version: 66.04
glider: 147
mission: 2
dive: 13
start: 6 18 109 5 3 2
data:
$ID,147
$MISSION,2
$DIVE,13
$D_SURF,4
$D_FLARE,3
$D_TGT,151
$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,63
$T_MISSION,70
$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,600
$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,-1603.3699
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2454
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$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,29
$R_STBD_OVSHOOT,21
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$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
$GPS1,045601,4807.078,-12222.463,7,1.9,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-64.1
$GPS2,050208,4807.042,-12222.468,13,1.2,13,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.057,-0.193
$KALMAN_X,-939.4,-169.0,57.4,1310.4,-35.9
$KALMAN_Y,4296.4,733.4,-130.0,-4857.7,125.2
$MHEAD_RNG_PITCHd_Wd,145.2,2015,-17.7,-7.989
$D_GRID,108
$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,-1.30,-97.8,0.0,0.0,0,150,0.00,0.00,-132.65,0.000,2,0.000,0.000,480,2363,3228
$GC,153,-1.30,-97.8,3.0,-2.9,17,195,9.90,2.38,-25.33,0.000,4,0.189,0.057,2162,955,3952
$GC,352,-1.30,-97.8,20.5,-9.6,50,361,0.00,2.33,0.00,0.000,6,0.000,0.030,2162,2369,3953
$GC,429,-1.30,-97.8,28.1,-9.7,63,438,0.00,2.42,0.00,0.000,4,0.000,0.048,2162,956,3953
$GC,457,-1.30,-97.8,31.1,-10.6,67,464,0.00,2.30,0.00,0.000,6,0.000,0.030,2162,2352,3953
$GC,533,-1.30,-97.8,39.3,-10.8,80,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2353,3953
$GC,611,-1.30,-97.8,47.9,-10.3,93,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2353,3953
$GC,749,-1.30,-97.8,63.5,-10.7,118,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2353,3953
$GC,892,-1.30,-97.8,78.4,-10.2,143,898,0.00,2.38,0.00,0.000,4,0.000,0.051,2162,959,3953
$GC,910,-1.30,-97.8,80.5,-10.4,146,918,0.00,2.30,0.00,0.000,6,0.000,0.031,2162,2353,3953
$GC,1054,-1.30,-97.8,94.6,-9.6,171,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2352,3953
$STATE,1190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1190,begin apogee
$GC,1196,-0.33,0.0,108.3,9.6,196,1252,1.02,0.00,51.55,0.644,6,0.104,0.000,2374,2353,3688
$STATE,1252,end apogee,CONTROL_FINISHED_OK
$STATE,1252,begin climb
$GC,1255,1.30,97.8,110.5,0.0,204,1344,1.58,2.47,77.45,0.632,4,0.053,0.054,2734,3756,3289
$GC,1372,1.40,173.5,107.9,3.8,222,1441,0.05,2.35,60.45,0.626,6,0.061,0.032,2755,2361,2979
$GC,1576,1.40,173.5,90.8,9.9,256,1584,0.00,2.50,0.00,0.000,4,0.000,0.068,2755,961,2977
$GC,1643,1.40,173.5,84.4,9.8,267,1649,0.00,2.33,0.00,0.000,6,0.000,0.035,2756,2362,2977
$GC,1783,1.40,173.5,71.6,8.8,292,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2363,2976
$GC,1926,1.40,173.5,59.8,8.1,317,1932,0.00,2.45,0.00,0.000,4,0.000,0.056,2756,949,2976
$GC,1951,1.40,173.5,57.7,8.1,321,1957,0.00,2.35,0.00,0.000,6,0.000,0.034,2756,2370,2975
$GC,2092,1.41,181.9,46.9,7.5,346,2101,0.00,0.00,7.57,0.545,6,0.000,0.000,2756,2370,2946
$GC,2236,1.42,188.9,36.1,7.6,371,2253,0.00,2.50,7.25,0.539,4,0.000,0.055,2756,957,2917
$GC,2289,1.42,188.9,31.8,8.3,379,2298,0.00,2.35,0.00,0.000,6,0.000,0.034,2756,2359,2916
$GC,2367,1.43,200.4,25.8,7.4,392,2383,0.00,0.00,10.60,0.572,6,0.000,0.000,2756,2359,2870
$GC,2451,1.43,204.1,19.2,7.8,406,2461,0.00,2.50,4.38,0.450,4,0.000,0.055,2756,953,2856
$GC,2486,1.43,204.1,16.2,8.4,411,2494,0.00,2.35,0.00,0.000,6,0.000,0.035,2755,2354,2856
$GC,2563,1.45,216.6,10.4,7.3,424,2581,0.00,2.53,11.95,0.575,4,0.000,0.056,2756,3776,2803
$GC,2606,1.49,251.3,7.9,6.1,430,2646,0.05,2.40,28.75,0.588,6,0.058,0.035,2778,2354,2663
$STATE,2674,end climb,SURFACE_DEPTH_REACHED
$STATE,2674,begin surface coast
$FINISH,3.5,1.018972
$STATE,2765,end surface coast,CONTROL_FINISHED_OK
$STATE,2765,begin surface
$SM_CCo,2785,281.58,0.575,0,0,1241,600.24
$SM_GC,1.53,0.00,0.00,281.58,0.000,0.000,0.575,479,2351,1241,-9.08,-0.25,600.24
$IRIDIUM_FIX,4751.72,-12223.57,120998,040438
$TT8_MAMPS,0.027612
$HUMID,1756
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,14.30
$XPDR_PINGS,2
$24V_AH,23.8,2.212
$10V_AH,10.6,1.335
$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,22.800,43.175,259.950,281.575,0.000,26.490,25.945,197.546,0.500,0.000,0.000,13.154,709.509,309.392,599.223,1419.554,410.808,33.336,1154.784,0.000,1436.345,0.000,0.835,0.000
$DEVICE_MAMPS,188.682,68.263,643.513,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.867,222.499,322.313,543.855,1144.751,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38310,456
$CAP_FILE_SIZE,52014,0
$CFSIZE,260165632,258478080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,055501,4806.873,-12222.280,7,1.9,13,18.3