version: 66.04
glider: 147
mission: 3
dive: 124
start: 2 9 109 2 8 40
data:
$ID,147
$MISSION,3
$DIVE,124
$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,200
$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,-20287.242
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3040
$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,1830
$C_ROLL_CLIMB,1760
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,74
$ROLL_AD_RATE,400
$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
$GPS1,020225,2247.607,-15748.526,38,1.6,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-66.2
$GPS2,020744,2247.587,-15748.574,13,1.5,13,10.1
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.085,0.223
$KALMAN_X,-9475.5,212.3,-269.3,57491.9,-149.2
$KALMAN_Y,11548.5,139.6,-188.5,149544.7,-653.7
$MHEAD_RNG_PITCHd_Wd,329.1,1055,-19.3,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.36,-121.7,0.0,0.0,0,88,0.00,0.00,-71.05,0.000,2,0.000,0.000,479,1865,2414
$GC,91,-1.36,-121.7,3.3,-3.1,9,132,12.27,2.17,-19.95,0.000,4,0.161,0.044,2737,3200,3036
$GC,316,-1.16,-121.7,35.1,-16.2,45,320,0.22,2.22,0.00,0.000,6,0.103,0.030,2783,1817,3039
$GC,590,-1.01,-121.7,74.5,-14.5,69,605,0.17,0.00,0.00,0.000,6,0.103,0.000,2819,1817,3039
$GC,899,-0.95,-121.7,111.0,-11.4,94,902,0.00,2.20,0.00,0.000,4,0.000,0.029,2820,3202,3039
$GC,921,-0.90,-121.7,114.6,-11.4,95,936,0.08,2.22,0.00,0.000,6,0.091,0.028,2840,1832,3040
$GC,1222,-0.90,-121.7,143.7,-9.6,120,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1831,3040
$GC,1520,-0.94,-121.7,170.3,-8.8,145,1524,0.00,2.17,0.00,0.000,4,0.000,0.030,2841,3200,3040
$GC,1545,-0.99,-121.7,172.7,-8.4,146,1549,0.00,2.20,0.00,0.000,6,0.000,0.030,2840,1821,3040
$GC,1833,-1.04,-121.7,197.5,-8.9,170,1846,0.12,0.00,0.00,0.000,6,0.051,0.000,2792,1820,3040
$GC,2096,-0.99,-121.7,226.1,-10.5,178,2101,0.15,2.22,0.00,0.000,4,0.087,0.033,2823,3193,3041
$GC,2140,-1.03,-121.7,230.4,-8.6,179,2145,0.00,2.20,0.00,0.000,6,0.000,0.032,2823,1826,3041
$GC,2426,-1.03,-121.7,255.9,-9.3,186,2430,0.00,2.38,0.00,0.000,4,0.000,0.059,2823,424,3041
$GC,2525,-1.03,-121.7,267.5,-10.4,188,2530,0.00,2.15,0.00,0.000,6,0.000,0.024,2823,1798,3041
$GC,2799,-1.07,-121.7,289.2,-7.4,195,2803,0.00,2.35,0.00,0.000,4,0.000,0.044,2823,3228,3041
$GC,2848,-1.15,-121.7,292.0,-7.0,196,2853,0.15,2.25,0.00,0.000,6,0.045,0.038,2770,1834,3041
$STATE,2966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2966,begin apogee
$GC,2971,-0.31,0.0,303.5,9.2,199,3073,0.93,0.00,97.95,0.711,6,0.078,0.000,2970,1755,2540
$STATE,3073,end apogee,CONTROL_FINISHED_OK
$STATE,3073,begin climb
$GC,3075,1.36,121.7,305.7,0.0,201,3183,1.58,2.40,99.85,0.699,4,0.045,0.051,3338,3156,2043
$GC,3216,1.36,121.7,296.1,10.6,204,3220,0.00,2.33,0.00,0.000,6,0.000,0.042,3338,1772,2039
$GC,3491,1.33,121.7,268.5,10.3,211,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1772,2034
$GC,3727,1.33,125.4,244.1,9.8,217,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1772,2032
$GC,3971,1.34,129.1,220.7,9.8,223,3981,0.00,2.50,5.85,0.529,4,0.000,0.068,3338,345,2012
$GC,4003,1.27,129.1,216.6,12.7,223,4010,0.12,2.28,0.00,0.000,6,0.112,0.026,3315,1760,2011
$GC,4272,1.35,155.1,190.7,8.6,236,4311,0.00,2.47,22.90,0.635,4,0.000,0.057,3315,352,1906
$GC,4332,1.39,159.3,185.4,9.8,239,4352,0.12,2.25,5.22,0.492,6,0.056,0.025,3353,1760,1889
$GC,4630,1.42,185.9,155.9,8.5,264,4659,0.00,0.00,22.98,0.616,6,0.000,0.000,3353,1760,1780
$GC,4944,1.42,185.9,123.6,10.1,290,4948,0.00,2.30,0.00,0.000,4,0.000,0.038,3353,3171,1775
$GC,5057,1.54,228.2,113.8,7.7,296,5098,0.10,2.28,35.17,0.586,6,0.058,0.035,3389,1752,1608
$GC,5389,1.48,228.2,72.8,13.8,322,5394,0.12,2.38,0.00,0.000,4,0.107,0.058,3365,358,1602
$GC,5455,1.43,228.2,61.6,14.5,325,5472,0.00,2.25,0.00,0.000,6,0.000,0.022,3365,1765,1601
$GC,5806,1.43,228.2,18.8,12.3,355,5814,0.00,2.40,0.00,0.000,4,0.000,0.051,3365,355,1600
$GC,5822,1.43,228.2,17.1,11.0,357,5829,0.00,2.22,0.00,0.000,6,0.000,0.023,3365,1755,1600
$STATE,5938,end climb,SURFACE_DEPTH_REACHED
$STATE,5938,begin surface coast
$FINISH,1.3,1.011076
$STATE,5952,end surface coast,CONTROL_FINISHED_OK
$STATE,5952,begin surface
$SM_CCo,5973,140.00,0.497,0,0,908,400.08
$SM_GC,2.05,0.00,0.00,140.00,0.000,0.000,0.497,474,1867,908,-11.80,1.05,400.08
$IRIDIUM_FIX,2241.69,-15746.73,050598,222216
$TT8_MAMPS,0.026845
$HUMID,1686
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.50
$XPDR_PINGS,340
$ALTIM_BOTTOM_PING,90.2,6.7
$24V_AH,24.0,23.789
$10V_AH,9.9,17.482
$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,28.150,55.025,289.925,140.000,0.000,28.896,28.570,146.692,85.750,0.000,0.000,14.665,725.592,1882.844,467.229,2960.038,395.260,33.362,1038.203,0.000,2472.833,0.000,7.935,0.000
$DEVICE_MAMPS,161.070,72.865,711.009,497.016,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,299.529,230.875,2207.847,1223.891,1632.594,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28640,380
$CAP_FILE_SIZE,125006,100
$CFSIZE,260165632,251842560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,090209,035136,2247.979,-15748.872,9,1.8,25,10.1