version: 66.04
glider: 147
mission: 2
dive: 20
start: 6 18 109 12 17 38
data:
$ID,147
$MISSION,2
$DIVE,20
$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,-1751.8472
$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,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
$GPS1,121028,4807.065,-12222.600,14,4.4,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.0
$GPS2,121644,4807.035,-12222.562,13,1.7,13,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.141,0.144
$KALMAN_X,-317.4,131.5,43.7,277.8,157.8
$KALMAN_Y,5061.8,-231.9,84.3,-4882.1,-164.4
$MHEAD_RNG_PITCHd_Wd,297.3,2521,-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,-97.8,0.0,0.0,0,129,0.00,0.00,-109.65,0.000,2,0.000,0.000,484,2355,3452
$GC,132,-1.30,-97.8,3.2,-2.8,14,166,9.75,2.40,-17.23,0.000,4,0.185,0.059,2160,954,3952
$GC,256,-1.30,-97.8,13.4,-9.4,34,263,0.00,2.33,0.00,0.000,6,0.000,0.030,2160,2362,3953
$GC,332,-1.30,-97.8,20.6,-9.6,47,340,0.00,2.42,0.00,0.000,4,0.000,0.048,2160,955,3953
$GC,370,-1.30,-97.8,24.6,-10.4,53,379,0.00,2.33,0.00,0.000,6,0.000,0.031,2160,2357,3953
$GC,447,-1.30,-97.8,32.9,-10.7,66,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2357,3953
$GC,523,-1.30,-97.8,40.8,-10.6,79,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2357,3953
$GC,663,-1.30,-97.8,55.9,-11.0,104,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2357,3953
$GC,804,-1.30,-97.8,70.5,-10.5,129,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2357,3953
$GC,946,-1.30,-97.8,84.5,-9.8,154,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2357,3954
$GC,1087,-1.30,-97.8,98.4,-9.3,179,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2357,3953
$STATE,1186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1186,begin apogee
$GC,1192,-0.33,0.0,108.4,9.7,197,1247,1.05,0.00,51.55,0.649,6,0.106,0.000,2376,2357,3688
$STATE,1248,end apogee,CONTROL_FINISHED_OK
$STATE,1248,begin climb
$GC,1251,1.30,97.8,110.5,0.0,207,1339,1.58,2.53,77.25,0.638,4,0.054,0.058,2734,960,3289
$GC,1345,1.43,203.8,109.1,2.1,224,1439,0.15,2.33,83.78,0.630,6,0.057,0.031,2774,2361,2856
$GC,1574,1.43,203.8,87.5,11.5,265,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2362,2852
$GC,1714,1.43,203.8,72.0,10.9,290,1720,0.00,2.45,0.00,0.000,4,0.000,0.058,2773,953,2852
$GC,1744,1.43,203.8,68.7,11.3,295,1750,0.00,2.33,0.00,0.000,6,0.000,0.034,2774,2357,2852
$GC,1885,1.43,203.8,53.5,10.7,320,1891,0.00,2.42,0.00,0.000,4,0.000,0.057,2774,957,2851
$GC,1903,1.43,203.8,51.6,10.6,323,1909,0.00,2.33,0.00,0.000,6,0.000,0.034,2773,2362,2851
$GC,2047,1.43,203.8,37.3,9.8,348,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2362,2851
$GC,2123,1.43,203.8,30.1,9.1,361,2131,0.00,2.45,0.00,0.000,4,0.000,0.059,2774,968,2850
$GC,2145,1.43,203.8,28.1,9.3,364,2154,0.00,2.33,0.00,0.000,6,0.000,0.033,2774,2359,2850
$GC,2222,1.43,203.8,20.9,9.1,377,2229,0.00,2.45,0.00,0.000,4,0.000,0.058,2774,964,2850
$GC,2249,1.43,203.8,18.5,8.9,381,2257,0.00,2.33,0.00,0.000,6,0.000,0.033,2774,2355,2850
$GC,2325,1.43,203.8,11.6,8.8,394,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2355,2850
$GC,2402,1.47,229.5,6.0,6.6,407,2428,0.00,2.53,20.67,0.587,4,0.000,0.058,2774,3771,2751
$STATE,2434,end climb,SURFACE_DEPTH_REACHED
$STATE,2434,begin surface coast
$FINISH,3.7,1.020671
$STATE,2441,end surface coast,CONTROL_FINISHED_OK
$STATE,2441,begin surface
$SM_CCo,2464,299.05,0.579,0,0,1241,600.24
$SM_GC,1.31,0.00,0.00,299.05,0.000,0.000,0.579,479,2356,1241,-9.09,-0.11,600.24
$IRIDIUM_FIX,4751.72,-12221.84,120998,111152
$TT8_MAMPS,0.027612
$HUMID,1742
$INTERNAL_PRESSURE,8.61361
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,23.8,2.977
$10V_AH,10.6,1.834
$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,22.700,38.300,233.250,299.050,0.000,22.542,24.687,206.710,0.000,0.000,0.000,13.142,627.760,536.732,622.342,964.100,401.888,33.344,1081.417,0.000,967.995,0.000,0.836,0.000
$DEVICE_MAMPS,184.847,59.059,648.882,579.085,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,288.614,191.601,150.186,253.568,532.794,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28700,412
$CAP_FILE_SIZE,48362,0
$CFSIZE,260165632,258228224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$GPS,180609,130452,4807.182,-12222.688,13,99.0,32,18.3