version: 66.04
glider: 147
mission: 3
dive: 6
start: 1 20 109 5 53 53
data:
$ID,147
$MISSION,3
$DIVE,6
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,100
$T_MISSION,140
$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,480
$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,-18155.779
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2980
$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,21
$R_STBD_OVSHOOT,28
$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
$GPS1,054246,2121.442,-15817.873,8,2.8,27,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.8
$GPS2,055237,2121.451,-15817.795,8,1.6,13,9.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,WPT1
$TGT_LATLONG,2126.000,-15826.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.177,0.047
$KALMAN_X,564.0,-8.4,52.3,-3054.7,288.3
$KALMAN_Y,-258.4,-255.6,72.3,1963.9,176.2
$MHEAD_RNG_PITCHd_Wd,275.2,16463,-25.8,-10.000
$D_GRID,300
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.62,-4.9,0.0,0.0,0,105,0.00,0.00,-87.50,0.000,2,0.000,0.000,473,2041,2479
$GC,108,-1.62,-4.9,3.3,-3.6,11,132,11.15,2.35,-2.50,0.000,4,0.145,0.061,2617,634,2561
$GC,373,-1.27,-4.9,49.6,-18.2,48,382,0.38,2.28,0.00,0.000,6,0.120,0.031,2698,2063,2562
$GC,638,-1.14,-4.9,86.1,-14.5,73,643,0.15,0.00,0.00,0.000,6,0.111,0.000,2727,2064,2563
$GC,900,-1.09,-4.9,112.7,-8.2,98,904,0.00,2.38,0.00,0.000,4,0.000,0.056,2727,633,2563
$GC,964,-0.99,-4.9,119.0,-9.9,103,969,0.17,2.22,0.00,0.000,6,0.107,0.031,2761,2053,2563
$GC,1230,-1.03,-4.9,139.5,-7.6,127,1235,0.00,2.35,0.00,0.000,4,0.000,0.062,2762,640,2563
$GC,1386,-1.03,-4.9,154.1,-10.0,141,1390,0.00,2.22,0.00,0.000,6,0.000,0.032,2762,2051,2563
$GC,1648,-1.07,-4.9,175.9,-7.4,165,1652,0.00,2.35,0.00,0.000,4,0.000,0.059,2762,640,2564
$GC,1712,-1.07,-4.9,181.3,-8.3,170,1716,0.00,2.22,0.00,0.000,6,0.000,0.038,2762,2051,2563
$GC,1974,-1.12,-4.9,197.7,-5.7,194,1976,0.12,0.00,0.00,0.000,6,0.057,0.000,2722,2052,2564
$GC,2218,-1.12,-4.9,214.3,-6.8,203,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2052,2563
$GC,2461,-1.12,-4.9,229.0,-6.1,209,2465,0.00,2.38,0.00,0.000,4,0.000,0.062,2722,639,2563
$GC,2602,-1.04,-4.9,239.6,-8.0,212,2611,0.15,2.25,0.00,0.000,6,0.109,0.036,2751,2051,2563
$GC,2883,-1.09,-4.9,256.0,-5.4,219,2887,0.00,2.38,0.00,0.000,4,0.000,0.064,2751,643,2563
$GC,3141,-1.09,-4.9,269.3,-4.8,224,3148,0.00,2.25,0.00,0.000,6,0.000,0.037,2751,2051,2563
$GC,3392,-1.15,-4.9,279.5,-4.3,231,3396,0.00,2.40,0.00,0.000,4,0.000,0.066,2751,638,2562
$GC,3555,-1.15,-4.9,288.5,-5.2,234,3559,0.00,2.28,0.00,0.000,6,0.000,0.039,2751,2051,2562
$GC,3804,-1.21,-4.9,299.1,-4.0,240,3809,0.15,2.35,0.00,0.000,4,0.057,0.060,2708,3464,2561
