version: 66.04
glider: 147
mission: 2
dive: 15
start: 6 18 109 7 2 38
data:
$ID,147
$MISSION,2
$DIVE,15
$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,-1656.1871
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,065506,4806.689,-12222.153,14,1.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-68.1
$GPS2,070146,4806.716,-12222.187,14,3.3,33,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.033,-0.198
$KALMAN_X,-941.2,-83.2,10.8,1616.6,-14.8
$KALMAN_Y,4928.3,457.7,-60.4,-5885.4,117.7
$MHEAD_RNG_PITCHd_Wd,152.4,1347,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.30,-97.8,0.0,0.0,0,114,0.00,0.00,-93.80,0.000,2,0.000,0.000,485,2350,3147
$GC,117,-1.30,-97.8,3.3,-3.0,12,166,9.85,2.45,-27.70,0.000,4,0.188,0.058,2162,3770,3953
$GC,207,-1.30,-97.8,8.8,-8.7,25,216,0.00,2.35,0.00,0.000,6,0.000,0.029,2162,2358,3954
$GC,284,-1.30,-97.8,15.9,-8.7,38,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2357,3953
$GC,361,-1.30,-97.8,23.1,-9.9,51,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2358,3954
$GC,437,-1.30,-97.8,30.3,-9.8,64,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2357,3954
$GC,513,-1.30,-97.8,38.4,-10.8,77,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2357,3954
$GC,588,-1.30,-97.8,46.9,-10.8,90,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2357,3954
$GC,729,-1.30,-97.8,62.1,-11.3,115,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2357,3954
$GC,869,-1.30,-97.8,76.8,-10.3,140,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2357,3954
$GC,1010,-1.30,-97.8,90.7,-10.1,165,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2357,3954
$GC,1151,-1.30,-97.8,104.5,-9.6,190,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2357,3954
$STATE,1188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1188,begin apogee
$GC,1194,-0.33,0.0,108.4,9.6,197,1249,1.02,0.00,51.62,0.648,6,0.103,0.000,2374,2356,3688
$STATE,1250,end apogee,CONTROL_FINISHED_OK
$STATE,1250,begin climb
$GC,1253,1.30,97.8,110.6,0.0,207,1335,1.60,0.00,77.10,0.636,6,0.054,0.000,2737,2357,3289
$GC,1470,1.38,161.8,105.0,4.5,246,1526,0.00,2.55,50.90,0.631,4,0.000,0.053,2737,3775,3027
$GC,1550,1.39,166.9,100.1,7.7,260,1562,0.00,2.38,5.47,0.493,6,0.000,0.037,2737,2371,3007
$GC,1701,1.39,166.9,87.7,8.1,286,1707,0.00,2.53,0.00,0.000,4,0.000,0.070,2737,948,3007
$GC,1747,1.39,166.9,83.6,8.2,294,1753,0.00,2.35,0.00,0.000,6,0.000,0.035,2737,2363,3006
$GC,1889,1.40,174.7,72.6,7.6,319,1901,0.00,2.50,7.82,0.558,4,0.000,0.056,2737,3775,2975
$GC,1914,1.40,180.3,70.6,7.7,323,1926,0.10,2.38,6.07,0.515,6,0.068,0.035,2765,2355,2953
$GC,2065,1.40,180.3,57.4,9.1,349,2072,0.00,2.47,0.00,0.000,4,0.000,0.070,2764,952,2952
$GC,2100,1.40,180.3,54.0,9.1,355,2106,0.00,2.33,0.00,0.000,6,0.000,0.035,2765,2360,2952
$GC,2242,1.40,180.3,42.0,8.4,380,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2360,2951
$GC,2382,1.41,185.5,30.5,7.7,405,2399,0.00,2.47,5.72,0.512,4,0.000,0.056,2765,958,2931
$GC,2430,1.41,185.5,26.4,8.4,412,2438,0.00,2.35,0.00,0.000,6,0.000,0.034,2765,2361,2930
$GC,2507,1.41,185.5,20.1,8.2,425,2515,0.00,2.42,0.00,0.000,4,0.000,0.056,2765,3760,2931
$GC,2534,1.41,185.5,17.7,8.0,429,2543,0.00,2.35,0.00,0.000,6,0.000,0.035,2764,2361,2930
$GC,2612,1.43,204.0,12.2,7.0,442,2635,0.00,2.53,15.98,0.590,4,0.000,0.071,2765,963,2854
$GC,2689,1.45,213.9,6.5,7.4,454,2705,0.00,2.33,9.02,0.550,6,0.000,0.033,2765,2355,2815
$GC,2774,1.62,352.0,4.4,0.4,468,2839,0.17,0.00,62.12,0.594,2,0.051,0.000,2815,2355,2501
$STATE,2840,end climb,SURFACE_DEPTH_REACHED
$STATE,2840,begin surface coast
$FINISH,2.5,1.018801
$STATE,3061,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3061,begin surface
$SM_CCo,3081,249.88,0.573,0,0,1241,600.24
$SM_GC,1.72,0.00,0.00,249.88,0.000,0.000,0.573,483,2356,1241,-9.07,-0.11,600.24
$IRIDIUM_FIX,4748.51,-12226.29,120998,060647
$TT8_MAMPS,0.027612
$HUMID,1777
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,23.8,2.423
$10V_AH,10.6,1.505
$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,23.100,38.725,291.850,249.875,0.000,22.862,21.021,213.130,0.000,0.000,0.000,34.249,781.677,644.232,603.517,1287.628,425.034,33.341,1161.829,0.000,1272.958,0.000,0.836,0.000
$DEVICE_MAMPS,187.915,70.564,648.115,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.121,246.801,214.526,362.489,764.130,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35107,516
$CAP_FILE_SIZE,56580,0
$CFSIZE,260165632,258400256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,075924,4806.500,-12222.043,35,2.0,35,18.3