version: 66.04
glider: 147
mission: 3
dive: 317
start: 3 3 109 1 21 12
data:
$ID,147
$MISSION,3
$DIVE,317
$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,-24180.969
$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,39
$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
$GPS1,010937,2247.468,-15750.747,36,1.0,37,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-64.9
$GPS2,012014,2247.417,-15750.922,13,1.1,13,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.113,0.202
$KALMAN_X,-122427.8,-692.8,-34.8,167080.6,-246.4
$KALMAN_Y,-84530.6,-375.8,557.4,245092.6,-1915.3
$MHEAD_RNG_PITCHd_Wd,19.0,3454,-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,-66.90,0.000,2,0.000,0.000,466,1897,2312
$GC,87,-1.25,-121.7,3.2,-2.7,10,136,12.68,2.20,-25.58,0.000,4,0.160,0.041,2802,3245,3037
$GC,192,-1.13,-121.7,12.1,-12.3,27,200,0.10,2.30,0.00,0.000,6,0.091,0.028,2826,1835,3039
$GC,459,-0.99,-121.7,42.7,-10.5,65,464,0.17,2.28,0.00,0.000,4,0.094,0.027,2866,3254,3039
$GC,487,-0.99,-121.7,45.6,-9.8,67,492,0.00,2.28,0.00,0.000,6,0.000,0.027,2866,1832,3039
$GC,750,-0.99,-121.7,69.0,-7.9,91,754,0.00,2.30,0.00,0.000,4,0.000,0.033,2866,3254,3039
$GC,803,-0.99,-121.7,73.8,-10.5,95,807,0.00,2.28,0.00,0.000,6,0.000,0.038,2866,1843,3040
$GC,1067,-0.99,-121.7,97.6,-9.1,119,1071,0.00,2.25,0.00,0.000,4,0.000,0.038,2866,3246,3040
$GC,1097,-0.99,-121.7,100.5,-9.1,121,1101,0.00,2.28,0.00,0.000,6,0.000,0.029,2866,1833,3040
$GC,1363,-0.99,-121.7,122.0,-7.6,145,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1832,3040
$GC,1626,-0.99,-121.7,141.3,-8.4,170,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1832,3040
$GC,1882,-1.03,-121.7,161.2,-7.2,194,1887,0.00,2.33,0.00,0.000,4,0.000,0.049,2866,435,3040
$GC,1938,-1.09,-121.7,166.3,-9.2,198,1946,0.08,2.22,0.00,0.000,6,0.038,0.021,2820,1850,3041
$GC,2202,-1.03,-121.7,193.8,-10.2,223,2207,0.17,2.22,0.00,0.000,4,0.082,0.030,2861,3246,3041
$GC,2253,-1.12,-121.7,198.3,-8.0,227,2258,0.10,2.25,0.00,0.000,6,0.056,0.029,2817,1839,3041
$GC,2526,-1.07,-121.7,220.9,-8.2,235,2527,0.15,0.00,0.00,0.000,6,0.085,0.000,2849,1838,3041
$GC,2768,-1.10,-121.7,234.9,-5.3,241,2772,0.00,2.28,0.00,0.000,4,0.000,0.034,2848,3240,3041
$GC,2813,-1.17,-121.7,237.6,-6.1,242,2818,0.10,2.28,0.00,0.000,6,0.057,0.031,2804,1831,3041
$GC,3094,-1.11,-121.7,260.6,-8.7,249,3098,0.15,2.35,0.00,0.000,4,0.086,0.054,2836,435,3041
$GC,3126,-1.11,-121.7,264.2,-9.5,249,3133,0.00,2.20,0.00,0.000,6,0.000,0.028,2836,1836,3041
$GC,3376,-1.11,-121.7,285.7,-8.6,256,3380,0.00,2.30,0.00,0.000,4,0.000,0.042,2836,3239,3041
$GC,3404,-1.15,-121.7,288.1,-8.4,256,3409,0.00,2.28,0.00,0.000,6,0.000,0.034,2836,1839,3041
$GC,3654,-1.15,-121.7,307.7,-7.7,262,3658,0.00,2.30,0.00,0.000,4,0.000,0.039,2836,3236,3041
$GC,3677,-1.19,-121.7,309.2,-6.3,262,3681,0.00,2.28,0.00,0.000,6,0.000,0.035,2836,1840,3041
