version: 66.04
glider: 147
mission: 3
dive: 16
start: 1 21 109 6 31 54
data:
$ID,147
$MISSION,3
$DIVE,16
$D_SURF,2
$D_FLARE,3
$D_TGT,400
$D_ABORT,450
$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,133
$T_MISSION,200
$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,5
$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,500
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18355.453
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3000
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,062207,2124.200,-15818.552,38,1.0,38,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-60.6
$GPS2,063038,2124.188,-15818.563,13,1.0,13,9.8
$SPEED_LIMITS,0.174,0.184
$TGT_NAME,WPT1
$TGT_LATLONG,2126.000,-15826.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.183,0.009
$KALMAN_X,10082.2,142.0,-23.1,-13975.2,-178.1
$KALMAN_Y,841.3,-194.9,105.9,5833.1,362.1
$MHEAD_RNG_PITCHd_Wd,262.9,13252,-25.8,-10.025
$D_GRID,400
$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,14,-1.62,-4.9,0.0,0.0,0,103,0.00,0.00,-86.60,0.000,2,0.000,0.000,478,2036,2432
$GC,106,-1.62,-4.9,3.4,-5.2,11,131,11.52,2.33,-3.83,0.000,4,0.153,0.048,2639,3464,2561
$GC,254,-1.40,-4.9,29.1,-17.3,36,262,0.20,2.28,0.00,0.000,6,0.105,0.031,2694,2046,2562
$GC,519,-1.25,-4.9,68.8,-15.1,61,523,0.17,2.25,0.00,0.000,4,0.107,0.034,2732,3462,2562
$GC,540,-1.13,-4.9,72.3,-13.5,62,548,0.00,2.28,0.00,0.000,6,0.000,0.032,2732,2046,2562
$GC,803,-1.08,-4.9,99.0,-10.9,87,808,0.15,2.30,0.00,0.000,4,0.117,0.050,2761,643,2562
$GC,882,-1.03,-4.9,106.3,-7.7,94,887,0.00,2.22,0.00,0.000,6,0.000,0.026,2761,2076,2562
$GC,1145,-1.07,-4.9,122.6,-5.3,118,1148,0.00,2.17,0.00,0.000,4,0.000,0.037,2761,3455,2563
$GC,1162,-1.11,-4.9,123.7,-5.6,119,1168,0.00,2.22,0.00,0.000,6,0.000,0.031,2761,2042,2563
$GC,1424,-1.11,-4.9,140.8,-7.2,144,1428,0.00,2.30,0.00,0.000,4,0.000,0.054,2761,649,2564
$GC,1443,-1.11,-4.9,142.2,-7.3,145,1447,0.00,2.17,0.00,0.000,6,0.000,0.028,2761,2050,2564
$GC,1712,-1.15,-4.9,160.1,-5.8,170,1716,0.00,2.33,0.00,0.000,4,0.000,0.055,2761,649,2564
$GC,1878,-1.15,-4.9,171.1,-6.7,184,1882,0.00,2.17,0.00,0.000,6,0.000,0.028,2761,2049,2564
$GC,2146,-1.19,-4.9,184.9,-4.1,209,2150,0.00,2.33,0.00,0.000,4,0.000,0.056,2761,649,2563
$GC,2210,-1.19,-4.9,188.1,-5.3,214,2214,0.00,2.17,0.00,0.000,6,0.000,0.028,2760,2048,2563
$GC,2485,-1.25,-4.9,206.5,-7.8,234,2489,0.15,2.25,0.00,0.000,4,0.053,0.041,2715,3451,2563
$GC,2620,-1.25,-4.9,217.4,-7.1,237,2624,0.00,2.22,0.00,0.000,6,0.000,0.035,2714,2050,2564
$GC,2897,-1.25,-4.9,228.1,-3.3,244,2901,0.00,2.33,0.00,0.000,4,0.000,0.059,2714,649,2564
$GC,3155,-1.16,-4.9,240.8,-5.8,249,3162,0.15,2.20,0.00,0.000,6,0.107,0.031,2744,2044,2563
$GC,3405,-1.19,-4.9,255.5,-6.2,256,3409,0.00,2.35,0.00,0.000,4,0.000,0.061,2744,646,2562
$GC,3556,-1.19,-4.9,265.6,-6.0,259,3560,0.00,2.22,0.00,0.000,6,0.000,0.032,2744,2048,2563
$GC,3823,-1.23,-4.9,278.6,-4.6,266,3827,0.00,2.35,0.00,0.000,4,0.000,0.061,2744,651,2561
$GC,3946,-1.23,-4.9,284.6,-5.2,268,3952,0.00,2.22,0.00,0.000,6,0.000,0.033,2744,2048,2561
$GC,4196,-1.23,-4.9,296.3,-4.9,275,4200,0.00,2.35,0.00,0.000,4,0.000,0.063,2744,651,2561
$GC,4307,-1.23,-4.9,301.5,-4.5,277,4311,0.00,2.28,0.00,0.000,6,0.000,0.035,2744,2053,2560
$GC,4573,-1.28,-4.9,315.2,-5.3,284,4575,0.12,0.00,0.00,0.000,6,0.061,0.000,2707,2053,2559
$GC,4817,-1.28,-4.9,331.3,-6.4,290,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2053,2558
