version: 66.04
glider: 147
mission: 3
dive: 178
start: 2 13 109 6 10 10
data:
$ID,147
$MISSION,3
$DIVE,178
$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,-21438.643
$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,27
$R_STBD_OVSHOOT,70
$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
$GPS1,060406,2248.969,-15751.409,31,1.0,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-63.3
$GPS2,060914,2248.967,-15751.432,13,1.2,13,10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.203,-0.089
$KALMAN_X,-7895.6,17.7,-2.5,50908.2,-40.3
$KALMAN_Y,-10631.7,280.5,-701.7,174656.0,33.1
$MHEAD_RNG_PITCHd_Wd,103.5,4522,-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,-121.7,0.0,0.0,0,95,0.00,0.00,-77.78,0.000,2,0.000,0.000,477,1878,2597
$GC,99,-1.13,-121.7,3.2,-2.2,5,132,12.98,2.12,-12.88,0.000,4,0.166,0.053,2827,3210,3036
$GC,149,0.29,-121.7,8.3,-6.6,8,164,1.38,2.22,0.00,0.000,6,0.071,0.028,3136,1836,3037
$GC,661,-0.28,-121.7,38.5,-6.0,47,666,0.50,2.33,0.00,0.000,4,0.061,0.050,3016,438,3038
$GC,1084,-0.78,-121.7,68.2,-7.1,69,1100,0.43,2.15,0.00,0.000,6,0.029,0.020,2893,1837,3038
$GC,1404,-0.78,-121.7,90.2,-6.4,94,1409,0.00,2.33,0.00,0.000,4,0.000,0.048,2893,434,3039
$GC,1574,-0.78,-121.7,101.2,-5.8,103,1586,0.00,2.15,0.00,0.000,6,0.000,0.021,2893,1810,3039
$GC,1873,-0.82,-121.7,118.5,-6.2,128,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1810,3039
$GC,2176,-0.86,-121.7,136.3,-5.9,153,2180,0.00,2.28,0.00,0.000,4,0.000,0.032,2893,3243,3039
$GC,2202,-0.91,-121.7,138.1,-6.0,154,2206,0.00,2.22,0.00,0.000,6,0.000,0.029,2893,1836,3040
$GC,2500,-0.95,-121.7,156.6,-6.0,178,2503,0.00,2.22,0.00,0.000,4,0.000,0.031,2893,3236,3040
$GC,2562,-1.04,-121.7,160.3,-5.3,181,2576,0.15,2.25,0.00,0.000,6,0.027,0.031,2826,1839,3040
$GC,2855,-0.96,-121.7,183.1,-9.1,206,2860,0.17,2.33,0.00,0.000,4,0.079,0.051,2868,438,3040
$GC,2874,-0.89,-121.7,184.9,-9.3,207,2878,0.00,2.17,0.00,0.000,6,0.000,0.021,2869,1846,3040
$GC,3187,-0.89,-121.7,209.1,-7.0,226,3191,0.00,2.35,0.00,0.000,4,0.000,0.051,2869,440,3040
$GC,3203,-0.89,-121.7,210.7,-6.4,226,3207,0.00,2.17,0.00,0.000,6,0.000,0.024,2869,1837,3040
$GC,3470,-0.89,-121.7,225.7,-5.6,233,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1839,3040
$GC,3714,-0.92,-121.7,239.0,-5.5,239,3718,0.00,2.28,0.00,0.000,4,0.000,0.041,2869,3235,3040
$GC,3744,-0.98,-121.7,240.7,-6.2,239,3748,0.00,2.25,0.00,0.000,6,0.000,0.034,2868,1839,3040
$GC,3994,-1.02,-121.7,258.0,-7.2,245,3998,0.00,2.25,0.00,0.000,4,0.000,0.037,2869,3232,3040
$GC,4021,-1.07,-121.7,260.2,-7.9,245,4025,0.00,2.25,0.00,0.000,6,0.000,0.035,2869,1837,3039
$GC,4277,-1.11,-121.7,277.3,-6.4,252,4282,0.12,2.28,0.00,0.000,4,0.049,0.038,2821,3233,3039
$GC,4337,-1.11,-121.7,282.0,-7.5,253,4341,0.00,2.28,0.00,0.000,6,0.000,0.035,2821,1835,3038
$STATE,4602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4602,begin apogee
$GC,4608,-0.31,0.0,301.6,7.4,260,4707,0.85,0.00,96.40,0.716,6,0.066,0.000,3011,1755,2540
