version: 66.04
glider: 147
mission: 3
dive: 187
start: 2 14 109 2 43 34
data:
$ID,147
$MISSION,3
$DIVE,187
$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,-21671.047
$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,23
$R_STBD_OVSHOOT,37
$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
$GPS1,023103,2250.776,-15754.019,12,99.0,31,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-64.6
$GPS2,024237,2250.746,-15754.081,11,1.2,13,10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.220,-0.028
$KALMAN_X,-9977.2,-242.3,100.1,48580.7,19.5
$KALMAN_Y,-11376.5,305.5,109.2,177862.9,-758.6
$MHEAD_RNG_PITCHd_Wd,87.2,10056,-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,-121.7,0.0,0.0,0,94,0.00,0.00,-77.43,0.000,2,0.000,0.000,475,1892,2591
$GC,99,-1.13,-121.7,3.0,-1.5,5,130,12.88,0.00,-12.90,0.000,6,0.163,0.000,2827,1892,3036
$GC,548,-0.97,-121.7,53.3,-10.4,39,553,0.20,2.15,0.00,0.000,4,0.096,0.028,2872,3252,3037
$GC,596,-0.92,-121.7,58.3,-7.9,41,612,0.00,2.30,0.00,0.000,6,0.000,0.030,2871,1834,3037
$GC,922,-0.86,-121.7,87.1,-10.9,66,938,0.10,0.00,0.00,0.000,6,0.097,0.000,2894,1833,3038
$GC,1224,-0.86,-121.7,112.8,-6.0,91,1228,0.00,2.25,0.00,0.000,4,0.000,0.029,2894,3251,3038
$GC,1251,-0.86,-121.7,114.4,-5.7,92,1255,0.00,2.25,0.00,0.000,6,0.000,0.028,2894,1834,3038
$GC,1548,-0.86,-121.7,128.9,-5.1,116,1552,0.00,2.30,0.00,0.000,4,0.000,0.049,2893,440,3038
$GC,1570,-0.86,-121.7,130.7,-5.3,117,1584,0.00,2.20,0.00,0.000,6,0.000,0.021,2894,1858,3038
$GC,1870,-0.90,-121.7,147.9,-5.9,142,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1858,3038
$GC,2164,-0.96,-121.7,163.2,-4.5,167,2178,0.10,0.00,0.00,0.000,6,0.056,0.000,2845,1858,3039
$GC,2456,-0.92,-121.7,186.1,-8.6,192,2461,0.15,2.38,0.00,0.000,4,0.078,0.049,2879,435,3039
$GC,2501,-0.92,-121.7,190.3,-7.3,194,2514,0.00,2.20,0.00,0.000,6,0.000,0.023,2879,1828,3039
$GC,2794,-0.96,-121.7,207.5,-5.8,212,2798,0.00,2.25,0.00,0.000,4,0.000,0.036,2879,3237,3039
$GC,2821,-1.02,-121.7,209.1,-6.0,212,2825,0.00,2.22,0.00,0.000,6,0.000,0.031,2879,1843,3039
$GC,3076,-1.06,-121.7,223.8,-6.0,219,3081,0.12,2.35,0.00,0.000,4,0.049,0.054,2829,439,3039
$GC,3154,-0.98,-121.7,230.7,-9.5,220,3166,0.12,2.22,0.00,0.000,6,0.075,0.023,2862,1844,3039
$GC,3404,-0.98,-121.7,248.8,-7.3,227,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1844,3039
$GC,3647,-0.98,-121.7,266.4,-6.9,233,3651,0.00,2.25,0.00,0.000,4,0.000,0.042,2862,3231,3038
$GC,3686,-1.04,-121.7,268.7,-5.7,234,3691,0.00,2.25,0.00,0.000,6,0.000,0.035,2863,1841,3037
$GC,3983,-1.04,-121.7,284.9,-5.8,241,3987,0.00,2.28,0.00,0.000,4,0.000,0.038,2863,3239,3036
$GC,4044,-1.09,-121.7,290.2,-8.0,242,4048,0.00,2.28,0.00,0.000,6,0.000,0.036,2862,1833,3036
$STATE,4194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4194,begin apogee