$GC,5060,-1.28,-4.9,345.6,-5.6,296,5064,0.00,2.33,0.00,0.000,4,0.000,0.058,2707,3459,2557
$GC,5076,-1.28,-4.9,346.5,-4.9,296,5080,0.00,2.28,0.00,0.000,6,0.000,0.043,2706,2051,2556
$GC,5343,-1.28,-4.9,358.5,-4.5,303,5347,0.00,2.30,0.00,0.000,4,0.000,0.050,2706,3458,2556
$GC,5403,-1.28,-4.9,361.2,-4.4,304,5407,0.00,2.28,0.00,0.000,6,0.000,0.043,2706,2051,2555
$GC,5670,-1.28,-4.9,373.5,-4.8,311,5674,0.00,2.42,0.00,0.000,4,0.000,0.076,2706,645,2554
$GC,5787,-1.20,-4.9,380.0,-5.8,313,5792,0.15,2.28,0.00,0.000,6,0.113,0.039,2735,2060,2554
$STATE,6034,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6034,begin apogee
$GC,6039,-0.31,0.0,391.3,4.3,319,6046,0.93,0.00,4.40,0.558,6,0.096,0.000,2930,2061,2539
$STATE,6047,end apogee,CONTROL_FINISHED_OK
$STATE,6047,begin climb
$GC,6049,1.62,4.9,391.3,0.0,319,6064,1.80,2.42,5.57,0.614,4,0.054,0.065,3352,3451,2520
$GC,6233,1.85,143.4,394.1,-3.2,323,6355,0.22,2.30,115.35,0.805,6,0.052,0.047,3410,2051,1954
$GC,6638,1.85,143.4,350.9,13.9,333,6643,0.00,2.47,0.00,0.000,4,0.000,0.079,3411,641,1947
$GC,6705,1.77,143.4,340.0,16.9,334,6710,0.10,2.30,0.00,0.000,6,0.119,0.036,3381,2041,1946
$GC,6966,1.83,143.4,306.3,12.5,341,6970,0.00,2.42,0.00,0.000,4,0.000,0.067,3381,636,1944
$GC,7082,1.83,143.4,290.4,13.6,343,7086,0.00,2.28,0.00,0.000,6,0.000,0.035,3381,2048,1944
$GC,7338,1.89,143.4,262.5,10.7,350,7343,0.12,2.40,0.00,0.000,4,0.064,0.063,3416,639,1943
$GC,7501,1.83,143.4,240.7,13.6,353,7505,0.00,2.28,0.00,0.000,6,0.000,0.034,3415,2060,1943
$GC,7750,1.83,143.4,213.4,10.7,359,7754,0.00,2.40,0.00,0.000,4,0.000,0.061,3416,640,1941
$GC,7799,1.77,143.4,207.1,13.2,360,7803,0.15,2.25,0.00,0.000,6,0.124,0.033,3388,2050,1941
$GC,8067,1.86,144.2,179.4,9.9,380,8071,0.00,2.38,0.00,0.000,4,0.000,0.059,3388,639,1941
$GC,8132,1.86,144.2,171.7,12.0,385,8139,0.00,2.28,0.00,0.000,6,0.000,0.032,3388,2048,1941
$GC,8394,1.96,158.1,146.6,8.7,410,8412,0.17,2.42,11.12,0.601,4,0.053,0.058,3436,641,1895
$GC,8568,1.90,158.1,122.6,13.1,425,8573,0.12,2.25,0.00,0.000,6,0.127,0.031,3414,2056,1893
$GC,8835,2.02,194.9,98.3,6.5,449,8874,0.12,0.00,31.52,0.590,6,0.061,0.000,3452,2058,1743
$GC,9128,2.07,194.9,68.2,11.3,477,9132,0.00,2.38,0.00,0.000,4,0.000,0.056,3452,633,1739
$GC,9264,1.99,194.9,53.0,13.3,489,9268,0.00,2.25,0.00,0.000,6,0.000,0.029,3452,2051,1738
$GC,9530,1.99,194.9,16.3,14.2,522,9538,0.00,2.38,0.00,0.000,4,0.000,0.052,3452,635,1738
$STATE,9626,end climb,SURFACE_DEPTH_REACHED
$STATE,9626,begin surface coast
$FINISH,1.2,1.012404
$STATE,9638,end surface coast,CONTROL_FINISHED_OK
$STATE,9638,begin surface
$SM_CCo,9661,243.00,0.496,0,0,501,500.17
$SM_GC,1.62,0.00,0.00,243.00,0.000,0.000,0.496,473,2077,501,-11.62,0.76,500.17
$IRIDIUM_FIX,2113.32,-15816.21,170498,030329
$TT8_MAMPS,0.027612
$HUMID,1669
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.30
$XPDR_PINGS,416
$ALTIM_BOTTOM_PING,230.2,6.8
$24V_AH,24.0,9.175
$10V_AH,10.2,4.675
$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,28.675,110.300,167.975,243.000,0.000,30.813,37.865,301.233,108.250,0.000,0.000,16.599,1137.430,6218.917,510.953,1984.894,571.679,33.333,1294.320,0.000,1962.059,0.000,29.629,0.000
$DEVICE_MAMPS,153.400,79.001,805.350,496.249,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.663,316.932,447.813,443.715,935.094,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41496,541
$CAP_FILE_SIZE,105643,0
$CFSIZE,260165632,258854912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210109,091749,2124.773,-15819.056,8,1.4,13,9.8