version: 66.04
glider: 147
mission: 3
dive: 247
start: 2 21 109 5 55 10
data:
$ID,147
$MISSION,3
$DIVE,247
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,550
$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,185
$T_MISSION,220
$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,-22917.67
$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,26
$R_STBD_OVSHOOT,60
$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
$GPS1,054603,2250.757,-15753.464,11,99.0,31,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-67.3
$GPS2,055416,2250.743,-15753.526,11,99.0,30,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT15
$TGT_LATLONG,2251.000,-15754.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.009,0.156
$KALMAN_X,-57370.0,-23.4,38.4,96772.6,-751.7
$KALMAN_Y,1193.7,-150.2,395.4,165451.0,-696.0
$MHEAD_RNG_PITCHd_Wd,346.7,937,-27.1,-9.009
$D_GRID,500
$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,-1.76,-53.9,0.0,0.0,0,85,0.00,0.00,-66.78,0.000,2,0.000,0.000,469,1873,2316
$GC,88,-1.82,-106.8,3.2,-3.1,10,129,12.27,2.17,-21.40,0.000,4,0.171,0.038,2679,3226,2976
$GC,212,-1.73,-106.8,21.7,-19.0,31,219,0.08,2.28,0.00,0.000,6,0.119,0.029,2697,1832,2978
$GC,483,-1.62,-106.8,75.8,-19.9,60,485,0.15,0.00,0.00,0.000,6,0.119,0.000,2725,1832,2978
$GC,738,-1.59,-106.8,121.2,-16.8,84,742,0.00,2.33,0.00,0.000,4,0.000,0.045,2725,431,2978
$GC,756,-1.54,-106.8,124.7,-17.8,85,761,0.10,2.17,0.00,0.000,6,0.130,0.020,2742,1844,2978
$GC,1018,-1.54,-106.8,164.6,-13.7,109,1022,0.00,2.20,0.00,0.000,4,0.000,0.030,2742,3224,2978
$GC,1077,-1.63,-106.8,172.3,-11.4,114,1085,0.00,2.25,0.00,0.000,6,0.000,0.030,2742,1839,2979
$GC,1360,-1.69,-106.8,205.7,-11.9,138,1364,0.15,2.33,0.00,0.000,4,0.048,0.047,2692,439,2979
$GC,1375,-1.69,-106.8,208.2,-12.4,138,1379,0.00,2.17,0.00,0.000,6,0.000,0.021,2692,1822,2979
$GC,1642,-1.69,-106.8,246.1,-13.7,145,1646,0.00,2.28,0.00,0.000,4,0.000,0.034,2692,3239,2980
$GC,1685,-1.69,-106.8,252.4,-13.6,146,1690,0.00,2.25,0.00,0.000,6,0.000,0.030,2691,1836,2980
$GC,1972,-1.69,-106.8,292.3,-14.2,153,1976,0.10,2.25,0.00,0.000,4,0.110,0.036,2711,3228,2980
$GC,2107,-1.76,-106.8,306.7,-9.7,156,2111,0.00,2.28,0.00,0.000,6,0.000,0.036,2711,1839,2980
$GC,2386,-1.81,-106.8,336.6,-10.9,163,2388,0.12,0.00,0.00,0.000,6,0.052,0.000,2670,1839,2980
$GC,2629,-1.78,-106.8,367.6,-13.1,169,2633,0.12,2.33,0.00,0.000,4,0.107,0.044,2694,3229,2980
$GC,2661,-1.82,-106.8,372.2,-13.5,169,2667,0.00,2.30,0.00,0.000,6,0.000,0.042,2694,1840,2980
$GC,2911,-1.82,-106.8,401.7,-11.8,176,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1839,2978
$GC,3155,-1.85,-106.8,428.7,-10.8,182,3159,0.00,2.33,0.00,0.000,4,0.000,0.049,2694,3225,2977
$GC,3176,-1.89,-106.8,431.0,-10.1,182,3181,0.12,2.33,0.00,0.000,6,0.053,0.044,2652,1835,2977
$GC,3434,-1.85,-106.8,461.6,-12.1,189,3435,0.12,0.00,0.00,0.000,6,0.106,0.000,2677,1834,2976
$GC,3675,-1.85,-106.8,492.2,-13.0,195,3680,0.00,2.38,0.00,0.000,4,0.000,0.060,2677,3220,2975
$GC,3702,-1.85,-106.8,496.2,-13.7,195,3707,0.00,2.35,0.00,0.000,6,0.000,0.051,2677,1832,2974
$STATE,3755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3755,begin apogee
$GC,3761,-0.31,0.0,503.1,13.4,197,3853,1.60,0.00,88.05,0.890,6,0.100,0.000,3011,1752,2540
$STATE,3853,end apogee,CONTROL_FINISHED_OK
$STATE,3854,begin climb
$GC,3856,1.82,106.8,506.8,0.0,199,3957,1.98,2.62,91.07,0.875,4,0.035,0.085,3489,352,2103
