version: 66.04
glider: 147
mission: 2
dive: 1
start: 6 17 109 17 53 16
data:
$ID,147
$MISSION,2
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,30
$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,65
$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,780
$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,-1258.9363
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2477
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,19
$R_STBD_OVSHOOT,44
$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,5
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$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
$GPS1,174931,4807.033,-12222.673,8,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-55.6
$GPS2,175220,4807.018,-12222.675,11,1.5,11,18.3
$SPEED_LIMITS,0.173,0.174
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.084,-0.152
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,132.7,4273,-27.1,-10.000
$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,-1.77,-63.5,0.0,0.0,0,166,0.00,0.00,-148.10,0.000,2,0.000,0.000,479,2352,3524
$GC,169,-1.77,-63.5,3.4,-6.0,19,195,9.20,2.38,-12.05,0.000,4,0.180,0.054,2083,3757,3948
$GC,444,-1.77,-63.5,30.3,-11.2,67,453,0.00,2.28,0.00,0.000,6,0.000,0.029,2082,2352,3948
$GC,521,-1.77,-63.5,39.2,-12.3,80,529,0.00,2.35,0.00,0.000,4,0.000,0.044,2083,3754,3948
$STATE,565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,565,begin apogee
$GC,573,-0.31,0.0,45.1,13.7,87,627,1.58,0.00,49.28,0.566,6,0.110,0.000,2404,2352,3688
$STATE,628,end apogee,CONTROL_FINISHED_OK
$STATE,628,begin climb
$GC,630,1.77,63.5,48.3,0.0,94,689,1.98,0.00,49.83,0.553,6,0.046,0.000,2866,2352,3427
$GC,857,1.87,144.0,43.8,1.5,125,927,0.00,2.47,62.05,0.564,4,0.000,0.067,2866,952,3099
$GC,960,1.88,145.8,38.6,9.8,138,968,0.00,2.30,0.00,0.000,6,0.000,0.034,2866,2341,3098
$GC,1067,1.88,145.8,27.2,10.4,151,1078,0.00,2.38,0.00,0.000,4,0.000,0.054,2866,967,3097
$GC,1097,1.88,145.8,24.0,10.3,154,1108,0.00,2.30,0.00,0.000,6,0.000,0.037,2866,2358,3097
$GC,1208,1.88,145.8,12.2,10.2,167,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2358,3097
$GC,1318,1.98,231.7,6.0,0.9,180,1393,0.17,2.40,68.22,0.559,4,0.060,0.054,2910,964,2741
$GC,1405,2.06,297.2,4.6,3.1,188,1418,0.00,2.33,8.05,0.482,2,0.000,0.041,2909,2354,2705
$STATE,1418,end climb,SURFACE_DEPTH_REACHED
$STATE,1419,begin surface coast
$FINISH,3.0,1.018799
$STATE,1428,end surface coast,CONTROL_FINISHED_OK
$STATE,1428,begin surface
$SM_CCo,1449,434.30,0.532,3,0,508,780.04
$SM_GC,1.04,0.00,0.00,434.30,0.000,0.000,0.532,478,2356,508,-9.20,-0.11,780.04
$IRIDIUM_FIX,4748.51,-12221.84,110998,171755
$TT8_MAMPS,0.027612
$HUMID,1719
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,15.50
$XPDR_PINGS,11
$24V_AH,24.0,0.787
$10V_AH,10.8,0.345
$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,23.750,23.450,237.425,434.300,0.000,0.000,0.000,0.000,2.750,0.000,0.000,12.859,304.844,46.023,687.043,874.690,67.549,29.237,1068.330,0.000,890.175,0.000,1.003,0.000
$DEVICE_MAMPS,180.245,66.729,566.046,532.298,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,130.493,107.810,165.840,438.637,776.915,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12957,190
$CAP_FILE_SIZE,53189,0
$CFSIZE,260165632,258891776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,170609,182544,4807.028,-12222.710,10,1.9,10,18.3