version: 66.04
glider: 147
mission: 2
dive: 6
start: 6 17 109 23 12 31
data:
$ID,147
$MISSION,2
$DIVE,6
$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,-1466.5366
$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,24
$R_STBD_OVSHOOT,22
$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
$GPS1,230514,4807.763,-12222.638,8,1.1,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-66.9
$GPS2,231137,4807.816,-12222.672,9,1.3,9,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.019,-0.215
$KALMAN_X,-249.6,-209.3,-105.9,568.9,70.2
$KALMAN_Y,1627.6,880.4,384.2,-1415.5,-2.7
$MHEAD_RNG_PITCHd_Wd,156.7,3465,-21.7,-10.000
$D_GRID,101
$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,-97.8,0.0,0.0,0,129,0.00,0.00,-111.85,0.000,2,0.000,0.000,482,2359,3333
$GC,132,-1.52,-97.8,3.2,-3.5,14,174,9.77,2.40,-21.15,0.000,4,0.194,0.058,2122,953,3952
$GC,423,-1.52,-97.8,33.9,-12.2,64,430,0.00,2.33,0.00,0.000,6,0.000,0.031,2122,2365,3954
$GC,498,-1.52,-97.8,43.0,-11.7,77,505,0.00,2.35,0.00,0.000,4,0.000,0.047,2122,3770,3953
$GC,759,-1.52,-97.8,75.5,-13.0,123,765,0.00,2.30,0.00,0.000,6,0.000,0.031,2122,2354,3954
$GC,902,-1.52,-97.8,93.3,-11.3,148,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2354,3954
$STATE,969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,969,begin apogee
$GC,975,-0.32,0.0,101.2,11.0,160,1036,1.27,0.00,51.53,0.646,6,0.106,0.000,2384,2354,3687
$STATE,1037,end apogee,CONTROL_FINISHED_OK
$STATE,1037,begin climb
$GC,1040,1.52,97.8,103.8,0.0,169,1125,1.77,0.00,76.85,0.637,6,0.051,0.000,2797,2354,3289
$GC,1260,1.60,163.1,96.3,5.5,206,1315,0.00,0.00,51.80,0.630,6,0.000,0.000,2797,2354,3022
$GC,1451,1.61,171.2,80.3,9.4,238,1464,0.00,0.00,7.78,0.551,6,0.000,0.000,2797,2354,2989
$GC,1598,1.62,181.9,65.8,9.3,264,1612,0.00,0.00,10.18,0.577,6,0.000,0.000,2797,2354,2945
$GC,1745,1.63,183.4,51.2,9.9,290,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2354,2944
$GC,1888,1.63,186.8,37.8,9.8,315,1898,0.00,2.50,5.25,0.495,4,0.000,0.061,2797,954,2926
$GC,1934,1.63,186.8,33.2,10.3,322,1942,0.00,2.35,0.00,0.000,6,0.000,0.036,2797,2352,2926
$GC,2011,1.65,205.9,26.2,8.7,335,2035,0.10,0.00,16.60,0.595,6,0.072,0.000,2823,2352,2847
$GC,2104,1.65,205.9,17.3,11.0,350,2112,0.00,2.47,0.00,0.000,4,0.000,0.061,2824,3767,2846
$GC,2169,1.65,205.9,9.5,11.9,361,2178,0.00,2.35,0.00,0.000,6,0.000,0.035,2824,2370,2845
$STATE,2238,end climb,SURFACE_DEPTH_REACHED
$STATE,2238,begin surface coast
$FINISH,3.9,1.019836
$STATE,2313,end surface coast,CONTROL_FINISHED_OK
$STATE,2313,begin surface
$SM_CCo,2333,349.38,0.580,0,0,1078,640.22
$SM_GC,1.25,0.00,0.00,349.38,0.000,0.000,0.580,482,2368,1078,-9.10,0.23,640.22
$IRIDIUM_FIX,4748.51,-12224.57,110998,222242
$TT8_MAMPS,0.027612
$HUMID,1791
$INTERNAL_PRESSURE,8.62338
$TCM_TEMP,14.00
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.4,36.5
$24V_AH,23.8,1.422
$10V_AH,10.6,0.810
$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,23.375,19.050,219.975,349.375,0.000,24.021,31.643,213.087,1.750,0.000,0.000,10.003,600.959,258.227,605.704,1208.927,406.176,33.325,1056.113,0.000,1220.591,0.000,5.814,0.000
$DEVICE_MAMPS,194.051,60.593,645.814,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,269.948,188.460,272.873,462.662,973.657,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31935,386
$CAP_FILE_SIZE,42026,0
$CFSIZE,260165632,258723840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170609,235802,4807.696,-12222.724,9,1.9,9,18.3