$GC,3964,1.65,106.8,500.3,11.8,201,3969,0.25,2.33,0.00,0.000,6,0.131,0.040,3444,1738,2101
$GC,4219,1.60,106.8,466.4,13.1,208,4223,0.00,2.47,0.00,0.000,4,0.000,0.067,3443,341,2095
$GC,4275,1.45,106.8,457.5,15.9,209,4280,0.25,2.35,0.00,0.000,6,0.123,0.034,3396,1764,2094
$GC,4541,1.50,106.8,423.8,12.7,216,4545,0.00,2.47,0.00,0.000,4,0.000,0.063,3395,346,2092
$GC,4567,1.50,106.8,420.0,14.3,216,4571,0.00,2.33,0.00,0.000,6,0.000,0.031,3396,1764,2092
$GC,4824,1.56,106.8,389.9,11.3,223,4828,0.10,2.45,0.00,0.000,4,0.064,0.059,3426,348,2090
$GC,4912,1.47,106.8,377.5,13.5,225,4917,0.15,2.30,0.00,0.000,6,0.125,0.028,3399,1765,2090
$GC,5190,1.53,106.8,349.5,10.1,232,5194,0.00,2.45,0.00,0.000,4,0.000,0.058,3398,343,2088
$GC,5284,1.53,106.8,338.3,12.5,234,5288,0.00,2.30,0.00,0.000,6,0.000,0.028,3398,1763,2088
$GC,5562,1.59,106.8,309.4,10.3,241,5567,0.12,2.42,0.00,0.000,4,0.058,0.055,3435,347,2086
$GC,5679,1.49,106.8,293.3,14.0,243,5684,0.15,2.30,0.00,0.000,6,0.129,0.028,3408,1770,2086
$GC,5929,1.55,108.5,269.2,8.8,249,5933,0.00,2.45,0.00,0.000,4,0.000,0.056,3408,344,2085
$GC,5968,1.52,108.5,265.4,9.7,249,5974,0.00,2.30,0.00,0.000,6,0.000,0.027,3408,1777,2085
$GC,6218,1.59,109.3,244.1,8.9,256,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1777,2083
$GC,6461,1.67,109.3,218.2,11.0,262,6466,0.15,2.30,0.00,0.000,4,0.053,0.046,3453,3158,2083
$GC,6545,1.71,109.3,209.1,10.3,264,6549,0.00,2.30,0.00,0.000,6,0.000,0.036,3453,1755,2082
$GC,6811,1.73,128.1,186.9,6.9,280,6833,0.00,2.47,15.50,0.662,4,0.000,0.067,3453,348,2015
$GC,6917,1.65,128.1,175.6,11.0,289,6923,0.00,2.28,0.00,0.000,6,0.000,0.023,3453,1780,2014
$GC,7180,1.69,128.1,149.3,10.3,314,7184,0.00,2.42,0.00,0.000,4,0.000,0.051,3453,342,2012
$GC,7288,1.62,128.1,137.8,10.1,323,7292,0.00,2.25,0.00,0.000,6,0.000,0.024,3453,1759,2012
$GC,7554,1.69,132.7,113.9,8.5,347,7565,0.00,2.30,4.72,0.467,4,0.000,0.038,3453,3161,1998
$GC,7694,1.78,144.0,102.2,7.7,359,7713,0.00,2.30,10.98,0.563,6,0.000,0.034,3453,1750,1952
$GC,7969,1.83,144.0,75.7,10.4,385,7973,0.10,2.38,0.00,0.000,4,0.060,0.058,3488,355,1951
$GC,8001,1.72,144.0,71.3,12.4,387,8008,0.12,2.25,0.00,0.000,6,0.117,0.021,3461,1765,1950
$GC,8265,1.77,144.0,38.6,12.8,412,8269,0.00,2.38,0.00,0.000,4,0.000,0.049,3460,349,1950
$GC,8340,1.70,144.0,30.1,11.4,418,8344,0.00,2.22,0.00,0.000,6,0.000,0.023,3460,1760,1950
$STATE,8578,end climb,SURFACE_DEPTH_REACHED
$STATE,8579,begin surface coast
$FINISH,1.4,1.018187
$STATE,8591,end surface coast,CONTROL_FINISHED_OK
$STATE,8591,begin surface
$SM_CCo,8612,207.30,0.509,0,0,908,400.08
$SM_GC,2.03,0.00,0.00,207.30,0.000,0.000,0.509,467,1904,908,-12.02,1.81,400.08
$IRIDIUM_FIX,2241.69,-15754.11,180598,050522
$TT8_MAMPS,0.027612
$HUMID,1767
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,23.30
$XPDR_PINGS,284
$24V_AH,23.9,36.014
$10V_AH,10.2,35.204
$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,30.575,102.625,210.325,207.300,0.000,51.867,60.931,192.325,81.750,0.000,0.000,33.206,970.272,5953.112,537.362,1360.820,496.985,33.369,1161.565,0.000,1315.464,0.000,69.785,0.000
$DEVICE_MAMPS,171.041,88.205,889.720,508.521,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.556,235.976,0.000,386.872,546.528,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35129,463
$CAP_FILE_SIZE,93680,0
$CFSIZE,260165632,245846016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210209,082325,2251.507,-15753.991,38,1.7,38,10.1