version: 66.04
glider: 147
mission: 2
dive: 4
start: 6 17 109 21 25 2
data:
$ID,147
$MISSION,2
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$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,640
$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,-1442.4172
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2462
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$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,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,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
$GPS1,211322,4807.766,-12222.810,10,2.5,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.1
$GPS2,212408,4807.927,-12222.889,12,1.7,12,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.058,-0.208
$KALMAN_X,-284.1,-196.2,-162.7,377.9,-39.1
$KALMAN_Y,1131.2,662.6,502.9,-620.7,169.9
$MHEAD_RNG_PITCHd_Wd,146.2,3734,-21.7,-10.000
$D_GRID,103
$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,-1.52,-97.8,0.0,0.0,0,127,0.00,0.00,-109.55,0.000,2,0.000,0.000,481,2355,3287
$GC,131,-1.52,-97.8,3.1,-3.2,13,173,9.40,2.42,-26.67,0.000,4,0.179,0.064,2123,3773,3952
$GC,257,-1.52,-97.8,12.1,-10.6,33,266,0.00,2.33,0.00,0.000,6,0.000,0.028,2123,2353,3953
$GC,335,-1.52,-97.8,19.2,-8.9,46,342,0.00,2.40,0.00,0.000,4,0.000,0.044,2123,3768,3953
$GC,366,-1.52,-97.8,22.5,-10.9,51,375,0.00,2.30,0.00,0.000,6,0.000,0.029,2123,2365,3953
$GC,443,-1.52,-97.8,30.8,-10.8,64,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2365,3953
$GC,519,-1.52,-97.8,39.7,-12.1,77,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2365,3953
$GC,595,-1.52,-97.8,48.7,-11.8,90,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2365,3953
$GC,738,-1.52,-97.8,65.3,-10.9,115,744,0.00,2.38,0.00,0.000,4,0.000,0.051,2123,959,3953
$GC,763,-1.52,-97.8,68.3,-11.8,119,770,0.00,2.30,0.00,0.000,6,0.000,0.031,2123,2374,3953
$GC,905,-1.52,-97.8,84.8,-11.1,144,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2374,3953
$GC,1048,-1.52,-97.8,100.3,-10.9,169,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2374,3953
$STATE,1073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1073,begin apogee
$GC,1079,-0.32,0.0,103.3,10.4,174,1140,1.27,0.00,51.38,0.647,6,0.109,0.000,2383,2374,3687
$STATE,1141,end apogee,CONTROL_FINISHED_OK
$STATE,1141,begin climb
$GC,1144,1.52,97.8,105.6,0.0,183,1230,1.75,2.42,76.62,0.637,4,0.051,0.054,2794,3771,3289
$GC,1350,1.57,139.0,97.4,7.2,217,1390,0.00,2.33,33.12,0.626,6,0.000,0.034,2794,2368,3120
$GC,1525,1.60,160.3,83.4,8.5,247,1545,0.00,0.00,18.02,0.611,6,0.000,0.000,2794,2368,3034
$GC,1680,1.60,162.9,69.3,9.8,274,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2368,3032
$GC,1823,1.62,180.4,56.3,8.8,299,1851,0.00,2.55,17.25,0.607,4,0.000,0.067,2794,954,2950
$GC,1887,1.63,185.7,50.6,9.6,309,1902,0.10,2.33,5.62,0.502,6,0.071,0.035,2820,2359,2931
$GC,2039,1.63,185.7,35.3,10.1,335,2047,0.00,2.45,0.00,0.000,4,0.000,0.056,2820,954,2929
$GC,2077,1.63,185.7,31.3,11.2,341,2086,0.00,2.35,0.00,0.000,6,0.000,0.035,2821,2358,2929
$GC,2154,1.63,185.7,23.5,10.1,354,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2358,2929
$GC,2230,1.64,196.0,16.4,9.3,367,2246,0.00,0.00,9.62,0.569,6,0.000,0.000,2820,2358,2887
$GC,2315,1.67,216.6,8.3,8.6,381,2339,0.00,0.00,17.27,0.590,6,0.000,0.000,2820,2358,2805
$STATE,2378,end climb,SURFACE_DEPTH_REACHED
$STATE,2378,begin surface coast
$FINISH,3.0,1.019895
$STATE,2457,end surface coast,CONTROL_FINISHED_OK
$STATE,2457,begin surface
$SM_CCo,2477,339.02,0.581,0,0,1077,640.22
$SM_GC,1.24,0.00,0.00,339.02,0.000,0.000,0.581,484,2358,1077,-9.10,-0.06,640.22
$IRIDIUM_FIX,4751.72,-12226.29,110998,202029
$TT8_MAMPS,0.027612
$HUMID,1807
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,13.90
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,80.2,39.3
$24V_AH,23.8,1.201
$10V_AH,10.6,0.648
$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,22.925,28.550,228.925,339.025,0.000,46.846,119.906,270.517,2.750,0.000,0.000,12.431,631.741,324.563,623.676,1278.402,618.486,32.328,1124.596,0.000,1287.145,0.000,5.826,0.000
$DEVICE_MAMPS,179.478,67.496,646.581,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,282.775,195.431,287.476,490.908,1029.584,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31781,405
$CAP_FILE_SIZE,50940,0
$CFSIZE,260165632,258777088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,221306,4807.846,-12222.719,13,0.9,29,18.3