$GC,3933,-1.22,-121.7,325.4,-6.1,269,3938,0.10,2.30,0.00,0.000,4,0.056,0.041,2795,3228,3040
$GC,3960,-1.19,-121.7,327.5,-7.2,269,3965,0.12,2.28,0.00,0.000,6,0.091,0.035,2821,1837,3039
$GC,4212,-1.19,-121.7,344.0,-6.7,275,4216,0.00,2.30,0.00,0.000,4,0.000,0.042,2821,3228,3039
$GC,4239,-1.19,-121.7,346.0,-6.5,275,4243,0.00,2.28,0.00,0.000,6,0.000,0.037,2821,1840,3038
$GC,4489,-1.19,-121.7,364.9,-7.9,281,4493,0.00,2.30,0.00,0.000,4,0.000,0.043,2821,3230,3037
$GC,4511,-1.19,-121.7,366.9,-8.6,281,4515,0.00,2.30,0.00,0.000,6,0.000,0.038,2821,1833,3037
$GC,4768,-1.19,-121.7,388.2,-8.4,288,4772,0.00,2.45,0.00,0.000,4,0.000,0.072,2821,422,3036
$GC,4790,-1.19,-121.7,390.3,-8.6,288,4794,0.00,2.28,0.00,0.000,6,0.000,0.032,2821,1828,3036
$GC,5051,-1.19,-121.7,410.9,-7.7,295,5056,0.00,2.40,0.00,0.000,4,0.000,0.055,2821,3243,3034
$GC,5096,-1.24,-121.7,414.6,-7.9,296,5100,0.00,2.33,0.00,0.000,6,0.000,0.041,2821,1841,3034
$GC,5374,-1.24,-121.7,435.3,-7.5,303,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1840,3033
$GC,5619,-1.24,-121.7,451.9,-6.8,309,5623,0.00,2.35,0.00,0.000,4,0.000,0.048,2821,3246,3032
$GC,5641,-1.24,-121.7,453.5,-7.0,309,5645,0.00,2.35,0.00,0.000,6,0.000,0.045,2821,1843,3031
$GC,5902,-1.24,-121.7,471.7,-7.1,316,5906,0.00,2.35,0.00,0.000,4,0.000,0.050,2821,3242,3030
$GC,5960,-1.29,-121.7,475.8,-8.1,317,5964,0.00,2.38,0.00,0.000,6,0.000,0.050,2821,1835,3029
$GC,6232,-1.29,-121.7,496.0,-7.4,324,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1833,3029
$STATE,6313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6313,begin apogee
$GC,6319,-0.31,0.0,501.9,7.4,326,6422,0.85,0.00,99.65,0.908,6,0.071,0.000,3009,1754,2540
$STATE,6422,end apogee,CONTROL_FINISHED_OK
$STATE,6422,begin climb
$GC,6425,1.25,121.7,504.1,0.0,328,6537,1.45,2.62,104.07,0.890,4,0.038,0.091,3354,354,2043
$GC,6595,1.01,121.7,491.7,13.5,332,6600,0.28,2.35,0.00,0.000,6,0.107,0.043,3301,1755,2039
$GC,6873,0.98,124.4,466.2,8.9,339,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1756,2033
$GC,7116,0.94,124.4,442.3,10.0,345,7121,0.00,2.47,0.00,0.000,4,0.000,0.066,3300,347,2031
$GC,7140,0.86,124.4,439.8,10.8,345,7145,0.15,2.35,0.00,0.000,6,0.110,0.033,3272,1774,2031
$GC,7395,0.90,124.4,414.6,9.8,352,7399,0.00,2.50,0.00,0.000,4,0.000,0.064,3272,343,2029
$GC,7456,0.90,124.4,407.7,10.7,353,7460,0.00,2.33,0.00,0.000,6,0.000,0.031,3271,1766,2029
$GC,7723,0.94,124.4,382.1,9.6,360,7727,0.00,2.38,0.00,0.000,4,0.000,0.054,3271,3164,2026
$GC,7768,1.03,124.4,377.9,9.0,361,7773,0.15,2.38,0.00,0.000,6,0.049,0.041,3317,1748,2026
$GC,8046,0.98,124.4,351.7,9.1,368,8051,0.12,2.45,0.00,0.000,4,0.108,0.072,3293,353,2024
$GC,8079,0.91,124.4,348.6,9.4,368,8085,0.00,2.30,0.00,0.000,6,0.000,0.028,3293,1780,2024
$GC,8329,0.95,150.0,329.2,7.7,375,8358,0.00,2.40,22.45,0.789,4,0.000,0.044,3293,3160,1927
