version: 66.04
glider: 147
mission: 2
dive: 23
start: 6 18 109 15 19 44
data:
$ID,147
$MISSION,2
$DIVE,23
$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,-1816.3491
$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,24
$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
$GPS1,151238,4807.370,-12222.781,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-58.5
$GPS2,151850,4807.346,-12222.743,11,1.7,11,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,0.116
$KALMAN_X,314.7,295.9,145.4,-843.3,140.5
$KALMAN_Y,4951.5,-470.6,-102.7,-3771.2,-76.7
$MHEAD_RNG_PITCHd_Wd,286.9,1970,-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,-97.8,0.0,0.0,0,137,0.00,0.00,-117.28,0.000,2,0.000,0.000,477,2362,2863
$GC,140,-1.30,-97.8,3.1,-2.9,15,187,10.27,0.00,-33.83,0.000,6,0.204,0.000,2161,2362,3953
$GC,256,-1.30,-97.8,11.8,-8.4,33,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2362,3954
$GC,332,-1.30,-97.8,18.3,-8.4,46,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2362,3954
$GC,409,-1.30,-97.8,25.1,-9.2,59,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2362,3954
$GC,485,-1.30,-97.8,32.8,-10.3,72,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2362,3954
$GC,558,-1.30,-97.8,40.8,-10.6,85,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2362,3954
$GC,701,-1.30,-97.8,56.0,-10.7,110,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2362,3954
$GC,841,-1.30,-97.8,70.9,-10.2,135,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2362,3954
$GC,982,-1.30,-97.8,85.0,-9.9,160,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2362,3954
$GC,1123,-1.30,-97.8,98.8,-9.7,185,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2362,3954
$STATE,1210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1210,begin apogee
$GC,1216,-0.33,0.0,107.4,9.5,201,1272,1.02,0.00,52.03,0.641,6,0.104,0.000,2372,2362,3687
$STATE,1273,end apogee,CONTROL_FINISHED_OK
$STATE,1273,begin climb
$GC,1276,1.30,97.8,109.7,0.0,211,1364,1.60,2.50,77.38,0.630,4,0.054,0.056,2734,3762,3288
$GC,1376,1.42,191.3,108.1,2.8,229,1458,0.12,2.35,74.18,0.621,6,0.061,0.031,2768,2359,2907
$GC,1593,1.42,191.3,88.1,10.6,268,1600,0.00,2.50,0.00,0.000,4,0.000,0.071,2768,952,2904
$GC,1634,1.42,191.3,83.4,11.7,275,1640,0.00,2.35,0.00,0.000,6,0.000,0.035,2768,2367,2904
$GC,1776,1.42,191.3,68.6,10.7,300,1782,0.00,2.45,0.00,0.000,4,0.000,0.058,2768,955,2903
$GC,1799,1.42,191.3,66.1,10.4,304,1805,0.00,2.33,0.00,0.000,6,0.000,0.035,2768,2359,2903
$GC,1941,1.42,191.3,52.2,9.7,329,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2359,2903
$GC,2083,1.42,191.3,39.8,8.6,354,2092,0.00,2.47,0.00,0.000,4,0.000,0.058,2768,954,2902
$GC,2100,1.42,191.3,38.4,8.4,356,2107,0.00,2.35,0.00,0.000,6,0.000,0.035,2768,2358,2902
$GC,2176,1.42,191.3,31.6,8.7,369,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2358,2902
$GC,2253,1.42,191.3,25.3,8.4,382,2261,0.00,2.47,0.00,0.000,4,0.000,0.058,2768,951,2901
$GC,2269,1.42,191.3,23.8,8.3,384,2278,0.00,2.35,0.00,0.000,6,0.000,0.034,2768,2355,2901
$GC,2346,1.42,191.3,17.2,8.6,397,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2355,2901
$GC,2424,1.43,197.1,11.1,7.7,410,2432,0.00,0.00,5.28,0.485,6,0.000,0.000,2768,2355,2884
$GC,2501,1.50,261.2,7.4,4.5,423,2558,0.00,2.53,52.20,0.591,4,0.000,0.056,2768,3768,2622
$STATE,2725,end climb,NO_VERTICAL_VELOCITY
$STATE,2725,begin surface
$SM_CCo,2728,431.10,0.559,0,0,477,787.65
$SM_GC,1.32,9.85,0.00,0.00,0.031,0.000,0.000,483,2344,473,-9.00,-0.42,788.63
$IRIDIUM_FIX,4751.72,-12223.57,120998,141431
$TT8_MAMPS,0.026845
$HUMID,1773
$INTERNAL_PRESSURE,8.61361
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.8,3.345
$10V_AH,10.6,2.041
$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,22.875,29.050,261.050,431.100,0.000,22.729,25.523,202.671,0.000,0.000,0.000,13.252,689.617,645.065,777.714,1133.735,410.838,33.335,1289.177,0.000,1142.227,0.000,0.836,0.000
$DEVICE_MAMPS,204.022,71.331,641.212,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.676,221.111,194.322,328.197,689.513,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31831,460
$CAP_FILE_SIZE,50800,0
$CFSIZE,260165632,258121728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,161528,4807.501,-12222.951,13,99.0,32,18.3