version: 66.06
glider: 147
mission: 5
dive: 10
start: 2 2 110 5 26 5
data:
$ID,147
$MISSION,5
$DIVE,10
$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,-17861.361
$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,2480
$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,2520
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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,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,7
$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
$GPS1,051736,4806.349,-12222.692,9,1.8,25,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-61.1
$GPS2,052508,4806.397,-12222.785,11,1.8,11,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.172,-0.101
$KALMAN_X,-2026.0,-112.0,-156.2,2779.3,-303.5
$KALMAN_Y,578.0,5.9,174.9,-2534.8,102.6
$MHEAD_RNG_PITCHd_Wd,102.2,1219,-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,16,-1.10,-107.5,0.0,0.0,0,160,0.00,0.00,-140.60,0.000,2,0.000,0.000,480,2526,3066,0,0,0,0,0,0
$GC,163,-1.10,-107.5,3.2,-3.0,18,220,10.15,0.00,-38.75,0.000,6,0.184,0.000,2227,2526,3951,0,0,0,0,0,0
$GC,306,-1.10,-107.5,8.3,-5.7,37,315,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2526,3952,0,0,0,0,0,0
$GC,398,-1.10,-107.5,13.1,-5.3,50,408,0.00,2.47,0.00,0.000,4,0.000,0.064,2227,3925,3952,0,0,0,0,0,0
$GC,418,-1.10,-107.5,14.4,-5.5,52,427,0.00,2.33,0.00,0.000,6,0.000,0.031,2227,2509,3952,0,0,0,0,0,0
$GC,513,-1.10,-107.5,20.3,-6.4,65,522,0.00,2.50,0.00,0.000,4,0.000,0.063,2227,3926,3952,0,0,0,0,0,0
$GC,566,-1.10,-107.5,23.8,-6.7,72,576,0.00,2.30,0.00,0.000,6,0.000,0.031,2227,2524,3952,0,0,0,0,0,0
$GC,660,-1.10,-107.5,30.2,-6.6,85,670,0.00,2.45,0.00,0.000,4,0.000,0.063,2227,3916,3952,0,0,0,0,0,0
$GC,681,-1.10,-107.5,31.6,-6.6,87,690,0.00,2.28,0.00,0.000,6,0.000,0.031,2227,2526,3952,0,0,0,0,0,0
$GC,774,-1.10,-107.5,38.1,-6.9,100,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2526,3952,0,0,0,0,0,0
$GC,862,-1.10,-107.5,43.9,-6.5,113,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2526,3952,0,0,0,0,0,0
$GC,1019,-1.10,-107.5,54.5,-6.5,138,1028,0.00,2.45,0.00,0.000,4,0.000,0.063,2227,3919,3952,0,0,0,0,0,0
$GC,1093,-1.10,-107.5,59.7,-7.0,149,1099,0.00,2.28,0.00,0.000,6,0.000,0.030,2227,2518,3952,0,0,0,0,0,0
$GC,1251,-1.10,-107.5,69.9,-6.2,174,1261,0.00,2.45,0.00,0.000,4,0.000,0.062,2227,3916,3952,0,0,0,0,0,0
$GC,1277,-1.10,-107.5,71.4,-6.2,177,1282,0.00,2.28,0.00,0.000,6,0.000,0.029,2227,2509,3952,0,0,0,0,0,0
$STATE,1422,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1422,begin apogee
$GC,1428,-0.33,0.0,80.3,5.9,200,1516,0.82,0.00,83.03,0.675,6,0.097,0.000,2401,2508,3519,0,0,0,0,0,0
$STATE,1517,end apogee,CONTROL_FINISHED_OK
$STATE,1517,begin climb
$GC,1520,1.10,107.5,82.0,0.0,213,1615,1.40,2.42,83.03,0.654,4,0.058,0.056,2719,1129,3081,0,0,0,0,0,0
$GC,1659,1.10,107.5,73.4,8.7,233,1664,0.00,2.33,0.00,0.000,6,0.000,0.042,2719,2521,3080,0,0,0,0,0,0
$GC,1815,1.10,107.5,59.7,8.3,258,1824,0.00,2.47,0.00,0.000,4,0.000,0.066,2719,3921,3079,0,0,0,0,0,0
$GC,1877,1.10,107.5,54.2,9.7,267,1883,0.00,2.28,0.00,0.000,6,0.000,0.031,2719,2526,3079,0,0,0,0,0,0
$GC,2033,1.10,107.5,40.9,8.1,292,2043,0.00,2.47,0.00,0.000,4,0.000,0.064,2719,3923,3079,0,0,0,0,0,0
$GC,2066,1.10,107.5,38.3,8.5,296,2076,0.00,2.33,0.00,0.000,6,0.000,0.032,2719,2526,3079,0,0,0,0,0,0
$GC,2159,1.10,107.5,30.6,7.9,309,2168,0.00,2.45,0.00,0.000,4,0.000,0.062,2719,1116,3079,0,0,0,0,0,0
$GC,2179,1.10,107.5,28.9,8.1,311,2188,0.00,2.38,0.00,0.000,6,0.000,0.041,2719,2523,3079,0,0,0,0,0,0
$GC,2272,1.10,107.5,21.7,7.7,324,2281,0.00,2.45,0.00,0.000,4,0.000,0.064,2719,3921,3079,0,0,0,0,0,0
$GC,2312,1.10,107.5,18.2,8.1,329,2321,0.00,2.33,0.00,0.000,6,0.000,0.031,2719,2515,3079,0,0,0,0,0,0
$GC,2407,1.10,107.5,11.0,7.3,342,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2514,3079,0,0,0,0,0,0
$GC,2499,1.12,116.6,4.8,6.5,355,2517,0.00,2.50,8.10,0.555,4,0.000,0.065,2719,3918,3043,0,0,0,0,0,0
$STATE,2526,end climb,SURFACE_DEPTH_REACHED
$STATE,2526,begin surface coast
$FINISH,3.7,1.019637
$STATE,2629,end surface coast,CONTROL_FINISHED_OK
$STATE,2630,begin surface
$SM_CCo,2651,393.85,0.583,1,0,1072,600.24
$SM_GC,1.17,0.00,0.00,393.85,0.000,0.000,0.583,483,2506,1072,-9.19,-0.40,600.24
$IRIDIUM_FIX,4748.51,-12224.57,290499,040410
$TT8_MAMPS,0.027612
$HUMID,31.68
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,13.70
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,80.3,6.6
$24V_AH,23.8,1.544
$10V_AH,10.2,1.288
$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,22.200,52.500,174.150,393.850,0.000,29.215,28.032,259.248,3.000,0.000,13.211,623.235,199.448,635.460,1548.680,505.798,33.343,1207.353,0.000,1566.407,0.000,7.608,0.000
$DEVICE_MAMPS,184.080,65.962,674.960,582.920,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,262.602,222.922,285.324,709.909,1347.897,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,32111,373
$CAP_FILE_SIZE,56915,0
$CFSIZE,260165632,216260608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,061806,4806.250,-12222.587,13,1.9,29,18.3