version: 66.04
glider: 147
mission: 3
dive: 316
start: 3 2 109 21 46 6
data:
$ID,147
$MISSION,3
$DIVE,316
$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,-24165.65
$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,23
$R_STBD_OVSHOOT,69
$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
$GPS1,213906,2248.469,-15751.490,7,1.5,24,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-60.1
$GPS2,214508,2248.442,-15751.604,13,1.5,13,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.226,-0.046
$KALMAN_X,-121025.2,-618.0,-233.3,164615.4,397.0
$KALMAN_Y,-82537.3,-312.3,-148.7,245638.5,-30.4
$MHEAD_RNG_PITCHd_Wd,91.3,4522,-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,14,-1.25,-121.7,0.0,0.0,0,83,0.00,0.00,-66.18,0.000,2,0.000,0.000,465,1879,2306
$GC,86,-1.25,-121.7,3.2,-2.8,10,135,12.82,2.17,-26.20,0.000,4,0.164,0.041,2805,3215,3037
$GC,143,-1.11,-121.7,6.6,-6.7,18,151,0.12,2.28,0.00,0.000,6,0.081,0.028,2835,1826,3038
$GC,417,-1.02,-121.7,36.0,-10.9,63,418,0.12,0.00,0.00,0.000,6,0.100,0.000,2860,1826,3038
$GC,671,-0.98,-121.7,59.6,-8.7,87,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1825,3038
$GC,926,-0.94,-121.7,82.2,-8.5,111,930,0.00,2.22,0.00,0.000,4,0.000,0.029,2860,3216,3039
$GC,958,-0.94,-121.7,85.1,-8.3,113,964,0.00,2.22,0.00,0.000,6,0.000,0.028,2860,1831,3039
$GC,1221,-0.94,-121.7,106.5,-8.2,138,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1830,3039
$GC,1474,-0.94,-121.7,131.2,-11.2,162,1478,0.00,2.33,0.00,0.000,4,0.000,0.049,2860,438,3040
$GC,1514,-0.94,-121.7,135.4,-10.5,165,1518,0.00,2.15,0.00,0.000,6,0.000,0.021,2860,1829,3040
$GC,1785,-0.94,-121.7,157.9,-8.1,190,1789,0.00,2.25,0.00,0.000,4,0.000,0.030,2860,3238,3041
$GC,1852,-0.99,-121.7,163.6,-7.9,195,1860,0.00,2.28,0.00,0.000,6,0.000,0.029,2860,1837,3041
$GC,2117,-0.99,-121.7,187.0,-9.5,220,2121,0.00,2.25,0.00,0.000,4,0.000,0.031,2860,3243,3041
$GC,2168,-1.06,-121.7,192.0,-8.7,224,2172,0.00,2.25,0.00,0.000,6,0.000,0.029,2860,1835,3041
$GC,2440,-1.10,-121.7,212.2,-7.1,238,2444,0.00,2.35,0.00,0.000,4,0.000,0.051,2860,430,3041
$GC,2468,-1.10,-121.7,214.5,-7.8,238,2472,0.00,2.20,0.00,0.000,6,0.000,0.021,2860,1843,3041
$GC,2718,-1.14,-121.7,229.6,-5.8,244,2723,0.12,2.25,0.00,0.000,4,0.048,0.036,2811,3235,3041
$GC,2758,-1.10,-121.7,232.5,-7.3,245,2763,0.12,2.25,0.00,0.000,6,0.088,0.031,2837,1833,3041
$GC,3042,-1.10,-121.7,253.2,-7.5,252,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1833,3041
$GC,3287,-1.10,-121.7,271.7,-7.7,258,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1833,3041
$GC,3529,-1.10,-121.7,288.2,-6.6,264,3533,0.00,2.30,0.00,0.000,4,0.000,0.038,2837,3236,3041
$GC,3574,-1.17,-121.7,290.9,-5.9,265,3578,0.00,2.28,0.00,0.000,6,0.000,0.032,2837,1833,3041
$GC,3851,-1.17,-121.7,306.2,-5.6,272,3855,0.00,2.38,0.00,0.000,4,0.000,0.058,2837,429,3041
