version: 66.04
glider: 147
mission: 3
dive: 373
start: 3 13 109 1 7 46
data:
$ID,147
$MISSION,3
$DIVE,373
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,800
$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,200
$T_MISSION,400
$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,1
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25290.496
$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,1870
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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,0
$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
$GPS1,005936,2143.348,-15833.379,35,1.5,41,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-65.6
$GPS2,010650,2143.342,-15833.512,11,1.5,11,9.9
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,WPT6
$TGT_LATLONG,2138.000,-15832.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.206,-0.122
$KALMAN_X,-167158.5,-309.8,176.2,137756.3,-1722.0
$KALMAN_Y,-153338.4,-304.5,327.1,195389.2,-1396.3
$MHEAD_RNG_PITCHd_Wd,110.7,10229,-19.3,-10.000
$D_GRID,600
$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,-1.36,-121.7,0.0,0.0,0,79,0.00,0.00,-59.88,0.000,2,0.000,0.000,479,1899,2153
$GC,82,-1.36,-121.7,3.1,-2.8,9,138,12.57,2.45,-33.47,0.000,4,0.163,0.054,2779,454,3037
$GC,317,-1.12,-121.7,36.9,-17.3,46,322,0.28,2.20,0.00,0.000,6,0.097,0.019,2833,1882,3038
$GC,581,-1.05,-121.7,70.2,-11.8,70,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1883,3040
$GC,845,-0.99,-121.7,100.2,-10.9,95,851,0.15,0.00,0.00,0.000,6,0.095,0.000,2864,1883,3040
$GC,1108,-1.04,-121.7,124.2,-7.6,120,1111,0.00,2.20,0.00,0.000,4,0.000,0.030,2864,3260,3041
$GC,1169,-1.16,-121.7,129.0,-7.5,125,1176,0.17,2.25,0.00,0.000,6,0.038,0.029,2803,1862,3041
$GC,1433,-1.11,-121.7,152.7,-8.4,150,1440,0.17,0.00,0.00,0.000,6,0.085,0.000,2839,1862,3041
$GC,1698,-1.15,-121.7,173.6,-7.5,175,1702,0.00,2.22,0.00,0.000,4,0.000,0.030,2839,3251,3041
$GC,1756,-1.24,-121.7,177.7,-6.6,180,1761,0.12,2.22,0.00,0.000,6,0.048,0.029,2788,1869,3041
$GC,2019,-1.17,-121.7,200.1,-9.0,204,2021,0.17,0.00,0.00,0.000,6,0.083,0.000,2824,1869,3041
$GC,2261,-1.17,-121.7,215.9,-6.2,210,2265,0.00,2.22,0.00,0.000,4,0.000,0.031,2824,3254,3041
$GC,2284,-1.22,-121.7,217.4,-6.2,210,2288,0.00,2.22,0.00,0.000,6,0.000,0.030,2824,1871,3042
$GC,2545,-1.22,-121.7,234.3,-6.5,217,2549,0.00,2.38,0.00,0.000,4,0.000,0.054,2824,458,3041
$GC,2583,-1.22,-121.7,237.2,-7.5,217,2589,0.00,2.17,0.00,0.000,6,0.000,0.021,2824,1861,3041
$GC,2834,-1.25,-121.7,253.7,-6.5,224,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1862,3041
$GC,3077,-1.29,-121.7,269.6,-6.6,230,3082,0.12,2.38,0.00,0.000,4,0.049,0.054,2776,458,3041
$GC,3099,-1.23,-121.7,271.5,-8.8,230,3104,0.17,2.20,0.00,0.000,6,0.087,0.022,2812,1865,3041
$GC,3361,-1.23,-121.7,289.8,-7.0,237,3365,0.00,2.30,0.00,0.000,4,0.000,0.040,2812,3274,3041
$GC,3383,-1.23,-121.7,291.5,-7.2,237,3387,0.00,2.28,0.00,0.000,6,0.000,0.034,2812,1871,3040
$GC,3638,-1.23,-121.7,312.7,-8.9,244,3642,0.00,2.28,0.00,0.000,4,0.000,0.037,2812,3269,3040
$GC,3660,-1.26,-121.7,315.1,-10.1,244,3665,0.00,2.28,0.00,0.000,6,0.000,0.035,2812,1871,3040
