version: 66.04
glider: 147
mission: 3
dive: 157
start: 2 11 109 10 8 24
data:
$ID,147
$MISSION,3
$DIVE,157
$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,-21000.477
$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,25
$R_STBD_OVSHOOT,87
$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
$GPS1,100136,2248.168,-15748.844,38,1.3,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-64.4
$GPS2,100728,2248.179,-15748.843,10,2.2,29,10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.119,0.070
$KALMAN_X,-3798.0,-424.2,192.6,51527.3,145.0
$KALMAN_Y,-1451.9,-427.7,288.4,163732.1,-576.2
$MHEAD_RNG_PITCHd_Wd,290.4,427,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.74,-45.2,0.0,0.0,0,108,0.00,0.00,-82.65,0.000,6,0.000,0.000,472,1888,2725
$GC,110,-1.79,-91.7,3.8,-2.5,6,143,12.20,2.45,-4.43,0.000,4,0.166,0.052,2682,427,2915
$GC,511,-1.64,-91.7,85.6,-19.9,30,526,0.15,2.15,0.00,0.000,6,0.110,0.020,2715,1809,2915
$GC,825,-1.64,-91.7,133.4,-14.3,55,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1809,2916
$GC,1123,-1.64,-91.7,174.5,-13.5,80,1127,0.00,2.22,0.00,0.000,4,0.000,0.028,2715,3227,2916
$GC,1162,-1.67,-91.7,180.2,-11.7,82,1176,0.00,2.25,0.00,0.000,6,0.000,0.029,2716,1832,2917
$GC,1443,-1.67,-91.7,215.2,-12.5,99,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1830,2918
$GC,1688,-1.71,-91.7,242.7,-11.5,105,1692,0.00,2.25,0.00,0.000,4,0.000,0.033,2715,3231,2917
$GC,1715,-1.75,-91.7,246.0,-11.2,105,1719,0.00,2.22,0.00,0.000,6,0.000,0.031,2715,1843,2917
$GC,1971,-1.80,-91.7,274.0,-10.6,112,1973,0.12,0.00,0.00,0.000,6,0.053,0.000,2672,1842,2917
$STATE,2212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2213,begin apogee
$GC,2218,-0.31,0.0,303.3,12.2,118,2296,1.62,0.00,73.82,0.704,6,0.100,0.000,3010,1757,2539
$STATE,2297,end apogee,CONTROL_FINISHED_OK
$STATE,2297,begin climb
$GC,2299,1.79,91.7,305.8,0.0,120,2382,1.95,2.42,75.15,0.693,4,0.045,0.061,3478,365,2165
$GC,2400,1.63,91.7,298.5,11.8,122,2405,0.22,2.20,0.00,0.000,6,0.133,0.025,3438,1732,2163
$GC,2671,1.63,91.7,267.1,11.2,129,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1733,2159
$GC,2915,1.63,91.7,243.3,9.4,135,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1732,2157
$GC,3167,1.63,91.7,217.5,10.8,141,3171,0.00,2.40,0.00,0.000,4,0.000,0.046,3438,3171,2154
$GC,3337,1.66,91.7,199.1,9.7,144,3343,0.00,2.28,0.00,0.000,6,0.000,0.037,3438,1771,2152
$GC,3625,1.66,91.7,174.3,9.0,169,3629,0.00,2.28,0.00,0.000,4,0.000,0.033,3438,3175,2151
$GC,3666,1.70,91.7,170.8,8.1,171,3670,0.00,2.30,0.00,0.000,6,0.000,0.038,3438,1761,2151
$GC,3953,1.72,104.4,150.3,6.5,195,3973,0.00,2.47,9.45,0.566,4,0.000,0.065,3438,353,2113
$GC,4048,1.65,104.4,142.1,9.3,200,4052,0.00,2.22,0.00,0.000,6,0.000,0.023,3438,1771,2112
$GC,4346,1.72,123.1,121.3,5.8,224,4368,0.00,2.35,16.35,0.582,4,0.000,0.036,3438,3168,2038
$GC,4458,1.82,127.7,113.3,7.5,230,4480,0.17,2.28,5.57,0.473,6,0.044,0.038,3492,1751,2017
$GC,4766,1.77,127.7,82.9,11.2,255,4779,0.12,0.00,0.00,0.000,6,0.126,0.000,3470,1751,2015
$GC,5093,1.77,127.7,47.1,10.4,280,5097,0.00,2.35,0.00,0.000,4,0.000,0.058,3470,356,2014
$GC,5140,1.69,127.7,40.3,12.6,282,5152,0.08,2.22,0.00,0.000,6,0.133,0.022,3453,1760,2014
$STATE,5542,end climb,SURFACE_DEPTH_REACHED
$STATE,5542,begin surface coast
$FINISH,1.1,0.999299
$STATE,5595,end surface coast,CONTROL_FINISHED_OK
$STATE,5595,begin surface
$SM_CCo,5617,217.75,0.493,0,0,908,400.08
$SM_GC,1.86,0.00,0.00,217.75,0.000,0.000,0.493,471,1881,908,-12.00,1.16,400.08
$IRIDIUM_FIX,2237.01,-15749.78,080598,080822
$TT8_MAMPS,0.027612
$HUMID,1710
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.60
$XPDR_PINGS,248
$24V_AH,24.1,26.603
$10V_AH,10.2,23.080
$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,28.950,41.550,180.350,217.750,0.000,29.532,27.404,171.446,68.250,0.000,0.000,31.707,646.525,1650.711,438.711,3034.938,417.060,33.365,937.519,0.000,2684.598,0.000,43.220,0.000
$DEVICE_MAMPS,166.439,67.496,704.106,493.181,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.755,205.043,2456.546,1484.054,1809.862,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22404,317
$CAP_FILE_SIZE,128846,127
$CFSIZE,260165632,250429440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,110209,114646,2248.148,-15749.343,10,3.6,29,10.1