version: 66.04
glider: 147
mission: 2
dive: 10
start: 6 18 109 2 32 50
data:
$ID,147
$MISSION,2
$DIVE,10
$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,40
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,620
$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,-1521.7261
$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,35
$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,10
$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,2
$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
$GPS1,022601,4807.459,-12222.561,8,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-60.7
$GPS2,023156,4807.474,-12222.572,14,1.5,14,18.3
$SPEED_LIMITS,0.217,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.052,-0.223
$KALMAN_X,-672.4,-238.5,34.0,1003.3,-20.0
$KALMAN_Y,3174.4,963.1,-12.9,-3282.8,131.5
$MHEAD_RNG_PITCHd_Wd,148.6,2821,-26.1,-12.500
$D_GRID,150
$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,-1.80,-97.8,0.0,0.0,0,151,0.00,0.00,-132.98,0.000,2,0.000,0.000,482,2361,3143
$GC,154,-1.80,-97.8,3.4,-5.2,17,203,9.38,2.40,-30.42,0.000,4,0.194,0.055,2059,3772,3952
$GC,212,-1.80,-97.8,5.5,-5.0,24,220,0.00,2.33,0.00,0.000,6,0.000,0.028,2059,2361,3952
$GC,289,-1.80,-97.8,13.5,-11.6,37,298,0.00,2.38,0.00,0.000,4,0.000,0.046,2059,966,3953
$GC,308,-1.80,-97.8,15.5,-11.6,39,316,0.00,2.30,0.00,0.000,6,0.000,0.028,2059,2369,3952
$GC,385,-1.80,-97.8,25.5,-13.3,52,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2369,3952
$GC,461,-1.80,-97.8,36.3,-14.1,65,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2369,3952
$GC,535,-1.80,-97.8,47.2,-13.5,78,543,0.00,2.40,0.00,0.000,4,0.000,0.047,2059,966,3953
$GC,549,-1.80,-97.8,49.4,-14.6,80,558,0.00,2.28,0.00,0.000,6,0.000,0.029,2059,2351,3952
$GC,693,-1.80,-97.8,70.9,-14.8,105,699,0.00,2.35,0.00,0.000,4,0.000,0.048,2060,964,3953
$GC,710,-1.80,-97.8,73.9,-15.0,108,719,0.00,2.30,0.00,0.000,6,0.000,0.031,2059,2357,3952
$GC,861,-1.80,-97.8,94.3,-14.4,133,867,0.00,2.38,0.00,0.000,4,0.000,0.050,2059,957,3953
$GC,913,-1.80,-97.8,102.5,-14.5,142,920,0.00,2.33,0.00,0.000,6,0.000,0.031,2060,2364,3953
$STATE,943,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,944,begin apogee
$GC,949,-0.32,0.0,106.9,15.0,147,1005,1.62,0.00,51.42,0.640,6,0.122,0.000,2387,2364,3688
$STATE,1006,end apogee,CONTROL_FINISHED_OK
$STATE,1006,begin climb
$GC,1009,1.80,97.8,110.0,0.0,155,1095,2.03,2.42,77.32,0.633,4,0.048,0.052,2861,3764,3288
$GC,1152,1.88,162.4,105.7,7.0,177,1213,0.00,2.30,51.38,0.625,6,0.000,0.032,2861,2374,3024
$GC,1345,1.89,164.9,84.3,12.3,210,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2374,3023
$GC,1489,1.91,187.2,68.0,10.6,235,1516,0.00,2.53,21.02,0.602,4,0.000,0.067,2861,953,2922
$GC,1552,1.91,187.2,60.2,13.8,245,1559,0.00,2.33,0.00,0.000,6,0.000,0.035,2860,2354,2921
$GC,1692,1.93,196.3,43.3,11.7,270,1706,0.00,0.00,8.27,0.546,6,0.000,0.000,2860,2354,2886
$GC,1840,1.93,198.3,25.3,12.3,296,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2354,2885
$GC,1916,1.94,208.5,16.3,11.6,309,1933,0.10,0.00,11.05,0.563,6,0.071,0.000,2889,2355,2837
$GC,2002,1.94,211.9,5.6,12.2,323,2011,0.00,2.50,3.90,0.412,4,0.000,0.056,2889,949,2824
$STATE,2018,end climb,SURFACE_DEPTH_REACHED
$STATE,2018,begin surface coast
$FINISH,2.4,1.018431
$STATE,2057,end surface coast,CONTROL_FINISHED_OK
$STATE,2057,begin surface
$SM_CCo,2081,328.33,0.572,0,0,1160,620.11
$SM_GC,1.31,0.00,0.00,328.33,0.000,0.000,0.572,481,2373,1160,-9.11,0.37,620.11
$IRIDIUM_FIX,4748.51,-12245.08,120998,010107
$TT8_MAMPS,0.027612
$HUMID,1757
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,100.6,15.5
$24V_AH,23.8,1.875
$10V_AH,10.6,1.095
$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,23.950,37.900,224.375,328.325,0.000,28.492,24.781,184.048,1.750,0.000,0.000,14.306,526.679,199.331,625.116,1048.888,379.257,33.331,1082.580,0.000,1052.276,0.000,14.498,0.000
$DEVICE_MAMPS,194.051,66.729,639.678,572.182,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,229.840,157.888,234.321,395.412,832.848,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25579,332
$CAP_FILE_SIZE,44471,0
$CFSIZE,260165632,258592768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,031349,4807.343,-12222.466,5,1.0,10,18.3