version: 66.04
glider: 147
mission: 3
dive: 152
start: 2 11 109 1 6 46
data:
$ID,147
$MISSION,3
$DIVE,152
$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,125
$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,-20870.611
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3080
$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,1840
$C_ROLL_CLIMB,1760
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,47
$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
$GPS1,010106,2248.365,-15748.967,39,1.6,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-65.6
$GPS2,010550,2248.371,-15748.955,14,1.6,14,10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.136,0.024
$KALMAN_X,-5250.6,269.7,22.3,52263.6,-39.6
$KALMAN_Y,675.2,72.8,-216.9,161963.8,-690.8
$MHEAD_RNG_PITCHd_Wd,269.8,691,-26.9,-8.000
$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,14,begin dive
$GC,16,-1.74,-45.2,0.0,0.0,0,110,0.00,0.00,-83.28,0.000,6,0.000,0.000,473,1858,2725
$GC,112,-1.79,-91.1,4.1,-2.5,6,145,12.10,2.40,-4.35,0.000,4,0.162,0.054,2684,433,2912
$GC,419,-1.63,-91.1,65.7,-19.3,25,436,0.15,2.22,0.00,0.000,6,0.112,0.020,2717,1849,2914
$GC,732,-1.59,-91.1,117.0,-16.6,50,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1849,2914
$GC,1031,-1.59,-91.1,155.5,-11.6,75,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1849,2914
$GC,1324,-1.59,-91.1,188.4,-11.4,100,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1849,2915
$GC,1586,-1.59,-91.1,220.9,-12.0,113,1590,0.00,2.38,0.00,0.000,4,0.000,0.051,2716,427,2915
$GC,1640,-1.59,-91.1,228.1,-12.8,114,1644,0.00,2.20,0.00,0.000,6,0.000,0.021,2716,1822,2915
$GC,1921,-1.63,-91.1,259.5,-12.0,121,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1824,2915
$GC,2157,-1.67,-91.1,289.4,-12.1,127,2161,0.00,2.33,0.00,0.000,4,0.000,0.043,2717,3240,2915
$GC,2201,-1.74,-91.1,294.4,-10.9,128,2205,0.00,2.28,0.00,0.000,6,0.000,0.035,2716,1837,2915
$STATE,2274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2274,begin apogee
$GC,2280,-0.31,0.0,302.2,10.7,130,2357,1.40,0.00,73.38,0.704,6,0.094,0.000,3011,1757,2539
$STATE,2358,end apogee,CONTROL_FINISHED_OK
$STATE,2358,begin climb
$GC,2360,1.79,91.1,304.1,0.0,132,2440,1.98,0.00,75.18,0.692,6,0.038,0.000,3479,1757,2167
$GC,2679,1.70,91.1,268.1,13.2,140,2684,0.15,2.33,0.00,0.000,4,0.135,0.040,3454,3152,2160
$GC,2711,1.70,91.1,264.3,11.3,140,2725,0.00,2.33,0.00,0.000,6,0.000,0.038,3453,1766,2159
$GC,2961,1.66,91.1,236.5,11.0,147,2965,0.00,2.28,0.00,0.000,4,0.000,0.033,3453,3162,2158
$GC,3033,1.66,91.1,228.6,11.6,148,3037,0.00,2.35,0.00,0.000,6,0.000,0.039,3453,1741,2156
$GC,3289,1.66,91.1,204.8,8.6,155,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1740,2156
$GC,3561,1.66,91.1,183.9,8.6,173,3565,0.00,2.40,0.00,0.000,4,0.000,0.066,3453,347,2154
$GC,3707,1.54,91.1,167.6,10.3,181,3721,0.17,2.25,0.00,0.000,6,0.122,0.024,3416,1751,2153
$GC,4003,1.61,97.8,144.4,7.2,206,4024,0.00,2.33,4.25,0.435,4,0.000,0.038,3416,3159,2141
$GC,4114,1.71,101.9,136.6,7.5,212,4136,0.15,2.28,5.22,0.478,6,0.048,0.035,3463,1746,2123
$GC,4422,1.71,101.9,109.2,8.6,237,4426,0.00,2.28,0.00,0.000,4,0.000,0.031,3464,3164,2122
$GC,4622,1.74,101.9,93.2,8.3,248,4626,0.00,2.25,0.00,0.000,6,0.000,0.033,3464,1751,2121
$GC,4937,1.75,103.3,70.0,7.8,273,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1751,2120
$GC,5267,1.75,103.3,42.0,8.8,298,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1751,2120
$STATE,5686,end climb,SURFACE_DEPTH_REACHED
$STATE,5686,begin surface coast
$FINISH,1.1,1.024216
$STATE,5739,end surface coast,CONTROL_FINISHED_OK
$STATE,5740,begin surface
$SM_CCo,5762,236.95,0.495,0,0,908,400.08
$SM_GC,1.77,0.00,0.00,236.95,0.000,0.000,0.495,469,1885,908,-12.01,1.27,400.08
$IRIDIUM_FIX,2241.69,-15749.78,070598,232327
$TT8_MAMPS,0.027612
$HUMID,1688
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,250
$ALTIM_BOTTOM_PING,80.2,6.7
$24V_AH,24.1,26.184
$10V_AH,10.2,22.129
$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,28.325,37.100,158.025,236.950,0.000,30.831,26.526,118.656,63.000,0.000,0.000,15.522,653.912,1586.611,478.049,3199.111,366.694,33.345,996.182,0.000,2787.029,0.000,6.385,0.000
$DEVICE_MAMPS,161.837,74.399,704.106,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,279.317,218.737,2638.450,1640.066,1993.866,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25554,334
$CAP_FILE_SIZE,129621,134
$CFSIZE,260165632,250646528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110209,024753,2248.063,-15749.555,10,99.0,29,10.1