version: 66.04
glider: 147
mission: 3
dive: 188
start: 2 14 109 5 1 17
data:
$ID,147
$MISSION,3
$DIVE,188
$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,-21687.744
$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,25
$R_STBD_OVSHOOT,69
$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
$GPS1,045506,2250.119,-15753.414,14,1.0,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-64.2
$GPS2,050020,2250.106,-15753.438,14,1.2,14,10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.221,-0.014
$KALMAN_X,-10586.7,-88.8,25.6,50224.0,-292.4
$KALMAN_Y,-11709.8,178.9,-403.3,177648.9,-593.4
$MHEAD_RNG_PITCHd_Wd,83.5,8523,-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,-121.7,0.0,0.0,0,77,0.00,0.00,-60.42,0.000,2,0.000,0.000,469,1876,2198
$GC,80,-1.13,-121.7,3.0,-2.6,9,135,12.68,0.00,-34.67,0.000,6,0.156,0.000,2828,1876,3036
$GC,395,-0.97,-121.7,35.8,-12.6,61,397,0.20,0.00,0.00,0.000,6,0.093,0.000,2869,1876,3036
$GC,650,-0.90,-121.7,63.3,-8.7,85,653,0.00,2.12,0.00,0.000,4,0.000,0.029,2869,3214,3037
$GC,685,-0.86,-121.7,66.8,-10.1,88,690,0.10,2.20,0.00,0.000,6,0.095,0.029,2891,1835,3037
$GC,946,-0.86,-121.7,89.0,-8.4,112,950,0.00,2.20,0.00,0.000,4,0.000,0.029,2891,3215,3037
$GC,981,-0.86,-121.7,91.8,-7.6,115,985,0.00,2.20,0.00,0.000,6,0.000,0.028,2891,1832,3037
$GC,1243,-0.86,-121.7,114.3,-8.2,139,1247,0.00,2.30,0.00,0.000,4,0.000,0.048,2891,438,3037
$GC,1274,-0.86,-121.7,117.2,-8.9,141,1281,0.00,2.15,0.00,0.000,6,0.000,0.020,2891,1820,3037
$GC,1538,-0.89,-121.7,135.5,-6.3,166,1542,0.00,2.22,0.00,0.000,4,0.000,0.031,2891,3226,3038
$GC,1594,-0.96,-121.7,139.1,-6.3,171,1598,0.00,2.20,0.00,0.000,6,0.000,0.029,2892,1839,3038
$GC,1857,-1.00,-121.7,157.7,-8.1,195,1858,0.12,0.00,0.00,0.000,6,0.047,0.000,2839,1837,3038
$GC,2112,-0.93,-121.7,182.9,-9.5,219,2117,0.17,2.20,0.00,0.000,4,0.080,0.028,2882,3227,3039
$GC,2140,-0.97,-121.7,185.3,-8.2,221,2144,0.00,2.22,0.00,0.000,6,0.000,0.031,2882,1834,3039
$GC,2431,-1.00,-121.7,205.5,-6.5,242,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1833,3039
$GC,2676,-1.04,-121.7,223.5,-7.6,248,2680,0.12,2.25,0.00,0.000,4,0.047,0.031,2831,3231,3038
$GC,2708,-1.01,-121.7,226.5,-8.9,248,2714,0.12,2.22,0.00,0.000,6,0.083,0.031,2858,1840,3039
$GC,2958,-1.01,-121.7,243.6,-6.5,255,2962,0.00,2.35,0.00,0.000,4,0.000,0.055,2858,438,3039
$GC,3007,-1.01,-121.7,247.7,-8.1,256,3011,0.00,2.17,0.00,0.000,6,0.000,0.023,2858,1832,3039
$GC,3285,-1.01,-121.7,268.1,-7.7,263,3289,0.00,2.30,0.00,0.000,4,0.000,0.044,2858,3239,3039
$GC,3346,-1.06,-121.7,273.1,-7.8,264,3350,0.00,2.25,0.00,0.000,6,0.000,0.036,2859,1846,3039
$GC,3609,-1.06,-121.7,290.3,-6.2,271,3613,0.00,2.28,0.00,0.000,4,0.000,0.040,2858,3240,3038
$GC,3648,-1.10,-121.7,292.9,-6.3,272,3652,0.00,2.28,0.00,0.000,6,0.000,0.036,2858,1837,3038
$STATE,3773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3773,begin apogee