$STATE,4708,end apogee,CONTROL_FINISHED_OK
$STATE,4708,begin climb
$GC,4710,1.13,121.7,303.7,0.0,262,4819,1.35,2.53,99.70,0.703,4,0.036,0.064,3332,356,2043
$GC,4870,0.92,121.7,295.0,11.0,266,4875,0.25,2.25,0.00,0.000,6,0.100,0.027,3283,1745,2040
$GC,5136,0.95,144.9,275.1,7.0,273,5160,0.00,2.42,19.45,0.662,4,0.000,0.058,3282,356,1948
$GC,5183,0.88,144.9,271.7,8.3,274,5186,0.00,2.28,0.00,0.000,6,0.000,0.026,3282,1759,1946
$GC,5474,0.90,160.3,251.3,7.3,281,5493,0.00,2.40,13.73,0.642,4,0.000,0.049,3283,3156,1886
$GC,5539,0.93,160.3,245.2,9.0,282,5543,0.00,2.30,0.00,0.000,6,0.000,0.038,3282,1761,1883
$GC,5805,0.93,160.3,223.3,8.0,289,5809,0.00,2.45,0.00,0.000,4,0.000,0.069,3282,351,1880
$GC,5850,0.90,160.3,219.6,8.5,290,5854,0.00,2.28,0.00,0.000,6,0.000,0.025,3282,1777,1880
$GC,6127,0.95,198.5,201.4,6.3,297,6168,0.00,2.53,31.65,0.653,4,0.000,0.056,3283,356,1729
$GC,6173,0.95,198.5,197.4,9.2,298,6187,0.00,2.28,0.00,0.000,6,0.000,0.024,3282,1758,1727
$GC,6465,0.95,198.5,171.7,8.7,323,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1759,1723
$GC,6756,0.98,198.5,146.6,8.7,348,6760,0.00,2.30,0.00,0.000,4,0.000,0.037,3283,3171,1721
$GC,6784,1.04,198.5,143.1,9.5,349,6796,0.05,2.33,0.00,0.000,6,0.049,0.036,3316,1763,1721
$GC,7083,1.04,198.5,110.8,11.5,374,7087,0.00,2.40,0.00,0.000,4,0.000,0.058,3316,354,1720
$GC,7161,0.99,198.5,101.8,11.9,378,7165,0.00,2.22,0.00,0.000,6,0.000,0.021,3316,1775,1720
$GC,7460,1.01,215.3,77.4,7.3,402,7482,0.00,2.40,14.07,0.536,4,0.000,0.051,3316,356,1660
$GC,7524,0.95,215.3,71.5,9.0,405,7540,0.10,2.22,0.00,0.000,6,0.087,0.023,3291,1751,1658
$GC,7855,1.04,252.4,50.3,6.4,430,7894,0.00,2.38,31.75,0.531,4,0.000,0.051,3290,351,1509
$GC,7917,1.04,252.4,44.5,8.8,433,7932,0.00,2.25,0.00,0.000,6,0.000,0.022,3290,1757,1507
$STATE,8386,end climb,SURFACE_DEPTH_REACHED
$STATE,8387,begin surface coast
$FINISH,1.2,1.011545
$STATE,8428,end surface coast,CONTROL_FINISHED_OK
$STATE,8428,begin surface
$SM_CCo,8448,120.95,0.492,0,0,908,400.08
$SM_GC,1.81,0.00,0.00,120.95,0.000,0.000,0.492,463,1891,908,-12.03,1.44,400.08
$IRIDIUM_FIX,2244.02,-15754.11,100598,030356
$TT8_MAMPS,0.027612
$HUMID,1742
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.80
$XPDR_PINGS,273
$ALTIM_BOTTOM_PING,80.2,6.7
$24V_AH,24.1,28.577
$10V_AH,10.1,27.773
$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,29.875,87.325,306.750,120.950,0.000,28.652,27.334,137.979,68.750,0.000,0.000,15.193,936.044,2473.553,476.307,4519.132,471.665,33.352,1191.756,0.000,3628.008,0.000,6.386,0.000
$DEVICE_MAMPS,166.439,71.331,716.378,492.414,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.251,307.683,3657.751,2312.455,2818.859,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35007,472
$CAP_FILE_SIZE,189878,193
$CFSIZE,260165632,249266176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130209,083406,2248.557,-15750.844,12,1.5,28,10.1