00,2.25,0.00,0.000,6,0.000,0.028,2866,1837,3041
$GC,2131,-0.99,-121.7,186.8,-6.8,225,2135,0.00,2.33,0.00,0.000,4,0.000,0.049,2866,442,3041
$GC,2172,-0.99,-121.7,189.8,-7.6,228,2176,0.00,2.17,0.00,0.000,6,0.000,0.021,2866,1847,3041
$GC,2454,-1.03,-121.7,208.9,-7.1,246,2457,0.00,2.22,0.00,0.000,4,0.000,0.032,2866,3232,3041
$GC,2545,-1.13,-121.7,216.2,-8.5,248,2550,0.15,2.25,0.00,0.000,6,0.041,0.030,2803,1833,3041
$GC,2830,-1.06,-121.7,244.4,-10.1,255,2834,0.17,2.25,0.00,0.000,4,0.084,0.030,2845,3230,3041
$GC,2851,-1.06,-121.7,246.4,-8.5,255,2855,0.00,2.22,0.00,0.000,6,0.000,0.029,2845,1839,3041
$GC,3112,-1.06,-121.7,264.0,-6.6,262,3116,0.00,2.38,0.00,0.000,4,0.000,0.056,2845,430,3041
$GC,3185,-1.06,-121.7,269.1,-6.4,263,3189,0.00,2.20,0.00,0.000,6,0.000,0.023,2845,1829,3041
$GC,3435,-1.10,-121.7,284.9,-6.3,269,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1831,3041
$GC,3679,-1.14,-121.7,304.4,-8.3,275,3683,0.00,2.33,0.00,0.000,4,0.000,0.043,2845,3240,3041
$GC,3724,-1.22,-121.7,308.7,-9.6,276,3729,0.15,2.30,0.00,0.000,6,0.042,0.035,2788,1836,3041
$GC,4001,-1.14,-121.7,337.9,-10.6,283,4006,0.17,2.33,0.00,0.000,4,0.082,0.041,2829,3244,3041
$GC,4046,-1.19,-121.7,341.7,-8.9,284,4050,0.00,2.33,0.00,0.000,6,0.000,0.038,2830,1832,3041
$GC,4326,-1.19,-121.7,361.3,-6.8,291,4330,0.00,2.33,0.00,0.000,4,0.000,0.041,2829,3232,3040
$GC,4360,-1.24,-121.7,363.8,-6.7,291,4366,0.00,2.33,0.00,0.000,6,0.000,0.040,2829,1829,3040
$GC,4611,-1.24,-121.7,380.8,-6.8,298,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1829,3038
$GC,4853,-1.24,-121.7,399.7,-7.9,304,4858,0.00,2.35,0.00,0.000,4,0.000,0.044,2829,3230,3037
$GC,4898,-1.30,-121.7,403.1,-7.7,305,4903,0.15,2.33,0.00,0.000,6,0.043,0.043,2775,1840,3037
$GC,5182,-1.21,-121.7,427.9,-8.6,312,5184,0.20,0.00,0.00,0.000,6,0.083,0.000,2817,1839,3035
$GC,5425,-1.21,-121.7,445.9,-7.4,318,5429,0.00,2.35,0.00,0.000,4,0.000,0.049,2817,3239,3035
$GC,5480,-1.21,-121.7,449.8,-6.8,319,5485,0.00,2.35,0.00,0.000,6,0.000,0.046,2817,1833,3034
$GC,5752,-1.21,-121.7,466.8,-6.0,326,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1833,3033
$GC,5998,-1.21,-121.7,480.7,-5.7,332,6002,0.00,2.38,0.00,0.000,4,0.000,0.052,2817,3236,3032
$GC,6032,-1.25,-121.7,482.9,-6.2,332,6038,0.00,2.35,0.00,0.000,6,0.000,0.049,2817,1841,3032
$GC,6282,-1.25,-121.7,497.3,-5.9,339,6286,0.00,2.55,0.00,0.000,4,0.000,0.092,2817,427,3031
$STATE,6324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6324,begin apogee
$GC,6332,-0.31,0.0,500.3,7.1,340,6434,0.85,0.00,98.97,0.907,6,0.074,0.000,3008,1749,2540
$STATE,6435,end apogee,CONTROL_FINISHED_OK
$STATE,6435,begin climb
$GC,6438,1.25,121.7,501.5,0.0,342,6550,1.45,2.58,103.68,0.886,4,0.038,0.073,3354,352,2043
$GC,6568,1.03,121.7,492.9,11.3,345,6573,0.25,2.35,0.00,0.000,6,0.109,0.041,3306,1763,2041
$GC,6846,0.97,121.7,465.5,9.6,352,6850,0.00,2.50,0.00,0.000,4,0.000,0.069,3306,352,2033
$GC,6918,0.86,121.7,457.5,11.7,353,6922,0.20,2.33,0.00,0.000,6,0.106,0.035,3266,1759,2033
$GC,7168,0.94,155.9,438.7,7.3,359,7202,0.00,2.58,28.80,0.845,4,0.000,0.067,3266,335,1903
$GC,7242,0.94,155.9,432.6,9.4,360,7246,0.00,2.38,0.00,0.000,6,0.000,0.034,3266,1762,1901
$GC,7498,1.03,176.5,412.2,8.0,367,7522,0.15,2.55,18.50,0.818,4,0.048,0.063,3310,352,1819
$GC,7534,0.96,176.5,408.5,11.3,367,7540,0.12,2.35,0.00,0.000,6,0.110,0.034,3288,1768,1818
