version: 66.04
glider: 147
mission: 3
dive: 176
start: 2 13 109 1 33 28
data:
$ID,147
$MISSION,3
$DIVE,176
$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,-21389.299
$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,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
$GPS1,012724,2250.013,-15753.271,24,1.4,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-61.2
$GPS2,013232,2250.017,-15753.275,11,2.0,11,10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.222,-0.005
$KALMAN_X,-7345.7,-452.3,90.6,47560.8,-325.4
$KALMAN_Y,-9420.0,0.3,266.8,174701.8,-638.7
$MHEAD_RNG_PITCHd_Wd,81.3,8200,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.13,-121.7,0.0,0.0,0,96,0.00,0.00,-77.90,0.000,2,0.000,0.000,461,1872,2600
$GC,100,-1.13,-121.7,3.2,-2.2,5,131,12.98,0.00,-12.20,0.000,6,0.163,0.000,2829,1872,3037
$GC,549,-0.97,-121.7,55.1,-11.3,39,553,0.17,2.12,0.00,0.000,4,0.094,0.028,2869,3215,3039
$GC,633,-0.97,-121.7,64.4,-9.1,43,651,0.00,2.22,0.00,0.000,6,0.000,0.028,2869,1838,3040
$GC,954,-0.91,-121.7,93.7,-9.1,68,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1837,3040
$GC,1255,-0.87,-121.7,117.5,-6.4,93,1260,0.10,2.28,0.00,0.000,4,0.098,0.048,2891,440,3040
$GC,1299,-0.87,-121.7,121.2,-6.5,95,1313,0.00,2.15,0.00,0.000,6,0.000,0.020,2891,1825,3040
$GC,1599,-0.87,-121.7,138.4,-6.6,120,1603,0.00,2.22,0.00,0.000,4,0.000,0.031,2891,3235,3041
$GC,1658,-0.94,-121.7,142.9,-6.8,123,1671,0.00,2.25,0.00,0.000,6,0.000,0.030,2891,1839,3041
$GC,1955,-0.98,-121.7,158.4,-4.5,148,1968,0.10,0.00,0.00,0.000,6,0.055,0.000,2844,1839,3041
$GC,2247,-0.92,-121.7,182.2,-8.6,173,2260,0.15,0.00,0.00,0.000,6,0.081,0.000,2878,1837,3041
$GC,2563,-0.96,-121.7,202.9,-5.8,198,2567,0.00,2.33,0.00,0.000,4,0.000,0.053,2878,441,3041
$GC,2613,-1.00,-121.7,206.2,-6.5,199,2617,0.00,2.15,0.00,0.000,6,0.000,0.022,2878,1826,3041
$GC,2900,-1.04,-121.7,222.9,-6.2,206,2905,0.12,2.28,0.00,0.000,4,0.048,0.038,2829,3235,3041
$GC,2921,-1.04,-121.7,225.1,-7.0,206,2926,0.12,2.22,0.00,0.000,6,0.081,0.032,2857,1844,3041
$GC,3182,-1.04,-121.7,242.5,-6.7,213,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1843,3041
$GC,3426,-1.04,-121.7,258.3,-6.2,219,3430,0.00,2.25,0.00,0.000,4,0.000,0.038,2857,3233,3041
$GC,3487,-1.08,-121.7,262.1,-6.3,220,3492,0.00,2.25,0.00,0.000,6,0.000,0.035,2856,1843,3040
$GC,3754,-1.08,-121.7,276.7,-5.4,227,3758,0.00,2.28,0.00,0.000,4,0.000,0.038,2856,3239,3040
$GC,3821,-1.13,-121.7,280.3,-5.1,228,3826,0.10,2.28,0.00,0.000,6,0.055,0.036,2813,1837,3039
$GC,4076,-1.06,-121.7,297.9,-7.1,235,4081,0.17,2.38,0.00,0.000,4,0.079,0.061,2854,435,3038
$GC,4102,-1.06,-121.7,299.7,-6.5,235,4107,0.00,2.22,0.00,0.000,6,0.000,0.027,2854,1835,3038
$STATE,4120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4120,begin apogee
$GC,4126,-0.31,0.0,300.5,7.0,236,4225,0.70,0.00,96.70,0.719,6,0.062,0.000,3012,1748,2540
