version: 66.06
glider: 147
mission: 5
dive: 7
start: 2 2 110 1 24 51
data:
$ID,147
$MISSION,5
$DIVE,7
$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,600
$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,-17763.891
$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,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,29
$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
$GPS1,011700,4806.875,-12223.030,38,1.3,43,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-64.4
$GPS2,012356,4806.899,-12223.089,10,1.0,10,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.144,-0.139
$KALMAN_X,-629.6,-145.3,-2.5,895.1,-205.8
$KALMAN_Y,26.0,-33.5,-47.1,-803.7,83.4
$MHEAD_RNG_PITCHd_Wd,115.6,2142,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-107.5,0.0,0.0,0,152,0.00,0.00,-132.18,0.000,2,0.000,0.000,482,2307,2992,0,0,0,0,0,0
$GC,156,-1.10,-107.5,3.6,-3.5,17,206,10.10,2.22,-34.05,0.000,4,0.177,0.059,2251,980,3951,0,0,0,0,0,0
$GC,285,-1.10,-107.5,8.4,-4.5,34,294,0.00,2.35,0.00,0.000,6,0.000,0.037,2251,2390,3951,0,0,0,0,0,0
$GC,378,-1.10,-107.5,12.9,-5.2,47,388,0.00,2.45,0.00,0.000,4,0.000,0.059,2251,3801,3951,0,0,0,0,0,0
$GC,445,-1.10,-107.5,16.8,-5.9,56,455,0.00,2.33,0.00,0.000,6,0.000,0.030,2250,2389,3951,0,0,0,0,0,0
$GC,540,-1.10,-107.5,22.4,-5.8,69,549,0.00,2.47,0.00,0.000,4,0.000,0.059,2251,3804,3951,0,0,0,0,0,0
$GC,574,-1.10,-107.5,24.7,-6.1,73,583,0.00,2.30,0.00,0.000,6,0.000,0.031,2251,2402,3951,0,0,0,0,0,0
$GC,668,-1.10,-107.5,30.4,-5.8,86,678,0.00,2.45,0.00,0.000,4,0.000,0.059,2251,3805,3951,0,0,0,0,0,0
$GC,710,-1.10,-107.5,32.9,-6.2,91,719,0.00,2.30,0.00,0.000,6,0.000,0.031,2251,2403,3951,0,0,0,0,0,0
$GC,803,-1.10,-107.5,38.7,-6.2,104,812,0.00,2.45,0.00,0.000,4,0.000,0.059,2251,3805,3951,0,0,0,0,0,0
$GC,831,-1.10,-107.5,40.5,-6.5,107,836,0.00,2.28,0.00,0.000,6,0.000,0.031,2251,2392,3951,0,0,0,0,0,0
$GC,988,-1.10,-107.5,50.3,-5.8,132,998,0.00,2.45,0.00,0.000,4,0.000,0.058,2251,3803,3951,0,0,0,0,0,0
$GC,1139,-1.10,-107.5,59.6,-6.3,155,1145,0.00,2.28,0.00,0.000,6,0.000,0.031,2251,2392,3951,0,0,0,0,0,0
$GC,1298,-1.10,-107.5,68.4,-5.4,180,1307,0.00,2.45,0.00,0.000,4,0.000,0.059,2251,3801,3951,0,0,0,0,0,0
$GC,1336,-1.10,-107.5,70.5,-5.8,185,1341,0.00,2.28,0.00,0.000,6,0.000,0.031,2251,2400,3951,0,0,0,0,0,0
$GC,1493,-1.10,-107.5,79.6,-5.5,210,1505,0.00,2.42,0.00,0.000,4,0.000,0.060,2251,3793,3951,0,0,1,0,0,0
$GC,1587,-1.10,-107.5,85.4,-6.1,224,1596,0.00,2.28,0.00,0.000,6,0.000,0.031,2251,2405,3951,0,0,0,0,0,0
$GC,1751,-1.10,-107.5,93.6,-4.9,249,1756,0.00,2.40,0.00,0.000,4,0.000,0.059,2251,3803,3951,0,0,0,0,0,0
$GC,1805,-1.10,-107.5,96.6,-5.5,257,1811,0.00,2.25,0.00,0.000,6,0.000,0.029,2251,2397,3951,0,0,0,0,0,0
$GC,1964,-1.10,-107.5,104.9,-5.3,282,1973,0.00,2.42,0.00,0.000,4,0.000,0.058,2251,3794,3950,0,0,0,0,0,0
