version: 66.04
glider: 147
mission: 2
dive: 9
start: 6 18 109 1 39 25
data:
$ID,147
$MISSION,2
$DIVE,9
$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,-1506.7922
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,013234,4807.544,-12222.647,10,5.8,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.3
$GPS2,013831,4807.566,-12222.673,12,1.3,12,18.3
$SPEED_LIMITS,0.217,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.070,-0.218
$KALMAN_X,-605.2,-244.1,18.9,833.0,-60.9
$KALMAN_Y,2729.7,993.2,66.6,-2778.7,146.3
$MHEAD_RNG_PITCHd_Wd,143.8,3017,-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,-97.8,0.0,0.0,0,106,0.00,0.00,-89.12,0.000,2,0.000,0.000,480,2362,2913
$GC,110,-1.80,-97.8,3.2,-4.7,11,167,9.43,2.38,-40.60,0.000,4,0.196,0.055,2059,3775,3952
$GC,192,-1.80,-97.8,7.4,-10.8,22,201,0.00,2.33,0.00,0.000,6,0.000,0.028,2059,2364,3952
$GC,269,-1.80,-97.8,16.1,-11.3,35,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2364,3953
$GC,346,-1.80,-97.8,26.1,-13.9,48,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2364,3952
$GC,421,-1.80,-97.8,36.8,-14.3,61,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2364,3953
$GC,495,-1.80,-97.8,48.3,-15.4,74,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2364,3953
$GC,639,-1.80,-97.8,69.6,-15.3,99,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2364,3953
$GC,779,-1.80,-97.8,90.3,-14.9,124,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2363,3953
$STATE,920,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,920,begin apogee
$GC,926,-0.32,0.0,110.6,14.2,149,986,1.62,0.00,51.70,0.649,6,0.123,0.000,2386,2363,3687
$STATE,986,end apogee,CONTROL_FINISHED_OK
$STATE,986,begin climb
$GC,989,1.80,97.8,113.9,0.0,158,1075,2.05,0.00,77.18,0.641,6,0.049,0.000,2854,2363,3288
$GC,1214,1.88,160.1,104.3,7.2,195,1268,0.00,0.00,49.62,0.635,6,0.000,0.000,2855,2363,3034
$GC,1406,1.90,175.1,84.7,11.2,227,1426,0.00,2.45,13.10,0.594,4,0.000,0.058,2854,969,2973
$GC,1449,1.90,176.6,79.2,12.4,234,1457,0.00,2.35,0.00,0.000,6,0.000,0.035,2855,2359,2973
$GC,1593,1.91,182.9,62.3,12.0,259,1607,0.10,2.35,7.65,0.546,4,0.071,0.054,2882,968,2942
$GC,1636,1.91,182.9,56.7,12.7,266,1644,0.00,2.35,0.00,0.000,6,0.000,0.035,2883,2361,2941
$GC,1780,1.91,183.0,39.4,12.5,291,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2361,2941
$GC,1856,1.91,185.9,30.1,12.3,304,1865,0.00,0.00,3.85,0.420,6,0.000,0.000,2882,2361,2930
$GC,1933,1.93,197.0,21.3,11.5,317,1949,0.00,0.00,10.77,0.571,6,0.000,0.000,2883,2361,2883
$GC,2018,1.93,197.0,11.3,12.6,331,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2361,2883
$STATE,2092,end climb,SURFACE_DEPTH_REACHED
$STATE,2092,begin surface coast
$FINISH,4.2,1.020392
$STATE,2153,end surface coast,CONTROL_FINISHED_OK
$STATE,2153,begin surface
$SM_CCo,2156,479.15,0.573,0,0,477,787.65
$SM_GC,1.16,10.38,0.00,0.00,0.034,0.000,0.000,481,2361,472,-9.05,0.03,788.87
$IRIDIUM_FIX,4751.72,-12226.29,120998,000040
$TT8_MAMPS,0.027612
$HUMID,1839
$INTERNAL_PRESSURE,8.61361
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.4,39.8
$24V_AH,23.8,1.769
$10V_AH,10.6,1.024
$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,23.575,14.200,213.875,479.150,0.000,26.135,26.578,187.603,1.000,0.000,0.000,12.991,558.395,335.475,737.950,1106.902,378.923,33.328,1181.848,0.000,1115.047,0.000,5.822,0.000
$DEVICE_MAMPS,196.352,58.292,648.882,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,247.450,169.382,247.357,420.090,881.194,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28740,355
$CAP_FILE_SIZE,42523,0
$CFSIZE,260165632,258621440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,022601,4807.459,-12222.561,8,1.3,13,18.3