$STATE,4226,end apogee,CONTROL_FINISHED_OK
$STATE,4226,begin climb
$GC,4228,1.13,121.7,302.4,0.0,238,4335,1.33,2.40,99.72,0.704,4,0.038,0.060,3331,365,2044
$GC,4356,0.96,121.7,296.9,9.0,241,4361,0.22,2.25,0.00,0.000,6,0.104,0.027,3287,1760,2042
$GC,4645,0.94,139.2,274.0,7.2,248,4665,0.00,2.40,15.15,0.653,4,0.000,0.058,3287,372,1970
$GC,4687,0.87,139.2,270.6,8.8,249,4691,0.00,2.28,0.00,0.000,6,0.000,0.027,3287,1772,1969
$GC,4978,0.90,157.4,249.8,7.2,256,4999,0.00,2.35,15.60,0.651,4,0.000,0.048,3287,3168,1899
$GC,5071,0.96,182.2,242.2,6.9,258,5103,0.00,2.30,22.02,0.662,6,0.000,0.044,3287,1774,1795
$GC,5346,0.96,182.2,218.3,8.9,265,5350,0.00,2.47,0.00,0.000,4,0.000,0.069,3287,355,1790
$GC,5395,0.92,182.2,213.1,10.8,266,5399,0.00,2.25,0.00,0.000,6,0.000,0.025,3287,1770,1789
$GC,5675,0.92,182.2,189.0,8.8,280,5679,0.00,2.42,0.00,0.000,4,0.000,0.056,3287,351,1787
$GC,5735,0.87,182.2,181.6,10.9,283,5749,0.00,2.28,0.00,0.000,6,0.000,0.025,3286,1759,1787
$GC,6028,0.94,231.6,160.7,5.8,308,6070,0.00,0.00,40.72,0.631,6,0.000,0.000,3286,1760,1594
$GC,6354,0.98,231.6,133.6,10.4,335,6358,0.00,2.30,0.00,0.000,4,0.000,0.036,3287,3172,1588
$GC,6398,1.09,231.6,128.1,10.1,337,6410,0.10,2.35,0.00,0.000,6,0.037,0.036,3331,1756,1587
$GC,6698,1.06,231.6,98.1,9.0,362,6702,0.00,2.35,0.00,0.000,4,0.000,0.059,3331,358,1585
$GC,6790,0.98,231.6,87.2,11.3,367,6803,0.15,2.22,0.00,0.000,6,0.089,0.021,3295,1761,1584
$GC,7111,1.01,231.6,60.0,9.7,392,7115,0.00,2.38,0.00,0.000,4,0.000,0.051,3295,352,1584
$GC,7139,1.01,231.6,55.8,10.4,393,7155,0.00,2.22,0.00,0.000,6,0.000,0.021,3295,1754,1583
$GC,7521,1.05,231.6,19.9,8.5,422,7537,0.00,2.30,0.00,0.000,4,0.000,0.038,3295,3156,1583
$GC,7566,1.08,231.6,15.5,8.9,425,7582,0.00,2.28,0.00,0.000,6,0.000,0.033,3295,1759,1583
$STATE,7713,end climb,SURFACE_DEPTH_REACHED
$STATE,7713,begin surface coast
$FINISH,1.1,1.010785
$STATE,7766,end surface coast,CONTROL_FINISHED_OK
$STATE,7766,begin surface
$SM_CCo,7787,137.15,0.495,0,0,908,400.08
$SM_GC,1.86,0.00,0.00,137.15,0.000,0.000,0.495,477,1885,908,-11.97,1.27,400.08
$IRIDIUM_FIX,2241.69,-15748.90,090598,232331
$TT8_MAMPS,0.045253
$HUMID,1752
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.60
$XPDR_PINGS,284
$ALTIM_BOTTOM_PING,81.2,6.8
$24V_AH,24.1,28.389
$10V_AH,9.9,27.271
$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,28.075,77.925,289.925,137.150,0.000,24.744,28.417,142.262,71.500,0.000,0.000,12.703,874.494,2254.092,477.009,4179.528,444.658,33.346,1176.569,0.000,3245.829,0.000,6.384,0.000
$DEVICE_MAMPS,162.604,69.030,718.679,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.177,283.429,3381.223,2019.395,2460.557,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31892,440
$CAP_FILE_SIZE,176919,169
$CFSIZE,260165632,249397248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130209,034620,2249.329,-15752.397,9,2.0,9,10.1