version: 66.04
glider: 147
mission: 2
dive: 5
start: 6 17 109 22 20 3
data:
$ID,147
$MISSION,2
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52067
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,640
$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,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1455.907
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2462
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,2360
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3688
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.463364
$PRESSURE_SLOPE,0.000116148
$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,1
$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,0.0042836252
$SEABIRD_T_H,0.00062757189
$SEABIRD_T_I,2.2935745e-05
$SEABIRD_T_J,2.394582e-06
$SEABIRD_C_G,-9.8471985
$SEABIRD_C_H,1.102998
$SEABIRD_C_I,-0.0019362674
$SEABIRD_C_J,0.0002209621
$GPS1,221306,4807.846,-12222.719,13,0.9,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.4
$GPS2,221908,4807.905,-12222.729,12,1.4,12,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.025,-0.214
$KALMAN_X,-252.5,-194.4,-141.0,518.2,25.9
$KALMAN_Y,1409.7,786.1,450.7,-1007.7,131.7
$MHEAD_RNG_PITCHd_Wd,154.9,3641,-21.7,-10.000
$D_GRID,101
$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,-1.52,-97.8,0.0,0.0,0,135,0.00,0.00,-118.00,0.000,2,0.000,0.000,484,2359,3414
$GC,139,-1.52,-97.8,3.1,-3.2,14,170,9.38,0.00,-18.65,0.000,6,0.176,0.000,2124,2359,3952
$GC,240,-1.52,-97.8,11.5,-10.0,29,248,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2359,3953
$GC,317,-1.52,-97.8,18.7,-9.3,42,325,0.00,2.40,0.00,0.000,4,0.000,0.045,2124,3772,3953
$GC,339,-1.52,-97.8,21.3,-10.3,45,347,0.00,2.35,0.00,0.000,6,0.000,0.029,2124,2347,3954
$GC,426,-1.52,-97.8,31.0,-11.3,58,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2346,3954
$GC,512,-1.52,-97.8,41.6,-12.3,71,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2346,3954
$GC,652,-1.52,-97.8,58.7,-12.5,96,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2346,3954
$GC,795,-1.52,-97.8,75.8,-12.3,121,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2346,3953
$GC,934,-1.52,-97.8,92.6,-11.7,146,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2346,3954
$STATE,1010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1010,begin apogee
$GC,1016,-0.32,0.0,101.1,10.7,159,1072,1.25,0.00,51.53,0.646,6,0.106,0.000,2382,2346,3688
$STATE,1073,end apogee,CONTROL_FINISHED_OK
$STATE,1073,begin climb
$GC,1075,1.52,97.8,103.8,0.0,167,1162,1.77,2.50,77.05,0.636,4,0.052,0.056,2794,3770,3288
$GC,1209,1.60,165.3,100.7,5.4,188,1269,0.00,2.35,53.62,0.629,6,0.000,0.034,2794,2378,3013
$GC,1405,1.61,171.3,83.3,9.6,221,1419,0.00,2.55,5.88,0.511,4,0.000,0.067,2794,955,2990
$GC,1444,1.61,172.0,79.4,10.0,227,1450,0.00,2.35,0.00,0.000,6,0.000,0.035,2794,2371,2989
$GC,1584,1.62,179.6,65.7,9.5,252,1597,0.00,0.00,8.55,0.560,6,0.000,0.000,2794,2371,2954
$GC,1730,1.62,179.6,50.7,10.2,278,1738,0.00,2.47,0.00,0.000,4,0.000,0.056,2795,957,2954
$GC,1755,1.62,179.6,48.2,10.0,282,1763,0.00,2.35,0.00,0.000,6,0.000,0.035,2795,2360,2954
$GC,1898,1.64,196.5,35.3,8.8,307,1924,0.10,2.47,14.52,0.593,4,0.071,0.054,2821,960,2886
$GC,1960,1.64,196.5,29.1,11.0,316,1968,0.00,2.35,0.00,0.000,6,0.000,0.035,2821,2359,2886
$GC,2037,1.64,196.5,20.8,10.9,329,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2359,2885
$GC,2113,1.64,196.5,12.9,10.4,342,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2359,2885
$GC,2189,1.67,221.6,6.0,8.3,355,2213,0.00,0.00,20.67,0.596,6,0.000,0.000,2822,2359,2784
$STATE,2225,end climb,SURFACE_DEPTH_REACHED
$STATE,2225,begin surface coast
$FINISH,3.2,1.019379
$STATE,2308,end surface coast,CONTROL_FINISHED_OK
$STATE,2308,begin surface
$SM_CCo,2328,335.62,0.581,0,0,1078,640.22
$SM_GC,1.31,0.00,0.00,335.62,0.000,0.000,0.581,482,2359,1078,-9.11,-0.03,640.22
$IRIDIUM_FIX,4745.30,-12048.99,110998,212127
$TT8_MAMPS,0.026845
$HUMID,1787
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,14.20
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.5,34.8
$24V_AH,23.8,1.311
$10V_AH,10.6,0.730
$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,22.950,24.150,231.825,335.625,0.000,24.150,26.875,194.928,1.500,0.000,0.000,12.860,590.551,239.106,610.908,1213.716,386.015,33.323,1094.021,0.000,1222.224,0.000,5.807,0.000
$DEVICE_MAMPS,176.410,67.496,645.814,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,262.173,180.319,265.800,477.384,979.518,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28769,375
$CAP_FILE_SIZE,45322,0
$CFSIZE,260165632,258748416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,230514,4807.763,-12222.638,8,1.1,8,18.3