version: 66.04
glider: 147
mission: 3
dive: 171
start: 2 12 109 13 50 39
data:
$ID,147
$MISSION,3
$DIVE,171
$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,-21260.078
$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,26
$R_STBD_OVSHOOT,83
$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
$GPS1,134004,2249.168,-15751.716,7,3.5,26,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-65.3
$GPS2,134943,2249.189,-15751.720,12,2.0,17,10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,WPT15
$TGT_LATLONG,2251.000,-15754.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.078,0.208
$KALMAN_X,-4109.4,-16.8,33.1,46625.4,-263.2
$KALMAN_Y,-7370.4,-152.4,-127.9,171664.8,-831.3
$MHEAD_RNG_PITCHd_Wd,329.2,5136,-15.7,-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,15,-1.13,-121.7,0.0,0.0,0,111,0.00,0.00,-92.97,0.000,2,0.000,0.000,468,1881,3012
$GC,114,-1.13,-121.7,4.0,-2.7,6,132,12.90,2.15,-0.52,0.000,4,0.163,0.040,2826,3205,3038
$GC,335,-1.02,-121.7,38.9,-11.0,21,351,0.10,2.22,0.00,0.000,6,0.085,0.031,2852,1839,3040
$GC,665,-0.92,-121.7,68.9,-8.7,46,670,0.12,2.33,0.00,0.000,4,0.096,0.048,2879,434,3039
$GC,693,-0.84,-121.7,72.5,-9.0,47,710,0.00,2.15,0.00,0.000,6,0.000,0.021,2879,1816,3040
$GC,1006,-0.80,-121.7,96.5,-7.8,72,1011,0.12,2.22,0.00,0.000,4,0.088,0.030,2907,3226,3040
$GC,1043,-0.80,-121.7,98.9,-6.4,74,1047,0.00,2.20,0.00,0.000,6,0.000,0.030,2907,1835,3040
$GC,1349,-0.85,-121.7,116.8,-5.8,99,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1835,3040
$GC,1649,-0.91,-121.7,137.0,-7.2,124,1653,0.12,2.20,0.00,0.000,4,0.048,0.029,2853,3228,3040
$GC,1687,-0.91,-121.7,141.3,-9.3,126,1703,0.08,2.22,0.00,0.000,6,0.077,0.029,2877,1847,3040
$GC,1986,-0.91,-121.7,163.3,-6.4,151,1990,0.00,2.35,0.00,0.000,4,0.000,0.051,2877,431,3040
$GC,2027,-0.91,-121.7,166.3,-6.9,153,2031,0.00,2.15,0.00,0.000,6,0.000,0.021,2877,1832,3040
$GC,2325,-0.91,-121.7,179.7,-3.7,178,2329,0.00,2.22,0.00,0.000,4,0.000,0.032,2877,3233,3040
$GC,2349,-0.91,-121.7,180.7,-3.7,179,2353,0.00,2.22,0.00,0.000,6,0.000,0.030,2877,1834,3041
$GC,2638,-0.95,-121.7,194.2,-6.5,203,2642,0.00,2.33,0.00,0.000,4,0.000,0.053,2877,437,3041
$GC,2691,-0.95,-121.7,198.3,-8.1,206,2695,0.00,2.17,0.00,0.000,6,0.000,0.023,2877,1836,3041
$GC,2956,-0.99,-121.7,222.3,-9.0,214,2961,0.00,2.25,0.00,0.000,4,0.000,0.038,2877,3235,3041
$GC,2984,-1.05,-121.7,224.8,-8.8,214,2988,0.12,2.25,0.00,0.000,6,0.048,0.033,2826,1836,3041
$GC,3247,-0.98,-121.7,244.3,-6.6,221,3251,0.17,2.28,0.00,0.000,4,0.079,0.039,2867,3240,3041
$GC,3273,-0.98,-121.7,246.0,-4.2,221,3277,0.00,2.28,0.00,0.000,6,0.000,0.035,2867,1833,3040
$GC,3529,-0.98,-121.7,257.1,-4.4,228,3533,0.00,2.28,0.00,0.000,4,0.000,0.037,2867,3237,3041
$GC,3590,-1.04,-121.7,260.2,-5.0,229,3594,0.00,2.28,0.00,0.000,6,0.000,0.035,2867,1832,3040
$GC,3859,-1.08,-121.7,273.2,-5.0,236,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1832,3040
$GC,4095,-1.11,-121.7,287.9,-6.2,242,4097,0.12,0.00,0.00,0.000,6,0.050,0.000,2818,1832,3039
$STATE,4263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4263,begin apogee
