version: 66.04
glider: 147
mission: 3
dive: 201
start: 2 15 109 11 48 3
data:
$ID,147
$MISSION,3
$DIVE,201
$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,-22008.064
$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,68
$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
$GPS1,114116,2250.965,-15753.315,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-61.2
$GPS2,114707,2251.042,-15753.328,27,1.5,27,10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.104,-0.196
$KALMAN_X,-14811.6,-89.8,-266.2,54923.4,-18.9
$KALMAN_Y,-7798.8,-407.2,315.8,175330.1,897.2
$MHEAD_RNG_PITCHd_Wd,142.0,9293,-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,15,-1.13,-121.7,0.0,0.0,0,84,0.00,0.00,-66.62,0.000,2,0.000,0.000,469,1877,2321
$GC,87,-1.13,-121.7,3.0,-2.4,10,136,12.65,2.45,-27.40,0.000,4,0.155,0.058,2830,432,3036
$GC,214,-0.97,-121.7,11.6,-10.3,31,222,0.15,2.17,0.00,0.000,6,0.089,0.019,2865,1836,3037
$GC,481,-0.89,-121.7,36.0,-8.8,74,485,0.10,2.20,0.00,0.000,4,0.098,0.028,2887,3219,3037
$GC,502,-0.84,-121.7,38.1,-8.8,75,509,0.00,2.25,0.00,0.000,6,0.000,0.027,2887,1831,3037
$GC,764,-0.80,-121.7,59.5,-9.3,100,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1831,3037
$GC,1020,-0.76,-121.7,80.7,-9.0,124,1024,0.12,2.22,0.00,0.000,4,0.085,0.028,2914,3225,3037
$GC,1069,-0.85,-121.7,84.6,-7.1,128,1076,0.00,2.25,0.00,0.000,6,0.000,0.028,2914,1834,3038
$GC,1335,-0.89,-121.7,101.6,-8.5,153,1339,0.12,2.22,0.00,0.000,4,0.048,0.028,2861,3233,3038
$GC,1367,-0.85,-121.7,105.4,-10.6,155,1374,0.15,2.22,0.00,0.000,6,0.077,0.029,2896,1835,3038
$GC,1629,-0.85,-121.7,126.3,-7.2,180,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1834,3038
$GC,1883,-0.88,-121.7,138.7,-5.2,204,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1834,3039
$GC,2140,-0.93,-121.7,154.8,-6.8,228,2143,0.00,2.22,0.00,0.000,4,0.000,0.031,2896,3224,3039
$GC,2187,-1.03,-121.7,157.9,-6.1,232,2192,0.17,2.22,0.00,0.000,6,0.038,0.037,2829,1833,3039
$GC,2450,-0.93,-121.7,176.1,-7.0,256,2452,0.22,0.00,0.00,0.000,6,0.076,0.000,2880,1832,3039
$GC,2705,-0.96,-121.7,188.9,-5.8,280,2709,0.00,2.22,0.00,0.000,4,0.000,0.032,2880,3218,3039
$GC,2755,-1.03,-121.7,192.3,-6.4,284,2762,0.10,2.22,0.00,0.000,6,0.056,0.031,2834,1833,3040
$GC,3021,-0.96,-121.7,213.2,-7.7,298,3025,0.17,2.35,0.00,0.000,4,0.080,0.054,2877,431,3040
$GC,3049,-0.96,-121.7,215.4,-7.5,298,3053,0.00,2.17,0.00,0.000,6,0.000,0.022,2877,1824,3039
$GC,3307,-1.00,-121.7,231.2,-6.1,305,3311,0.00,2.30,0.00,0.000,4,0.000,0.039,2877,3244,3039
$GC,3352,-1.08,-121.7,233.7,-5.2,306,3357,0.15,2.28,0.00,0.000,6,0.042,0.034,2820,1833,3039
$GC,3630,-1.00,-121.7,253.6,-7.1,313,3632,0.20,0.00,0.00,0.000,6,0.080,0.000,2864,1832,3039
$GC,3873,-1.00,-121.7,265.6,-4.8,319,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1832,3039
$GC,4118,-1.00,-121.7,280.3,-6.5,325,4122,0.00,2.30,0.00,0.000,4,0.000,0.038,2864,3241,3038
$GC,4152,-1.04,-121.7,282.9,-7.5,325,4158,0.00,2.28,0.00,0.000,6,0.000,0.035,2864,1840,3038
$STATE,4402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4402,begin apogee
