version: 66.04
glider: 147
mission: 3
dive: 173
start: 2 12 109 18 29 46
data:
$ID,147
$MISSION,3
$DIVE,173
$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,-21309.117
$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,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
$GPS1,182320,2249.901,-15753.404,13,1.4,13,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-64.4
$GPS2,182852,2249.914,-15753.440,14,3.0,33,10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,WPT15
$TGT_LATLONG,2251.000,-15754.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.086,0.204
$KALMAN_X,-5076.2,-361.2,-325.6,45332.0,-164.9
$KALMAN_Y,-8521.8,-471.8,-370.5,174723.6,148.6
$MHEAD_RNG_PITCHd_Wd,327.0,2226,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.13,-121.7,0.0,0.0,0,96,0.00,0.00,-78.03,0.000,2,0.000,0.000,473,1883,2595
$GC,100,-1.13,-121.7,3.2,-2.2,5,133,12.90,2.10,-13.48,0.000,4,0.162,0.041,2828,3194,3036
$GC,331,-1.02,-121.7,27.2,-11.2,22,346,0.10,2.20,0.00,0.000,6,0.089,0.029,2853,1840,3038
$GC,674,-0.93,-121.7,62.3,-10.3,48,690,0.12,0.00,0.00,0.000,6,0.094,0.000,2881,1840,3038
$GC,995,-0.89,-121.7,92.0,-9.5,73,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1839,3038
$GC,1295,-0.89,-121.7,119.2,-8.5,98,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1839,3038
$GC,1596,-0.89,-121.7,143.2,-7.5,123,1600,0.00,2.15,0.00,0.000,4,0.000,0.029,2880,3196,3039
$GC,1678,-0.93,-121.7,150.1,-7.3,127,1691,0.00,2.17,0.00,0.000,6,0.000,0.029,2880,1849,3039
$GC,1971,-0.93,-121.7,169.9,-6.3,152,1975,0.00,2.35,0.00,0.000,4,0.000,0.051,2880,433,3039
$GC,2009,-0.93,-121.7,173.1,-6.9,154,2024,0.00,2.15,0.00,0.000,6,0.000,0.021,2880,1804,3039
$GC,2303,-0.93,-121.7,190.6,-6.4,179,2307,0.00,2.28,0.00,0.000,4,0.000,0.033,2880,3239,3039
$GC,2357,-0.99,-121.7,194.0,-6.3,182,2361,0.00,2.25,0.00,0.000,6,0.000,0.031,2880,1832,3039
$GC,2646,-1.03,-121.7,213.7,-6.8,194,2650,0.10,2.33,0.00,0.000,4,0.057,0.052,2835,434,3039
$GC,2737,-0.96,-121.7,222.4,-11.3,196,2742,0.17,2.17,0.00,0.000,6,0.082,0.023,2873,1836,3039
$GC,3020,-1.00,-121.7,246.8,-8.2,203,3024,0.00,2.35,0.00,0.000,4,0.000,0.054,2873,437,3039
$GC,3041,-1.00,-121.7,248.9,-9.6,203,3046,0.00,2.22,0.00,0.000,6,0.000,0.024,2873,1837,3039
$GC,3304,-1.04,-121.7,268.7,-7.3,210,3308,0.00,2.30,0.00,0.000,4,0.000,0.046,2873,3236,3039
$GC,3381,-1.10,-121.7,273.7,-6.2,211,3386,0.15,2.25,0.00,0.000,6,0.043,0.035,2818,1842,3039
$GC,3631,-1.03,-121.7,294.5,-8.5,217,3635,0.17,2.28,0.00,0.000,4,0.081,0.039,2855,3235,3038
$GC,3703,-1.08,-121.7,299.8,-7.0,218,3707,0.00,2.25,0.00,0.000,3,0.000,0.044,2855,1847,3038
$STATE,3708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3708,begin apogee
$GC,3713,-0.31,0.0,300.0,6.7,218,3813,0.65,0.00,96.53,0.709,6,0.067,0.000,3007,1769,2539
$STATE,3813,end apogee,CONTROL_FINISHED_OK
