version: 66.04
glider: 147
mission: 3
dive: 3
start: 1 20 109 0 32 47
data:
$ID,147
$MISSION,3
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,90
$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,510
$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,-18091.477
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2920
$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,16
$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,5
$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
$GPS1,002425,2120.546,-15816.703,11,2.0,22,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.8
$GPS2,003134,2120.560,-15816.723,9,2.1,28,9.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,WPT1
$TGT_LATLONG,2126.000,-15826.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.117,0.141
$KALMAN_X,-63.8,-50.8,-45.0,-435.9,-49.7
$KALMAN_Y,-212.3,-189.7,-177.5,450.2,-172.3
$MHEAD_RNG_PITCHd_Wd,310.7,18902,-25.8,-10.000
$D_GRID,150
$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,-1.62,-4.9,0.0,0.0,0,118,0.00,0.00,-97.43,0.000,6,0.000,0.000,473,2045,2559
$GC,121,-1.62,-4.9,3.4,-6.4,13,138,10.82,2.33,0.00,0.000,4,0.145,0.052,2560,630,2560
$GC,384,-1.16,-4.9,62.4,-21.5,47,391,0.45,2.28,0.00,0.000,6,0.127,0.031,2663,2066,2560
$GC,645,-0.97,-4.9,103.0,-14.6,72,649,0.17,2.38,0.00,0.000,4,0.124,0.056,2701,634,2560
$GC,901,-0.80,-4.9,136.7,-8.5,94,908,0.17,2.25,0.00,0.000,6,0.110,0.033,2740,2048,2560
$STATE,1085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1085,begin apogee
$GC,1090,-0.31,0.0,150.6,8.1,112,1099,0.52,0.00,5.95,0.436,6,0.102,0.000,2846,2049,2539
$STATE,1100,end apogee,CONTROL_FINISHED_OK
$STATE,1100,begin climb
$GC,1102,1.62,4.9,151.5,0.0,113,1115,1.85,2.33,5.55,0.417,4,0.071,0.046,3268,3454,2520
$GC,1297,2.17,158.0,156.3,-4.6,130,1425,0.52,2.28,120.57,0.551,6,0.036,0.042,3407,2035,1894
$GC,1682,2.24,158.0,123.0,10.9,165,1686,0.00,2.38,0.00,0.000,4,0.000,0.071,3407,644,1889
$GC,1738,2.24,158.0,115.9,12.2,170,1743,0.00,2.22,0.00,0.000,6,0.000,0.036,3407,2041,1888
$GC,2001,2.37,176.9,94.7,8.2,194,2026,0.12,2.38,15.57,0.489,4,0.059,0.049,3447,3458,1817
$GC,2040,2.40,176.9,90.8,11.0,197,2044,0.00,2.28,0.00,0.000,6,0.000,0.042,3447,2052,1816
$GC,2302,2.40,176.9,56.4,12.4,221,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2052,1814
$GC,2558,2.40,176.9,25.4,12.3,248,2566,0.00,2.42,0.00,0.000,4,0.000,0.069,3447,638,1813
$GC,2624,2.36,176.9,16.9,13.2,259,2632,0.00,2.25,0.00,0.000,6,0.000,0.034,3447,2044,1812
$STATE,2735,end climb,SURFACE_DEPTH_REACHED
$STATE,2735,begin surface coast
$FINISH,0.3,1.001783
$STATE,2753,end surface coast,CONTROL_FINISHED_OK
$STATE,2754,begin surface
$SM_CCo,2774,257.17,0.453,0,0,477,506.05
$SM_CCo,3034,0.00,0.000,0,0,476,506.30
$SM_CCo,3037,0.00,0.000,0,0,476,506.30
$SM_GC,1.13,0.00,0.00,0.00,0.000,0.000,0.000,475,2045,476,-11.25,-0.14,506.30
$IRIDIUM_FIX,2115.63,-15823.52,150498,232309
$TT8_MAMPS,0.027612
$HUMID,1612
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.10
$XPDR_PINGS,67
$24V_AH,24.3,7.906
$10V_AH,10.3,3.399
$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,26.850,27.750,147.650,257.175,0.000,23.942,29.739,249.114,18.750,0.000,0.000,30.563,537.486,1051.637,458.536,1039.661,414.291,31.411,821.788,0.000,1023.876,0.000,16.676,0.000
$DEVICE_MAMPS,144.963,70.564,551.473,453.297,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,189.563,203.902,288.424,349.308,734.247,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22380,282
$CAP_FILE_SIZE,43475,0
$CFSIZE,260165632,259526656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200109,012413,2120.810,-15816.916,12,1.9,12,9.8