version: 66.06
glider: 147
mission: 5
dive: 6
start: 2 2 110 0 9 39
data:
$ID,147
$MISSION,5
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,80
$D_BOOST,4
$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,72
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52418
$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,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,570
$N_FILEKB,8
$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,-17750.793
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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,3519
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,92
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.612097
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$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
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0042834701
$SEABIRD_T_H,0.00062685186
$SEABIRD_T_I,2.2120101e-05
$SEABIRD_T_J,2.1369924e-06
$SEABIRD_C_G,-9.8335438
$SEABIRD_C_H,1.0998563
$SEABIRD_C_I,-0.0012027813
$SEABIRD_C_J,0.00017447164
$GPS1,000116,4807.009,-12223.109,11,8.5,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.4
$GPS2,000846,4807.007,-12223.127,13,3.7,32,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,-0.147
$KALMAN_X,-133.2,-130.9,-31.4,359.5,77.0
$KALMAN_Y,-376.1,-43.1,-11.4,-219.0,-247.4
$MHEAD_RNG_PITCHd_Wd,119.3,2328,-14.6,-6.944
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.10,-107.5,0.0,0.0,0,98,0.00,0.00,-79.10,0.000,2,0.000,0.000,484,2302,2670,0,0,0,0,0,0
$GC,101,-1.10,-107.5,3.1,-2.9,10,167,10.00,2.45,-47.10,0.000,4,0.173,0.067,2252,3701,3952,0,0,0,0,0,0
$GC,178,-1.10,-107.5,6.2,-1.6,19,188,0.00,2.33,0.00,0.000,6,0.000,0.033,2252,2300,3953,0,0,0,0,0,0
$GC,272,-1.10,-107.5,11.3,-5.2,32,282,0.00,2.42,0.00,0.000,4,0.000,0.054,2251,903,3953,0,0,0,0,0,0
$GC,300,-1.10,-107.5,13.2,-6.1,35,310,0.00,2.35,0.00,0.000,6,0.000,0.037,2251,2303,3953,0,0,0,0,0,0
$GC,394,-1.10,-107.5,17.5,-4.2,48,403,0.00,2.42,0.00,0.000,4,0.000,0.057,2251,3704,3953,0,0,0,0,0,0
$GC,455,-1.10,-107.5,21.1,-5.9,56,464,0.00,2.30,0.00,0.000,6,0.000,0.031,2251,2308,3952,0,0,0,0,0,0
$GC,548,-1.10,-107.5,27.3,-6.3,69,557,0.00,2.42,0.00,0.000,4,0.000,0.057,2251,3702,3952,0,0,0,0,0,0
$GC,595,-1.10,-107.5,30.4,-6.5,75,606,0.00,2.33,0.00,0.000,6,0.000,0.031,2251,2293,3953,0,0,0,0,0,0
$GC,690,-1.10,-107.5,36.7,-6.7,88,699,0.00,2.45,0.00,0.000,4,0.000,0.058,2251,3698,3952,0,0,0,0,0,0
$GC,743,-1.10,-107.5,40.6,-7.3,95,749,0.00,2.30,0.00,0.000,6,0.000,0.031,2251,2294,3952,0,0,0,0,0,0
$GC,902,-1.10,-107.5,51.6,-6.2,120,911,0.00,2.45,0.00,0.000,4,0.000,0.057,2251,3703,3952,0,0,0,0,0,0
$GC,1028,-1.10,-107.5,59.8,-6.8,139,1033,0.00,2.30,0.00,0.000,6,0.000,0.031,2251,2297,3952,0,0,0,0,0,0
$GC,1187,-1.10,-107.5,69.7,-6.1,164,1197,0.00,2.45,0.00,0.000,4,0.000,0.059,2251,3705,3952,0,0,0,0,0,0
$GC,1288,-1.10,-107.5,76.2,-6.9,179,1294,0.00,2.30,0.00,0.000,6,0.000,0.031,2251,2296,3952,0,0,0,0,0,0
