version: 66.04
glider: 147
mission: 2
dive: 12
start: 6 18 109 4 8 55
data:
$ID,147
$MISSION,2
$DIVE,12
$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,-1589.59
$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,30
$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,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
$GPS1,040158,4807.169,-12222.386,10,5.9,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.5
$GPS2,040803,4807.158,-12222.373,14,2.6,33,18.3
$SPEED_LIMITS,0.217,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.037,-0.226
$KALMAN_X,-738.8,-187.7,58.3,1240.4,-2.1
$KALMAN_Y,3888.3,823.7,-120.4,-4332.1,144.1
$MHEAD_RNG_PITCHd_Wd,152.5,2194,-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,-97.8,0.0,0.0,0,112,0.00,0.00,-93.78,0.000,2,0.000,0.000,481,2362,3109
$GC,115,-1.80,-97.8,3.1,-2.8,12,164,9.57,2.40,-30.40,0.000,4,0.202,0.057,2060,3767,3952
$GC,200,-1.80,-97.8,9.1,-11.2,24,207,0.00,2.33,0.00,0.000,6,0.000,0.028,2060,2361,3953
$GC,276,-1.80,-97.8,18.1,-12.1,37,284,0.00,2.42,0.00,0.000,4,0.000,0.046,2060,3776,3953
$GC,293,-1.80,-97.8,20.2,-12.6,39,301,0.00,2.33,0.00,0.000,6,0.000,0.028,2060,2363,3953
$GC,369,-1.80,-97.8,30.7,-14.1,52,378,0.00,2.40,0.00,0.000,4,0.000,0.045,2060,3770,3953
$GC,627,-1.80,-97.8,68.6,-15.2,98,635,0.00,2.33,0.00,0.000,6,0.000,0.029,2060,2361,3953
$GC,772,-1.80,-97.8,89.1,-14.5,123,778,0.00,2.38,0.00,0.000,4,0.000,0.047,2060,3772,3953
$STATE,931,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,933,begin apogee
$GC,941,-0.32,0.0,113.1,14.2,152,1002,1.62,0.00,51.53,0.643,6,0.122,0.000,2381,2364,3687
$STATE,1003,end apogee,CONTROL_FINISHED_OK
$STATE,1003,begin climb
$GC,1006,1.80,97.8,116.6,0.0,161,1092,2.08,2.47,77.03,0.637,4,0.051,0.057,2862,957,3288
$GC,1244,1.88,160.3,104.6,7.1,201,1298,0.00,2.33,49.67,0.629,6,0.000,0.034,2861,2361,3034
$GC,1437,1.90,172.0,84.4,11.5,233,1453,0.00,2.47,10.60,0.571,4,0.000,0.054,2862,963,2986
$GC,1501,1.90,172.0,76.3,12.7,243,1507,0.00,2.33,0.00,0.000,6,0.000,0.035,2862,2360,2986
$GC,1640,1.91,183.0,59.2,11.6,268,1654,0.00,0.00,10.20,0.568,6,0.000,0.000,2861,2360,2941
$GC,1787,1.92,191.4,42.1,11.8,294,1802,0.00,2.45,8.12,0.546,4,0.000,0.054,2861,954,2906
$GC,1821,1.92,191.4,38.0,12.9,299,1830,0.00,2.38,0.00,0.000,6,0.000,0.035,2862,2362,2906
$GC,1898,1.93,203.4,28.9,11.5,312,1914,0.00,0.00,11.10,0.565,6,0.000,0.000,2862,2362,2857
$GC,1983,1.94,208.7,19.0,12.0,326,1992,0.10,0.00,5.55,0.487,6,0.071,0.000,2890,2362,2837
$GC,2061,1.94,208.7,9.1,12.5,339,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2362,2836
$STATE,2118,end climb,SURFACE_DEPTH_REACHED
$STATE,2118,begin surface coast
$FINISH,4.7,1.020371
$STATE,2196,end surface coast,CONTROL_FINISHED_OK
$STATE,2196,begin surface
$SM_CCo,2199,470.05,0.566,0,0,477,787.65
$SM_GC,1.26,10.40,0.00,0.00,0.031,0.000,0.000,479,2363,473,-9.06,0.08,788.63
$IRIDIUM_FIX,4748.51,-12221.84,120998,030329
$TT8_MAMPS,0.026845
$HUMID,1835
$INTERNAL_PRESSURE,8.62338
$TCM_TEMP,14.30
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.1,42.7
$24V_AH,23.8,2.107
$10V_AH,10.6,1.243
$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,23.775,33.350,223.800,470.050,0.000,30.847,26.602,168.518,2.000,0.000,0.000,34.769,572.756,338.402,730.964,1150.502,365.437,33.331,1170.005,0.000,1137.951,0.000,5.829,0.000
$DEVICE_MAMPS,201.721,56.758,642.746,566.046,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,254.004,173.130,252.509,426.567,898.428,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28828,363
$CAP_FILE_SIZE,43847,0
$CFSIZE,260165632,258523136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180609,045601,4807.078,-12222.463,7,1.9,7,18.3