version: 66.04
glider: 147
mission: 3
dive: 274
start: 2 25 109 0 52 39
data:
$ID,147
$MISSION,3
$DIVE,274
$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,-23388.479
$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,27
$R_STBD_OVSHOOT,53
$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
$GPS1,004607,2250.574,-15753.931,30,1.0,31,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-59.5
$GPS2,005143,2250.522,-15753.989,9,1.6,14,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.227,0.044
$KALMAN_X,-86575.3,-59.1,21.7,125232.3,-923.2
$KALMAN_Y,-18980.8,12.9,-333.3,185787.6,-1356.1
$MHEAD_RNG_PITCHd_Wd,68.9,9715,-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,17,-1.25,-121.7,0.0,0.0,0,79,0.00,0.00,-60.50,0.000,2,0.000,0.000,470,1855,2180
$GC,82,-1.25,-121.7,3.0,-2.4,9,131,12.62,0.00,-31.20,0.000,6,0.158,0.000,2803,1855,3037
$GC,390,-1.07,-121.7,39.5,-12.1,57,395,0.17,2.20,0.00,0.000,4,0.099,0.028,2842,3232,3039
$GC,408,-0.93,-121.7,41.6,-12.1,58,413,0.17,2.25,0.00,0.000,6,0.083,0.027,2879,1832,3039
$GC,672,-0.93,-121.7,64.6,-8.8,82,676,0.00,2.25,0.00,0.000,4,0.000,0.029,2879,3235,3039
$GC,701,-0.93,-121.7,67.2,-8.5,84,705,0.00,2.25,0.00,0.000,6,0.000,0.028,2879,1833,3039
$GC,962,-0.93,-121.7,88.9,-8.4,108,966,0.00,2.25,0.00,0.000,4,0.000,0.029,2879,3238,3039
$GC,991,-0.96,-121.7,91.2,-8.7,110,995,0.00,2.25,0.00,0.000,6,0.000,0.030,2879,1836,3039
$GC,1253,-0.96,-121.7,111.2,-7.2,134,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1836,3040
$GC,1507,-0.96,-121.7,129.9,-7.9,158,1517,0.00,2.22,0.00,0.000,4,0.000,0.029,2879,3229,3041
$GC,1539,-1.01,-121.7,132.4,-7.1,160,1546,0.00,2.28,0.00,0.000,6,0.000,0.029,2879,1835,3040
$GC,1803,-1.05,-121.7,148.9,-6.1,185,1808,0.12,2.33,0.00,0.000,4,0.048,0.048,2829,435,3041
$GC,1911,-0.98,-121.7,158.5,-9.0,194,1916,0.17,2.17,0.00,0.000,6,0.084,0.021,2867,1848,3041
$GC,2173,-1.01,-121.7,177.5,-6.9,218,2177,0.00,2.35,0.00,0.000,4,0.000,0.048,2867,440,3041
$GC,2190,-1.01,-121.7,178.8,-7.3,219,2194,0.00,2.17,0.00,0.000,6,0.000,0.021,2867,1849,3041
$GC,2460,-1.06,-121.7,198.2,-6.9,244,2464,0.00,2.35,0.00,0.000,4,0.000,0.050,2867,441,3041
$GC,2487,-1.10,-121.7,200.5,-8.0,246,2492,0.12,2.17,0.00,0.000,6,0.049,0.022,2815,1836,3041
$GC,2743,-1.04,-121.7,223.0,-8.7,253,2748,0.17,2.25,0.00,0.000,4,0.081,0.034,2856,3236,3041
$GC,2765,-1.04,-121.7,224.9,-8.0,253,2769,0.00,2.25,0.00,0.000,6,0.000,0.031,2855,1834,3041
$GC,3020,-1.09,-121.7,243.0,-7.2,260,3024,0.00,2.35,0.00,0.000,4,0.000,0.054,2855,436,3041
$GC,3093,-1.14,-121.7,248.7,-7.8,261,3098,0.10,2.20,0.00,0.000,6,0.054,0.022,2811,1844,3041
$GC,3344,-1.09,-121.7,270.5,-8.9,267,3349,0.15,2.28,0.00,0.000,4,0.084,0.040,2842,3238,3041
$GC,3411,-1.14,-121.7,275.8,-7.2,268,3415,0.00,2.25,0.00,0.000,6,0.000,0.034,2842,1844,3041