$GC,1445,-1.10,-107.5,86.1,-5.9,204,1455,0.00,2.45,0.00,0.000,4,0.000,0.058,2251,3705,3952,0,0,0,0,0,0
$GC,1559,-1.10,-107.5,93.1,-6.5,221,1564,0.00,2.28,0.00,0.000,6,0.000,0.031,2252,2300,3952,0,0,0,0,0,0
$GC,1717,-1.10,-107.5,101.5,-4.8,246,1726,0.00,2.42,0.00,0.000,4,0.000,0.059,2251,3695,3953,0,0,0,0,0,0
$GC,1819,-1.10,-107.5,106.8,-5.3,261,1825,0.00,2.28,0.00,0.000,6,0.000,0.031,2251,2294,3952,0,0,0,0,0,0
$STATE,1899,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1899,begin apogee
$GC,1904,-0.33,0.0,111.5,5.2,274,1994,0.80,0.00,83.90,0.694,6,0.089,0.000,2424,2294,3519,0,0,0,0,0,0
$STATE,1995,end apogee,CONTROL_FINISHED_OK
$STATE,1995,begin climb
$GC,1998,1.10,107.5,112.4,0.0,287,2093,1.38,2.45,84.05,0.675,4,0.053,0.058,2742,907,3079,0,0,0,0,0,0
$GC,2101,1.10,107.5,105.2,8.4,302,2110,0.00,2.35,0.00,0.000,6,0.000,0.040,2742,2291,3078,0,0,0,0,0,0
$GC,2265,1.10,107.5,88.9,10.1,327,2271,0.00,2.45,0.00,0.000,4,0.000,0.061,2742,3703,3077,0,0,0,0,0,0
$GC,2380,1.10,107.5,76.6,10.6,345,2386,0.00,2.30,0.00,0.000,6,0.000,0.031,2742,2304,3077,0,0,0,0,0,0
$GC,2536,1.10,107.5,61.3,9.3,370,2546,0.00,2.45,0.00,0.000,4,0.000,0.060,2742,3701,3077,0,0,0,0,0,0
$GC,2623,1.10,107.5,53.0,9.8,383,2629,0.00,2.30,0.00,0.000,6,0.000,0.033,2742,2306,3077,0,0,0,0,0,0
$GC,2785,1.10,107.5,38.7,8.7,408,2795,0.00,2.45,0.00,0.000,4,0.000,0.060,2742,3703,3077,0,0,0,0,0,0
$GC,2872,1.10,107.5,30.4,9.3,420,2881,0.00,2.35,0.00,0.000,6,0.000,0.035,2742,2303,3077,0,0,0,0,0,0
$GC,2964,1.10,107.5,22.4,8.8,433,2975,0.00,2.45,0.00,0.000,4,0.000,0.059,2742,3702,3077,0,0,0,0,0,0
$GC,3000,1.10,107.5,19.3,8.9,437,3009,0.00,2.35,0.00,0.000,6,0.000,0.036,2742,2303,3077,0,0,0,0,0,0
$GC,3092,1.10,107.5,12.0,7.4,450,3102,0.00,2.45,0.00,0.000,4,0.000,0.059,2742,3703,3077,0,0,0,0,0,0
$GC,3120,1.10,107.5,10.1,7.0,453,3129,0.00,2.35,0.00,0.000,6,0.000,0.035,2742,2301,3077,0,0,0,0,0,0
$GC,3213,1.18,168.4,5.3,4.3,466,3272,0.00,2.53,47.30,0.614,4,0.000,0.066,2742,892,2831,0,0,0,0,0,0
$STATE,3380,end climb,NO_VERTICAL_VELOCITY
$STATE,3381,begin surface
$SM_CCo,3384,463.90,0.595,0,0,477,746.19
$SM_GC,1.10,9.70,0.00,0.00,0.030,0.000,0.000,482,2306,472,-9.22,0.17,747.42
$IRIDIUM_FIX,4748.51,-12221.84,280499,232348
$TT8_MAMPS,0.027612
$HUMID,33.06
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,13.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.3,30.8
$24V_AH,23.8,1.022
$10V_AH,10.2,0.775
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.875,76.300,215.250,463.900,0.000,24.080,30.912,242.619,2.750,0.000,34.968,810.367,432.966,707.603,1949.724,514.286,33.320,1367.613,0.000,1952.881,0.000,14.273,0.000
$DEVICE_MAMPS,173.342,66.729,694.135,595.192,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.870,263.214,342.380,850.401,1614.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324796
$DATA_FILE_SIZE,41714,489
$CAP_FILE_SIZE,68047,0
$CFSIZE,260165632,216412160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,011700,4806.875,-12223.030,38,1.3,43,18.3