version: 66.04
glider: 147
mission: 3
dive: 216
start: 2 16 109 23 20 2
data:
$ID,147
$MISSION,3
$DIVE,216
$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,-22281.564
$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,77
$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
$GPS1,231028,2250.974,-15753.971,8,99.0,27,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-64.6
$GPS2,231906,2251.025,-15754.054,17,1.4,27,10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.151,-0.162
$KALMAN_X,-24768.8,-30.2,-254.8,63564.8,-772.5
$KALMAN_Y,-813.5,136.2,-222.2,168310.4,985.8
$MHEAD_RNG_PITCHd_Wd,127.0,10288,-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,-121.7,0.0,0.0,0,84,0.00,0.00,-66.70,0.000,2,0.000,0.000,473,1869,2331
$GC,87,-1.13,-121.7,3.1,-3.1,10,130,12.82,2.47,-24.10,0.000,4,0.162,0.058,2829,425,3036
$GC,184,-0.96,-121.7,13.4,-14.3,26,192,0.15,2.17,0.00,0.000,6,0.093,0.028,2865,1824,3037
$GC,455,-0.86,-121.7,38.7,-8.9,67,456,0.12,0.00,0.00,0.000,6,0.093,0.000,2892,1825,3038
$GC,709,-0.86,-121.7,58.8,-7.1,91,713,0.00,2.22,0.00,0.000,4,0.000,0.029,2892,3221,3038
$GC,730,-0.86,-121.7,60.5,-7.2,92,738,0.00,2.25,0.00,0.000,6,0.000,0.028,2892,1832,3038
$GC,992,-0.86,-121.7,79.8,-7.4,117,1002,0.00,2.22,0.00,0.000,4,0.000,0.029,2892,3226,3038
$GC,1044,-0.86,-121.7,83.6,-7.2,121,1048,0.00,2.22,0.00,0.000,6,0.000,0.029,2892,1832,3039
$GC,1306,-0.86,-121.7,103.6,-7.7,145,1310,0.00,2.30,0.00,0.000,4,0.000,0.048,2892,439,3038
$GC,1334,-0.86,-121.7,105.9,-8.3,147,1338,0.00,2.15,0.00,0.000,6,0.000,0.020,2892,1839,3039
$GC,1601,-0.86,-121.7,123.8,-6.1,172,1605,0.00,2.20,0.00,0.000,4,0.000,0.030,2892,3229,3039
$GC,1671,-0.86,-121.7,127.8,-6.5,178,1675,0.00,2.22,0.00,0.000,6,0.000,0.028,2892,1831,3039
$GC,1931,-0.86,-121.7,147.1,-8.6,202,1935,0.00,2.30,0.00,0.000,4,0.000,0.048,2892,438,3039
$GC,1952,-0.86,-121.7,149.1,-9.2,203,1958,0.00,2.17,0.00,0.000,6,0.000,0.020,2892,1838,3039
$GC,2215,-0.90,-121.7,170.1,-7.0,228,2218,0.00,2.20,0.00,0.000,4,0.000,0.031,2892,3222,3039
$GC,2262,-0.97,-121.7,173.4,-6.7,232,2266,0.10,2.22,0.00,0.000,6,0.053,0.029,2844,1829,3040
$GC,2525,-0.91,-121.7,194.5,-8.2,256,2527,0.17,0.00,0.00,0.000,6,0.077,0.000,2883,1829,3040
$GC,2770,-0.95,-121.7,211.5,-6.9,268,2774,0.00,2.25,0.00,0.000,4,0.000,0.032,2883,3233,3040
$GC,2804,-1.02,-121.7,213.8,-6.8,268,2810,0.12,2.22,0.00,0.000,6,0.047,0.031,2827,1842,3040
$GC,3053,-0.95,-121.7,235.2,-8.5,275,3058,0.17,2.20,0.00,0.000,4,0.079,0.032,2870,3222,3040
$GC,3074,-0.95,-121.7,237.0,-8.3,275,3078,0.00,2.25,0.00,0.000,6,0.000,0.031,2870,1842,3040
$GC,3341,-0.95,-121.7,250.5,-4.6,282,3345,0.00,2.38,0.00,0.000,4,0.000,0.058,2870,435,3040
$GC,3357,-0.95,-121.7,251.3,-4.4,282,3361,0.00,2.20,0.00,0.000,6,0.000,0.026,2870,1822,3040
$GC,3624,-0.98,-121.7,263.8,-5.1,289,3628,0.00,2.30,0.00,0.000,4,0.000,0.041,2870,3232,3040
$GC,3652,-1.04,-121.7,265.6,-5.6,289,3657,0.00,2.25,0.00,0.000,6,0.000,0.035,2870,1843,3039
$GC,3902,-1.08,-121.7,282.4,-7.0,295,3907,0.12,2.28,0.00,0.000,4,0.048,0.038,2821,3238,3039
$GC,3923,-1.08,-121.7,284.4,-8.7,295,3928,0.10,2.28,0.00,0.000,6,0.089,0.035,2843,1833,3039
$STATE,4182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4182,begin apogee
