version: 66.04
glider: 147
mission: 2
dive: 18
start: 6 18 109 10 13 32
data:
$ID,147
$MISSION,2
$DIVE,18
$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,-1705.1704
$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,32
$R_STBD_OVSHOOT,21
$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
$GPS1,100606,4806.835,-12222.445,14,1.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-64.9
$GPS2,101238,4806.810,-12222.450,14,1.6,14,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.132,0.151
$KALMAN_X,-701.1,39.3,-17.1,954.5,101.1
$KALMAN_Y,5134.9,32.0,139.7,-5688.9,-113.6
$MHEAD_RNG_PITCHd_Wd,300.5,2920,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.30,-97.8,0.0,0.0,0,121,0.00,0.00,-101.53,0.000,2,0.000,0.000,484,2354,3284
$GC,124,-1.30,-97.8,3.1,-2.5,13,165,10.02,0.00,-24.00,0.000,6,0.196,0.000,2161,2354,3951
$GC,234,-1.30,-97.8,9.7,-7.4,30,241,0.00,2.42,0.00,0.000,4,0.000,0.048,2161,3769,3952
$GC,320,-1.30,-97.8,17.5,-9.2,45,329,0.00,2.33,0.00,0.000,6,0.000,0.028,2161,2364,3952
$GC,397,-1.30,-97.8,25.6,-10.4,58,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2364,3952
$GC,473,-1.30,-97.8,33.9,-10.7,71,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2364,3952
$GC,547,-1.30,-97.8,42.2,-11.2,84,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2364,3952
$GC,688,-1.30,-97.8,57.0,-10.0,109,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2363,3952
$GC,828,-1.30,-97.8,71.0,-9.9,134,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2363,3952
$GC,969,-1.30,-97.8,85.0,-9.9,159,975,0.00,2.40,0.00,0.000,4,0.000,0.053,2161,955,3952
$GC,998,-1.30,-97.8,88.0,-10.4,164,1004,0.00,2.30,0.00,0.000,6,0.000,0.031,2161,2366,3952
$GC,1140,-1.30,-97.8,101.7,-9.4,189,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2366,3952
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1205,begin apogee
$GC,1211,-0.33,0.0,108.1,9.1,201,1267,1.02,0.00,51.45,0.646,6,0.106,0.000,2372,2366,3688
$STATE,1267,end apogee,CONTROL_FINISHED_OK
$STATE,1267,begin climb
$GC,1270,1.30,97.8,110.5,0.0,211,1358,1.60,2.53,77.32,0.636,4,0.055,0.056,2734,959,3289
$GC,1376,1.42,192.1,108.6,2.8,230,1458,0.12,2.33,74.65,0.630,6,0.063,0.031,2767,2361,2903
$GC,1594,1.42,192.1,88.9,11.1,269,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2361,2901
$GC,1735,1.42,192.1,74.3,10.0,294,1741,0.00,2.42,0.00,0.000,4,0.000,0.055,2768,963,2900
$GC,1753,1.42,192.1,72.5,9.9,297,1759,0.00,2.30,0.00,0.000,6,0.000,0.033,2768,2358,2900
$GC,1894,1.42,192.1,58.8,9.2,322,1900,0.00,2.42,0.00,0.000,4,0.000,0.056,2768,956,2900
$GC,1918,1.42,192.1,56.4,10.1,326,1924,0.00,2.33,0.00,0.000,6,0.000,0.034,2768,2361,2900
$GC,2059,1.42,192.1,42.7,9.1,351,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2361,2900
$GC,2200,1.42,192.1,30.2,8.8,376,2208,0.00,2.45,0.00,0.000,4,0.000,0.056,2768,964,2899
$GC,2217,1.42,192.1,28.7,8.5,378,2225,0.00,2.35,0.00,0.000,6,0.000,0.035,2767,2363,2899
$GC,2294,1.42,192.1,22.1,8.3,391,2302,0.00,2.45,0.00,0.000,4,0.000,0.056,2768,964,2899
$GC,2312,1.42,192.1,20.7,8.3,393,2321,0.00,2.33,0.00,0.000,6,0.000,0.034,2767,2354,2899
$GC,2390,1.42,192.1,14.2,8.0,406,2398,0.00,2.42,0.00,0.000,4,0.000,0.056,2768,969,2898
$GC,2412,1.42,192.1,12.4,8.2,409,2420,0.00,2.33,0.00,0.000,6,0.000,0.033,2768,2361,2898
$GC,2489,1.44,205.1,6.5,7.3,422,2505,0.00,2.45,10.55,0.562,4,0.000,0.060,2768,3772,2851
$GC,2531,1.49,246.1,4.1,5.7,428,2541,0.00,2.35,5.38,0.482,2,0.000,0.031,2768,2368,2828
$STATE,2542,end climb,SURFACE_DEPTH_REACHED
$STATE,2542,begin surface coast
$FINISH,4.1,1.020166
$STATE,2636,end surface coast,CONTROL_FINISHED_OK
$STATE,2636,begin surface
$SM_CCo,2639,469.45,0.569,0,0,477,787.65
$SM_GC,1.27,9.88,0.00,0.00,0.031,0.000,0.000,480,2366,473,-9.01,0.17,788.63
$IRIDIUM_FIX,4748.51,-12219.12,120998,090917
$TT8_MAMPS,0.026845
$HUMID,1793
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,23.8,2.768
$10V_AH,10.6,1.708
$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,22.650,42.900,219.350,469.450,0.000,24.195,23.513,218.859,0.000,0.000,0.000,14.675,686.328,651.476,789.048,1069.633,426.360,33.340,1272.592,0.000,1073.548,0.000,0.835,0.000
$DEVICE_MAMPS,195.585,59.826,645.814,569.114,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,309.559,211.348,173.694,293.481,616.803,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31799,446
$CAP_FILE_SIZE,53071,0
$CFSIZE,260165632,258297856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,110816,4806.947,-12222.554,7,99.0,26,18.3