version: 66.04
glider: 147
mission: 2
dive: 8
start: 6 18 109 0 53 44
data:
$ID,147
$MISSION,2
$DIVE,8
$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,40
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,620
$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,-1493.1725
$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,17
$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,10
$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,2
$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
$GPS1,004502,4807.616,-12222.747,14,1.4,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-66.3
$GPS2,005250,4807.677,-12222.775,8,1.6,8,18.3
$SPEED_LIMITS,0.217,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.073,-0.217
$KALMAN_X,-512.0,-253.7,-14.0,658.8,-36.1
$KALMAN_Y,2325.9,1005.4,168.5,-2287.0,66.0
$MHEAD_RNG_PITCHd_Wd,143.0,3250,-26.1,-12.500
$D_GRID,150
$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,-1.80,-97.8,0.0,0.0,0,114,0.00,0.00,-97.18,0.000,2,0.000,0.000,480,2371,3069
$GC,118,-1.80,-97.8,3.2,-4.4,12,167,9.23,2.38,-33.47,0.000,4,0.186,0.058,2059,3772,3952
$GC,182,-1.80,-97.8,6.2,-7.6,20,191,0.00,2.35,0.00,0.000,6,0.000,0.028,2059,2349,3952
$GC,259,-1.80,-97.8,15.2,-11.6,33,267,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2349,3953
$GC,335,-1.80,-97.8,25.0,-14.0,46,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2348,3952
$GC,411,-1.80,-97.8,35.5,-13.5,59,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2348,3953
$GC,485,-1.80,-97.8,46.7,-14.6,72,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2348,3953
$GC,628,-1.80,-97.8,67.4,-14.3,97,634,0.00,2.42,0.00,0.000,4,0.000,0.049,2059,3779,3953
$GC,643,-1.80,-97.8,69.6,-14.5,99,649,0.00,2.33,0.00,0.000,6,0.000,0.030,2059,2354,3953
$GC,785,-1.80,-97.8,90.9,-14.5,124,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2354,3953
$STATE,926,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,926,begin apogee
$GC,932,-0.32,0.0,110.9,14.0,149,991,1.62,0.00,51.58,0.649,6,0.123,0.000,2386,2353,3688
$STATE,992,end apogee,CONTROL_FINISHED_OK
$STATE,992,begin climb
$GC,994,1.80,97.8,114.1,0.0,158,1083,2.05,2.50,77.07,0.641,4,0.049,0.063,2855,962,3289
$GC,1097,1.94,207.9,112.5,3.1,173,1192,0.12,2.33,86.60,0.635,6,0.067,0.034,2890,2362,2839
$GC,1327,1.94,207.9,81.4,16.8,211,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2362,2836
$GC,1465,1.94,207.9,59.1,15.9,236,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2362,2835
$GC,1609,1.94,207.9,38.7,14.2,261,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2363,2834
$GC,1685,1.94,207.9,27.9,14.9,274,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2362,2834
$GC,1761,1.94,207.9,17.3,14.2,287,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2363,2834
$GC,1837,1.94,207.9,7.2,12.6,300,1846,0.00,2.45,0.00,0.000,4,0.000,0.058,2890,965,2834
$STATE,1868,end climb,SURFACE_DEPTH_REACHED
$STATE,1868,begin surface coast
$FINISH,2.6,1.018232
$STATE,1908,end surface coast,CONTROL_FINISHED_OK
$STATE,1908,begin surface
$SM_CCo,1931,331.12,0.576,0,0,1160,620.11
$SM_GC,1.35,0.00,0.00,331.12,0.000,0.000,0.576,481,2361,1160,-9.11,0.06,620.11
$IRIDIUM_FIX,4751.72,-12226.29,120998,000037
$TT8_MAMPS,0.027612
$HUMID,1775
$INTERNAL_PRESSURE,8.62338
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.1,40.1
$24V_AH,23.8,1.641
$10V_AH,10.7,0.948
$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,23.850,19.100,215.250,331.125,0.000,31.343,26.511,297.261,1.250,0.000,0.000,11.620,483.419,201.523,598.334,979.143,483.636,33.325,1015.803,0.000,988.535,0.000,5.821,0.000
$DEVICE_MAMPS,186.381,62.894,648.882,576.017,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,216.032,149.406,218.763,371.708,782.048,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25651,312
$CAP_FILE_SIZE,40194,0
$CFSIZE,260165632,258662400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,013234,4807.544,-12222.647,10,5.8,29,18.3