$GC,3884,-1.17,-121.7,308.4,-6.8,272,3890,0.00,2.22,0.00,0.000,6,0.000,0.025,2837,1834,3041
$GC,4135,-1.20,-121.7,325.2,-7.0,279,4139,0.00,2.33,0.00,0.000,4,0.000,0.044,2837,3242,3041
$GC,4168,-1.26,-121.7,327.6,-7.2,279,4175,0.15,2.30,0.00,0.000,6,0.042,0.036,2782,1835,3040
$GC,4420,-1.17,-121.7,348.5,-8.3,286,4425,0.17,2.33,0.00,0.000,4,0.084,0.041,2822,3243,3039
$GC,4454,-1.17,-121.7,350.8,-5.8,286,4460,0.00,2.30,0.00,0.000,6,0.000,0.036,2822,1838,3039
$GC,4704,-1.17,-121.7,363.5,-5.1,293,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1837,3038
$GC,4948,-1.17,-121.7,379.9,-7.4,299,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1837,3037
$GC,5192,-1.17,-121.7,399.7,-8.1,305,5200,0.00,2.45,0.00,0.000,4,0.000,0.070,2822,426,3036
$GC,5221,-1.17,-121.7,402.7,-9.4,305,5226,0.00,2.28,0.00,0.000,6,0.000,0.032,2822,1833,3036
$GC,5483,-1.17,-121.7,425.7,-8.8,312,5487,0.00,2.40,0.00,0.000,4,0.000,0.058,2822,3249,3035
$GC,5534,-1.21,-121.7,430.0,-7.9,313,5538,0.00,2.35,0.00,0.000,6,0.000,0.043,2823,1834,3035
$GC,5814,-1.21,-121.7,450.9,-7.2,320,5818,0.00,2.47,0.00,0.000,4,0.000,0.079,2822,428,3034
$GC,5841,-1.21,-121.7,453.0,-7.1,320,5845,0.00,2.30,0.00,0.000,6,0.000,0.036,2822,1837,3033
$GC,6097,-1.21,-121.7,467.0,-5.1,327,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1838,3032
$GC,6343,-1.21,-121.7,480.2,-5.6,333,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1837,3031
$GC,6584,-1.24,-121.7,496.2,-6.7,339,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1837,3030
$STATE,6622,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6622,begin apogee
$GC,6628,-0.31,0.0,499.1,6.9,340,6730,0.85,0.00,99.47,0.912,6,0.070,0.000,3011,1752,2540
$STATE,6731,end apogee,CONTROL_FINISHED_OK
$STATE,6731,begin climb
$GC,6734,1.25,121.7,501.2,0.0,342,6846,1.42,2.50,104.35,0.891,4,0.037,0.073,3358,362,2043
$GC,6880,0.99,121.7,492.3,13.2,345,6885,0.30,2.35,0.00,0.000,6,0.106,0.038,3299,1758,2040
$GC,7135,0.95,121.7,469.1,9.1,352,7140,0.00,2.50,0.00,0.000,4,0.000,0.068,3300,350,2034
$GC,7214,0.85,121.7,460.1,11.5,353,7220,0.17,2.35,0.00,0.000,6,0.107,0.035,3265,1767,2033
$GC,7464,0.90,128.1,437.7,8.7,360,7474,0.00,2.50,5.18,0.649,4,0.000,0.065,3264,356,2017
$GC,7530,0.90,128.1,431.4,9.6,361,7534,0.00,2.30,0.00,0.000,6,0.000,0.031,3264,1763,2016
$GC,7791,1.01,170.5,412.9,6.9,368,7836,0.15,2.55,38.17,0.846,4,0.049,0.063,3309,354,1843
$GC,7864,0.91,170.5,406.1,11.2,369,7869,0.15,2.33,0.00,0.000,6,0.107,0.031,3281,1759,1841
$GC,8115,0.97,191.4,385.9,8.0,375,8139,0.00,2.53,18.08,0.806,4,0.000,0.061,3280,359,1758
$GC,8162,0.97,191.4,381.5,9.7,376,8166,0.00,2.33,0.00,0.000,6,0.000,0.030,3280,1765,1756
$GC,8445,1.02,200.2,357.7,8.6,383,8460,0.00,2.53,8.25,0.721,4,0.000,0.060,3280,352,1722