$GC,4408,-0.31,0.0,301.8,7.7,332,4507,0.65,0.00,96.72,0.720,6,0.061,0.000,3012,1745,2540
$STATE,4508,end apogee,CONTROL_FINISHED_OK
$STATE,4508,begin climb
$GC,4510,1.13,121.7,305.1,0.0,334,4618,1.33,2.45,99.88,0.707,4,0.038,0.065,3329,359,2043
$GC,4645,0.92,121.7,299.4,10.7,337,4650,0.25,2.25,0.00,0.000,6,0.101,0.026,3280,1747,2040
$GC,4917,0.92,121.7,275.3,8.8,344,4921,0.00,2.40,0.00,0.000,4,0.000,0.048,3280,3169,2035
$GC,4937,0.92,121.7,273.3,9.5,344,4942,0.00,2.35,0.00,0.000,6,0.000,0.037,3280,1768,2033
$GC,5198,0.92,121.7,250.9,8.5,351,5202,0.00,2.47,0.00,0.000,4,0.000,0.071,3279,357,2032
$GC,5259,0.86,121.7,245.0,9.1,352,5263,0.00,2.25,0.00,0.000,6,0.000,0.025,3280,1765,2031
$GC,5526,0.88,141.1,226.0,7.1,359,5544,0.00,0.00,15.88,0.641,6,0.000,0.000,3280,1765,1964
$GC,5770,0.89,142.3,206.5,8.0,365,5774,0.00,2.42,0.00,0.000,4,0.000,0.058,3279,349,1960
$GC,5803,0.83,142.3,203.5,8.7,365,5809,0.00,2.25,0.00,0.000,6,0.000,0.024,3279,1765,1959
$GC,6062,0.93,225.4,187.3,4.3,387,6139,0.00,2.45,69.70,0.652,4,0.000,0.056,3279,350,1618
$GC,6200,0.93,225.4,177.6,9.1,399,6208,0.00,2.28,0.00,0.000,6,0.000,0.024,3279,1753,1613
$GC,6463,0.97,225.4,154.8,8.7,424,6467,0.00,2.33,0.00,0.000,4,0.000,0.039,3279,3170,1609
$GC,6519,1.06,225.4,149.6,9.4,429,6523,0.15,2.33,0.00,0.000,6,0.044,0.036,3330,1755,1609
$GC,6782,1.01,225.4,124.7,11.0,453,6786,0.15,2.28,0.00,0.000,4,0.097,0.033,3299,3165,1607
$GC,6828,1.08,225.4,119.8,10.1,457,6832,0.00,2.30,0.00,0.000,6,0.000,0.035,3299,1752,1607
$GC,7094,1.08,225.4,95.0,10.7,482,7098,0.00,2.38,0.00,0.000,4,0.000,0.058,3299,355,1606
$GC,7165,1.08,225.4,86.9,10.7,488,7169,0.00,2.22,0.00,0.000,6,0.000,0.021,3299,1777,1605
$GC,7427,1.12,225.4,64.5,10.0,512,7432,0.10,2.22,0.00,0.000,4,0.057,0.031,3337,3165,1605
$GC,7504,1.12,225.4,56.4,11.3,518,7512,0.00,2.30,0.00,0.000,6,0.000,0.034,3337,1763,1605
$GC,7767,1.06,225.4,28.5,11.3,544,7775,0.12,2.40,0.00,0.000,4,0.101,0.058,3312,361,1605
$GC,7793,1.00,225.4,25.0,12.8,548,7800,0.00,2.20,0.00,0.000,6,0.000,0.021,3312,1752,1604
$STATE,8009,end climb,SURFACE_DEPTH_REACHED
$STATE,8009,begin surface coast
$FINISH,1.2,1.024204
$STATE,8026,end surface coast,CONTROL_FINISHED_OK
$STATE,8026,begin surface
$SM_CCo,8047,141.40,0.495,0,0,909,400.08
$SM_GC,1.93,0.00,0.00,141.40,0.000,0.000,0.495,462,1883,909,-12.04,1.22,400.08
$IRIDIUM_FIX,2244.02,-15754.11,120598,090945
$TT8_MAMPS,0.027612
$HUMID,1774
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.50
$XPDR_PINGS,467
$24V_AH,24.1,30.863
$10V_AH,10.2,31.136
$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,28.675,87.375,282.175,141.400,0.000,30.604,25.446,185.348,122.500,0.000,0.000,28.689,1088.523,4999.843,525.009,1525.981,410.837,33.356,1169.494,0.000,1501.921,0.000,38.776,0.000
$DEVICE_MAMPS,154.934,70.564,720.213,495.482,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,416.518,349.689,0.000,593.230,838.895,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44511,591
$CAP_FILE_SIZE,88270,0
$CFSIZE,260165632,248213504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150209,140537,2250.517,-15752.895,27,1.1,27,10.1