$GC,2081,-1.10,-107.5,111.4,-5.3,300,2090,0.00,2.28,0.00,0.000,6,0.000,0.029,2251,2401,3951,0,0,0,0,0,0
$STATE,2141,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2142,begin apogee
$GC,2147,-0.33,0.0,114.1,4.5,309,2241,0.80,0.00,83.57,0.694,6,0.089,0.000,2423,2400,3518,0,0,0,0,0,0
$STATE,2242,end apogee,CONTROL_FINISHED_OK
$STATE,2242,begin climb
$GC,2247,1.10,107.5,115.0,0.0,323,2342,1.38,2.45,84.10,0.675,4,0.053,0.057,2740,1011,3078,0,0,0,0,0,0
$GC,2350,1.10,107.5,107.4,9.3,338,2360,0.00,2.35,0.00,0.000,6,0.000,0.041,2740,2390,3077,0,0,0,0,0,0
$GC,2513,1.10,107.5,92.2,9.4,363,2518,0.00,2.45,0.00,0.000,4,0.000,0.063,2740,3806,3076,0,0,0,0,0,0
$GC,2594,1.10,107.5,83.3,10.7,376,2603,0.00,2.33,0.00,0.000,6,0.000,0.031,2740,2403,3077,0,0,0,0,0,0
$GC,2758,1.10,107.5,67.9,9.6,401,2764,0.00,2.42,0.00,0.000,4,0.000,0.060,2740,3807,3076,0,0,0,0,0,0
$GC,2801,1.10,107.5,63.1,10.0,408,2810,0.00,2.33,0.00,0.000,6,0.000,0.033,2740,2407,3077,0,0,0,0,0,0
$GC,2960,1.10,107.5,49.3,8.3,433,2966,0.00,2.42,0.00,0.000,4,0.000,0.059,2740,3808,3077,0,0,0,0,0,0
$GC,3039,1.10,107.5,41.8,9.7,445,3044,0.00,2.33,0.00,0.000,6,0.000,0.035,2740,2400,3077,0,0,0,0,0,0
$GC,3206,1.10,107.5,27.2,8.8,470,3215,0.00,2.45,0.00,0.000,4,0.000,0.060,2740,3804,3077,0,0,0,0,0,0
$GC,3261,1.10,107.5,22.0,9.4,477,3270,0.00,2.35,0.00,0.000,6,0.000,0.035,2740,2398,3077,0,0,0,0,0,0
$GC,3353,1.10,107.5,14.3,7.8,490,3363,0.00,2.45,0.00,0.000,4,0.000,0.059,2740,3805,3077,0,0,0,0,0,0
$GC,3387,1.10,107.5,11.6,8.0,494,3396,0.00,2.35,0.00,0.000,6,0.000,0.035,2740,2398,3077,0,0,0,0,0,0
$GC,3481,1.12,119.1,5.4,6.4,507,3499,0.00,2.47,9.70,0.569,4,0.000,0.064,2740,995,3033,0,0,0,0,0,0
$GC,3637,1.31,273.5,4.7,0.2,529,3664,0.15,2.35,21.50,0.601,2,0.043,0.037,2787,2406,2926,0,0,0,0,0,0
$STATE,3665,end climb,NO_VERTICAL_VELOCITY
$STATE,3665,begin surface
$SM_CCo,3669,482.23,0.595,0,0,477,746.19
$SM_GC,1.13,9.95,0.00,0.00,0.032,0.000,0.000,478,2406,473,-9.24,0.17,747.17
$IRIDIUM_FIX,4748.51,-12245.08,290499,000008
$TT8_MAMPS,0.027612
$HUMID,32.67
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,13.90
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.1,43.9
$24V_AH,23.8,1.157
$10V_AH,10.2,0.911
$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,22.375,80.600,198.875,482.225,0.000,30.936,25.850,223.815,2.000,0.000,12.469,876.491,472.399,740.203,2080.165,512.442,33.337,1449.539,0.000,2108.280,0.000,5.544,0.000
$DEVICE_MAMPS,177.177,63.661,694.135,595.192,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.297,286.304,370.059,921.934,1750.499,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,45145,532
$CAP_FILE_SIZE,72879,0
$CFSIZE,260165632,216358912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,020210,023658,4806.713,-12223.010,10,99.0,30,18.3