$GC,3779,-0.31,0.0,300.6,6.1,275,3878,0.68,0.00,96.20,0.709,6,0.062,0.000,3012,1758,2540
$STATE,3879,end apogee,CONTROL_FINISHED_OK
$STATE,3879,begin climb
$GC,3881,1.13,121.7,301.8,0.0,277,3990,1.35,2.53,99.03,0.698,4,0.039,0.066,3331,359,2043
$GC,4024,0.92,121.7,291.0,11.7,281,4029,0.25,2.25,0.00,0.000,6,0.100,0.026,3281,1750,2040
$GC,4302,0.95,142.6,268.9,7.1,288,4326,0.00,2.47,17.50,0.650,4,0.000,0.050,3281,3178,1957
$GC,4382,0.99,172.5,263.6,6.7,289,4413,0.00,2.35,25.92,0.663,6,0.000,0.038,3281,1757,1836
$GC,4668,0.99,172.5,241.8,8.1,297,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1757,1829
$GC,4912,0.99,172.5,219.7,9.3,303,4916,0.00,2.45,0.00,0.000,4,0.000,0.069,3281,351,1827
$GC,4961,0.99,172.5,214.1,11.6,304,4966,0.00,2.28,0.00,0.000,6,0.000,0.025,3281,1759,1827
$GC,5224,1.02,172.5,188.9,9.1,318,5228,0.00,2.30,0.00,0.000,4,0.000,0.039,3281,3168,1825
$GC,5253,1.07,172.5,186.3,10.0,320,5258,0.15,2.30,0.00,0.000,6,0.045,0.037,3332,1746,1825
$GC,5520,1.00,172.5,155.0,12.2,345,5522,0.17,0.00,0.00,0.000,6,0.094,0.000,3296,1746,1824
$GC,5775,1.00,172.5,130.4,8.0,369,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1745,1824
$GC,6029,1.03,197.1,113.3,6.9,393,6050,0.00,0.00,19.23,0.576,6,0.000,0.000,3296,1746,1736
$GC,6305,1.07,197.9,91.6,8.0,419,6309,0.00,2.38,0.00,0.000,4,0.000,0.059,3295,350,1731
$GC,6338,1.07,197.9,88.6,8.6,421,6344,0.00,2.25,0.00,0.000,6,0.000,0.021,3296,1762,1731
$GC,6602,1.13,211.8,69.4,7.4,446,6626,0.12,2.38,13.15,0.524,4,0.052,0.051,3338,357,1674
$GC,6654,1.01,211.8,64.1,11.3,450,6661,0.15,2.25,0.00,0.000,6,0.088,0.025,3303,1761,1673
$GC,6916,1.01,211.8,42.0,8.9,475,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1762,1672
$GC,7172,1.01,211.8,16.9,9.3,511,7179,0.00,2.30,0.00,0.000,4,0.000,0.046,3303,3158,1671
$GC,7197,1.01,211.8,13.9,11.2,515,7205,0.00,2.28,0.00,0.000,6,0.000,0.034,3303,1758,1671
$STATE,7317,end climb,SURFACE_DEPTH_REACHED
$STATE,7317,begin surface coast
$FINISH,1.1,1.024306
$STATE,7336,end surface coast,CONTROL_FINISHED_OK
$STATE,7336,begin surface
$SM_CCo,7357,153.38,0.494,0,0,908,400.08
$SM_GC,1.82,0.00,0.00,153.38,0.000,0.000,0.494,467,1874,908,-12.02,0.96,400.08
$IRIDIUM_FIX,2241.69,-15754.99,110598,020237
$TT8_MAMPS,0.027612
$HUMID,1771
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.50
$XPDR_PINGS,445
$24V_AH,24.1,29.521
$10V_AH,10.2,29.981
$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,28.075,73.125,271.025,153.375,0.000,29.710,29.587,139.245,117.250,0.000,0.000,16.068,1004.746,4524.302,516.591,1413.734,363.557,33.352,1115.863,0.000,1397.855,0.000,40.391,0.000
$DEVICE_MAMPS,156.468,72.865,708.708,493.948,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.465,320.245,0.000,558.832,789.740,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41270,540
$CAP_FILE_SIZE,80290,0
$CFSIZE,260165632,248807424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140209,070734,2249.727,-15752.645,9,2.3,28,10.1