$GC,3673,-1.18,-121.7,295.7,-7.7,275,3676,0.00,2.28,0.00,0.000,4,0.000,0.038,2842,3236,3041
$GC,3745,-1.24,-121.7,301.0,-7.6,276,3750,0.15,2.28,0.00,0.000,6,0.043,0.034,2786,1837,3041
$GC,4000,-1.15,-121.7,324.9,-9.4,283,4005,0.17,2.30,0.00,0.000,4,0.084,0.039,2827,3237,3040
$GC,4044,-1.18,-121.7,328.4,-7.1,284,4049,0.00,2.30,0.00,0.000,6,0.000,0.036,2827,1832,3040
$GC,4322,-1.18,-121.7,347.7,-6.8,291,4326,0.00,2.40,0.00,0.000,4,0.000,0.065,2827,435,3039
$GC,4372,-1.18,-121.7,351.5,-7.5,292,4376,0.00,2.25,0.00,0.000,6,0.000,0.030,2827,1835,3039
$GC,4652,-1.18,-121.7,370.4,-6.8,299,4657,0.00,2.38,0.00,0.000,4,0.000,0.053,2827,3251,3037
$GC,4686,-1.22,-121.7,372.9,-6.7,299,4692,0.00,2.33,0.00,0.000,6,0.000,0.040,2827,1842,3037
$GC,4936,-1.22,-121.7,389.1,-6.6,306,4940,0.00,2.33,0.00,0.000,4,0.000,0.044,2827,3247,3037
$GC,4980,-1.27,-121.7,392.2,-6.8,307,4985,0.12,2.33,0.00,0.000,6,0.048,0.041,2779,1838,3036
$GC,5258,-1.18,-121.7,414.3,-7.9,314,5262,0.17,2.33,0.00,0.000,4,0.083,0.044,2820,3241,3035
$GC,5285,-1.18,-121.7,416.2,-6.4,314,5289,0.00,2.33,0.00,0.000,6,0.000,0.042,2820,1841,3035
$GC,5540,-1.18,-121.7,432.5,-6.5,321,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1840,3034
$GC,5783,-1.18,-121.7,449.3,-7.0,327,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1840,3033
$GC,6027,-1.18,-121.7,466.1,-6.9,333,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1840,3032
$GC,6273,-1.18,-121.7,481.9,-6.4,339,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1840,3031
$GC,6514,-1.18,-121.7,498.9,-7.0,345,6518,0.00,2.38,0.00,0.000,4,0.000,0.058,2820,3239,3030
$STATE,6529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6529,begin apogee
$GC,6537,-0.31,0.0,500.1,7.3,345,6640,0.82,0.00,99.00,0.905,6,0.072,0.000,3006,1754,2540
$STATE,6640,end apogee,CONTROL_FINISHED_OK
$STATE,6641,begin climb
$GC,6643,1.25,121.7,502.8,0.0,348,6754,1.50,2.62,104.38,0.887,4,0.039,0.088,3359,343,2043
$GC,6782,0.98,121.7,493.8,12.4,350,6787,0.32,2.35,0.00,0.000,6,0.105,0.036,3296,1754,2039
$GC,7038,0.98,143.7,472.7,7.9,357,7062,0.00,2.58,18.67,0.833,4,0.000,0.070,3296,349,1953
$GC,7097,0.89,143.7,467.2,10.2,358,7101,0.00,2.35,0.00,0.000,6,0.000,0.036,3296,1768,1951
$GC,7363,0.89,143.7,443.1,9.0,365,7367,0.00,2.53,0.00,0.000,4,0.000,0.067,3296,340,1947
$GC,7430,0.83,143.7,435.8,11.5,366,7435,0.17,2.35,0.00,0.000,6,0.104,0.035,3261,1770,1946
$GC,7685,0.92,163.0,414.7,8.0,373,7709,0.00,2.60,17.20,0.818,4,0.000,0.064,3260,340,1874
$GC,7731,0.92,163.0,410.6,9.5,374,7735,0.00,2.35,0.00,0.000,6,0.000,0.031,3261,1768,1873
$GC,8016,1.02,179.9,387.2,8.2,381,8034,0.17,0.00,15.57,0.801,6,0.045,0.000,3312,1768,1806
$GC,8259,1.02,179.9,360.0,11.6,387,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1768,1801
