version: 66.03
glider: 147
mission: 2
dive: 2
start: 6 1 108 17 52 36
data:
$ID,147
$MISSION,2
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$D_NO_BLEED,200
$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,70
$T_ABORT,720
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,2130
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,496.05389
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8126.3521
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3045
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,0
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,2540
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,61.200001
$PRESSURE_YINT,-25.564552
$PRESSURE_SLOPE,0.0001163609
$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
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-4
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042839935
$SEABIRD_T_H,0.00062826771
$SEABIRD_T_I,2.331103e-05
$SEABIRD_T_J,2.4629044e-06
$SEABIRD_C_G,-9.8388109
$SEABIRD_C_H,1.1014243
$SEABIRD_C_I,-0.00163139
$SEABIRD_C_J,0.00020565242
$GPS1,174827,2214.675,-15718.232,9,1.9,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-60.5
$GPS2,175217,2214.668,-15718.236,13,2.1,32,10.0
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,298.2,90793,-19.3,-10.000
$D_GRID,120
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.36,-122.2,0.0,0.0,0,118,0.00,0.00,-98.85,0.000,2,0.000,0.000,481,2053,2821
$GC,120,-1.36,-122.2,3.4,-5.2,10,143,11.88,2.30,-5.40,0.000,4,0.150,0.056,2689,3448,3040
$GC,330,-1.36,-122.2,40.0,-15.3,32,359,13.77,2.30,0.00,0.000,6,0.384,0.047,2285,2051,3041
$GC,677,-1.36,-122.2,96.2,-17.9,64,693,5.45,2.50,0.00,0.000,4,0.136,0.084,2755,650,3041
$GC,750,-1.36,-122.2,102.7,-8.7,69,754,0.00,2.22,0.00,0.000,6,0.000,0.038,2727,2046,3041
$STATE,897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,898,begin apogee
$GC,901,-0.31,0.0,120.2,12.2,82,1004,1.00,0.00,93.50,0.530,6,0.082,0.000,2974,2046,2540
$STATE,1004,end apogee,CONTROL_FINISHED_OK
$STATE,1004,begin climb
$GC,1006,1.36,122.2,124.7,0.0,92,1111,1.55,2.33,95.47,0.524,4,0.048,0.055,3151,3449,2040
$GC,1209,1.36,122.2,111.3,10.3,106,1229,13.77,2.33,0.00,0.000,6,0.462,0.051,2097,2055,2036
$GC,1556,1.36,122.2,48.5,14.7,138,1567,2.53,0.00,0.00,0.000,6,0.128,0.000,3341,2055,2034
$GC,1885,1.45,201.5,30.5,5.6,169,1960,0.00,2.60,61.90,0.476,4,0.000,0.085,3341,637,1714
$GC,1994,1.45,201.5,20.5,11.7,184,2003,0.00,2.30,0.00,0.000,6,0.000,0.039,3341,2044,1712
$STATE,2174,end climb,SURFACE_DEPTH_REACHED
$STATE,2174,begin surface coast
$FINISH,0.6,1.023290
$STATE,2200,end surface coast,CONTROL_FINISHED_OK
$STATE,2200,begin surface
$SM_CCo,2219,263.75,0.390,29,0,516,496.24
$SM_GC,1.26,0.00,0.00,263.75,0.000,0.000,0.390,478,2045,516,-11.81,-0.14,496.24
$IRIDIUM_FIX,2206.70,-15717.44,260897,171709
$TT8_MAMPS,0.026078
$HUMID,1431
$INTERNAL_PRESSURE,8.18797
$TCM_TEMP,25.80
$XPDR_PINGS,89
$24V_AH,24.1,4.965
$10V_AH,10.3,1.555
$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
$DEVICE_SECS,61.800,18.875,250.875,263.750,0.000,0.000,0.000,0.000,23.500,0.000,0.000,34.582,374.066,415.941,623.429,1262.299,44.429,0.000,1052.138,0.000,1256.840,0.000,8.683
$DEVICE_MAMPS,461.734,85.137,529.997,390.403,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,146.038,148.920,227.222,650.444,1118.103,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15994,220
$CAP_FILE_SIZE,41045,16
$CFSIZE,260165632,257978368
$ERRORS,0,0,0,0,0,0,0,0,2,0,0,100,0,29,0
$GPS,010608,183729,2214.832,-15718.226,9,3.8,28,10.0