version: 66.04
glider: 147
mission: 3
dive: 408
start: 3 20 109 14 42 23
data:
$ID,147
$MISSION,3
$DIVE,408
$D_SURF,2
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,135
$T_MISSION,250
$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,140
$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,1
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25886.857
$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,1870
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,66
$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,0
$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
$GPS1,143107,2113.568,-15805.751,30,1.3,30,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-67.3
$GPS2,144126,2113.515,-15805.729,14,1.1,14,9.8
$SPEED_LIMITS,0.171,0.251
$TGT_NAME,WPT24
$TGT_LATLONG,2114.100,-15801.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.250,-0.013
$KALMAN_X,-195938.1,-24.9,-127.1,214454.2,-138.4
$KALMAN_Y,-120539.5,108.3,-144.1,107407.0,382.0
$MHEAD_RNG_PITCHd_Wd,83.1,7380,-18.0,-9.877
$D_GRID,400
$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,-1.29,-136.3,0.0,0.0,0,84,0.00,0.00,-65.47,0.000,2,0.000,0.000,468,1914,2292
$GC,87,-1.29,-136.3,3.4,-3.3,10,136,12.80,2.50,-26.40,0.000,4,0.164,0.057,2792,456,3097
$GC,177,-1.08,-136.3,13.1,-14.6,24,185,0.22,2.22,0.00,0.000,6,0.087,0.020,2842,1860,3098
$GC,450,-0.98,-136.3,44.1,-11.1,62,454,0.12,2.35,0.00,0.000,4,0.098,0.044,2868,454,3099
$GC,483,-0.94,-136.3,48.1,-11.5,64,490,0.00,2.22,0.00,0.000,6,0.000,0.019,2867,1871,3100
$GC,745,-0.94,-136.3,74.5,-10.4,89,749,0.00,2.22,0.00,0.000,4,0.000,0.030,2867,3260,3100
$GC,786,-0.94,-136.3,78.8,-10.2,92,790,0.00,2.25,0.00,0.000,6,0.000,0.028,2867,1861,3100
$GC,1047,-0.94,-136.3,106.4,-10.2,116,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1861,3100
$GC,1302,-0.94,-136.3,131.2,-9.6,140,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1861,3101
$GC,1557,-0.94,-136.3,150.3,-6.0,164,1561,0.00,2.22,0.00,0.000,4,0.000,0.030,2867,3257,3101
$GC,1592,-0.99,-136.3,152.3,-5.4,167,1596,0.00,2.22,0.00,0.000,6,0.000,0.028,2867,1867,3101
$GC,1857,-1.04,-136.3,170.3,-6.4,191,1861,0.00,2.35,0.00,0.000,4,0.000,0.054,2867,456,3101
$GC,1879,-1.07,-136.3,172.1,-6.6,192,1886,0.00,2.22,0.00,0.000,6,0.000,0.019,2867,1871,3101
$GC,2144,-1.13,-136.3,191.6,-8.1,217,2149,0.15,2.35,0.00,0.000,4,0.042,0.055,2809,468,3101
$GC,2186,-1.06,-136.3,195.7,-10.2,220,2190,0.17,2.20,0.00,0.000,6,0.084,0.021,2846,1873,3101
$GC,2443,-1.06,-136.3,216.2,-7.9,230,2447,0.00,2.35,0.00,0.000,4,0.000,0.049,2846,467,3101
$GC,2460,-1.10,-136.3,217.6,-8.1,230,2464,0.00,2.20,0.00,0.000,6,0.000,0.021,2846,1873,3101
$GC,2722,-1.14,-136.3,236.5,-7.3,237,2726,0.00,2.25,0.00,0.000,4,0.000,0.035,2846,3268,3101
$GC,2762,-1.21,-136.3,239.1,-6.1,238,2767,0.15,2.25,0.00,0.000,6,0.042,0.031,2789,1872,3102
$GC,3046,-1.13,-136.3,267.0,-10.8,245,3048,0.20,0.00,0.00,0.000,6,0.082,0.000,2832,1872,3101
$GC,3290,-1.13,-136.3,288.2,-8.4,251,3294,0.00,2.28,0.00,0.000,4,0.000,0.037,2832,3265,3102
$GC,3312,-1.16,-136.3,289.9,-7.3,251,3316,0.00,2.28,0.00,0.000,6,0.000,0.035,2831,1868,3101
$GC,3567,-1.16,-136.3,307.6,-7.0,258,3571,0.00,2.40,0.00,0.000,4,0.000,0.058,2832,457,3101
$GC,3601,-1.16,-136.3,310.3,-7.9,258,3607,0.00,2.25,0.00,0.000,6,0.000,0.025,2832,1874,3101
$GC,3852,-1.20,-136.3,326.8,-6.5,265,3856,0.00,2.30,0.00,0.000,4,0.000,0.042,2832,3268,3100
$GC,3886,-1.25,-136.3,329.2,-7.2,265,3890,0.12,2.30,0.00,0.000,6,0.048,0.036,2781,1869,3099
$GC,4137,-1.18,-136.3,350.7,-8.9,271,4142,0.17,2.30,0.00,0.000,4,0.084,0.039,2821,3266,3098
