version: 66.04
glider: 147
mission: 3
dive: 38
start: 1 24 109 9 20 59
data:
$ID,147
$MISSION,3
$DIVE,38
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,300
$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,460
$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,-18800.129
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2080
$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,1950
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,61
$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
$GPS1,091158,2138.247,-15830.659,12,99.0,32,9.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-61.3
$GPS2,092002,2138.332,-15830.647,10,1.3,10,9.9
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT6
$TGT_LATLONG,2138.000,-15832.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.200,-0.115
$KALMAN_X,30699.1,466.0,-26.4,-55765.6,559.2
$KALMAN_Y,30368.0,102.1,743.0,1573.7,835.0
$MHEAD_RNG_PITCHd_Wd,230.3,2409,-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,15,-1.25,-121.7,0.0,0.0,0,96,0.00,0.00,-79.12,0.000,2,0.000,0.000,476,2040,2382
$GC,99,-1.25,-121.7,3.2,-3.0,10,133,7.10,2.50,-20.65,0.000,4,0.152,0.048,1801,542,3036
$GC,382,0.15,-121.7,136.9,-47.2,41,390,1.62,2.17,0.00,0.000,6,0.146,0.026,2105,1936,3037
$GC,640,1.25,-121.7,230.5,-33.7,60,646,1.27,2.30,0.00,0.000,4,0.156,0.051,2343,540,3038
$GC,898,1.25,-121.7,305.4,-26.9,65,903,0.00,2.25,0.00,0.000,6,0.000,0.035,2343,1933,3039
$GC,1155,1.25,-121.7,369.7,-25.7,72,1159,0.00,2.38,0.00,0.000,4,0.000,0.061,2343,544,3040
$GC,1412,1.25,-121.7,438.2,-27.7,77,1416,0.00,2.33,0.00,0.000,6,0.000,0.045,2343,1946,3040
$GC,1667,1.25,-121.7,500.0,-23.7,84,1672,0.00,2.47,0.00,0.000,4,0.000,0.076,2343,546,3039
$STATE,1675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1675,begin apogee
$GC,1683,-0.31,0.0,502.7,23.4,84,1786,1.38,0.00,99.00,0.859,6,0.036,0.000,2006,2051,2540
$STATE,1786,end apogee,CONTROL_FINISHED_OK
$STATE,1786,begin climb
$GC,1788,1.25,121.7,523.4,0.0,86,1899,1.77,2.60,102.53,0.858,4,0.141,0.087,2340,661,2043
$GC,1913,3.12,121.7,523.7,18.2,89,1921,2.03,2.40,0.00,0.000,6,0.102,0.053,2754,2050,2040
$GC,2201,3.19,180.2,503.7,6.1,96,2257,0.00,2.55,50.65,0.851,4,0.000,0.076,2754,647,1803
$GC,2505,3.23,212.8,483.2,7.4,103,2540,0.12,2.35,27.85,0.836,6,0.091,0.040,2779,2053,1673
$GC,2790,3.84,253.2,463.6,7.0,110,2833,0.57,2.53,35.78,0.843,4,0.063,0.072,2911,654,1506
$GC,2855,3.90,300.9,460.1,6.6,111,2905,0.00,2.33,42.28,0.838,6,0.000,0.034,2911,2059,1312
$GC,3162,3.91,307.3,435.0,8.7,119,3172,0.00,2.50,5.80,0.659,4,0.000,0.069,2911,651,1287
$GC,3250,3.92,319.3,427.5,8.4,121,3270,0.00,2.30,12.62,0.777,6,0.000,0.031,2911,2059,1237
$GC,3532,3.94,336.3,404.6,8.2,128,3558,0.12,0.00,18.50,0.732,6,0.074,0.000,2942,2059,1168
$GC,3776,3.99,377.3,386.7,7.0,134,3818,0.00,2.45,36.92,0.819,4,0.000,0.055,2942,3448,1002
$GC,3840,4.03,406.2,382.3,7.6,135,3872,0.00,2.33,26.90,0.796,6,0.000,0.041,2942,2054,884
