version: 66.04
glider: 147
mission: 3
dive: 191
start: 2 14 109 11 58 39
data:
$ID,147
$MISSION,3
$DIVE,191
$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,-21769.029
$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,24
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$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
$GPS1,114937,2249.218,-15751.419,38,1.1,38,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-62.7
$GPS2,115743,2249.281,-15751.429,9,1.7,9,10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.197,-0.102
$KALMAN_X,-11788.3,198.2,-31.9,54661.4,-222.6
$KALMAN_Y,-11772.9,-357.6,543.6,175766.3,56.0
$MHEAD_RNG_PITCHd_Wd,107.3,4777,-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,-121.7,0.0,0.0,0,91,0.00,0.00,-73.35,0.000,2,0.000,0.000,475,1896,2499
$GC,94,-1.13,-121.7,3.2,-3.1,11,130,12.60,2.53,-17.52,0.000,4,0.154,0.061,2827,426,3037
$GC,231,-1.00,-121.7,18.7,-13.9,34,239,0.12,2.25,0.00,0.000,6,0.095,0.021,2857,1856,3038
$GC,501,-0.91,-121.7,43.9,-10.7,71,503,0.12,0.00,0.00,0.000,6,0.097,0.000,2883,1858,3039
$GC,756,-0.87,-121.7,68.3,-10.4,95,760,0.00,2.20,0.00,0.000,4,0.000,0.030,2883,3243,3038
$GC,815,-0.87,-121.7,73.5,-8.5,100,819,0.00,2.25,0.00,0.000,6,0.000,0.028,2883,1831,3039
$GC,1078,-0.87,-121.7,93.8,-6.9,124,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1831,3039
$GC,1330,-0.87,-121.7,111.3,-7.9,148,1334,0.00,2.25,0.00,0.000,4,0.000,0.029,2883,3243,3039
$GC,1358,-0.87,-121.7,113.6,-8.5,150,1362,0.00,2.25,0.00,0.000,6,0.000,0.028,2883,1831,3039
$GC,1620,-0.87,-121.7,138.3,-9.0,174,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1830,3039
$GC,1874,-0.87,-121.7,159.3,-6.7,198,1878,0.00,2.25,0.00,0.000,4,0.000,0.030,2883,3240,3040
$GC,1918,-0.92,-121.7,162.0,-5.3,201,1925,0.00,2.25,0.00,0.000,6,0.000,0.029,2883,1846,3040
$GC,2180,-0.92,-121.7,176.6,-5.3,226,2184,0.00,2.20,0.00,0.000,4,0.000,0.031,2883,3233,3040
$GC,2208,-0.97,-121.7,178.2,-5.5,228,2215,0.00,2.25,0.00,0.000,6,0.000,0.029,2883,1840,3040
$GC,2472,-0.97,-121.7,191.2,-5.7,253,2475,0.00,2.22,0.00,0.000,4,0.000,0.031,2883,3232,3040
$GC,2499,-1.01,-121.7,193.2,-6.8,255,2507,0.08,2.25,0.00,0.000,6,0.036,0.030,2833,1842,3040
$GC,2783,-0.94,-121.7,220.0,-9.5,268,2785,0.20,0.00,0.00,0.000,6,0.083,0.000,2876,1841,3040
$GC,3027,-0.98,-121.7,233.1,-4.7,274,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1840,3040
$GC,3272,-1.02,-121.7,244.4,-4.8,280,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1840,3040
$GC,3514,-1.07,-121.7,259.1,-6.1,286,3519,0.12,2.25,0.00,0.000,4,0.049,0.034,2824,3233,3040
$GC,3546,-1.03,-121.7,261.5,-8.0,286,3553,0.15,2.25,0.00,0.000,6,0.081,0.032,2857,1835,3040
$GC,3797,-1.03,-121.7,276.3,-5.9,293,3802,0.00,2.25,0.00,0.000,4,0.000,0.035,2857,3227,3039
$GC,3819,-1.03,-121.7,277.8,-6.0,293,3823,0.00,2.25,0.00,0.000,6,0.000,0.035,2857,1837,3040
$GC,4080,-1.03,-121.7,294.1,-6.4,300,4084,0.00,2.25,0.00,0.000,4,0.000,0.036,2857,3226,3039
$GC,4113,-1.08,-121.7,296.5,-6.5,300,4119,0.00,2.25,0.00,0.000,6,0.000,0.035,2857,1836,3038