$GC,4170,-1.22,-136.3,353.5,-7.6,271,4176,0.00,2.30,0.00,0.000,6,0.000,0.038,2821,1869,3098
$GC,4421,-1.22,-136.3,372.4,-7.5,278,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1869,3098
$GC,4664,-1.22,-136.3,393.1,-8.7,284,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1869,3096
$STATE,4742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4742,begin apogee
$GC,4750,-0.31,0.0,400.7,9.0,286,4865,0.85,0.00,110.15,0.815,6,0.072,0.000,3009,1712,2539
$STATE,4866,end apogee,CONTROL_FINISHED_OK
$STATE,4866,begin climb
$GC,4869,1.29,136.3,406.2,0.0,289,4992,1.48,2.53,113.10,0.798,4,0.039,0.074,3363,316,1983
$GC,5043,1.07,136.3,395.5,12.7,293,5048,0.25,2.30,0.00,0.000,6,0.108,0.029,3315,1720,1980
$GC,5327,1.03,136.3,367.4,10.5,300,5331,0.00,2.47,0.00,0.000,4,0.000,0.062,3314,308,1974
$GC,5360,0.92,136.3,363.5,11.9,300,5365,0.17,2.33,0.00,0.000,6,0.105,0.036,3280,1731,1974
$GC,5611,1.00,168.7,341.7,8.3,306,5645,0.00,2.45,27.38,0.757,4,0.000,0.048,3280,3128,1851
$GC,5699,1.12,185.8,333.8,9.0,308,5721,0.20,2.38,15.38,0.723,6,0.041,0.041,3339,1716,1782
$GC,5983,1.05,185.8,299.1,12.3,315,5988,0.15,2.47,0.00,0.000,4,0.102,0.067,3310,305,1775
$GC,6039,1.00,185.8,292.0,12.3,316,6043,0.00,2.30,0.00,0.000,6,0.000,0.026,3310,1730,1774
$GC,6305,1.00,185.8,263.4,10.7,323,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1731,1773
$GC,6549,1.00,185.8,237.9,10.6,329,6553,0.00,2.47,0.00,0.000,4,0.000,0.058,3310,302,1771
$GC,6576,1.00,185.8,234.6,11.7,329,6581,0.00,2.28,0.00,0.000,6,0.000,0.025,3310,1725,1771
$GC,6827,1.05,196.5,209.8,9.4,335,6841,0.00,2.35,8.48,0.624,4,0.000,0.040,3310,3114,1738
$GC,6859,1.16,239.5,207.3,7.8,335,6904,0.10,2.35,38.30,0.687,6,0.058,0.039,3344,1705,1562
$GC,7166,1.17,275.2,178.7,8.1,358,7202,0.00,2.45,31.50,0.658,4,0.000,0.062,3345,316,1416
$GC,7304,1.13,275.2,163.9,12.0,370,7308,0.00,2.25,0.00,0.000,6,0.000,0.024,3345,1725,1411
$GC,7566,1.13,275.2,133.6,10.8,394,7570,0.00,2.28,0.00,0.000,4,0.000,0.035,3345,3119,1409
$GC,7622,1.24,275.2,127.3,11.0,398,7629,0.00,2.35,0.00,0.000,6,0.000,0.038,3344,1720,1408
$GC,7885,1.27,275.2,100.7,10.1,423,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1720,1407
$GC,8139,1.30,275.2,75.2,10.4,447,8144,0.00,2.40,0.00,0.000,4,0.000,0.056,3345,308,1407
$GC,8183,1.30,275.2,69.9,12.2,450,8190,0.00,2.25,0.00,0.000,6,0.000,0.021,3345,1719,1406
$GC,8445,1.30,275.2,41.7,10.8,475,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1721,1406
$GC,8704,1.34,275.2,13.6,11.3,512,8711,0.10,2.42,0.00,0.000,4,0.057,0.053,3382,309,1406
$STATE,8788,end climb,SURFACE_DEPTH_REACHED
$STATE,8788,begin surface coast
$FINISH,1.4,1.017864
$STATE,8799,end surface coast,CONTROL_FINISHED_OK
$STATE,8799,begin surface
$SM_CCo,8825,103.22,0.509,0,0,908,400.08
$SM_GC,2.19,0.00,0.00,103.22,0.000,0.000,0.509,474,1907,908,-11.99,1.05,400.08
$IRIDIUM_FIX,2106.38,-15804.62,140698,141429
$TT8_MAMPS,0.027612
$HUMID,1851
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.20
$XPDR_PINGS,418
$24V_AH,23.9,57.069
$10V_AH,10.2,50.875
$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,29.400,102.675,344.275,103.225,0.000,60.774,56.110,280.316,104.500,0.000,0.000,16.133,1008.716,5944.889,533.820,1398.718,653.149,33.365,1193.214,0.000,1388.474,0.000,1.485,0.000
$DEVICE_MAMPS,164.138,73.632,815.321,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.583,0.000,0.000,481.445,680.814,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38207,529
$CAP_FILE_SIZE,93962,0
$CFSIZE,260165632,236146688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200309,171202,2113.764,-15804.874,10,1.6,10,9.8