version: 66.06
glider: 147
mission: 5
dive: 8
start: 2 2 110 2 45 15
data:
$ID,147
$MISSION,5
$DIVE,8
$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,-17799
$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,22
$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,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
$GPS1,023658,4806.713,-12223.010,10,99.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-58.2
$GPS2,024422,4806.767,-12223.053,14,99.0,33,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,-0.134
$KALMAN_X,-1183.1,-110.7,-41.9,1495.2,-383.5
$KALMAN_Y,373.0,-71.2,-13.8,-1386.5,302.3
$MHEAD_RNG_PITCHd_Wd,114.0,1926,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.10,-107.5,0.0,0.0,0,163,0.00,0.00,-140.95,0.000,2,0.000,0.000,479,2407,3116,0,0,0,0,0,0
$GC,166,-1.10,-107.5,3.6,-3.4,18,215,10.12,0.00,-33.20,0.000,6,0.177,0.000,2255,2407,3951,0,0,0,0,0,0
$GC,299,-1.10,-107.5,7.4,-3.5,36,309,0.00,2.42,0.00,0.000,4,0.000,0.059,2254,3802,3952,0,0,0,0,0,0
$GC,340,-1.10,-107.5,9.1,-3.8,41,350,0.00,2.33,0.00,0.000,6,0.000,0.030,2254,2385,3952,0,0,0,0,0,0
$GC,434,-1.10,-107.5,13.1,-4.4,54,443,0.00,2.35,0.00,0.000,4,0.000,0.047,2254,994,3952,0,0,0,0,0,0
$GC,454,-1.10,-107.5,14.2,-4.8,56,463,0.00,2.35,0.00,0.000,6,0.000,0.038,2254,2402,3952,0,0,0,0,0,0
$GC,548,-1.10,-107.5,19.3,-5.4,69,557,0.00,2.42,0.00,0.000,4,0.000,0.058,2255,3802,3952,0,0,0,0,0,0
$GC,622,-1.10,-107.5,24.1,-6.2,79,631,0.00,2.30,0.00,0.000,6,0.000,0.030,2254,2405,3952,0,0,0,0,0,0
$GC,716,-1.10,-107.5,29.1,-5.3,92,725,0.00,2.42,0.00,0.000,4,0.000,0.058,2254,3798,3952,0,0,0,0,0,0
$GC,736,-1.10,-107.5,30.4,-5.5,94,745,0.00,2.30,0.00,0.000,6,0.000,0.031,2255,2399,3952,0,0,0,0,0,0
$GC,828,-1.10,-107.5,36.0,-6.1,107,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2399,3952,0,0,0,0,0,0
$GC,916,-1.10,-107.5,41.7,-6.3,120,925,0.00,2.45,0.00,0.000,4,0.000,0.059,2254,3801,3952,0,0,0,0,0,0
$GC,954,-1.10,-107.5,43.9,-6.4,125,960,0.00,2.28,0.00,0.000,6,0.000,0.031,2255,2397,3951,0,0,0,0,0,0
$GC,1113,-1.10,-107.5,54.1,-5.9,150,1122,0.00,2.45,0.00,0.000,4,0.000,0.060,2254,3801,3952,0,0,0,0,0,0
$GC,1240,-1.10,-107.5,61.8,-6.3,169,1246,0.00,2.28,0.00,0.000,6,0.000,0.031,2254,2399,3952,0,0,0,0,0,0
$GC,1398,-1.10,-107.5,70.9,-5.8,194,1408,0.00,2.45,0.00,0.000,4,0.000,0.060,2255,3806,3952,0,0,0,0,0,0
$GC,1465,-1.10,-107.5,75.1,-6.5,204,1474,0.00,2.30,0.00,0.000,6,0.000,0.031,2255,2402,3952,0,0,0,0,0,0
$GC,1630,-1.10,-107.5,83.4,-5.2,229,1635,0.00,2.42,0.00,0.000,4,0.000,0.059,2255,3811,3952,0,0,0,0,0,0
$GC,1684,-1.10,-107.5,86.4,-5.6,237,1689,0.00,2.30,0.00,0.000,6,0.000,0.030,2254,2390,3952,0,0,0,0,0,0
$GC,1842,-1.10,-107.5,94.9,-5.1,262,1851,0.00,2.45,0.00,0.000,4,0.000,0.061,2255,3796,3952,0,0,0,0,0,0
$GC,1917,-1.10,-107.5,99.1,-5.9,273,1922,0.00,2.22,0.00,0.000,6,0.000,0.029,2254,2400,3952,0,0,0,0,0,0
