version: 66.04
glider: 147
mission: 3
dive: 42
start: 1 24 109 18 44 34
data:
$ID,147
$MISSION,3
$DIVE,42
$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,-18894.23
$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,34
$R_STBD_OVSHOOT,73
$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
$GPS1,183636,2140.297,-15830.444,33,1.2,33,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-64.1
$GPS2,184338,2140.385,-15830.455,14,1.4,14,9.9
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT6
$TGT_LATLONG,2138.000,-15832.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.031,-0.229
$KALMAN_X,36631.0,-354.2,-662.0,-59889.4,2015.9
$KALMAN_Y,42022.9,73.8,537.8,-6039.2,5297.2
$MHEAD_RNG_PITCHd_Wd,177.9,5157,-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,-121.7,0.0,0.0,0,96,0.00,0.00,-79.32,0.000,2,0.000,0.000,476,1943,2365
$GC,99,-1.25,-121.7,3.3,-3.0,10,133,7.12,2.33,-21.08,0.000,4,0.154,0.049,1804,543,3037
$GC,384,0.21,-121.7,141.4,-49.7,40,393,1.67,2.17,0.00,0.000,6,0.153,0.021,2118,1938,3039
$GC,671,0.21,-121.7,242.1,-34.1,59,679,0.00,2.30,0.00,0.000,4,0.000,0.048,2118,549,3040
$GC,931,0.21,-121.7,327.9,-30.4,64,935,0.00,2.20,0.00,0.000,6,0.000,0.035,2118,1921,3040
$GC,1188,0.21,-121.7,404.6,-30.4,71,1192,0.00,2.33,0.00,0.000,4,0.000,0.059,2118,554,3041
$GC,1443,0.21,-121.7,485.4,-32.4,76,1447,0.00,2.33,0.00,0.000,6,0.000,0.049,2118,1943,3040
$STATE,1495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1495,begin apogee
$GC,1501,-0.31,0.0,500.8,30.2,78,1603,0.47,0.00,98.97,0.852,6,0.042,0.000,2002,2058,2540
$STATE,1603,end apogee,CONTROL_FINISHED_OK
$STATE,1604,begin climb
$GC,1606,1.25,121.7,522.9,0.0,80,1717,1.80,2.62,101.80,0.851,4,0.149,0.091,2341,3451,2043
$GC,1724,2.90,121.7,518.6,16.6,82,1731,1.98,2.38,0.00,0.000,6,0.148,0.057,2706,2064,2042
$GC,1973,2.93,143.9,498.7,7.9,89,1999,0.00,2.60,20.35,0.816,4,0.000,0.083,2706,641,1951
$GC,2206,2.93,143.9,474.5,9.8,94,2210,0.00,2.35,0.00,0.000,6,0.000,0.038,2706,2051,1945
$GC,2479,2.95,164.4,451.1,8.0,101,2509,0.00,2.45,19.98,0.755,4,0.000,0.063,2706,3459,1869
$GC,2520,2.99,196.3,447.7,7.4,102,2557,0.10,2.38,27.98,0.825,6,0.087,0.046,2729,2051,1738
$GC,2800,3.70,228.7,427.5,7.4,109,2835,0.68,2.42,28.73,0.825,4,0.074,0.054,2879,3466,1606
$GC,2857,3.79,307.0,424.7,5.1,110,2934,0.12,2.38,68.30,0.829,6,0.081,0.042,2907,2049,1287
$GC,3213,3.81,323.1,397.2,8.2,119,3237,0.00,0.00,16.12,0.696,6,0.000,0.000,2907,2049,1223
$GC,3500,3.87,368.2,376.7,6.8,126,3555,0.00,2.58,42.92,0.782,4,0.000,0.074,2907,638,1037
$GC,3635,3.90,396.4,367.2,7.6,129,3665,0.00,2.33,25.23,0.785,6,0.000,0.029,2907,2081,923
$GC,3910,3.92,413.1,345.8,8.2,135,3931,0.12,2.30,15.45,0.757,4,0.072,0.048,2939,3441,854
$GC,4009,3.92,413.1,335.8,9.9,137,4013,0.00,2.30,0.00,0.000,6,0.000,0.037,2938,2046,853