$GC,3917,-1.26,-121.7,339.6,-9.8,251,3921,0.00,2.42,0.00,0.000,4,0.000,0.064,2812,460,3038
$GC,3933,-1.26,-121.7,341.5,-9.9,251,3937,0.00,2.25,0.00,0.000,6,0.000,0.026,2812,1875,3038
$GC,4200,-1.26,-121.7,366.4,-9.0,258,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1876,3038
$GC,4444,-1.29,-121.7,383.4,-6.7,264,4448,0.00,2.33,0.00,0.000,4,0.000,0.050,2812,3266,3037
$GC,4489,-1.36,-121.7,386.1,-5.5,265,4494,0.12,2.30,0.00,0.000,6,0.048,0.039,2764,1874,3036
$GC,4767,-1.30,-121.7,406.7,-7.9,272,4772,0.15,2.33,0.00,0.000,4,0.088,0.043,2795,3273,3035
$GC,4795,-1.30,-121.7,409.1,-8.4,272,4800,0.00,2.33,0.00,0.000,6,0.000,0.041,2795,1872,3035
$GC,5045,-1.30,-121.7,431.1,-8.9,278,5049,0.00,2.33,0.00,0.000,4,0.000,0.046,2795,3265,3034
$GC,5096,-1.34,-121.7,434.4,-6.2,279,5100,0.00,2.33,0.00,0.000,6,0.000,0.044,2795,1872,3034
$GC,5368,-1.34,-121.7,450.5,-6.5,286,5373,0.00,2.53,0.00,0.000,4,0.000,0.082,2795,449,3033
$GC,5474,-1.34,-121.7,461.4,-11.3,288,5478,0.00,2.33,0.00,0.000,6,0.000,0.039,2795,1864,3031
$GC,5741,-1.34,-121.7,493.4,-12.2,295,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1864,3031
$GC,5985,-1.34,-121.7,521.2,-11.1,301,5990,0.00,2.50,0.00,0.000,4,0.000,0.079,2795,456,3030
$GC,6007,-1.34,-121.7,523.6,-10.7,301,6011,0.00,2.35,0.00,0.000,6,0.000,0.041,2795,1874,3030
$GC,6263,-1.34,-121.7,546.2,-8.5,308,6267,0.00,2.47,0.00,0.000,4,0.000,0.081,2795,3282,3029
$GC,6358,-1.40,-121.7,553.3,-6.7,310,6362,0.00,2.42,0.00,0.000,6,0.000,0.059,2795,1868,3028
$GC,6636,-1.40,-121.7,565.5,-3.7,317,6640,0.00,2.45,0.00,0.000,4,0.000,0.067,2795,3283,3026
$GC,6664,-1.45,-121.7,566.6,-4.0,317,6669,0.15,2.45,0.00,0.000,6,0.045,0.061,2743,1864,3026
$GC,6915,-1.36,-121.7,581.8,-6.5,323,6919,0.17,2.47,0.00,0.000,4,0.091,0.071,2783,3283,3024
$GC,6960,-1.39,-121.7,584.7,-6.1,324,6964,0.00,2.45,0.00,0.000,6,0.000,0.066,2783,1871,3024
$STATE,7247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7247,begin apogee
$GC,7253,-0.31,0.0,602.1,5.8,331,7357,1.05,0.00,100.22,1.002,6,0.079,0.000,3010,1715,2540
$STATE,7357,end apogee,CONTROL_FINISHED_OK
$STATE,7358,begin climb
$GC,7361,1.36,121.7,602.3,0.0,333,7476,1.55,2.75,105.68,0.979,4,0.036,0.100,3383,307,2043
$GC,7521,1.10,121.7,584.6,18.5,336,7528,0.32,2.45,0.00,0.000,6,0.110,0.054,3321,1717,2039
$GC,7772,1.06,121.7,552.7,12.1,343,7776,0.00,2.53,0.00,0.000,4,0.000,0.073,3321,3138,2034
$GC,7902,1.07,132.3,539.7,9.4,346,7917,0.00,2.47,8.93,0.828,6,0.000,0.058,3320,1712,1999
$GC,8190,1.03,132.3,510.7,10.0,353,8194,0.00,2.42,0.00,0.000,4,0.000,0.051,3321,3143,1995
$GC,8251,1.04,136.9,504.4,9.7,354,8261,0.00,2.45,4.95,0.687,6,0.000,0.052,3320,1720,1982
$GC,8511,1.04,136.9,478.3,10.1,361,8515,0.00,2.58,0.00,0.000,4,0.000,0.087,3320,305,1980
$GC,8577,0.93,136.9,471.1,10.7,362,8582,0.17,2.38,0.00,0.000,6,0.112,0.041,3286,1740,1980
$GC,8833,1.00,157.4,448.6,8.9,369,8858,0.00,2.60,19.45,0.881,4,0.000,0.070,3286,305,1897
$GC,8892,1.00,157.4,442.6,11.3,370,8896,0.00,2.35,0.00,0.000,6,0.000,0.039,3286,1722,1895
$GC,9160,1.09,177.6,418.5,8.9,377,9191,0.12,2.53,20.88,0.801,4,0.055,0.065,3324,308,1814