$STATE,3813,begin climb
$GC,3816,1.13,121.7,302.5,0.0,221,3924,1.38,2.53,99.78,0.696,4,0.041,0.067,3331,364,2043
$GC,3957,0.92,121.7,294.7,10.0,224,3964,0.25,2.25,0.00,0.000,6,0.101,0.027,3281,1751,2041
$GC,4217,0.95,146.5,276.8,6.9,231,4242,0.00,2.42,20.92,0.661,4,0.000,0.050,3281,3170,1940
$GC,4320,0.95,146.5,268.1,8.2,233,4324,0.00,2.35,0.00,0.000,6,0.000,0.039,3281,1745,1937
$GC,4587,0.95,146.5,244.6,8.9,240,4591,0.00,2.33,0.00,0.000,4,0.000,0.033,3281,3168,1934
$GC,4634,0.99,146.5,241.1,9.3,241,4638,0.00,2.33,0.00,0.000,6,0.000,0.038,3281,1755,1934
$GC,4922,0.99,146.5,215.5,8.4,248,4926,0.00,2.45,0.00,0.000,4,0.000,0.069,3281,347,1932
$GC,4971,0.95,146.5,211.1,9.0,249,4975,0.00,2.28,0.00,0.000,6,0.000,0.025,3281,1777,1932
$GC,5244,1.01,194.2,193.2,5.9,260,5288,0.00,2.53,38.83,0.648,4,0.000,0.055,3281,353,1747
$GC,5311,1.02,202.6,188.1,7.6,263,5324,0.00,2.28,8.23,0.559,6,0.000,0.025,3281,1757,1714
$GC,5602,1.06,202.6,164.1,8.1,288,5618,0.12,0.00,0.00,0.000,6,0.051,0.000,3324,1758,1708
$GC,5901,1.03,202.6,132.3,10.8,313,5905,0.00,2.28,0.00,0.000,4,0.000,0.037,3324,3160,1707
$GC,5926,1.03,202.6,129.3,10.6,314,5930,0.00,2.28,0.00,0.000,6,0.000,0.035,3323,1751,1706
$GC,6223,1.03,202.6,99.5,8.5,338,6226,0.00,2.28,0.00,0.000,4,0.000,0.031,3323,3162,1705
$GC,6297,1.06,202.6,92.9,9.2,342,6302,0.00,2.25,0.00,0.000,6,0.000,0.034,3323,1762,1705
$GC,6609,1.03,202.6,64.5,9.3,366,6613,0.00,2.40,0.00,0.000,4,0.000,0.058,3323,347,1704
$GC,6693,0.97,202.6,54.4,10.7,370,6708,0.12,2.22,0.00,0.000,6,0.090,0.021,3293,1760,1704
$GC,7048,1.02,202.6,25.5,8.6,397,7064,0.00,2.38,0.00,0.000,4,0.000,0.052,3293,362,1704
$GC,7080,1.06,202.6,22.6,8.6,399,7094,0.00,2.20,0.00,0.000,6,0.000,0.022,3294,1758,1704
$STATE,7355,end climb,SURFACE_DEPTH_REACHED
$STATE,7355,begin surface coast
$FINISH,1.1,1.023821
$STATE,7422,end surface coast,CONTROL_FINISHED_OK
$STATE,7422,begin surface
$SM_CCo,7443,159.80,0.492,0,0,909,400.33
$SM_GC,1.84,0.00,0.00,159.80,0.000,0.000,0.492,474,1875,909,-11.99,0.99,400.33
$IRIDIUM_FIX,2241.69,-15751.94,090598,161611
$TT8_MAMPS,0.045253
$HUMID,1721
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.80
$XPDR_PINGS,259
$ALTIM_BOTTOM_PING,81.0,6.7
$24V_AH,24.1,28.100
$10V_AH,10.1,26.509
$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,27.850,78.025,264.275,159.800,0.000,31.048,28.197,136.982,65.250,0.000,0.000,35.895,845.804,2048.581,483.552,4109.779,443.316,33.353,1147.876,0.000,3399.517,0.000,6.385,0.000
$DEVICE_MAMPS,161.837,75.166,709.475,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.289,276.886,3308.730,2045.962,2491.685,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31856,425
$CAP_FILE_SIZE,171086,163
$CFSIZE,260165632,249581568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,120209,203736,2250.944,-15754.282,29,1.1,29,10.1