$GC,4200,-0.31,0.0,303.1,9.1,246,4299,0.65,0.00,96.10,0.718,6,0.064,0.000,3010,1756,2539
$STATE,4299,end apogee,CONTROL_FINISHED_OK
$STATE,4299,begin climb
$GC,4302,1.13,121.7,308.0,0.0,248,4405,1.35,0.00,99.45,0.706,6,0.040,0.000,3334,1756,2044
$GC,4637,0.99,121.7,286.3,10.3,256,4641,0.17,2.33,0.00,0.000,4,0.101,0.042,3295,3146,2036
$GC,4669,0.96,121.7,281.7,10.2,256,4675,0.00,2.28,0.00,0.000,6,0.000,0.039,3295,1762,2034
$GC,4919,0.92,121.7,255.1,10.8,263,4923,0.00,2.47,0.00,0.000,4,0.000,0.068,3296,345,2032
$GC,4934,0.85,121.7,253.4,10.0,263,4939,0.15,2.25,0.00,0.000,6,0.102,0.025,3265,1748,2032
$GC,5202,0.94,171.6,236.6,5.8,270,5251,0.00,2.40,41.12,0.673,4,0.000,0.044,3265,3154,1837
$GC,5297,1.10,223.2,231.3,5.7,272,5347,0.22,2.30,43.00,0.663,6,0.038,0.038,3333,1751,1627
$GC,5625,1.01,223.2,198.5,10.0,280,5630,0.17,2.42,0.00,0.000,4,0.097,0.064,3297,353,1619
$GC,5660,0.95,223.2,195.4,11.5,282,5664,0.00,2.25,0.00,0.000,6,0.000,0.025,3298,1765,1618
$GC,5948,0.95,223.2,162.8,11.9,306,5952,0.00,2.40,0.00,0.000,4,0.000,0.054,3297,354,1616
$GC,6028,0.92,223.2,153.3,10.5,310,6042,0.00,2.25,0.00,0.000,6,0.000,0.024,3297,1757,1616
$GC,6326,0.92,223.2,128.8,11.0,335,6331,0.00,2.38,0.00,0.000,4,0.000,0.053,3297,353,1615
$GC,6511,0.92,223.2,106.6,10.6,345,6526,0.00,2.25,0.00,0.000,6,0.000,0.023,3297,1762,1614
$GC,6812,0.93,232.8,81.6,7.6,370,6834,0.00,2.40,6.70,0.482,4,0.000,0.051,3298,360,1590
$GC,7003,0.93,232.8,63.5,10.0,380,7020,0.00,2.22,0.00,0.000,6,0.000,0.022,3297,1758,1589
$GC,7335,0.97,237.5,32.9,7.8,405,7356,0.00,2.30,5.53,0.421,4,0.000,0.038,3297,3154,1570
$GC,7410,1.11,303.5,28.3,5.1,409,7473,0.05,2.28,56.50,0.514,6,0.049,0.035,3334,1759,1301
$STATE,7682,end climb,SURFACE_DEPTH_REACHED
$STATE,7682,begin surface coast
$FINISH,1.2,1.024273
$STATE,7723,end surface coast,CONTROL_FINISHED_OK
$STATE,7723,begin surface
$SM_CCo,7744,79.78,0.492,0,0,908,400.08
$SM_GC,1.89,0.00,0.00,79.78,0.000,0.000,0.492,469,1876,908,-12.01,1.02,400.08
$IRIDIUM_FIX,2244.02,-15754.11,110598,020247
$TT8_MAMPS,0.027612
$HUMID,1755
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,255
$ALTIM_BOTTOM_PING,80.6,6.7
$24V_AH,24.1,29.423
$10V_AH,9.9,29.897
$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,28.225,73.550,348.400,79.775,0.000,78.395,87.431,290.226,64.250,0.000,0.000,14.591,850.072,2402.845,449.458,4102.865,716.662,33.346,1166.674,0.000,3913.425,0.000,7.609,0.000
$DEVICE_MAMPS,162.604,72.098,717.912,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,384.018,292.640,3333.296,2004.526,2437.622,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32016,432
$CAP_FILE_SIZE,178053,171
$CFSIZE,260165632,248778752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,140209,045506,2250.119,-15753.414,14,1.0,30,10.1