version: 66.04
glider: 147
mission: 3
dive: 338
start: 3 6 109 0 13 33
data:
$ID,147
$MISSION,3
$DIVE,338
$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,-24602.012
$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,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
$GPS1,000406,2248.739,-15750.136,35,1.4,47,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-65.1
$GPS2,001237,2248.726,-15750.216,10,1.3,14,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT15
$TGT_LATLONG,2251.000,-15754.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.156,0.170
$KALMAN_X,-138982.6,128.4,-165.1,184148.8,-266.6
$KALMAN_Y,-118731.7,165.8,-190.6,281914.7,-601.7
$MHEAD_RNG_PITCHd_Wd,307.4,7710,-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,-66.57,0.000,2,0.000,0.000,473,1876,2282
$GC,87,-1.25,-121.7,3.1,-2.4,10,136,12.68,2.17,-27.65,0.000,4,0.161,0.040,2804,3209,3037
$GC,273,-1.14,-121.7,20.0,-11.6,42,281,0.08,2.28,0.00,0.000,6,0.088,0.031,2823,1834,3039
$GC,544,-1.02,-121.7,46.8,-10.0,76,548,0.15,2.22,0.00,0.000,4,0.095,0.035,2854,3214,3040
$GC,580,-1.02,-121.7,49.9,-8.7,79,584,0.00,2.22,0.00,0.000,6,0.000,0.028,2854,1834,3040
$GC,845,-0.98,-121.7,71.1,-7.9,103,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1834,3040
$GC,1107,-0.98,-121.7,93.0,-8.4,128,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1833,3041
$GC,1361,-0.98,-121.7,114.9,-8.5,152,1365,0.00,2.33,0.00,0.000,4,0.000,0.048,2854,438,3041
$GC,1434,-0.98,-121.7,121.6,-9.2,158,1438,0.00,2.15,0.00,0.000,6,0.000,0.020,2855,1829,3041
$GC,1704,-0.98,-121.7,143.7,-8.2,183,1708,0.00,2.25,0.00,0.000,4,0.000,0.030,2854,3236,3041
$GC,1759,-1.03,-121.7,148.7,-8.5,187,1765,0.00,2.25,0.00,0.000,6,0.000,0.029,2854,1835,3041
$GC,2025,-1.03,-121.7,170.8,-7.8,212,2029,0.00,2.25,0.00,0.000,4,0.000,0.030,2854,3237,3041
$GC,2088,-1.10,-121.7,176.2,-7.6,217,2092,0.00,2.25,0.00,0.000,6,0.000,0.029,2854,1836,3041
$GC,2352,-1.10,-121.7,193.4,-5.2,241,2356,0.00,2.33,0.00,0.000,4,0.000,0.050,2854,440,3041
$GC,2386,-1.10,-121.7,195.7,-6.3,243,2394,0.00,2.20,0.00,0.000,6,0.000,0.021,2854,1829,3041
$GC,2641,-1.14,-121.7,210.1,-5.7,256,2645,0.00,2.35,0.00,0.000,4,0.000,0.051,2854,430,3041
$GC,2662,-1.14,-121.7,211.7,-7.1,256,2666,0.00,2.20,0.00,0.000,6,0.000,0.022,2854,1840,3041
$GC,2925,-1.18,-121.7,231.7,-8.1,263,2930,0.15,2.28,0.00,0.000,4,0.042,0.037,2798,3239,3041
$GC,3031,-1.14,-121.7,242.8,-10.3,265,3035,0.15,2.28,0.00,0.000,6,0.084,0.032,2829,1835,3041
$GC,3305,-1.14,-121.7,262.3,-6.7,272,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1835,3042
$GC,3546,-1.14,-121.7,276.1,-5.8,278,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1835,3041
