version: 66.04
glider: 147
mission: 3
dive: 128
start: 2 9 109 8 32 58
data:
$ID,147
$MISSION,3
$DIVE,128
$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,-20384.17
$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,25
$R_STBD_OVSHOOT,77
$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
$GPS1,082740,2248.436,-15749.285,8,2.1,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-63.3
$GPS2,083202,2248.439,-15749.323,14,1.2,14,10.1
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.171,-0.026
$KALMAN_X,-10265.6,51.3,269.2,56610.2,-401.0
$KALMAN_Y,9700.9,-487.6,236.2,153170.3,-663.2
$MHEAD_RNG_PITCHd_Wd,88.5,982,-27.2,-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,12,begin dive
$GC,15,-1.78,-63.0,0.0,0.0,0,88,0.00,0.00,-71.38,0.000,2,0.000,0.000,478,1866,2430
$GC,91,-1.85,-119.2,3.2,-4.0,9,124,11.82,0.00,-19.30,0.000,6,0.164,0.000,2629,1867,3027
$GC,385,-1.65,-119.2,64.4,-23.8,47,386,0.25,0.00,0.00,0.000,6,0.122,0.000,2678,1867,3030
$GC,677,-1.54,-119.2,123.0,-19.6,71,682,0.12,2.10,0.00,0.000,4,0.127,0.026,2700,3204,3030
$GC,703,-1.46,-119.2,128.2,-19.4,72,707,0.10,2.20,0.00,0.000,6,0.125,0.029,2717,1819,3030
$GC,996,-1.46,-119.2,170.5,-13.8,96,999,0.00,2.17,0.00,0.000,4,0.000,0.029,2718,3199,3030
$GC,1070,-1.51,-119.2,182.3,-13.6,100,1082,0.00,2.20,0.00,0.000,6,0.000,0.030,2718,1833,3031
$GC,1346,-1.55,-119.2,218.6,-13.8,116,1349,0.00,2.17,0.00,0.000,4,0.000,0.031,2717,3196,3031
$GC,1392,-1.62,-119.2,225.5,-12.1,117,1397,0.12,2.17,0.00,0.000,6,0.052,0.031,2675,1831,3032
$GC,1675,-1.62,-119.2,265.5,-13.6,124,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1831,3032
$GC,1918,-1.62,-119.2,299.2,-13.6,130,1922,0.00,2.38,0.00,0.000,4,0.000,0.061,2675,427,3032
$STATE,1926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1926,begin apogee
$GC,1934,-0.31,0.0,300.9,14.0,130,2033,1.40,0.00,95.25,0.696,6,0.103,0.000,2967,1723,2540
$STATE,2034,end apogee,CONTROL_FINISHED_OK
$STATE,2034,begin climb
$GC,2036,1.85,119.2,304.4,0.0,132,2142,2.03,2.47,97.55,0.688,4,0.053,0.054,3448,3160,2052
$GC,2212,1.85,119.2,288.2,14.1,136,2216,0.00,2.30,0.00,0.000,6,0.000,0.041,3448,1769,2046
$GC,2494,1.85,119.2,246.8,14.1,143,2498,0.00,2.47,0.00,0.000,4,0.000,0.069,3448,351,2042
$GC,2611,1.75,119.2,230.3,13.2,145,2616,0.15,2.28,0.00,0.000,6,0.130,0.026,3421,1766,2042
$GC,2867,1.81,119.2,202.0,10.6,152,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1768,2039
$GC,3146,1.89,126.0,173.5,9.3,173,3166,0.12,2.35,4.57,0.460,4,0.055,0.043,3460,3167,2025
$GC,3204,1.89,126.0,167.5,11.2,176,3208,0.00,2.30,0.00,0.000,6,0.000,0.036,3461,1748,2024
$GC,3503,1.89,126.0,134.8,10.6,201,3507,0.00,2.30,0.00,0.000,4,0.000,0.032,3460,3175,2023
$GC,3652,1.97,138.2,120.1,8.7,209,3669,0.00,2.30,11.40,0.553,6,0.000,0.035,3460,1765,1976
$GC,3967,1.97,138.2,88.0,11.4,235,3971,0.00,2.22,0.00,0.000,4,0.000,0.031,3460,3170,1972
$GC,3993,2.01,138.2,84.9,11.3,236,3997,0.00,2.30,0.00,0.000,6,0.000,0.038,3460,1755,1972
$GC,4316,2.01,138.2,46.9,11.4,260,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1754,1972
$GC,4614,2.01,138.2,7.8,13.6,300,4622,0.00,2.28,0.00,0.000,4,0.000,0.028,3461,3168,1971
$STATE,4655,end climb,SURFACE_DEPTH_REACHED
$STATE,4655,begin surface coast
$FINISH,1.3,1.024242
$STATE,4673,end surface coast,CONTROL_FINISHED_OK
$STATE,4673,begin surface
$SM_CCo,4696,209.70,0.492,0,0,909,400.08
$SM_GC,2.00,0.00,0.00,209.70,0.000,0.000,0.492,472,1821,909,-11.81,-0.25,400.08
$IRIDIUM_FIX,2239.35,-15749.78,060598,070703
$TT8_MAMPS,0.027612
$HUMID,1686
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.80
$XPDR_PINGS,245
$ALTIM_BOTTOM_PING,81.9,6.8
$24V_AH,24.1,24.139
$10V_AH,10.2,18.034
$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,28.375,45.250,208.775,209.700,0.000,25.919,23.990,110.286,61.750,0.000,0.000,15.683,611.322,1349.470,470.250,2428.368,314.100,33.346,900.755,0.000,2012.865,0.000,7.629,0.000
$DEVICE_MAMPS,164.138,69.030,695.669,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,231.360,191.057,1758.637,1028.973,1387.363,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22407,310
$CAP_FILE_SIZE,98813,79
$CFSIZE,260165632,251707392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,090209,095552,2248.110,-15748.845,10,99.0,29,10.1