version: 66.04
glider: 147
mission: 3
dive: 318
start: 3 3 109 4 44 58
data:
$ID,147
$MISSION,3
$DIVE,318
$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,-24195.328
$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,21
$R_STBD_OVSHOOT,73
$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
$GPS1,043907,2247.373,-15750.929,25,1.2,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-62.0
$GPS2,044402,2247.327,-15750.994,12,1.2,12,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.160,0.167
$KALMAN_X,-123767.4,-475.1,-254.0,168291.6,-244.8
$KALMAN_Y,-86093.0,-304.4,-349.1,247315.6,-1295.0
$MHEAD_RNG_PITCHd_Wd,33.7,3625,-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,-66.68,0.000,2,0.000,0.000,472,1885,2303
$GC,87,-1.25,-121.7,3.1,-2.2,10,136,12.85,2.17,-25.55,0.000,4,0.166,0.044,2801,3202,3038
$GC,154,-1.11,-121.7,8.5,-11.2,20,162,0.12,2.28,0.00,0.000,6,0.087,0.031,2832,1830,3039
$GC,420,-1.01,-121.7,39.7,-9.7,60,425,0.12,2.22,0.00,0.000,4,0.095,0.028,2858,3211,3040
$GC,442,-0.95,-121.7,42.0,-9.4,61,449,0.00,2.25,0.00,0.000,6,0.000,0.031,2858,1845,3040
$GC,704,-0.90,-121.7,68.7,-8.8,86,709,0.12,2.20,0.00,0.000,4,0.090,0.028,2885,3218,3040
$GC,745,-0.96,-121.7,71.9,-7.3,89,749,0.00,2.22,0.00,0.000,6,0.000,0.029,2885,1836,3041
$GC,1007,-0.96,-121.7,87.4,-6.1,113,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1836,3041
$GC,1264,-1.00,-121.7,105.6,-7.6,137,1267,0.00,2.20,0.00,0.000,4,0.000,0.032,2885,3208,3041
$GC,1314,-1.09,-121.7,109.5,-7.0,141,1321,0.20,2.20,0.00,0.000,6,0.036,0.028,2814,1837,3042
$GC,1575,-0.99,-121.7,136.3,-10.1,166,1580,0.20,2.33,0.00,0.000,4,0.084,0.046,2861,434,3042
$GC,1607,-0.99,-121.7,139.2,-8.1,168,1615,0.00,2.17,0.00,0.000,6,0.000,0.020,2861,1828,3041
$GC,1871,-0.99,-121.7,159.4,-7.9,193,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1829,3042
$GC,2127,-1.02,-121.7,177.8,-7.9,217,2131,0.00,2.25,0.00,0.000,4,0.000,0.031,2861,3228,3042
$GC,2162,-1.08,-121.7,180.7,-7.7,220,2166,0.00,2.25,0.00,0.000,6,0.000,0.030,2860,1831,3042
$GC,2427,-1.13,-121.7,197.8,-5.8,244,2433,0.12,0.00,0.00,0.000,6,0.048,0.000,2813,1831,3042
$GC,2710,-1.07,-121.7,222.1,-8.9,254,2715,0.15,2.25,0.00,0.000,4,0.084,0.032,2845,3219,3042
$GC,2743,-1.10,-121.7,225.3,-8.9,254,2749,0.00,2.22,0.00,0.000,6,0.000,0.030,2845,1840,3042
$GC,2995,-1.10,-121.7,246.9,-8.6,261,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1839,3042
$GC,3237,-1.10,-121.7,265.7,-7.5,267,3241,0.00,2.25,0.00,0.000,4,0.000,0.036,2845,3220,3042
$GC,3253,-1.13,-121.7,267.0,-7.6,267,3258,0.00,2.22,0.00,0.000,6,0.000,0.031,2845,1842,3042
$GC,3515,-1.17,-121.7,284.9,-6.6,274,3519,0.00,2.25,0.00,0.000,4,0.000,0.036,2845,3222,3042
$GC,3545,-1.23,-121.7,286.9,-6.9,274,3550,0.15,2.25,0.00,0.000,6,0.043,0.033,2790,1840,3042
$GC,3795,-1.14,-121.7,309.5,-9.2,280,3797,0.20,0.00,0.00,0.000,6,0.083,0.000,2832,1839,3042
