version: 66.04
glider: 147
mission: 2
dive: 16
start: 6 18 109 8 7 25
data:
$ID,147
$MISSION,2
$DIVE,16
$D_SURF,4
$D_FLARE,3
$D_TGT,151
$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,63
$T_MISSION,70
$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,600
$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,-1672.8341
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2454
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$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,21
$R_STBD_OVSHOOT,25
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$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
$GPS1,075924,4806.500,-12222.043,35,2.0,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-67.3
$GPS2,080631,4806.509,-12222.077,8,1.6,14,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.151,0.133
$KALMAN_X,-904.7,-49.0,-19.0,1710.8,51.3
$KALMAN_Y,5140.4,314.3,20.5,-6418.2,56.1
$MHEAD_RNG_PITCHd_Wd,293.0,3644,-17.7,-7.989
$D_GRID,108
$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,-1.30,-97.8,0.0,0.0,0,126,0.00,0.00,-109.12,0.000,2,0.000,0.000,484,2356,3498
$GC,130,-1.30,-97.8,3.3,-2.6,14,163,9.65,2.42,-14.15,0.000,4,0.179,0.058,2161,949,3953
$GC,413,-1.30,-97.8,30.6,-10.8,63,421,0.00,2.33,0.00,0.000,6,0.000,0.031,2162,2358,3954
$GC,490,-1.30,-97.8,38.8,-10.7,76,498,0.00,2.42,0.00,0.000,4,0.000,0.050,2161,951,3953
$GC,588,-1.30,-97.8,50.1,-10.7,93,594,0.00,2.30,0.00,0.000,6,0.000,0.030,2162,2363,3954
$GC,731,-1.30,-97.8,64.4,-9.9,118,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2363,3954
$GC,872,-1.30,-97.8,78.5,-9.8,143,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2364,3954
$GC,1013,-1.30,-97.8,92.2,-9.7,168,1019,0.00,2.42,0.00,0.000,4,0.000,0.052,2161,947,3954
$GC,1047,-1.30,-97.8,95.7,-10.1,174,1053,0.00,2.30,0.00,0.000,6,0.000,0.031,2161,2359,3954
$STATE,1181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1181,begin apogee
$GC,1187,-0.33,0.0,108.5,8.9,198,1242,1.02,0.00,51.62,0.647,6,0.120,0.000,2373,2359,3688
$STATE,1243,end apogee,CONTROL_FINISHED_OK
$STATE,1243,begin climb
$GC,1246,1.30,97.8,111.0,0.0,208,1333,1.60,2.50,77.25,0.637,4,0.051,0.058,2738,951,3289
$GC,1458,1.37,148.5,107.1,5.2,246,1508,0.00,2.33,40.72,0.632,6,0.000,0.033,2738,2357,3081
$GC,1643,1.39,167.8,94.3,6.9,279,1666,0.00,2.47,16.38,0.605,4,0.000,0.058,2738,953,3002
$GC,1689,1.39,169.1,90.8,7.9,287,1695,0.00,2.35,0.00,0.000,6,0.000,0.034,2738,2364,3002
$GC,1831,1.40,172.7,79.3,7.8,312,1844,0.00,2.47,5.38,0.502,4,0.000,0.058,2738,941,2983
$GC,1891,1.40,172.7,74.4,8.7,322,1897,0.00,2.35,0.00,0.000,6,0.000,0.034,2738,2360,2983
$GC,2033,1.40,174.7,63.0,7.9,347,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2360,2983
$GC,2174,1.40,178.2,51.9,7.8,372,2185,0.00,0.00,6.20,0.529,6,0.000,0.000,2738,2360,2960
$GC,2322,1.41,186.9,40.7,7.5,398,2343,0.10,2.53,8.18,0.561,4,0.068,0.058,2766,947,2926
$GC,2352,1.42,191.7,38.3,7.7,402,2369,0.00,2.38,5.80,0.507,6,0.000,0.033,2766,2363,2905
$GC,2438,1.42,191.7,30.7,9.1,416,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2362,2904
$GC,2514,1.42,191.7,24.3,8.2,429,2522,0.00,2.47,0.00,0.000,4,0.000,0.058,2766,951,2904
$GC,2531,1.42,191.7,22.9,8.3,431,2539,0.00,2.35,0.00,0.000,6,0.000,0.032,2766,2358,2904
$GC,2608,1.42,191.7,16.5,8.0,444,2616,0.00,2.45,0.00,0.000,4,0.000,0.058,2766,960,2904
$GC,2630,1.42,191.7,14.6,8.1,447,2639,0.00,2.33,0.00,0.000,6,0.000,0.033,2766,2353,2904
$GC,2707,1.45,212.9,9.0,6.8,460,2732,0.00,2.45,17.52,0.591,4,0.000,0.055,2766,951,2820
$GC,2741,1.48,241.9,6.9,6.4,464,2774,0.00,2.38,24.92,0.586,6,0.000,0.033,2766,2360,2700
$STATE,2796,end climb,SURFACE_DEPTH_REACHED
$STATE,2796,begin surface coast
$FINISH,3.4,1.019192
$STATE,2893,end surface coast,CONTROL_FINISHED_OK
$STATE,2893,begin surface
$SM_CCo,2913,288.88,0.578,0,0,1241,600.24
$SM_GC,1.87,0.00,0.00,288.88,0.000,0.000,0.578,481,2362,1241,-9.08,0.06,600.24
$IRIDIUM_FIX,4748.51,-12220.12,120998,070743
$TT8_MAMPS,0.027612
$HUMID,1750
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,13.80
$XPDR_PINGS,1
$24V_AH,23.8,2.532
$10V_AH,10.6,1.571
$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,22.500,48.000,253.975,288.875,0.000,24.014,25.047,253.858,0.250,0.000,0.000,16.020,746.551,683.747,623.868,1130.396,456.640,33.358,1146.269,0.000,1130.657,0.000,0.836,0.000
$DEVICE_MAMPS,179.478,58.292,647.348,577.551,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.857,222.589,170.732,287.993,608.335,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34976,489
$CAP_FILE_SIZE,55322,0
$CFSIZE,260165632,258363392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,090230,4806.653,-12222.273,55,1.7,65,18.3