$GC,8364,0.96,163.5,326.3,8.3,375,8384,0.00,2.38,13.40,0.740,6,0.000,0.039,3293,1750,1872
$GC,8658,0.97,169.3,300.7,8.7,383,8666,0.00,0.00,6.07,0.638,6,0.000,0.000,3293,1750,1849
$GC,8901,0.97,169.3,278.3,9.1,389,8905,0.00,2.45,0.00,0.000,4,0.000,0.070,3293,351,1846
$GC,8923,0.97,169.3,276.1,10.5,389,8927,0.00,2.28,0.00,0.000,6,0.000,0.025,3293,1770,1846
$GC,9185,1.01,169.3,251.0,9.6,396,9189,0.00,2.45,0.00,0.000,4,0.000,0.058,3293,345,1844
$GC,9200,1.01,169.3,249.3,9.3,396,9204,0.00,2.30,0.00,0.000,6,0.000,0.025,3293,1758,1844
$GC,9467,1.11,212.0,229.1,6.9,403,9508,0.12,0.00,36.72,0.721,6,0.054,0.000,3333,1759,1674
$GC,9751,1.11,212.0,199.6,10.9,410,9755,0.00,2.42,0.00,0.000,4,0.000,0.056,3333,343,1668
$GC,9781,1.05,212.0,196.1,13.4,412,9786,0.12,2.28,0.00,0.000,6,0.109,0.024,3310,1765,1667
$GC,10045,1.10,212.0,169.2,10.6,436,10049,0.00,2.42,0.00,0.000,4,0.000,0.054,3309,348,1666
$GC,10111,1.10,212.0,161.3,11.6,441,10118,0.00,2.28,0.00,0.000,6,0.000,0.024,3309,1755,1665
$GC,10372,1.16,212.0,134.7,9.1,466,10377,0.10,2.40,0.00,0.000,4,0.058,0.053,3344,341,1665
$GC,10414,1.09,212.0,130.4,11.7,469,10419,0.15,2.28,0.00,0.000,6,0.103,0.025,3315,1768,1665
$GC,10678,1.15,217.5,107.2,8.7,493,10690,0.00,2.30,4.45,0.452,4,0.000,0.037,3315,3172,1653
$GC,10703,1.25,233.0,105.0,8.2,495,10727,0.15,2.33,15.00,0.584,6,0.044,0.035,3364,1751,1589
$GC,10981,1.19,233.0,73.1,11.4,521,10983,0.12,0.00,0.00,0.000,6,0.100,0.000,3340,1751,1586
$GC,11236,1.19,233.0,48.5,11.7,545,11240,0.00,2.30,0.00,0.000,4,0.000,0.031,3340,3164,1585
$GC,11258,1.22,233.0,45.5,12.3,546,11265,0.00,2.33,0.00,0.000,6,0.000,0.034,3340,1765,1585
$GC,11521,1.22,233.0,16.6,12.8,582,11528,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1765,1585
$STATE,11637,end climb,SURFACE_DEPTH_REACHED
$STATE,11637,begin surface coast
$FINISH,1.8,1.024316
$STATE,11648,end surface coast,CONTROL_FINISHED_OK
$STATE,11648,begin surface
$SM_CCo,11671,138.45,0.514,0,0,908,400.08
$SM_GC,2.22,0.00,0.00,138.45,0.000,0.000,0.514,472,1885,908,-11.99,1.30,400.08
$IRIDIUM_FIX,2241.69,-15749.78,280598,010105
$TT8_MAMPS,0.026845
$HUMID,1845
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.00
$XPDR_PINGS,381
$24V_AH,23.9,44.228
$10V_AH,10.2,41.491
$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,29.500,140.025,301.825,138.450,0.000,51.469,64.070,342.290,106.000,0.000,0.000,14.692,1234.533,8312.040,576.495,1609.165,723.588,33.364,1336.996,0.000,1586.079,0.000,68.540,0.000
$DEVICE_MAMPS,159.536,188.682,908.128,513.890,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,430.579,301.484,0.000,502.053,709.718,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44615,605
$CAP_FILE_SIZE,122056,0
$CFSIZE,260165632,241950720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030309,043907,2247.373,-15750.929,25,1.2,26,10.1