version: 66.04
glider: 147
mission: 2
dive: 22
start: 6 18 109 14 16 56
data:
$ID,147
$MISSION,2
$DIVE,22
$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,-1802.4681
$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,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
$GPS1,140852,4807.259,-12222.753,13,99.0,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.3
$GPS2,141604,4807.198,-12222.684,15,99.0,34,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.150,0.133
$KALMAN_X,83.7,240.6,120.8,-458.7,159.5
$KALMAN_Y,4936.0,-419.9,-46.4,-4133.7,-134.8
$MHEAD_RNG_PITCHd_Wd,293.3,2203,-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,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,-94.07,0.000,2,0.000,0.000,483,2364,3137
$GC,117,-1.30,-97.8,3.7,-4.0,12,166,9.68,2.40,-28.67,0.000,4,0.181,0.057,2161,3768,3953
$GC,197,-1.30,-97.8,7.8,-7.9,23,204,0.00,2.33,0.00,0.000,6,0.000,0.028,2161,2358,3953
$GC,273,-1.30,-97.8,14.8,-8.9,36,281,0.00,2.40,0.00,0.000,4,0.000,0.049,2161,956,3954
$GC,295,-1.30,-97.8,17.0,-9.4,39,304,0.00,2.33,0.00,0.000,6,0.000,0.029,2161,2367,3954
$GC,372,-1.30,-97.8,24.5,-9.6,52,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2367,3953
$GC,448,-1.30,-97.8,32.3,-10.4,65,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2367,3953
$GC,525,-1.30,-97.8,40.5,-11.0,78,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2367,3953
$GC,666,-1.30,-97.8,55.8,-10.4,103,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2367,3953
$GC,806,-1.30,-97.8,70.3,-10.4,128,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2367,3954
$GC,947,-1.30,-97.8,84.4,-10.0,153,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2367,3953
$GC,1089,-1.30,-97.8,98.2,-9.5,178,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2367,3953
$STATE,1177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1177,begin apogee
$GC,1183,-0.33,0.0,107.0,9.9,194,1238,1.02,0.00,51.83,0.647,6,0.106,0.000,2373,2367,3688
$STATE,1239,end apogee,CONTROL_FINISHED_OK
$STATE,1239,begin climb
$GC,1242,1.30,97.8,109.3,0.0,204,1329,1.60,2.45,77.47,0.634,4,0.054,0.056,2736,3760,3289
$GC,1353,1.40,180.2,107.1,3.4,224,1425,0.10,2.33,65.40,0.627,6,0.067,0.032,2763,2371,2953
$GC,1560,1.40,180.2,89.8,10.1,261,1566,0.00,2.53,0.00,0.000,4,0.000,0.071,2763,952,2950
$GC,1640,1.40,180.2,81.6,10.0,275,1646,0.00,2.33,0.00,0.000,6,0.000,0.035,2763,2352,2950
$GC,1782,1.40,180.2,68.5,8.9,300,1788,0.00,2.42,0.00,0.000,4,0.000,0.058,2763,951,2949
$GC,1805,1.40,180.2,66.3,9.0,304,1811,0.00,2.35,0.00,0.000,6,0.000,0.034,2763,2370,2949
$GC,1947,1.40,180.2,54.1,8.4,329,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2370,2949
$GC,2089,1.40,180.2,42.4,8.3,354,2095,0.00,2.45,0.00,0.000,4,0.000,0.057,2763,953,2949
$GC,2113,1.40,180.2,40.3,8.4,358,2119,0.00,2.33,0.00,0.000,6,0.000,0.033,2763,2362,2949
$GC,2253,1.41,186.1,29.4,7.7,383,2263,0.00,2.47,5.40,0.498,4,0.000,0.058,2764,954,2930
$GC,2278,1.42,194.9,27.5,7.5,386,2295,0.00,2.35,8.85,0.551,6,0.000,0.034,2763,2359,2893
$GC,2364,1.42,194.9,20.4,8.3,400,2372,0.00,2.45,0.00,0.000,4,0.000,0.058,2764,964,2892
$GC,2386,1.42,194.9,18.5,8.6,403,2395,0.00,2.33,0.00,0.000,6,0.000,0.033,2763,2355,2892
$GC,2464,1.43,201.6,12.4,7.6,416,2481,0.00,2.47,6.82,0.528,4,0.000,0.058,2764,959,2866
$GC,2490,1.45,217.5,10.6,7.1,419,2514,0.00,2.35,14.30,0.576,6,0.000,0.033,2764,2360,2800
$GC,2583,1.50,256.1,5.0,5.9,434,2617,0.00,0.00,31.02,0.588,2,0.000,0.000,2763,2360,2647
$STATE,2617,end climb,SURFACE_DEPTH_REACHED
$STATE,2617,begin surface coast
$FINISH,4.4,1.019060
$STATE,2746,end surface coast,CONTROL_FINISHED_OK
$STATE,2746,begin surface
$SM_CCo,2749,434.90,0.562,0,0,477,787.65
$SM_GC,1.19,9.82,0.00,0.00,0.029,0.000,0.000,477,2361,473,-9.03,0.03,788.63
$IRIDIUM_FIX,4748.51,-12217.40,120998,131330
$TT8_MAMPS,0.027612
$HUMID,1811
$INTERNAL_PRESSURE,8.61361
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,23.8,3.218
$10V_AH,10.6,1.971
$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,22.225,43.050,261.100,434.900,0.000,24.642,27.666,233.835,0.000,0.000,0.000,35.532,705.993,672.712,772.004,1135.028,450.927,33.338,1284.600,0.000,1121.145,0.000,0.835,0.000
$DEVICE_MAMPS,181.012,71.331,646.581,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.481,219.004,184.079,310.896,654.572,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31938,461
$CAP_FILE_SIZE,54332,0
$CFSIZE,260165632,258154496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$GPS,180609,151238,4807.370,-12222.781,10,1.2,10,18.3