$GC,8502,1.02,179.9,331.7,11.5,393,8507,0.00,2.45,0.00,0.000,4,0.000,0.059,3311,347,1799
$GC,8598,0.95,179.9,320.3,11.4,395,8603,0.12,2.30,0.00,0.000,6,0.110,0.027,3288,1771,1799
$GC,8870,1.03,209.2,298.3,7.5,402,8900,0.00,2.40,25.33,0.767,4,0.000,0.048,3288,3172,1684
$GC,8934,1.15,229.2,293.3,8.0,403,8959,0.17,2.40,18.42,0.743,6,0.043,0.039,3341,1743,1604
$GC,9237,1.10,229.2,257.9,12.3,411,9242,0.12,2.35,0.00,0.000,4,0.103,0.035,3317,3168,1598
$GC,9281,1.16,229.2,252.6,11.6,412,9285,0.00,2.35,0.00,0.000,6,0.000,0.038,3317,1755,1598
$GC,9559,1.16,229.2,221.8,11.1,419,9563,0.00,2.45,0.00,0.000,4,0.000,0.066,3316,345,1596
$GC,9636,1.16,229.2,212.4,11.8,420,9643,0.00,2.28,0.00,0.000,6,0.000,0.025,3317,1777,1595
$GC,9893,1.16,229.2,184.7,10.5,436,9897,0.00,2.42,0.00,0.000,4,0.000,0.054,3316,351,1594
$GC,9937,1.16,229.2,179.6,12.2,439,9943,0.00,2.25,0.00,0.000,6,0.000,0.025,3316,1765,1594
$GC,10200,1.21,229.2,154.3,9.2,464,10204,0.12,2.40,0.00,0.000,4,0.052,0.053,3359,349,1594
$GC,10272,1.13,229.2,145.9,12.6,470,10277,0.15,2.25,0.00,0.000,6,0.101,0.025,3329,1768,1593
$GC,10534,1.13,229.2,121.4,10.0,494,10538,0.00,2.40,0.00,0.000,4,0.000,0.052,3328,349,1593
$GC,10629,1.13,229.2,110.7,11.2,502,10636,0.00,2.25,0.00,0.000,6,0.000,0.024,3329,1755,1593
$GC,10892,1.17,229.2,84.1,11.0,527,10893,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1757,1593
$GC,11146,1.20,229.2,59.7,9.8,551,11150,0.00,2.38,0.00,0.000,4,0.000,0.052,3329,345,1593
$GC,11168,1.20,229.2,57.4,9.5,552,11175,0.00,2.28,0.00,0.000,6,0.000,0.025,3329,1762,1593
$GC,11432,1.25,247.3,32.7,8.1,577,11451,0.10,0.00,14.98,0.519,6,0.059,0.000,3367,1764,1531
$GC,11710,1.17,247.3,5.2,13.4,625,11717,0.15,0.00,0.00,0.000,6,0.097,0.000,3336,1764,1528
$STATE,11733,end climb,SURFACE_DEPTH_REACHED
$STATE,11733,begin surface coast
$FINISH,1.4,1.000834
$STATE,11746,end surface coast,CONTROL_FINISHED_OK
$STATE,11746,begin surface
$SM_CCo,11767,127.22,0.510,0,0,908,400.08
$SM_GC,2.13,0.00,0.00,127.22,0.000,0.000,0.510,466,1890,908,-12.02,1.41,400.08
$IRIDIUM_FIX,2241.69,-15751.94,210598,212144
$TT8_MAMPS,0.026078
$HUMID,1792
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.40
$XPDR_PINGS,402
$24V_AH,23.9,39.161
$10V_AH,10.2,37.650
$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,30.175,135.275,313.550,127.225,0.000,29.623,32.516,164.974,111.500,0.000,0.000,15.605,1281.703,8192.813,572.033,1742.037,449.725,33.367,1367.706,0.000,1701.256,0.000,71.376,0.000
$DEVICE_MAMPS,158.002,88.205,905.060,510.055,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,444.644,323.443,0.000,529.553,748.978,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47768,631
$CAP_FILE_SIZE,119543,0
$CFSIZE,260165632,244334592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250209,041207,2250.104,-15753.036,34,1.1,35,10.1