version: 66.04
glider: 147
mission: 3
dive: 129
start: 2 9 109 10 1 41
data:
$ID,147
$MISSION,3
$DIVE,129
$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,-20419.889
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3060
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,095552,2248.110,-15748.845,10,99.0,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-63.4
$GPS2,100046,2248.114,-15748.867,13,99.0,32,10.1
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.090,0.148
$KALMAN_X,-10338.5,-79.8,231.5,57638.5,-417.1
$KALMAN_Y,9403.7,-512.4,112.6,153015.9,-520.5
$MHEAD_RNG_PITCHd_Wd,21.3,310,-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,14,-1.78,-63.0,0.0,0.0,0,88,0.00,0.00,-71.82,0.000,2,0.000,0.000,472,1821,2446
$GC,91,-1.85,-116.3,3.2,-4.3,9,132,11.73,2.30,-19.52,0.000,4,0.156,0.041,2650,3248,3017
$GC,261,-1.71,-116.3,31.1,-20.8,37,266,0.17,2.28,0.00,0.000,6,0.118,0.028,2683,1815,3018
$GC,544,-1.60,-116.3,83.3,-19.2,61,549,0.12,2.28,0.00,0.000,4,0.123,0.028,2706,3249,3018
$GC,589,-1.57,-116.3,93.1,-17.2,63,602,0.00,2.28,0.00,0.000,6,0.000,0.029,2706,1835,3018
$GC,889,-1.52,-116.3,143.8,-16.0,88,893,0.10,2.22,0.00,0.000,4,0.123,0.029,2723,3247,3018
$GC,946,-1.57,-116.3,154.0,-15.3,91,960,0.00,2.28,0.00,0.000,6,0.000,0.030,2724,1835,3019
$GC,1238,-1.60,-116.3,194.5,-13.5,116,1242,0.00,2.33,0.00,0.000,4,0.000,0.049,2724,426,3019
$GC,1334,-1.60,-116.3,209.8,-15.9,120,1338,0.00,2.20,0.00,0.000,6,0.000,0.021,2724,1849,3019
$GC,1617,-1.66,-116.3,245.9,-12.3,127,1622,0.12,2.35,0.00,0.000,4,0.052,0.051,2678,431,3019
$GC,1711,-1.61,-116.3,260.4,-14.7,129,1716,0.15,2.20,0.00,0.000,6,0.100,0.025,2708,1826,3019
$GC,2003,-1.66,-116.3,292.8,-11.0,136,2007,0.00,2.38,0.00,0.000,4,0.000,0.057,2709,424,3019
$STATE,2050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2050,begin apogee
$GC,2057,-0.31,0.0,300.1,13.3,137,2154,1.33,0.00,92.80,0.697,6,0.113,0.000,2987,1761,2540
$STATE,2154,end apogee,CONTROL_FINISHED_OK
$STATE,2154,begin climb
$GC,2157,1.85,116.3,302.7,0.0,139,2257,2.03,0.00,95.53,0.686,6,0.043,0.000,3474,1762,2065
$GC,2483,1.77,116.3,259.2,16.4,147,2488,0.15,2.40,0.00,0.000,4,0.132,0.054,3448,361,2058
$GC,2560,1.67,116.3,246.1,16.4,148,2567,0.12,2.25,0.00,0.000,6,0.136,0.025,3426,1762,2058
$GC,2810,1.72,116.3,216.4,11.6,155,2814,0.00,2.40,0.00,0.000,4,0.000,0.056,3425,360,2055
$GC,2876,1.68,116.3,208.2,12.1,156,2880,0.00,2.25,0.00,0.000,6,0.000,0.025,3426,1770,2055
$GC,3161,1.75,127.1,181.0,8.9,174,3183,0.00,2.42,8.25,0.560,4,0.000,0.053,3426,363,2021
$GC,3204,1.75,127.1,175.9,10.2,176,3218,0.00,2.25,0.00,0.000,6,0.000,0.025,3426,1757,2021
$GC,3499,1.84,138.9,148.2,8.7,201,3518,0.15,0.00,11.32,0.573,6,0.051,0.000,3472,1758,1971
$GC,3805,1.84,138.9,112.3,12.0,226,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,1758,1968
$GC,4109,1.84,138.9,74.6,13.1,251,4113,0.00,2.35,0.00,0.000,4,0.000,0.049,3472,351,1967
$GC,4138,1.79,138.9,69.1,13.3,252,4150,0.08,2.25,0.00,0.000,6,0.123,0.022,3454,1761,1967
$GC,4465,1.85,138.9,32.5,11.0,277,4469,0.00,2.30,0.00,0.000,4,0.000,0.046,3454,3162,1966
$GC,4504,1.91,138.9,27.6,12.2,279,4511,0.00,2.25,0.00,0.000,6,0.000,0.033,3454,1767,1965
$STATE,4701,end climb,SURFACE_DEPTH_REACHED
$STATE,4701,begin surface coast
$FINISH,1.0,1.024253
$STATE,4714,end surface coast,CONTROL_FINISHED_OK
$STATE,4714,begin surface
$SM_CCo,4735,208.75,0.492,0,0,908,400.08
$SM_GC,1.93,0.00,0.00,208.75,0.000,0.000,0.492,469,1881,908,-11.92,1.44,400.08
$IRIDIUM_FIX,2239.35,-15749.78,060598,080859
$TT8_MAMPS,0.026845
$HUMID,1710
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.80
$XPDR_PINGS,251
$ALTIM_BOTTOM_PING,90.1,6.9
$24V_AH,24.1,24.225
$10V_AH,10.1,18.175
$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,28.475,50.475,207.900,208.750,0.000,31.107,27.867,111.899,63.500,0.000,0.000,35.088,616.471,1302.912,497.817,2497.132,327.707,33.347,953.159,0.000,2029.816,0.000,7.931,0.000
$DEVICE_MAMPS,155.701,59.826,697.203,492.414,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,245.777,194.534,1800.990,1056.308,1419.594,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22266,314
$CAP_FILE_SIZE,103084,82
$CFSIZE,260165632,251666432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090209,112525,2248.323,-15748.650,42,1.1,42,10.1