version: 66.04
glider: 147
mission: 2
dive: 17
start: 6 18 109 9 10 14
data:
$ID,147
$MISSION,2
$DIVE,17
$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,-1689.8635
$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,21
$R_STBD_OVSHOOT,20
$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,4
$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
$GPS1,090230,4806.653,-12222.273,55,1.7,65,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-68.6
$GPS2,090919,4806.651,-12222.292,11,1.7,16,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.138,0.147
$KALMAN_X,-827.8,4.0,-16.9,1312.2,47.6
$KALMAN_Y,5146.7,162.8,90.2,-6075.2,-12.6
$MHEAD_RNG_PITCHd_Wd,298.5,3271,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.30,-97.8,0.0,0.0,0,120,0.00,0.00,-101.40,0.000,2,0.000,0.000,481,2362,3359
$GC,123,-1.30,-97.8,3.6,-3.1,13,157,9.98,2.45,-18.92,0.000,4,0.193,0.059,2162,3780,3953
$GC,253,-1.30,-97.8,13.0,-8.2,34,260,0.00,2.35,0.00,0.000,6,0.000,0.028,2162,2352,3954
$GC,329,-1.30,-97.8,19.6,-9.3,47,337,0.00,2.38,0.00,0.000,4,0.000,0.049,2162,963,3954
$GC,356,-1.30,-97.8,22.4,-9.9,51,366,0.00,2.33,-0.03,0.000,6,0.000,0.030,2162,2371,3956
$GC,434,-1.30,-97.8,30.4,-10.8,64,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2370,3956
$GC,510,-1.30,-97.8,38.4,-10.3,77,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2370,3956
$GC,586,-1.30,-97.8,46.9,-10.5,90,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2370,3956
$GC,727,-1.30,-97.8,61.4,-9.7,115,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2371,3956
$GC,869,-1.30,-97.8,75.5,-10.1,140,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2370,3955
$GC,1010,-1.30,-97.8,89.4,-9.7,165,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2370,3956
$GC,1150,-1.30,-97.8,102.8,-9.3,190,1156,0.00,2.40,0.00,0.000,4,0.000,0.051,2162,964,3956
$GC,1180,-1.30,-97.8,105.6,-9.6,195,1186,0.00,2.30,0.00,0.000,6,0.000,0.033,2162,2365,3956
$STATE,1201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1201,begin apogee
$GC,1207,-0.33,0.0,108.0,9.9,199,1267,1.02,0.00,52.15,0.647,6,0.103,0.000,2375,2365,3688
$STATE,1267,end apogee,CONTROL_FINISHED_OK
$STATE,1268,begin climb
$GC,1270,1.30,97.8,110.3,0.0,210,1352,1.58,0.00,77.20,0.638,6,0.053,0.000,2735,2365,3289
$GC,1488,1.37,155.9,103.7,4.8,249,1537,0.00,0.00,46.35,0.631,6,0.000,0.000,2735,2365,3052
$GC,1676,1.38,160.4,90.7,7.7,282,1688,0.00,2.47,4.97,0.483,4,0.000,0.059,2735,958,3034
$GC,1723,1.38,160.4,86.5,8.2,290,1729,0.00,2.33,0.00,0.000,6,0.000,0.034,2735,2357,3034
$GC,1864,1.38,160.4,75.5,8.1,315,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2357,3033
$GC,2006,1.40,172.9,65.1,7.3,340,2024,0.10,2.42,11.15,0.590,4,0.068,0.055,2764,959,2983
$GC,2064,1.40,172.9,59.9,9.4,350,2070,0.00,2.33,0.00,0.000,6,0.000,0.034,2764,2361,2983
$GC,2205,1.40,172.9,47.7,8.4,375,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2361,2983
$GC,2347,1.41,180.7,36.8,7.6,400,2364,0.00,2.47,7.93,0.553,4,0.000,0.056,2764,966,2951
$GC,2373,1.41,181.8,34.5,7.9,403,2382,0.00,2.35,0.00,0.000,6,0.000,0.035,2764,2359,2950
$GC,2451,1.42,188.6,28.3,7.6,416,2460,0.00,0.00,7.80,0.548,6,0.000,0.000,2764,2359,2919
$GC,2529,1.42,192.5,22.2,7.8,429,2538,0.00,0.00,4.78,0.473,6,0.000,0.000,2764,2359,2903
$GC,2607,1.43,201.2,16.2,7.5,442,2623,0.00,2.45,8.40,0.550,4,0.000,0.055,2764,969,2868
$GC,2643,1.43,202.0,13.3,7.9,447,2651,0.00,2.33,0.00,0.000,6,0.000,0.034,2764,2353,2867
$GC,2720,1.44,208.5,7.3,7.6,460,2729,0.00,0.00,7.25,0.534,6,0.000,0.000,2764,2353,2837
$STATE,2784,end climb,SURFACE_DEPTH_REACHED
$STATE,2784,begin surface coast
$FINISH,4.0,1.020491
$STATE,2945,end surface coast,CONTROL_FINISHED_OK
$STATE,2946,begin surface
$SM_CCo,2966,316.38,0.577,0,0,1240,600.24
$SM_GC,1.58,0.00,0.00,316.38,0.000,0.000,0.577,483,2353,1240,-9.06,-0.20,600.24
$IRIDIUM_FIX,4738.89,-12240.83,120998,080803
$TT8_MAMPS,0.027612
$HUMID,1753
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,23.8,2.639
$10V_AH,10.6,1.642
$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,22.800,33.350,227.975,316.375,0.000,27.283,31.368,224.243,0.000,0.000,0.000,16.399,775.369,672.367,626.694,1188.440,443.298,33.353,1141.959,0.000,1192.418,0.000,0.835,0.000
$DEVICE_MAMPS,192.517,59.059,647.348,576.784,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.792,235.442,189.959,321.062,675.688,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34978,500
$CAP_FILE_SIZE,55730,0
$CFSIZE,260165632,258326528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,100606,4806.835,-12222.445,14,1.6,31,18.3