version: 66.04
glider: 147
mission: 2
dive: 19
start: 6 18 109 11 15 38
data:
$ID,147
$MISSION,2
$DIVE,19
$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,-1738.0759
$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,23
$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,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
$GPS1,110816,4806.947,-12222.554,7,99.0,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-62.3
$GPS2,111446,4806.913,-12222.525,12,99.0,31,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.132,0.152
$KALMAN_X,-522.4,81.9,8.2,614.5,138.0
$KALMAN_Y,5074.4,-103.6,129.2,-5291.4,-170.8
$MHEAD_RNG_PITCHd_Wd,300.8,2716,-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,-97.8,0.0,0.0,0,161,0.00,0.00,-141.07,0.000,2,0.000,0.000,480,2364,3372
$GC,164,-1.30,-97.8,3.6,-3.5,18,199,10.05,2.47,-18.98,0.000,4,0.196,0.061,2162,949,3954
$GC,300,-1.30,-97.8,13.9,-9.0,40,307,0.00,2.33,0.00,0.000,6,0.000,0.028,2162,2364,3954
$GC,376,-1.30,-97.8,21.0,-9.6,53,384,0.00,2.42,0.00,0.000,4,0.000,0.049,2162,956,3954
$GC,420,-1.30,-97.8,25.6,-10.7,60,428,0.00,2.30,0.00,0.000,6,0.000,0.030,2162,2353,3954
$GC,497,-1.30,-97.8,33.7,-10.6,73,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2353,3954
$GC,571,-1.30,-97.8,42.1,-10.6,86,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2353,3954
$GC,712,-1.30,-97.8,57.0,-10.2,111,718,0.00,2.38,0.00,0.000,4,0.000,0.050,2162,3761,3954
$GC,741,-1.30,-97.8,60.1,-10.8,116,747,0.00,2.30,0.00,0.000,6,0.000,0.030,2162,2355,3954
$GC,883,-1.30,-97.8,74.4,-10.2,141,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2354,3954
$GC,1023,-1.30,-97.8,88.5,-9.6,166,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2354,3954
$GC,1164,-1.30,-97.8,102.1,-9.8,191,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2354,3954
$STATE,1224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1224,begin apogee
$GC,1230,-0.33,0.0,108.5,10.3,202,1285,1.02,0.00,51.90,0.648,6,0.102,0.000,2375,2354,3688
$STATE,1286,end apogee,CONTROL_FINISHED_OK
$STATE,1286,begin climb
$GC,1289,1.30,97.8,110.9,0.0,212,1371,1.58,0.00,77.15,0.637,6,0.054,0.000,2733,2354,3289
$GC,1506,1.39,167.0,105.1,4.2,251,1567,0.10,0.00,54.85,0.634,6,0.067,0.000,2761,2354,3006
$GC,1701,1.39,167.0,89.9,9.2,286,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2353,3004
$GC,1842,1.39,167.0,77.7,8.5,311,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2354,3004
$GC,1983,1.39,167.0,66.1,8.6,336,1989,0.00,2.45,0.00,0.000,4,0.000,0.067,2761,962,3003
$GC,2029,1.39,167.0,62.1,8.8,344,2035,0.00,2.30,0.00,0.000,6,0.000,0.035,2761,2352,3003
$GC,2171,1.39,169.3,50.5,7.9,369,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2352,3003
$GC,2314,1.42,190.2,40.0,6.8,394,2338,0.00,0.00,19.25,0.604,6,0.000,0.000,2761,2352,2911
$GC,2407,1.42,190.3,33.0,8.0,409,2416,0.00,2.45,0.00,0.000,4,0.000,0.058,2761,963,2909
$GC,2424,1.42,190.3,31.4,8.1,411,2432,0.00,2.35,0.00,0.000,6,0.000,0.034,2761,2363,2909
$GC,2501,1.42,190.3,25.3,8.0,424,2508,0.00,2.45,0.00,0.000,4,0.000,0.058,2761,967,2909
$GC,2522,1.42,190.3,23.5,8.0,427,2530,0.00,2.33,0.00,0.000,6,0.000,0.033,2761,2359,2909
$GC,2599,1.42,190.3,17.3,8.1,440,2608,0.00,2.45,0.00,0.000,4,0.000,0.058,2761,962,2909
$GC,2644,1.42,190.3,13.7,8.1,447,2652,0.00,2.33,0.00,0.000,6,0.000,0.033,2761,2357,2909
$GC,2721,1.43,203.7,8.1,7.3,460,2739,0.00,2.42,11.62,0.576,4,0.000,0.055,2761,958,2857
$GC,2748,1.46,227.6,6.3,6.7,463,2773,0.00,2.35,20.55,0.587,6,0.000,0.034,2761,2355,2759
$STATE,2796,end climb,SURFACE_DEPTH_REACHED
$STATE,2796,begin surface coast
$FINISH,3.4,1.019854
$STATE,2899,end surface coast,CONTROL_FINISHED_OK
$STATE,2899,begin surface
$SM_CCo,2919,298.98,0.579,0,0,1241,600.24
$SM_GC,1.53,0.00,0.00,298.98,0.000,0.000,0.579,483,2355,1241,-9.07,-0.14,600.24
$IRIDIUM_FIX,4748.51,-12219.12,120998,101044
$TT8_MAMPS,0.027612
$HUMID,1746
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.8,2.872
$10V_AH,10.6,1.776
$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,22.875,38.075,235.325,298.975,0.000,22.840,24.145,201.233,0.000,0.000,0.000,32.276,742.313,668.668,631.886,1163.682,413.927,33.341,1163.984,0.000,1151.165,0.000,0.835,0.000
$DEVICE_MAMPS,195.585,67.496,648.115,579.085,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.733,227.143,181.144,305.528,642.017,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35117,488
$CAP_FILE_SIZE,54062,0
$CFSIZE,260165632,258252800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,180609,121028,4807.065,-12222.600,14,4.4,33,18.3