$GC,9209,1.03,177.6,412.9,12.3,378,9213,0.00,2.35,0.00,0.000,6,0.000,0.038,3323,1726,1813
$GC,9481,1.03,177.6,383.6,10.6,385,9485,0.00,2.40,0.00,0.000,4,0.000,0.059,3324,3139,1809
$GC,9621,1.09,190.4,370.0,9.3,388,9640,0.00,2.40,11.43,0.794,6,0.000,0.044,3324,1715,1762
$GC,9896,1.09,190.4,342.3,10.2,395,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1715,1758
$GC,10140,1.09,190.4,316.1,11.3,401,10144,0.00,2.35,0.00,0.000,4,0.000,0.038,3324,3136,1757
$GC,10190,1.15,190.4,309.9,12.1,402,10194,0.00,2.40,0.00,0.000,6,0.000,0.043,3324,1713,1757
$GC,10462,1.15,190.4,274.2,13.2,409,10467,0.00,2.47,0.00,0.000,4,0.000,0.074,3324,308,1756
$GC,10518,1.11,190.4,266.5,13.8,410,10523,0.00,2.30,0.00,0.000,6,0.000,0.025,3324,1743,1756
$GC,10786,1.12,194.2,239.2,9.8,417,10790,0.00,2.25,0.00,0.000,4,0.000,0.039,3324,3128,1756
$GC,10808,1.17,194.2,236.7,10.4,417,10812,0.00,2.33,0.00,0.000,6,0.000,0.038,3324,1714,1756
$GC,11069,1.17,194.2,209.8,10.0,424,11073,0.00,2.42,0.00,0.000,4,0.000,0.067,3324,316,1755
$GC,11147,1.17,197.9,201.8,9.8,425,11158,0.00,2.25,6.55,0.617,6,0.000,0.025,3324,1732,1733
$GC,11418,1.25,225.4,179.5,8.5,448,11452,0.12,2.53,25.45,0.690,4,0.054,0.059,3363,316,1620
$GC,11492,1.19,225.4,171.3,13.5,454,11499,0.12,2.25,0.00,0.000,6,0.111,0.025,3340,1716,1617
$GC,11756,1.23,225.4,142.6,10.6,479,11760,0.00,2.30,0.00,0.000,4,0.000,0.037,3340,3125,1614
$GC,11841,1.37,236.1,133.9,9.4,486,11857,0.15,2.33,10.15,0.603,6,0.046,0.038,3388,1720,1576
$GC,12119,1.33,236.1,99.9,11.1,512,12123,0.00,2.30,0.00,0.000,4,0.000,0.034,3388,3131,1573
$GC,12148,1.33,236.1,96.5,11.8,514,12152,0.00,2.35,0.00,0.000,6,0.000,0.037,3388,1709,1573
$GC,12410,1.33,236.1,67.0,11.6,538,12414,0.00,2.30,0.00,0.000,4,0.000,0.037,3388,3129,1572
$GC,12428,1.33,236.1,64.7,11.8,539,12433,0.00,2.33,0.00,0.000,6,0.000,0.037,3388,1721,1572
$GC,12692,1.33,236.1,34.6,11.7,563,12696,0.00,2.40,0.00,0.000,4,0.000,0.061,3388,315,1571
$GC,12725,1.24,236.1,30.0,12.7,565,12732,0.15,2.25,0.00,0.000,6,0.093,0.023,3353,1719,1571
$STATE,12985,end climb,SURFACE_DEPTH_REACHED
$STATE,12985,begin surface coast
$FINISH,1.6,1.023998
$STATE,13013,end surface coast,CONTROL_FINISHED_OK
$STATE,13013,begin surface
$SM_CCo,13036,136.60,0.521,0,0,909,400.08
$SM_GC,2.20,0.00,0.00,136.60,0.000,0.000,0.521,471,1900,909,-12.00,0.85,400.08
$IRIDIUM_FIX,2138.81,-15830.44,060698,212124
$TT8_MAMPS,0.027612
$HUMID,1873
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,22.50
$XPDR_PINGS,314
$24V_AH,23.8,51.771
$10V_AH,10.2,47.418
$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,30.225,156.550,313.675,136.600,0.000,26.422,32.450,216.679,78.500,0.000,0.000,13.183,1268.015,9400.801,576.005,1764.513,585.541,33.367,1443.612,0.000,1748.319,0.000,1.487,0.000
$DEVICE_MAMPS,163.371,100.477,1001.702,520.793,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,420.715,0.000,0.000,452.182,639.283,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44584,618
$CAP_FILE_SIZE,126238,0
$CFSIZE,260165632,238452736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130309,044836,2142.553,-15833.727,36,1.0,37,9.9