$GC,7783,0.96,176.5,382.0,10.6,374,7788,0.00,2.47,0.00,0.000,4,0.000,0.062,3288,349,1814
$GC,7833,0.96,176.5,375.9,12.0,375,7837,0.00,2.33,0.00,0.000,6,0.000,0.031,3287,1769,1814
$GC,8111,0.96,176.5,346.7,10.7,382,8115,0.00,2.47,0.00,0.000,4,0.000,0.060,3287,341,1812
$GC,8143,0.96,176.5,342.7,12.8,382,8150,0.00,2.33,0.00,0.000,6,0.000,0.028,3287,1769,1811
$GC,8393,0.99,176.5,315.6,10.5,389,8397,0.00,2.35,0.00,0.000,4,0.000,0.051,3287,3164,1810
$GC,8426,1.06,176.5,312.3,9.4,389,8431,0.10,2.35,0.00,0.000,6,0.058,0.041,3323,1755,1810
$GC,8676,1.03,176.5,286.8,10.1,395,8680,0.00,2.33,0.00,0.000,4,0.000,0.043,3323,3167,1809
$GC,8709,1.03,176.5,283.6,9.6,395,8715,0.00,2.35,0.00,0.000,6,0.000,0.040,3323,1754,1809
$GC,8959,1.03,176.5,260.6,9.0,402,8963,0.00,2.45,0.00,0.000,4,0.000,0.069,3323,348,1808
$GC,9047,0.95,176.5,251.1,10.9,404,9052,0.17,2.28,0.00,0.000,6,0.105,0.025,3288,1772,1808
$GC,9326,1.02,177.1,226.5,9.0,411,9330,0.00,2.30,0.00,0.000,4,0.000,0.040,3288,3159,1807
$GC,9359,1.12,177.1,223.3,9.6,411,9366,0.15,2.33,0.00,0.000,6,0.047,0.038,3337,1755,1807
$GC,9608,1.12,177.1,199.7,9.1,418,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1755,1807
$GC,9865,1.14,198.8,179.8,7.9,442,9885,0.00,0.00,17.85,0.663,6,0.000,0.000,3337,1755,1729
$GC,10138,1.14,198.8,155.8,9.3,468,10139,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1754,1725
$GC,10393,1.14,198.8,130.9,9.8,492,10397,0.00,2.38,0.00,0.000,4,0.000,0.058,3337,355,1724
$GC,10415,1.14,198.8,128.4,11.1,493,10421,0.00,2.22,0.00,0.000,6,0.000,0.022,3337,1769,1724
$GC,10676,1.14,198.8,104.9,9.1,518,10677,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1770,1724
$GC,10931,1.16,208.9,80.3,8.5,542,10947,0.00,2.45,9.50,0.532,4,0.000,0.051,3337,351,1687
$GC,10989,1.11,208.9,74.4,12.9,547,10993,0.00,2.22,0.00,0.000,6,0.000,0.023,3337,1756,1686
$GC,11251,1.11,208.9,46.8,11.1,571,11255,0.00,2.38,0.00,0.000,4,0.000,0.051,3337,342,1685
$GC,11281,1.07,208.9,43.3,12.8,573,11285,0.12,2.25,0.00,0.000,6,0.105,0.023,3313,1767,1685
$GC,11546,1.13,208.9,16.9,10.2,608,11553,0.00,2.30,0.00,0.000,4,0.000,0.045,3313,3160,1686
$GC,11562,1.20,213.8,15.7,8.8,610,11577,0.08,2.30,6.07,0.438,6,0.041,0.032,3354,1759,1667
$STATE,11679,end climb,SURFACE_DEPTH_REACHED
$STATE,11679,begin surface coast
$FINISH,1.5,1.024325
$STATE,11692,end surface coast,CONTROL_FINISHED_OK
$STATE,11692,begin surface
$SM_CCo,11714,153.48,0.512,0,0,908,400.08
$SM_GC,2.10,0.00,0.00,153.48,0.000,0.000,0.512,468,1872,908,-12.02,0.90,400.08
$IRIDIUM_FIX,2239.35,-15751.94,250598,020204
$TT8_MAMPS,0.027612
$HUMID,1805
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,23.40
$XPDR_PINGS,389
$24V_AH,23.9,41.847
$10V_AH,10.2,39.703
$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,29.700,140.100,283.375,153.475,0.000,24.006,54.862,131.531,108.000,0.000,0.000,15.896,1256.072,8200.890,562.563,1732.446,442.620,33.372,1364.304,0.000,1695.927,0.000,68.571,0.000
$DEVICE_MAMPS,165.672,92.040,906.594,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,448.623,322.998,0.000,534.767,755.964,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44550,633
$CAP_FILE_SIZE,116283,0
$CFSIZE,260165632,243077120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280209,084155,2247.330,-15749.269,36,1.5,37,10.1