$STATE,4199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4199,begin apogee
$GC,4205,-0.31,0.0,302.2,6.7,303,4304,0.68,0.00,96.38,0.719,6,0.064,0.000,3010,1756,2540
$STATE,4305,end apogee,CONTROL_FINISHED_OK
$STATE,4305,begin climb
$GC,4307,1.13,121.7,304.2,0.0,305,4411,1.33,0.00,99.38,0.707,6,0.038,0.000,3330,1756,2044
$GC,4633,1.00,121.7,277.4,10.3,313,4635,0.15,0.00,0.00,0.000,6,0.106,0.000,3300,1756,2036
$GC,4877,0.97,146.4,259.2,6.9,319,4899,0.00,0.00,20.65,0.661,6,0.000,0.000,3300,1756,1943
$GC,5120,0.97,178.6,243.5,6.6,325,5150,0.00,0.00,28.00,0.666,6,0.000,0.000,3300,1756,1811
$GC,5364,0.94,178.6,222.4,8.9,331,5368,0.00,2.42,0.00,0.000,4,0.000,0.064,3300,355,1805
$GC,5419,0.88,178.6,216.4,11.4,332,5424,0.15,2.22,0.00,0.000,6,0.103,0.025,3270,1747,1804
$GC,5678,0.94,178.6,191.4,9.6,344,5682,0.00,2.38,0.00,0.000,4,0.000,0.057,3270,359,1802
$GC,5706,0.94,178.6,188.7,10.1,346,5710,0.00,2.22,0.00,0.000,6,0.000,0.025,3270,1764,1801
$GC,5970,1.06,226.2,170.6,5.9,370,6015,0.17,2.40,38.92,0.633,4,0.044,0.046,3325,3168,1616
$GC,6060,1.06,226.2,162.4,10.0,378,6065,0.00,2.33,0.00,0.000,6,0.000,0.036,3325,1755,1612
$GC,6323,1.03,226.2,131.1,12.1,402,6325,0.10,0.00,0.00,0.000,6,0.110,0.000,3305,1754,1609
$GC,6576,1.03,228.9,108.9,7.9,426,6580,0.00,2.28,0.00,0.000,4,0.000,0.033,3305,3168,1608
$GC,6621,1.11,228.9,105.4,8.4,430,6625,0.00,2.30,0.00,0.000,6,0.000,0.035,3305,1756,1607
$GC,6888,1.11,228.9,82.6,8.7,455,6892,0.00,2.38,0.00,0.000,4,0.000,0.059,3305,356,1606
$GC,6939,1.11,228.9,77.6,10.1,459,6943,0.00,2.20,0.00,0.000,6,0.000,0.020,3305,1775,1606
$GC,7201,1.15,260.3,58.4,6.6,483,7235,0.10,2.30,28.45,0.534,4,0.059,0.031,3341,3157,1477
$GC,7248,1.10,260.3,54.4,8.5,487,7253,0.10,2.28,0.00,0.000,6,0.104,0.031,3322,1758,1475
$GC,7512,1.14,290.4,33.7,6.7,511,7545,0.00,0.00,25.77,0.509,6,0.000,0.000,3322,1758,1354
$GC,7803,1.09,290.4,3.6,11.7,561,7810,0.00,2.40,0.00,0.000,4,0.000,0.058,3322,360,1349
$STATE,7815,end climb,SURFACE_DEPTH_REACHED
$STATE,7815,begin surface coast
$FINISH,1.2,1.024127
$STATE,7833,end surface coast,CONTROL_FINISHED_OK
$STATE,7833,begin surface
$SM_CCo,7855,90.97,0.492,0,0,908,400.08
$SM_GC,1.85,0.00,0.00,90.97,0.000,0.000,0.492,468,1879,908,-12.02,1.10,400.08
$IRIDIUM_FIX,2239.35,-15749.78,110598,121254
$TT8_MAMPS,0.027612
$HUMID,1792
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,460
$24V_AH,24.1,29.828
$10V_AH,10.2,30.243
$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,27.875,73.225,337.550,90.975,0.000,61.722,143.591,129.489,120.750,0.000,0.000,10.934,1026.456,5016.857,514.447,1385.118,500.628,33.365,1104.202,0.000,1386.574,0.000,37.576,0.000
$DEVICE_MAMPS,154.167,72.865,719.446,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.105,334.645,0.000,570.909,806.948,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41452,566
$CAP_FILE_SIZE,81211,0
$CFSIZE,260165632,248672256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140209,141224,2248.980,-15750.668,23,1.3,41,10.1