$GC,4039,-1.14,-121.7,328.0,-7.6,286,4042,0.00,2.25,0.00,0.000,4,0.000,0.038,2832,3214,3041
$GC,4072,-1.19,-121.7,331.2,-9.5,286,4076,0.00,2.25,0.00,0.000,6,0.000,0.035,2832,1839,3041
$GC,4322,-1.19,-121.7,353.9,-9.4,292,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1838,3041
$GC,4566,-1.23,-121.7,374.8,-8.3,298,4570,0.00,2.28,0.00,0.000,4,0.000,0.042,2832,3215,3040
$GC,4600,-1.29,-121.7,377.5,-7.3,298,4605,0.15,2.28,0.00,0.000,6,0.044,0.039,2778,1836,3039
$GC,4850,-1.20,-121.7,398.2,-8.2,304,4855,0.17,2.28,0.00,0.000,4,0.083,0.042,2818,3210,3038
$GC,4872,-1.20,-121.7,399.8,-7.1,304,4877,0.00,2.28,0.00,0.000,6,0.000,0.040,2818,1833,3038
$GC,5135,-1.20,-121.7,416.3,-6.4,311,5139,0.00,2.30,0.00,0.000,4,0.000,0.043,2818,3220,3037
$GC,5156,-1.20,-121.7,418.0,-6.9,311,5161,0.00,2.30,0.00,0.000,6,0.000,0.041,2818,1835,3037
$GC,5412,-1.20,-121.7,434.7,-6.5,318,5416,0.00,2.47,0.00,0.000,4,0.000,0.077,2818,425,3036
$GC,5434,-1.20,-121.7,436.3,-6.9,318,5438,0.00,2.25,0.00,0.000,6,0.000,0.035,2818,1807,3036
$GC,5690,-1.20,-121.7,454.3,-7.2,325,5695,0.00,2.47,0.00,0.000,4,0.000,0.061,2818,3254,3035
$GC,5741,-1.24,-121.7,458.4,-7.8,326,5745,0.00,2.38,0.00,0.000,6,0.000,0.043,2818,1831,3034
$GC,6013,-1.24,-121.7,479.6,-7.8,333,6018,0.00,2.38,0.00,0.000,4,0.000,0.050,2818,3244,3033
$GC,6063,-1.29,-121.7,483.4,-7.5,334,6067,0.00,2.38,0.00,0.000,6,0.000,0.048,2818,1832,3032
$STATE,6338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6338,begin apogee
$GC,6345,-0.31,0.0,501.7,6.5,341,6448,0.88,0.00,100.43,0.905,6,0.070,0.000,3013,1752,2540
$STATE,6449,end apogee,CONTROL_FINISHED_OK
$STATE,6449,begin climb
$GC,6452,1.25,121.7,502.9,0.0,343,6563,1.42,2.60,103.62,0.889,4,0.036,0.087,3358,354,2043
$GC,6591,0.99,121.7,492.9,13.6,346,6596,0.30,2.35,0.00,0.000,6,0.107,0.038,3299,1758,2040
$GC,6852,0.98,136.9,470.3,8.2,353,6872,0.00,2.58,12.77,0.802,4,0.000,0.068,3299,348,1981
$GC,6884,0.93,152.3,467.5,8.2,353,6903,0.00,2.35,14.77,0.809,6,0.000,0.035,3298,1761,1919
$GC,7182,0.93,154.1,441.2,8.9,361,7186,0.00,2.40,0.00,0.000,4,0.000,0.055,3298,3165,1911
$GC,7198,0.94,162.4,439.8,8.6,361,7213,0.00,2.38,9.68,0.769,6,0.000,0.041,3298,1753,1877
$GC,7464,0.96,176.2,417.4,8.3,368,7489,0.00,2.53,15.18,0.716,4,0.000,0.082,3298,349,1819
$GC,7540,0.91,176.2,410.6,9.8,369,7546,0.00,2.33,0.00,0.000,6,0.000,0.033,3298,1771,1818
$GC,7790,0.93,191.0,390.2,8.3,376,7809,0.00,2.40,13.40,0.788,4,0.000,0.049,3298,3156,1760
$GC,7838,0.98,200.8,386.1,8.5,377,7853,0.00,2.35,9.90,0.748,6,0.000,0.040,3298,1756,1721
$GC,8114,0.98,200.8,358.8,10.3,384,8119,0.00,2.45,0.00,0.000,4,0.000,0.071,3298,355,1716
$GC,8138,0.98,200.8,356.2,11.9,384,8142,0.00,2.28,0.00,0.000,6,0.000,0.027,3298,1768,1715
$GC,8393,0.98,200.8,328.4,10.6,391,8397,0.00,2.45,0.00,0.000,4,0.000,0.060,3298,345,1713
$GC,8419,0.98,200.8,325.4,11.3,391,8423,0.00,2.28,0.00,0.000,6,0.000,0.027,3298,1759,1713