$GC,4269,-0.31,0.0,301.1,8.2,246,4370,0.88,0.00,97.15,0.723,6,0.071,0.000,3011,1755,2539
$STATE,4370,end apogee,CONTROL_FINISHED_OK
$STATE,4370,begin climb
$GC,4372,1.13,121.7,304.0,0.0,248,4477,1.33,0.00,99.78,0.708,6,0.038,0.000,3331,1754,2044
$GC,4708,0.99,121.7,279.8,9.2,256,4713,0.17,2.45,0.00,0.000,4,0.102,0.066,3293,352,2035
$GC,4742,0.88,121.7,276.0,9.0,256,4748,0.12,2.25,0.00,0.000,6,0.108,0.027,3269,1747,2035
$GC,4991,0.92,155.4,259.4,6.5,263,5021,0.00,0.00,27.92,0.679,6,0.000,0.000,3269,1748,1906
$GC,5235,0.92,155.4,239.2,8.7,269,5239,0.00,2.38,0.00,0.000,4,0.000,0.047,3269,3169,1901
$GC,5391,0.99,155.4,223.7,10.4,272,5396,0.12,2.33,0.00,0.000,6,0.051,0.039,3310,1753,1899
$GC,5652,0.94,155.4,197.7,9.5,279,5656,0.12,2.42,0.00,0.000,4,0.101,0.067,3285,352,1897
$GC,5694,0.88,155.4,194.6,9.0,281,5698,0.00,2.22,0.00,0.000,6,0.000,0.025,3286,1771,1896
$GC,5990,0.90,171.8,172.9,7.3,306,6011,0.00,2.45,14.05,0.619,4,0.000,0.054,3285,350,1837
$GC,6047,0.87,171.8,168.4,8.1,309,6051,0.00,2.25,0.00,0.000,6,0.000,0.024,3286,1761,1836
$GC,6338,0.88,180.0,147.5,7.6,333,6357,0.00,2.33,7.47,0.547,4,0.000,0.036,3286,3165,1805
$GC,6362,0.93,195.3,144.9,7.3,334,6382,0.00,2.33,14.30,0.591,6,0.000,0.036,3286,1752,1743
$GC,6674,0.96,195.3,119.1,8.3,359,6679,0.00,2.38,0.00,0.000,4,0.000,0.058,3285,355,1738
$GC,6699,0.96,195.3,116.7,8.8,360,6703,0.00,2.22,0.00,0.000,6,0.000,0.021,3286,1779,1738
$GC,6996,1.09,242.5,96.0,5.9,384,7056,0.12,2.42,39.62,0.578,4,0.052,0.051,3328,359,1546
$GC,7062,1.05,242.5,89.7,9.7,387,7074,0.00,2.22,0.00,0.000,6,0.000,0.022,3329,1747,1546
$GC,7380,1.02,242.5,59.3,10.5,412,7385,0.15,2.35,0.00,0.000,4,0.097,0.051,3297,352,1543
$GC,7407,1.02,242.5,55.3,10.0,413,7424,0.00,2.22,0.00,0.000,6,0.000,0.022,3297,1751,1542
$GC,7764,1.05,242.5,24.4,9.2,440,7780,0.00,2.38,0.00,0.000,4,0.000,0.051,3298,356,1541
$GC,7809,1.05,242.5,20.1,9.4,443,7825,0.00,2.22,0.00,0.000,6,0.000,0.025,3297,1746,1540
$STATE,8007,end climb,SURFACE_DEPTH_REACHED
$STATE,8007,begin surface coast
$FINISH,1.1,1.012860
$STATE,8062,end surface coast,CONTROL_FINISHED_OK
$STATE,8062,begin surface
$SM_CCo,8082,128.45,0.493,0,0,908,400.08
$SM_GC,1.80,0.00,0.00,128.45,0.000,0.000,0.493,472,1875,908,-11.99,0.99,400.08
$IRIDIUM_FIX,2239.35,-15757.16,090598,131338
$TT8_MAMPS,0.045253
$HUMID,1742
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.60
$XPDR_PINGS,287
$ALTIM_BOTTOM_PING,80.4,6.7
$24V_AH,24.1,27.908
$10V_AH,10.1,26.030
$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,28.500,86.850,300.300,128.450,0.000,54.673,67.367,271.253,72.250,0.000,0.000,18.719,915.899,2372.164,480.352,4363.667,655.769,33.357,1168.606,0.000,3416.445,0.000,6.384,0.000
$DEVICE_MAMPS,162.604,72.865,722.514,493.181,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.315,300.487,3598.584,2116.750,2577.094,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34935,462
$CAP_FILE_SIZE,189772,177
$CFSIZE,260165632,249671680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120209,160837,2249.410,-15752.584,29,1.2,29,10.1