$GC,3792,-1.14,-121.7,295.9,-8.7,284,3796,0.00,2.33,0.00,0.000,4,0.000,0.040,2829,3240,3041
$GC,3838,-1.18,-121.7,300.3,-9.6,285,3842,0.00,2.30,0.00,0.000,6,0.000,0.035,2829,1833,3041
$GC,4116,-1.18,-121.7,326.5,-8.9,292,4120,0.00,2.30,0.00,0.000,4,0.000,0.040,2829,3231,3040
$GC,4138,-1.18,-121.7,328.5,-8.8,292,4142,0.00,2.28,0.00,0.000,6,0.000,0.036,2829,1842,3040
$GC,4395,-1.18,-121.7,346.0,-6.3,299,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1842,3039
$GC,4637,-1.18,-121.7,360.6,-6.1,305,4641,0.00,2.33,0.00,0.000,4,0.000,0.044,2829,3234,3037
$GC,4688,-1.24,-121.7,364.3,-7.0,306,4692,0.00,2.33,0.00,0.000,6,0.000,0.039,2829,1831,3037
$GC,4960,-1.24,-121.7,387.2,-8.9,313,4964,0.00,2.42,0.00,0.000,4,0.000,0.071,2829,432,3037
$GC,4981,-1.24,-121.7,389.6,-10.5,313,4986,0.00,2.25,0.00,0.000,6,0.000,0.031,2829,1824,3036
$GC,5247,-1.24,-121.7,415.8,-9.6,320,5251,0.00,2.40,0.00,0.000,4,0.000,0.054,2829,3243,3035
$GC,5293,-1.30,-121.7,420.0,-8.9,321,5298,0.15,2.33,0.00,0.000,6,0.044,0.042,2775,1841,3035
$GC,5571,-1.21,-121.7,446.0,-9.0,328,5576,0.17,2.35,0.00,0.000,4,0.084,0.047,2816,3243,3034
$GC,5616,-1.25,-121.7,449.2,-7.2,329,5621,0.00,2.35,0.00,0.000,6,0.000,0.046,2816,1844,3034
$GC,5906,-1.25,-121.7,464.6,-5.0,336,5910,0.00,2.35,0.00,0.000,4,0.000,0.049,2816,3246,3033
$GC,5935,-1.25,-121.7,466.0,-4.8,336,5939,0.00,2.38,0.00,0.000,6,0.000,0.048,2815,1836,3033
$GC,6185,-1.25,-121.7,478.7,-5.2,342,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1835,3032
$GC,6429,-1.25,-121.7,492.5,-5.7,348,6433,0.00,2.40,0.00,0.000,4,0.000,0.054,2816,3251,3030
$GC,6450,-1.25,-121.7,494.0,-6.8,348,6454,0.00,2.40,0.00,0.000,6,0.000,0.051,2816,1837,3030
$STATE,6589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6589,begin apogee
$GC,6595,-0.31,0.0,502.5,6.2,352,6697,0.88,0.00,99.45,0.913,6,0.073,0.000,3008,1758,2540
$STATE,6698,end apogee,CONTROL_FINISHED_OK
$STATE,6698,begin climb
$GC,6701,1.25,121.7,504.0,0.0,354,6813,1.48,2.65,104.50,0.892,4,0.037,0.089,3358,355,2043
$GC,6836,1.00,121.7,495.6,12.2,358,6841,0.30,2.35,0.00,0.000,6,0.105,0.038,3299,1758,2040
$GC,7114,0.98,142.3,472.1,8.0,365,7134,0.00,0.00,17.77,0.835,6,0.000,0.000,3299,1758,1959
$GC,7358,1.00,156.8,452.3,8.3,371,7373,0.00,0.00,13.50,0.813,6,0.000,0.000,3299,1758,1900
$GC,7601,1.00,157.7,431.0,9.0,377,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1758,1895
$GC,7844,1.00,157.7,406.2,10.3,383,7849,0.00,2.40,0.00,0.000,4,0.000,0.048,3299,3174,1894
$GC,7889,1.04,157.7,401.4,10.6,384,7893,0.00,2.40,0.00,0.000,6,0.000,0.041,3299,1749,1893
$GC,8167,1.05,167.7,376.2,8.5,391,8178,0.00,0.00,10.07,0.765,6,0.000,0.000,3299,1749,1855
$GC,8410,1.09,203.5,358.2,7.2,397,8443,0.00,0.00,31.70,0.815,6,0.000,0.000,3299,1749,1710
