version: 66.04
glider: 147
mission: 3
dive: 154
start: 2 11 109 4 44 56
data:
$ID,147
$MISSION,3
$DIVE,154
$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,-20939.521
$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,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
$GPS1,043908,2247.999,-15748.836,12,1.7,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-64.2
$GPS2,044401,2247.986,-15748.823,13,1.7,30,10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.128,0.053
$KALMAN_X,-4203.7,-148.6,-287.7,52167.9,611.5
$KALMAN_Y,-312.4,-317.9,-182.4,162599.0,-357.7
$MHEAD_RNG_PITCHd_Wd,282.6,303,-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,12,begin dive
$GC,14,-1.74,-45.2,0.0,0.0,0,110,0.00,0.00,-83.55,0.000,6,0.000,0.000,472,1887,2724
$GC,112,-1.79,-88.5,4.1,-2.9,6,145,12.23,2.45,-4.12,0.000,4,0.167,0.051,2683,425,2902
$GC,455,-1.63,-88.5,70.6,-18.0,27,473,0.15,2.17,0.00,0.000,6,0.110,0.020,2717,1815,2903
$GC,766,-1.58,-88.5,115.7,-14.6,52,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1814,2903
$GC,1064,-1.58,-88.5,154.5,-13.0,77,1068,0.00,2.22,0.00,0.000,4,0.000,0.029,2717,3233,2904
$GC,1168,-1.58,-88.5,168.4,-12.7,83,1172,0.00,2.22,0.00,0.000,6,0.000,0.028,2717,1832,2904
$GC,1452,-1.58,-88.5,206.3,-12.6,105,1456,0.00,2.30,0.00,0.000,4,0.000,0.049,2717,439,2904
$GC,1473,-1.54,-88.5,209.5,-13.6,105,1478,0.12,2.17,0.00,0.000,6,0.118,0.021,2740,1848,2904
$GC,1734,-1.61,-88.5,236.5,-9.7,112,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1849,2905
$GC,1978,-1.69,-88.5,259.9,-10.0,118,1980,0.12,0.00,0.00,0.000,6,0.051,0.000,2696,1848,2905
$GC,2221,-1.69,-88.5,290.2,-12.7,124,2225,0.00,2.25,0.00,0.000,4,0.000,0.040,2696,3236,2905
$GC,2242,-1.69,-88.5,292.8,-12.0,124,2246,0.00,2.28,0.00,0.000,6,0.000,0.035,2696,1846,2905
$STATE,2338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2338,begin apogee
$GC,2344,-0.31,0.0,305.0,12.6,127,2421,1.50,0.00,71.50,0.700,6,0.097,0.000,3009,1751,2539
$STATE,2422,end apogee,CONTROL_FINISHED_OK
$STATE,2422,begin climb
$GC,2424,1.79,88.5,306.8,0.0,129,2509,1.98,0.00,73.10,0.689,6,0.038,0.000,3478,1751,2177
$GC,2745,1.70,88.5,271.6,12.6,137,2747,0.15,0.00,0.00,0.000,6,0.136,0.000,3452,1751,2172
$GC,2988,1.67,88.5,243.9,11.1,143,2992,0.00,2.30,0.00,0.000,4,0.000,0.038,3452,3145,2170
$GC,3038,1.67,88.5,238.7,10.2,144,3042,0.00,2.28,0.00,0.000,6,0.000,0.038,3452,1765,2170
$GC,3323,1.67,88.5,210.5,10.2,151,3328,0.00,2.45,0.00,0.000,4,0.000,0.065,3452,345,2168
$GC,3367,1.54,88.5,205.1,11.3,152,3372,0.20,2.22,0.00,0.000,6,0.130,0.025,3415,1753,2168
$GC,3650,1.60,90.3,182.9,7.8,171,3654,0.00,2.38,0.00,0.000,4,0.000,0.054,3415,348,2166
$GC,3779,1.56,91.1,171.0,7.9,178,3793,0.00,2.25,0.00,0.000,6,0.000,0.025,3415,1754,2166
$GC,4073,1.64,103.9,151.0,6.5,203,4092,0.10,2.33,11.68,0.579,4,0.063,0.039,3448,3168,2116
$GC,4221,1.70,114.5,140.0,6.7,211,4236,0.00,2.30,10.20,0.558,6,0.000,0.035,3448,1763,2073
$GC,4523,1.71,117.9,117.1,7.6,236,4544,0.00,2.45,4.18,0.419,4,0.000,0.061,3448,359,2057
$GC,4549,1.71,117.9,114.1,8.4,237,4563,0.00,2.25,0.00,0.000,6,0.000,0.021,3448,1768,2057
$GC,4850,1.75,117.9,85.9,10.7,262,4854,0.00,2.35,0.00,0.000,4,0.000,0.055,3448,352,2056
$GC,4886,1.75,117.9,81.7,11.6,264,4890,0.00,2.17,0.00,0.000,6,0.000,0.022,3448,1755,2056
$GC,5219,1.78,117.9,46.6,10.3,289,5223,0.00,2.28,0.00,0.000,4,0.000,0.039,3448,3161,2056
$GC,5266,1.84,117.9,40.7,10.2,291,5283,0.10,2.28,0.00,0.000,6,0.039,0.033,3491,1754,2055
$STATE,5608,end climb,SURFACE_DEPTH_REACHED
$STATE,5608,begin surface coast
$FINISH,1.1,1.024244
$STATE,5650,end surface coast,CONTROL_FINISHED_OK
$STATE,5650,begin surface
$SM_CCo,5671,225.07,0.494,0,0,908,400.33
$SM_GC,1.80,0.00,0.00,225.07,0.000,0.000,0.494,476,1886,908,-11.98,1.22,400.33
$IRIDIUM_FIX,2239.35,-15749.78,080598,020220
$TT8_MAMPS,0.045253
$HUMID,1705
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.60
$XPDR_PINGS,241
$ALTIM_BOTTOM_PING,82.2,6.7
$24V_AH,24.1,26.346
$10V_AH,10.2,22.509
$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,29.100,50.625,170.650,225.075,0.000,28.690,28.851,112.755,60.750,0.000,0.000,31.665,644.108,1677.065,472.764,3039.111,357.235,33.342,967.597,0.000,2397.807,0.000,6.384,0.000
$DEVICE_MAMPS,167.206,67.496,699.504,493.948,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,291.615,199.387,2490.458,1486.907,1808.658,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22361,320
$CAP_FILE_SIZE,128833,128
$CFSIZE,260165632,250564608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,110209,062430,2248.096,-15749.209,34,0.9,40,10.1