$GC,8517,1.02,200.2,350.4,11.1,384,8521,0.10,2.33,0.00,0.000,6,0.062,0.029,3312,1777,1721
$GC,8777,1.02,200.2,323.0,10.5,391,8781,0.00,2.35,0.00,0.000,4,0.000,0.052,3312,3167,1718
$GC,8803,1.02,200.2,320.2,9.8,391,8808,0.00,2.35,0.00,0.000,6,0.000,0.040,3312,1761,1718
$GC,9059,1.02,200.2,295.9,9.2,398,9063,0.00,2.47,0.00,0.000,4,0.000,0.071,3312,351,1717
$GC,9111,0.98,200.2,290.3,10.8,399,9115,0.00,2.28,0.00,0.000,6,0.000,0.026,3312,1768,1717
$GC,9388,0.98,200.2,261.5,10.3,406,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1768,1716
$GC,9632,0.98,200.2,236.6,10.2,412,9636,0.00,2.45,0.00,0.000,4,0.000,0.057,3311,343,1715
$GC,9709,0.98,200.2,228.2,10.8,413,9716,0.00,2.28,0.00,0.000,6,0.000,0.026,3312,1757,1715
$GC,9959,0.99,207.9,206.6,8.6,420,9968,0.00,0.00,6.95,0.614,6,0.000,0.000,3312,1758,1692
$GC,10211,1.04,214.9,182.9,8.7,438,10225,0.00,2.40,7.80,0.610,4,0.000,0.038,3312,3167,1663
$GC,10248,1.11,219.1,179.7,8.8,441,10261,0.00,2.35,5.18,0.531,6,0.000,0.037,3312,1748,1646
$GC,10518,1.20,254.9,158.1,7.2,466,10555,0.12,0.00,32.53,0.654,6,0.054,0.000,3353,1748,1499
$GC,10811,1.20,254.9,128.2,10.4,494,10815,0.00,2.40,0.00,0.000,4,0.000,0.059,3353,352,1494
$GC,10832,1.15,254.9,125.5,11.7,495,10839,0.12,2.25,0.00,0.000,6,0.105,0.022,3329,1772,1493
$GC,11095,1.19,254.9,98.2,11.3,520,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1773,1492
$GC,11348,1.19,254.9,70.4,10.8,544,11352,0.00,2.25,0.00,0.000,4,0.000,0.035,3329,3154,1492
$GC,11379,1.24,254.9,67.3,11.0,546,11383,0.00,2.28,0.00,0.000,6,0.000,0.034,3329,1759,1492
$GC,11641,1.24,254.9,39.7,10.9,570,11645,0.00,2.38,0.00,0.000,4,0.000,0.058,3329,355,1492
$GC,11725,1.24,254.9,29.3,12.1,577,11733,0.00,2.22,0.00,0.000,6,0.000,0.022,3329,1755,1491
$STATE,11975,end climb,SURFACE_DEPTH_REACHED
$STATE,11976,begin surface coast
$FINISH,1.4,1.024143
$STATE,11993,end surface coast,CONTROL_FINISHED_OK
$STATE,11993,begin surface
$SM_CCo,12014,120.30,0.512,0,0,908,400.08
$SM_GC,2.22,0.00,0.00,120.30,0.000,0.000,0.512,466,1897,908,-12.02,1.61,400.08
$IRIDIUM_FIX,2241.69,-15749.78,270598,181856
$TT8_MAMPS,0.027612
$HUMID,1846
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.00
$XPDR_PINGS,354
$24V_AH,23.9,44.098
$10V_AH,10.2,41.398
$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,28.750,126.175,325.950,120.300,0.000,27.240,27.510,195.357,99.000,0.000,0.000,15.291,1245.088,8526.209,565.083,1674.040,495.916,33.371,1345.764,0.000,1642.180,0.000,67.000,0.000
$DEVICE_MAMPS,164.138,79.001,911.963,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,443.099,313.957,0.000,515.816,729.439,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44451,626
$CAP_FILE_SIZE,115414,0
$CFSIZE,260165632,242012160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030309,010937,2247.468,-15750.747,36,1.0,37,10.1