$GC,4188,-0.31,0.0,301.9,6.5,302,4288,0.75,0.00,96.53,0.713,6,0.064,0.000,3013,1755,2539
$STATE,4288,end apogee,CONTROL_FINISHED_OK
$STATE,4289,begin climb
$GC,4291,1.13,121.7,303.3,0.0,304,4398,1.30,2.45,99.43,0.698,4,0.038,0.063,3328,361,2043
$GC,4442,0.93,121.7,293.7,10.6,307,4447,0.22,2.25,0.00,0.000,6,0.101,0.025,3284,1753,2040
$GC,4692,0.93,121.7,273.2,8.2,313,4696,0.00,2.38,0.00,0.000,4,0.000,0.048,3284,3170,2035
$GC,4736,0.96,139.5,269.8,7.2,314,4756,0.00,2.33,14.82,0.646,6,0.000,0.038,3284,1765,1971
$GC,5011,0.96,139.5,246.9,8.6,321,5015,0.00,2.45,0.00,0.000,4,0.000,0.068,3284,354,1966
$GC,5077,0.90,139.5,240.3,9.7,322,5081,0.00,2.25,0.00,0.000,6,0.000,0.025,3284,1762,1965
$GC,5338,0.93,164.2,221.5,6.9,329,5361,0.00,0.00,21.15,0.651,6,0.000,0.000,3284,1764,1870
$GC,5582,0.94,172.7,203.4,7.6,335,5592,0.00,0.00,8.40,0.582,6,0.000,0.000,3283,1764,1835
$GC,5834,0.99,188.6,183.9,7.3,353,5857,0.00,2.47,13.93,0.615,4,0.000,0.056,3284,358,1770
$GC,5906,0.99,188.6,177.6,9.2,359,5913,0.00,2.28,0.00,0.000,6,0.000,0.024,3284,1764,1768
$GC,6168,1.06,208.0,160.1,7.1,384,6193,0.10,2.30,16.92,0.607,4,0.058,0.038,3321,3164,1691
$GC,6220,1.06,208.0,155.3,9.5,388,6226,0.00,2.33,0.00,0.000,6,0.000,0.036,3321,1751,1689
$GC,6482,1.06,208.0,132.2,8.4,413,6486,0.00,2.30,0.00,0.000,4,0.000,0.032,3321,3171,1686
$GC,6526,1.09,208.0,128.0,9.3,416,6534,0.00,2.33,0.00,0.000,6,0.000,0.034,3321,1764,1686
$GC,6788,1.09,208.0,102.4,10.3,441,6792,0.00,2.40,0.00,0.000,4,0.000,0.059,3321,350,1685
$GC,6884,1.03,208.0,91.1,11.9,449,6888,0.00,2.22,0.00,0.000,6,0.000,0.022,3321,1770,1684
$GC,7146,1.03,208.0,67.8,8.4,473,7150,0.00,2.25,0.00,0.000,4,0.000,0.035,3321,3168,1684
$GC,7186,1.07,208.0,64.5,8.7,476,7190,0.00,2.30,0.00,0.000,6,0.000,0.034,3321,1748,1684
$GC,7447,1.07,208.0,41.0,10.7,500,7451,0.00,2.35,0.00,0.000,4,0.000,0.058,3321,355,1684
$GC,7499,1.01,208.0,35.4,11.8,504,7503,0.00,2.20,0.00,0.000,6,0.000,0.021,3321,1769,1684
$GC,7763,1.01,208.0,9.1,11.0,548,7770,0.00,2.40,0.00,0.000,4,0.000,0.054,3321,359,1684
$GC,7794,0.93,208.0,5.6,11.0,553,7802,0.15,2.22,0.00,0.000,6,0.086,0.022,3285,1762,1684
$STATE,7829,end climb,SURFACE_DEPTH_REACHED
$STATE,7829,begin surface coast
$FINISH,1.2,1.024509
$STATE,7851,end surface coast,CONTROL_FINISHED_OK
$STATE,7852,begin surface
$SM_CCo,7872,156.85,0.498,0,0,908,400.08
$SM_GC,1.87,0.00,0.00,156.85,0.000,0.000,0.498,475,1879,908,-11.98,1.10,400.08
$IRIDIUM_FIX,2241.69,-15751.94,130598,232337
$TT8_MAMPS,0.027612
$HUMID,1775
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.80
$XPDR_PINGS,488
$ALTIM_BOTTOM_PING,80.3,6.7
$24V_AH,24.1,32.456
$10V_AH,10.2,32.471
$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,27.950,100.625,271.175,156.850,0.000,45.449,53.652,244.273,122.500,0.000,0.000,28.586,1046.279,4983.519,543.433,1476.361,509.305,33.359,1178.979,0.000,1458.594,0.000,7.621,0.000
$DEVICE_MAMPS,161.837,72.865,712.543,497.783,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.992,333.275,0.000,577.768,816.677,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41215,563
$CAP_FILE_SIZE,88857,0
$CFSIZE,260165632,247537664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170209,013507,2250.806,-15753.829,37,1.2,37,10.1