$GC,4282,3.92,413.1,309.1,9.8,144,4286,0.00,2.30,0.00,0.000,4,0.000,0.038,2938,3448,851
$GC,4292,3.92,413.1,308.2,9.6,144,4296,0.00,2.33,0.00,0.000,6,0.000,0.042,2939,2047,851
$GC,4564,3.92,413.1,280.1,10.7,151,4568,0.00,2.45,0.00,0.000,4,0.000,0.067,2939,631,850
$GC,4580,3.92,413.1,278.4,10.6,151,4584,0.00,2.28,0.00,0.000,6,0.000,0.028,2939,2050,849
$GC,4841,3.92,413.1,251.9,9.9,158,4845,0.00,2.42,0.00,0.000,4,0.000,0.059,2939,634,848
$GC,4929,3.93,421.1,243.8,8.6,160,4943,0.00,2.25,7.18,0.631,6,0.000,0.026,2939,2059,822
$GC,5211,3.93,421.1,218.5,9.3,167,5215,0.00,2.25,0.00,0.000,4,0.000,0.038,2939,3451,821
$GC,5277,3.93,421.1,211.7,9.5,168,5281,0.00,2.30,0.00,0.000,6,0.000,0.035,2939,2036,821
$GC,5541,3.93,421.1,185.6,10.2,184,5545,0.00,2.38,0.00,0.000,4,0.000,0.061,2939,641,820
$GC,5709,3.93,421.1,169.3,9.3,198,5718,0.00,2.25,0.00,0.000,6,0.000,0.025,2939,2060,819
$GC,5973,3.93,421.1,147.5,9.0,223,5977,0.00,2.40,0.00,0.000,4,0.000,0.058,2939,642,819
$GC,6078,3.93,421.1,136.7,10.4,232,6082,0.00,2.20,0.00,0.000,6,0.000,0.025,2939,2051,819
$GC,6341,3.94,426.9,113.0,8.7,256,6354,0.00,2.42,5.93,0.497,4,0.000,0.054,2939,641,799
$GC,6393,3.95,432.0,108.6,8.8,260,6406,0.00,2.22,6.15,0.494,6,0.000,0.024,2939,2055,779
$GC,6669,3.98,461.1,87.7,7.6,286,6705,0.00,0.00,27.35,0.567,6,0.000,0.000,2939,2056,659
$GC,6962,3.99,469.2,63.3,8.6,313,6976,0.00,2.40,7.72,0.476,4,0.000,0.054,2939,634,627
$GC,7025,3.99,469.2,57.3,9.4,318,7032,0.00,2.22,0.00,0.000,6,0.000,0.023,2939,2050,627
$GC,7291,4.00,479.2,35.3,8.5,343,7306,0.00,2.28,10.30,0.475,4,0.000,0.034,2939,3432,585
$GC,7364,4.00,479.2,28.4,9.4,350,7373,0.00,2.25,0.00,0.000,6,0.000,0.032,2939,2047,585
$GC,7638,4.00,479.2,2.0,9.8,399,7646,0.00,2.25,0.00,0.000,4,0.000,0.044,2939,3425,585
$STATE,7654,end climb,SURFACE_DEPTH_REACHED
$STATE,7654,begin surface coast
$FINISH,1.2,1.010430
$STATE,7683,end surface coast,CONTROL_FINISHED_OK
$STATE,7683,begin surface
$SM_CCo,7764,0.00,0.000,0,0,585,479.81
$SM_GC,1.85,10.18,0.00,0.00,0.022,0.000,0.000,470,1948,585,-7.30,-0.06,479.81
$IRIDIUM_FIX,2129.53,-15831.29,200498,161600
$TT8_MAMPS,0.027612
$HUMID,1754
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,22.10
$XPDR_PINGS,250
$24V_AH,23.8,12.416
$10V_AH,10.2,7.389
$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,24.250,89.175,530.450,0.000,0.000,25.651,34.146,248.804,73.000,0.000,0.000,17.034,868.075,4652.444,546.632,1635.224,494.378,33.351,1282.101,0.000,1608.136,0.000,68.604,0.000
$DEVICE_MAMPS,154.167,91.273,852.137,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,291.955,204.946,323.038,352.517,742.493,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31868,406
$CAP_FILE_SIZE,89154,0
$CFSIZE,260165632,257368064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$GPS,240109,205501,2141.040,-15830.335,11,1.6,28,9.9