$GC,4145,4.04,414.7,357.9,8.6,143,4159,0.00,2.40,8.10,0.703,4,0.000,0.048,2942,3448,848
$GC,4227,4.04,414.7,349.6,10.0,144,4233,0.00,2.33,0.00,0.000,6,0.000,0.041,2942,2050,847
$GC,4476,4.04,414.7,325.2,9.9,151,4481,0.00,2.47,0.00,0.000,4,0.000,0.071,2942,634,846
$GC,4594,4.04,414.7,312.7,11.1,153,4598,0.00,2.30,0.00,0.000,6,0.000,0.028,2942,2066,845
$GC,4849,4.04,414.7,288.7,9.2,160,4853,0.00,2.47,0.00,0.000,4,0.000,0.062,2942,632,843
$GC,4909,4.04,414.7,282.9,9.4,161,4913,0.00,2.28,0.00,0.000,6,0.000,0.028,2942,2050,843
$GC,5176,4.04,414.7,258.5,9.1,168,5180,0.00,2.28,0.00,0.000,4,0.000,0.038,2942,3459,843
$GC,5260,4.04,414.7,250.7,9.1,170,5264,0.00,2.30,0.00,0.000,6,0.000,0.038,2942,2045,842
$GC,5548,4.04,414.7,220.4,11.0,177,5552,0.00,2.40,0.00,0.000,4,0.000,0.063,2942,642,842
$GC,5604,4.04,414.7,214.4,11.0,178,5608,0.00,2.25,0.00,0.000,6,0.000,0.026,2942,2060,842
$GC,5861,4.06,433.4,190.8,8.1,192,5885,0.00,2.30,16.20,0.666,4,0.000,0.038,2942,3434,773
$GC,5998,4.06,433.4,179.6,9.2,204,6002,0.00,2.25,0.00,0.000,6,0.000,0.035,2942,2047,772
$GC,6260,4.06,433.4,153.0,10.7,228,6264,0.00,2.40,0.00,0.000,4,0.000,0.060,2942,636,771
$GC,6310,4.06,433.4,147.7,9.9,232,6314,0.00,2.25,0.00,0.000,6,0.000,0.025,2942,2066,770
$GC,6571,4.06,433.4,123.8,9.0,256,6575,0.00,2.40,0.00,0.000,4,0.000,0.057,2942,644,770
$GC,6710,4.07,437.8,111.0,8.8,268,6720,0.08,2.22,5.10,0.469,6,0.084,0.025,2963,2051,755
$GC,6976,4.08,445.0,89.7,8.6,293,6996,0.00,2.25,8.43,0.518,4,0.000,0.033,2963,3429,725
$GC,7074,4.08,445.0,79.7,9.2,302,7078,0.00,2.22,0.00,0.000,6,0.000,0.033,2963,2046,725
$GC,7339,4.08,445.2,56.2,9.0,326,7343,0.00,2.35,0.00,0.000,4,0.000,0.056,2963,646,724
$GC,7415,4.08,445.2,48.8,9.4,332,7423,0.00,2.20,0.00,0.000,6,0.000,0.022,2963,2055,724
$GC,7681,4.08,447.6,26.3,8.9,360,7689,0.00,2.20,0.00,0.000,4,0.000,0.034,2962,3419,724
$GC,7845,4.08,448.7,10.6,9.0,389,7855,0.00,2.20,4.95,0.390,6,0.000,0.031,2963,2052,710
$STATE,7931,end climb,SURFACE_DEPTH_REACHED
$STATE,7931,begin surface coast
$FINISH,1.2,0.998235
$STATE,7955,end surface coast,CONTROL_FINISHED_OK
$STATE,7956,begin surface
$SM_CCo,7975,10.75,0.456,0,0,664,460.18
$SM_GC,1.61,0.00,0.00,10.75,0.000,0.000,0.456,473,1935,664,-7.39,-0.42,460.18
$IRIDIUM_FIX,2129.53,-15828.28,200498,060658
$TT8_MAMPS,0.027612
$HUMID,1779
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,21.60
$XPDR_PINGS,249
$24V_AH,23.8,11.823
$10V_AH,10.2,7.055
$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,26.350,94.200,501.600,10.750,0.000,27.863,28.117,291.119,73.000,0.000,0.000,12.294,891.430,4829.692,534.786,1687.135,516.761,33.364,1275.987,0.000,1648.409,0.000,69.226,0.000
$DEVICE_MAMPS,156.468,87.438,859.040,455.598,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,291.799,202.649,315.973,347.346,733.387,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31913,408
$CAP_FILE_SIZE,94122,0
$CFSIZE,260165632,257544192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,240109,113524,2138.247,-15830.536,24,1.1,41,9.9