$GC,2075,-1.10,-107.5,107.0,-5.1,298,2084,0.00,2.42,0.00,0.000,4,0.000,0.061,2254,3793,3952,0,0,1,0,0,0
$STATE,2188,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2188,begin apogee
$GC,2196,-0.33,0.0,113.0,5.0,316,2285,0.77,0.00,83.38,0.693,6,0.091,0.000,2420,2399,3519,0,0,0,0,0,0
$STATE,2286,end apogee,CONTROL_FINISHED_OK
$STATE,2286,begin climb
$GC,2289,1.10,107.5,114.2,0.0,329,2385,1.38,2.53,83.62,0.676,4,0.053,0.063,2738,3803,3079,0,0,0,0,0,0
$GC,2404,1.10,107.5,106.2,9.4,345,2410,0.00,2.33,0.00,0.000,6,0.000,0.033,2738,2403,3078,0,0,0,0,0,0
$GC,2561,1.10,107.5,90.4,9.4,370,2570,0.00,2.45,0.00,0.000,4,0.000,0.061,2738,3793,3077,0,0,0,0,0,0
$GC,2636,1.10,107.5,83.0,10.7,381,2641,0.00,2.30,0.00,0.000,6,0.000,0.034,2738,2400,3077,0,0,0,0,0,0
$GC,2793,1.10,107.5,67.8,9.2,406,2802,0.00,2.45,0.00,0.000,4,0.000,0.061,2738,3796,3077,0,0,1,0,0,0
$GC,2845,1.10,107.5,62.2,10.7,414,2855,0.00,2.33,0.00,0.000,6,0.000,0.034,2738,2402,3077,0,0,0,0,0,0
$GC,3008,1.10,107.5,47.4,9.3,439,3013,0.00,2.42,0.00,0.000,4,0.000,0.061,2738,3803,3077,0,0,0,0,0,0
$GC,3086,1.10,107.5,39.4,10.4,451,3095,0.00,2.33,0.00,0.000,6,0.000,0.035,2738,2405,3077,0,0,0,0,0,0
$GC,3179,1.10,107.5,31.0,9.1,464,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2405,3077,0,0,0,0,0,0
$GC,3272,1.10,107.5,22.6,8.9,477,3282,0.00,2.45,0.00,0.000,4,0.000,0.061,2738,3803,3077,0,0,0,0,0,0
$GC,3319,1.10,107.5,18.1,9.3,483,3329,0.00,2.35,0.00,0.000,6,0.000,0.035,2738,2398,3077,0,0,0,0,0,0
$GC,3412,1.10,107.5,10.6,7.5,496,3421,0.00,2.45,0.00,0.000,4,0.000,0.060,2738,3799,3077,0,0,0,0,0,0
$GC,3446,1.10,107.5,7.8,7.7,500,3456,0.00,2.33,0.00,0.000,6,0.000,0.035,2738,2407,3077,0,0,0,0,0,0
$STATE,3511,end climb,SURFACE_DEPTH_REACHED
$STATE,3511,begin surface coast
$FINISH,4.5,1.019390
$STATE,3627,end surface coast,CONTROL_FINISHED_OK
$STATE,3627,begin surface
$SM_CCo,3630,511.08,0.595,0,0,477,746.19
$SM_GC,1.06,9.65,0.00,0.00,0.028,0.000,0.000,484,2404,471,-9.22,0.14,747.42
$IRIDIUM_FIX,4748.51,-12224.57,290499,010157
$TT8_MAMPS,0.027612
$HUMID,32.04
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,13.90
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,80.1,42.8
$24V_AH,23.7,1.292
$10V_AH,10.2,1.047
$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,21.925,75.900,167.000,511.075,0.000,27.460,24.512,236.486,3.250,0.000,34.478,868.301,463.212,762.691,2088.653,515.022,33.351,1457.610,0.000,2092.344,0.000,5.529,0.000
$DEVICE_MAMPS,177.177,62.894,692.601,595.192,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.860,286.077,368.748,916.695,1740.631,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,44990,526
$CAP_FILE_SIZE,72166,0
$CFSIZE,260165632,216317952
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,020210,035716,4806.556,-12222.854,12,4.1,32,18.3