$GC,8653,1.09,204.1,337.2,9.0,403,8657,0.00,2.47,0.00,0.000,4,0.000,0.072,3299,348,1703
$GC,8674,1.09,204.1,334.8,10.9,403,8678,0.00,2.33,0.00,0.000,6,0.000,0.033,3299,1777,1702
$GC,8936,1.09,204.1,308.4,10.4,410,8940,0.00,2.33,0.00,0.000,4,0.000,0.041,3299,3172,1701
$GC,8969,1.14,204.1,304.3,12.1,410,8976,0.12,2.38,0.00,0.000,6,0.051,0.040,3340,1751,1700
$GC,9219,1.08,204.1,264.6,16.8,417,9224,0.12,2.45,0.00,0.000,4,0.105,0.067,3315,351,1700
$GC,9292,1.04,204.1,253.0,15.6,418,9296,0.00,2.28,0.00,0.000,6,0.000,0.025,3315,1768,1699
$GC,9542,1.04,204.1,225.7,9.7,424,9543,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1768,1699
$GC,9786,1.15,294.5,212.6,4.5,430,9869,0.00,2.55,77.28,0.713,4,0.000,0.058,3315,348,1338
$GC,9885,1.15,294.5,205.9,9.7,432,9889,0.00,2.30,0.00,0.000,6,0.000,0.025,3315,1762,1335
$GC,10151,1.19,294.5,176.7,11.6,453,10156,0.10,2.42,0.00,0.000,4,0.061,0.054,3350,349,1330
$GC,10190,1.13,294.5,171.1,15.3,456,10195,0.12,2.28,0.00,0.000,6,0.104,0.026,3326,1761,1329
$GC,10453,1.13,294.5,138.2,11.9,480,10457,0.00,2.33,0.00,0.000,4,0.000,0.038,3325,3173,1327
$GC,10492,1.23,294.5,133.2,11.7,483,10498,0.10,2.35,0.00,0.000,6,0.058,0.037,3363,1751,1328
$GC,10757,1.17,294.5,94.7,15.0,508,10761,0.12,2.40,0.00,0.000,4,0.100,0.057,3338,344,1326
$GC,10903,1.17,294.5,72.9,14.0,520,10910,0.00,2.28,0.00,0.000,6,0.000,0.023,3338,1760,1326
$GC,11165,1.17,294.5,39.2,12.9,545,11169,0.00,2.30,0.00,0.000,4,0.000,0.036,3339,3171,1325
$GC,11183,1.17,294.5,36.8,12.5,546,11187,0.00,2.30,0.00,0.000,6,0.000,0.031,3338,1757,1325
$GC,11448,1.17,294.5,2.7,13.1,589,11455,0.00,2.40,0.00,0.000,4,0.000,0.054,3338,358,1324
$STATE,11460,end climb,SURFACE_DEPTH_REACHED
$STATE,11460,begin surface coast
$FINISH,1.3,1.024500
$STATE,11477,end surface coast,CONTROL_FINISHED_OK
$STATE,11477,begin surface
$SM_CCo,11500,87.38,0.523,0,0,909,400.08
$SM_GC,2.15,0.00,0.00,87.38,0.000,0.000,0.523,464,1855,909,-12.03,0.42,400.08
$IRIDIUM_FIX,2241.69,-15751.94,310598,000041
$TT8_MAMPS,0.027612
$HUMID,1894
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,21.90
$XPDR_PINGS,366
$24V_AH,23.8,46.702
$10V_AH,10.2,43.390
$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,28.625,125.950,354.275,87.375,0.000,62.997,57.112,210.666,102.250,0.000,0.000,15.877,1196.019,8159.290,577.969,1587.920,584.680,33.371,1304.670,0.000,1554.954,0.000,68.553,0.000
$DEVICE_MAMPS,161.070,93.574,912.730,523.094,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,419.204,296.616,0.000,490.015,692.843,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44309,594
$CAP_FILE_SIZE,111120,0
$CFSIZE,260165632,240775168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060309,032751,2249.169,-15751.347,17,2.0,31,10.1