$GC,8675,0.98,200.8,296.5,11.6,398,8679,0.00,2.35,0.00,0.000,4,0.000,0.045,3298,3170,1712
$GC,8691,0.98,200.8,294.6,11.2,398,8695,0.00,2.35,0.00,0.000,6,0.000,0.038,3298,1752,1712
$GC,8964,1.01,200.8,266.2,10.4,405,8968,0.00,2.42,0.00,0.000,4,0.000,0.069,3298,358,1711
$GC,8991,1.01,200.8,263.1,11.1,405,8995,0.00,2.25,0.00,0.000,6,0.000,0.025,3298,1776,1711
$GC,9247,1.05,200.8,239.4,9.1,412,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1777,1710
$GC,9490,1.10,200.8,218.0,9.1,418,9494,0.00,2.42,0.00,0.000,4,0.000,0.056,3298,349,1710
$GC,9511,1.10,200.8,215.8,9.7,418,9515,0.00,2.25,0.00,0.000,6,0.000,0.025,3298,1766,1710
$GC,9773,1.16,205.6,192.3,8.8,430,9785,0.15,2.42,4.00,0.478,4,0.048,0.054,3345,345,1701
$GC,9810,1.07,205.6,188.4,11.3,433,9814,0.17,2.25,0.00,0.000,6,0.101,0.025,3310,1762,1700
$GC,10080,1.11,210.7,163.6,8.8,458,10092,0.00,2.40,6.22,0.558,4,0.000,0.054,3310,345,1681
$GC,10150,1.11,210.7,156.9,9.8,464,10154,0.00,2.25,0.00,0.000,6,0.000,0.025,3310,1759,1679
$GC,10413,1.19,221.4,136.4,8.5,488,10427,0.12,0.00,10.77,0.597,6,0.052,0.000,3352,1761,1637
$GC,10684,1.19,221.4,107.7,9.5,513,10688,0.00,2.40,0.00,0.000,4,0.000,0.053,3351,344,1635
$GC,10713,1.13,221.4,104.6,10.8,515,10718,0.12,2.25,0.00,0.000,6,0.102,0.024,3327,1759,1634
$GC,10978,1.21,252.6,83.5,7.4,539,11012,0.00,2.35,27.58,0.579,4,0.000,0.037,3327,3172,1509
$GC,11039,1.29,252.6,77.5,10.0,544,11047,0.10,2.38,0.00,0.000,6,0.036,0.034,3372,1752,1507
$GC,11304,1.24,268.3,51.5,8.2,569,11329,0.12,2.45,14.55,0.528,4,0.103,0.058,3348,355,1444
$GC,11356,1.17,268.3,45.8,11.9,573,11363,0.00,2.25,0.00,0.000,6,0.000,0.028,3348,1760,1443
$GC,11621,1.17,268.3,15.3,10.3,609,11627,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1761,1442
$STATE,11754,end climb,SURFACE_DEPTH_REACHED
$STATE,11755,begin surface coast
$FINISH,1.6,1.024338
$STATE,11774,end surface coast,CONTROL_FINISHED_OK
$STATE,11774,begin surface
$SM_CCo,11795,109.65,0.508,0,0,908,400.08
$SM_GC,2.14,0.00,0.00,109.65,0.000,0.000,0.508,472,1873,908,-12.00,0.93,400.08
$IRIDIUM_FIX,2239.35,-15752.82,280598,010145
$TT8_MAMPS,0.027612
$HUMID,1830
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.90
$XPDR_PINGS,364
$24V_AH,23.8,44.345
$10V_AH,10.2,41.583
$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,29.750,144.125,342.875,109.650,0.000,26.079,29.567,129.869,101.750,0.000,0.000,13.731,1266.892,8243.628,570.165,1672.373,454.340,33.367,1372.061,0.000,1649.182,0.000,68.552,0.000
$DEVICE_MAMPS,166.439,88.205,905.060,507.754,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,450.576,327.113,0.000,536.459,758.619,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47590,637
$CAP_FILE_SIZE,119574,0
$CFSIZE,260165632,241889280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030309,080436,2247.510,-15750.460,32,1.2,33,10.1