$STATE,3829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3829,begin apogee
$GC,3836,-0.31,0.0,300.3,4.7,240,3847,0.95,0.00,5.57,0.544,6,0.104,0.000,2907,2047,2540
$STATE,3848,end apogee,CONTROL_FINISHED_OK
$STATE,3848,begin climb
$GC,3850,1.62,4.9,300.8,0.0,241,3864,1.83,2.50,5.65,0.538,4,0.062,0.074,3329,639,2520
$GC,3985,1.84,152.2,301.8,-4.1,244,4111,0.22,2.30,119.68,0.704,6,0.051,0.041,3389,2059,1919
$GC,4395,1.89,152.2,266.5,11.9,254,4399,0.00,2.45,0.00,0.000,4,0.000,0.071,3389,643,1912
$GC,4455,1.89,152.2,258.7,13.3,255,4460,0.00,2.33,0.00,0.000,6,0.000,0.041,3389,2050,1911
$GC,4722,1.95,152.2,227.3,11.6,262,4726,0.00,2.40,0.00,0.000,4,0.000,0.067,3389,646,1909
$GC,4839,1.95,152.2,210.9,13.8,264,4843,0.00,2.30,0.00,0.000,6,0.000,0.039,3388,2046,1908
$GC,5105,2.03,152.2,180.9,11.4,283,5110,0.15,2.40,0.00,0.000,4,0.059,0.065,3431,640,1907
$GC,5281,1.98,152.2,156.6,11.5,298,5285,0.00,2.28,0.00,0.000,6,0.000,0.039,3431,2051,1906
$GC,5541,1.98,152.2,129.2,10.1,322,5545,0.00,2.38,0.00,0.000,4,0.000,0.061,3431,639,1906
$GC,5612,1.93,152.2,122.1,11.0,328,5621,0.12,2.30,0.00,0.000,6,0.110,0.042,3403,2051,1905
$GC,5876,2.06,177.7,102.6,7.6,353,5902,0.12,2.47,20.00,0.568,4,0.061,0.060,3441,634,1814
$GC,6052,2.03,177.7,81.3,14.2,368,6061,0.00,2.30,0.00,0.000,6,0.000,0.035,3440,2051,1811
$GC,6315,2.07,177.7,52.6,10.1,393,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2053,1810
$GC,6570,2.12,177.7,25.6,11.6,420,6579,0.00,2.38,0.00,0.000,4,0.000,0.058,3440,644,1810
$GC,6619,2.08,177.7,19.6,13.3,428,6628,0.00,2.25,0.00,0.000,6,0.000,0.033,3441,2044,1809
$STATE,6774,end climb,SURFACE_DEPTH_REACHED
$STATE,6775,begin surface coast
$FINISH,0.8,1.009854
$STATE,6793,end surface coast,CONTROL_FINISHED_OK
$STATE,6794,begin surface
$SM_CCo,6814,239.25,0.485,0,0,583,480.05
$SM_GC,1.53,0.00,0.00,239.25,0.000,0.000,0.485,472,2046,583,-11.54,-0.11,480.05
$IRIDIUM_FIX,2115.63,-15818.36,160498,050516
$TT8_MAMPS,0.026845
$HUMID,1672
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.90
$XPDR_PINGS,405
$ALTIM_BOTTOM_PING,260.0,6.8
$24V_AH,24.1,8.181
$10V_AH,10.3,3.667
$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,27.925,70.000,150.900,239.250,0.000,55.924,59.765,301.469,106.500,0.000,0.000,14.857,932.199,3989.486,477.088,1706.613,573.033,33.353,1104.142,0.000,1683.764,0.000,37.104,0.000
$DEVICE_MAMPS,144.963,73.632,704.106,484.744,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.917,279.953,412.973,445.530,939.827,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35049,459
$CAP_FILE_SIZE,80435,0
$CFSIZE,260165632,259366912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200109,075237,2121.699,-15818.017,33,2.0,33,9.8