version: 66.04
glider: 147
mission: 2
dive: 21
start: 6 18 109 13 14 44
data:
$ID,147
$MISSION,2
$DIVE,21
$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,-1766.3055
$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,26
$R_STBD_OVSHOOT,18
$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
$GPS1,130452,4807.182,-12222.688,13,99.0,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.2
$GPS2,131350,4807.118,-12222.642,13,1.8,13,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.145,0.140
$KALMAN_X,-136.1,182.5,81.0,-88.3,173.1
$KALMAN_Y,5002.2,-336.2,23.0,-4501.2,-165.3
$MHEAD_RNG_PITCHd_Wd,295.7,2343,-17.7,-7.989
$D_GRID,107
$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,-97.8,0.0,0.0,0,119,0.00,0.00,-101.50,0.000,2,0.000,0.000,480,2356,3290
$GC,122,-1.30,-97.8,3.7,-3.9,13,163,9.68,2.40,-23.62,0.000,4,0.180,0.058,2161,3775,3953
$GC,232,-1.30,-97.8,11.1,-10.2,30,240,0.00,2.35,0.00,0.000,6,0.000,0.028,2161,2357,3953
$GC,309,-1.30,-97.8,18.5,-10.0,43,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2357,3953
$GC,385,-1.30,-97.8,26.1,-10.2,56,393,0.00,2.40,0.00,0.000,4,0.000,0.051,2162,961,3953
$GC,418,-1.30,-97.8,30.0,-11.2,61,427,0.00,2.33,0.00,0.000,6,0.000,0.029,2161,2372,3954
$GC,495,-1.30,-97.8,38.3,-10.4,74,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2372,3954
$GC,570,-1.30,-97.8,46.7,-10.8,87,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2372,3954
$GC,711,-1.30,-97.8,61.3,-10.0,112,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2372,3954
$GC,852,-1.30,-97.8,73.4,-9.3,137,858,0.00,2.35,0.00,0.000,4,0.000,0.049,2161,3767,3954
$GC,898,-1.30,-97.8,78.1,-10.4,145,904,0.00,2.30,0.00,0.000,6,0.000,0.030,2162,2358,3954
$GC,1040,-1.30,-97.8,92.1,-9.6,170,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2358,3953
$GC,1180,-1.30,-97.8,105.9,-9.9,195,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2358,3953
$STATE,1189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1189,begin apogee
$GC,1195,-0.33,0.0,107.0,10.1,197,1251,1.02,0.00,51.70,0.650,6,0.104,0.000,2373,2358,3688
$STATE,1252,end apogee,CONTROL_FINISHED_OK
$STATE,1252,begin climb
$GC,1254,1.30,97.8,109.5,0.0,207,1337,1.60,0.00,77.47,0.638,6,0.054,0.000,2736,2358,3289
$GC,1472,1.37,152.6,102.5,5.0,246,1522,0.00,2.50,44.12,0.631,4,0.000,0.066,2736,955,3065
$GC,1546,1.38,161.4,98.1,7.5,259,1563,0.00,2.35,8.50,0.557,6,0.000,0.035,2736,2363,3029
$GC,1702,1.38,161.4,86.0,8.0,286,1708,0.00,2.45,0.00,0.000,4,0.000,0.058,2736,955,3028
$GC,1726,1.38,161.4,83.6,8.6,290,1732,0.00,2.33,0.00,0.000,6,0.000,0.035,2736,2360,3027
$GC,1868,1.39,169.3,72.5,7.6,315,1879,0.00,0.00,7.62,0.555,6,0.000,0.000,2736,2360,2997
$GC,2015,1.40,175.6,61.2,7.6,341,2028,0.10,2.45,6.62,0.537,4,0.066,0.058,2765,953,2971
$GC,2057,1.40,175.6,57.6,9.3,348,2063,0.00,2.35,0.00,0.000,6,0.000,0.034,2765,2369,2971
$GC,2199,1.40,175.6,45.3,8.4,373,2205,0.00,2.45,0.00,0.000,4,0.000,0.057,2765,953,2970
$GC,2217,1.40,175.6,43.8,8.4,376,2223,0.00,2.33,0.00,0.000,6,0.000,0.034,2765,2361,2971
$GC,2358,1.41,186.3,32.8,7.4,401,2375,0.00,2.45,9.80,0.574,4,0.000,0.056,2765,958,2928
$GC,2384,1.42,194.0,30.8,7.6,404,2401,0.00,2.35,7.97,0.544,6,0.000,0.033,2765,2356,2896
$GC,2469,1.42,194.0,24.0,8.2,418,2476,0.00,2.45,0.00,0.000,4,0.000,0.058,2765,963,2895
$GC,2501,1.42,194.0,21.1,8.9,423,2508,0.00,2.33,0.00,0.000,6,0.000,0.033,2765,2353,2895
$GC,2577,1.43,198.7,14.9,7.7,436,2587,0.00,2.47,5.28,0.494,4,0.000,0.055,2765,960,2877
$GC,2640,1.43,198.7,10.0,8.2,446,2648,0.00,2.35,0.00,0.000,6,0.000,0.033,2765,2363,2876
$GC,2717,1.49,249.4,5.4,5.2,459,2758,0.00,0.00,39.10,0.600,2,0.000,0.000,2765,2363,2680
$STATE,2759,end climb,SURFACE_DEPTH_REACHED
$STATE,2759,begin surface coast
$FINISH,3.7,1.019962
$STATE,2869,end surface coast,CONTROL_FINISHED_OK
$STATE,2869,begin surface
$SM_CCo,2890,285.20,0.576,0,0,1241,600.24
$SM_GC,1.35,0.00,0.00,285.20,0.000,0.000,0.576,483,2363,1241,-9.07,0.08,600.24
$IRIDIUM_FIX,4738.89,-12542.73,120998,131341
$TT8_MAMPS,0.027612
$HUMID,1747
$INTERNAL_PRESSURE,8.62338
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.8,3.087
$10V_AH,10.6,1.902
$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,22.525,47.725,258.200,285.200,0.000,55.919,68.597,233.365,0.000,0.000,0.000,13.827,743.724,707.208,622.984,1136.248,518.104,33.338,1144.202,0.000,1138.230,0.000,1.136,0.000
$DEVICE_MAMPS,180.245,65.962,649.649,576.017,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.330,224.377,178.888,301.907,634.940,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34910,484
$CAP_FILE_SIZE,57596,0
$CFSIZE,260165632,258183168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,140852,4807.259,-12222.753,13,99.0,32,18.3