version: 66.06
glider: 147
mission: 5
dive: 11
start: 2 2 110 6 25 45
data:
$ID,147
$MISSION,5
$DIVE,11
$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,-17896.518
$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,31
$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
$GPS1,061806,4806.250,-12222.587,13,1.9,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-64.6
$GPS2,062452,4806.296,-12222.629,14,3.0,33,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.180,-0.087
$KALMAN_X,-2594.8,-108.4,-130.6,3514.2,-463.1
$KALMAN_Y,829.3,25.3,145.0,-2967.5,156.4
$MHEAD_RNG_PITCHd_Wd,97.6,952,-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,-107.5,0.0,0.0,0,130,0.00,0.00,-110.40,0.000,2,0.000,0.000,483,2507,3094,0,0,0,0,0,0
$GC,133,-1.10,-107.5,3.4,-3.4,14,191,9.93,2.53,-36.30,0.000,4,0.174,0.077,2232,3922,3952,0,0,0,0,0,0
$GC,235,-1.10,-107.5,6.0,-3.8,27,245,0.00,2.30,0.00,0.000,6,0.000,0.030,2232,2521,3953,0,0,0,0,0,0
$GC,329,-1.10,-107.5,10.8,-5.2,40,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2521,3953,0,0,0,0,0,0
$GC,422,-1.10,-107.5,15.8,-5.4,53,431,0.00,2.45,0.00,0.000,4,0.000,0.061,2232,3916,3953,0,0,1,0,0,0
$GC,450,-1.10,-107.5,17.6,-6.1,56,459,0.00,2.28,0.00,0.000,6,0.000,0.030,2232,2524,3953,0,0,0,0,0,0
$GC,544,-1.10,-107.5,23.5,-6.6,69,553,0.00,2.45,0.00,0.000,4,0.000,0.061,2232,3922,3953,0,0,0,0,0,0
$GC,585,-1.10,-107.5,26.3,-6.7,74,594,0.00,2.28,0.00,0.000,6,0.000,0.029,2232,2527,3953,0,0,0,0,0,0
$GC,679,-1.10,-107.5,32.5,-6.4,87,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2526,3953,0,0,0,0,0,0
$GC,772,-1.10,-107.5,38.7,-6.7,100,781,0.00,2.45,0.00,0.000,4,0.000,0.061,2232,3924,3953,0,0,0,0,0,0
$GC,791,-1.10,-107.5,40.0,-6.5,102,801,0.00,2.30,0.00,0.000,6,0.000,0.030,2231,2522,3953,0,0,0,0,0,0
$GC,953,-1.10,-107.5,51.4,-7.1,127,959,0.00,2.42,0.00,0.000,4,0.000,0.061,2232,3924,3953,0,0,0,0,0,0
$GC,994,-1.10,-107.5,54.3,-7.0,133,1000,0.00,2.28,0.00,0.000,6,0.000,0.029,2232,2516,3953,0,0,0,0,0,0
$GC,1153,-1.10,-107.5,65.2,-6.5,158,1162,0.00,2.47,0.00,0.000,4,0.000,0.062,2232,3926,3953,0,0,0,0,0,0
$GC,1169,-1.10,-107.5,66.4,-6.7,160,1178,0.00,2.30,0.00,0.000,6,0.000,0.029,2232,2521,3953,0,0,0,0,0,0
$GC,1333,-1.10,-107.5,76.8,-6.5,185,1339,0.00,2.40,0.00,0.000,4,0.000,0.061,2231,3916,3953,0,0,0,0,0,0
$GC,1402,-1.10,-107.5,81.5,-6.9,195,1407,0.00,2.22,0.00,0.000,6,0.000,0.028,2231,2519,3953,0,0,0,0,0,0
$GC,1557,-1.10,-107.5,91.1,-5.8,220,1568,0.00,2.45,0.00,0.000,4,0.000,0.061,2232,3922,3952,0,0,0,0,0,0
$GC,1609,-1.10,-107.5,94.2,-6.2,227,1615,0.00,2.25,0.00,0.000,6,0.000,0.029,2232,2513,3953,0,0,0,0,0,0
$GC,1768,-1.10,-107.5,103.1,-5.1,252,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2512,3953,0,0,0,0,0,0
$GC,1929,-1.10,-107.5,111.3,-5.1,277,1935,0.00,2.42,0.00,0.000,4,0.000,0.061,2232,3925,3952,0,0,0,0,0,0
$STATE,1959,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1959,begin apogee
$GC,1968,-0.33,0.0,113.3,5.5,282,2058,0.80,0.00,83.95,0.689,6,0.097,0.000,2401,2518,3519,0,0,0,0,0,0
$STATE,2058,end apogee,CONTROL_FINISHED_OK
$STATE,2059,begin climb
$GC,2061,1.10,107.5,114.8,0.0,295,2156,1.40,2.45,82.93,0.675,4,0.056,0.058,2721,1129,3080,0,0,0,0,0,0
$GC,2164,1.10,107.5,108.0,8.2,310,2173,0.00,2.35,0.00,0.000,6,0.000,0.041,2720,2512,3079,0,0,0,0,0,0
$GC,2326,1.10,107.5,92.8,9.1,335,2331,0.00,2.47,0.00,0.000,4,0.000,0.066,2720,3927,3078,0,0,0,0,0,0
$GC,2395,1.10,107.5,85.6,10.4,346,2404,0.00,2.30,0.00,0.000,6,0.000,0.031,2720,2534,3078,0,0,0,0,0,0
$GC,2557,1.10,107.5,71.5,8.6,371,2562,0.00,2.40,0.00,0.000,4,0.000,0.064,2720,3923,3078,0,0,0,0,0,0
$GC,2600,1.10,107.5,67.2,9.3,378,2610,0.00,2.33,0.00,0.000,6,0.000,0.031,2720,2522,3078,0,0,0,0,0,0
$GC,2764,1.10,107.5,52.9,8.4,403,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2522,3078,0,0,0,0,0,0
$GC,2918,1.10,107.5,40.0,8.0,428,2927,0.00,2.47,0.00,0.000,4,0.000,0.064,2720,3923,3078,0,0,0,0,0,0
$GC,2953,1.10,107.5,37.3,8.6,432,2962,0.00,2.33,0.00,0.000,6,0.000,0.033,2720,2526,3078,0,0,0,0,0,0
$GC,3046,1.10,107.5,29.5,8.1,445,3056,0.00,2.45,0.00,0.000,4,0.000,0.064,2720,3917,3078,0,0,0,0,0,0
$GC,3074,1.10,107.5,27.1,8.4,448,3083,0.00,2.33,0.00,0.000,6,0.000,0.033,2720,2520,3078,0,0,0,0,0,0
$GC,3166,1.10,107.5,19.8,7.7,461,3176,0.00,2.47,0.00,0.000,4,0.000,0.065,2720,3924,3078,0,0,1,0,0,0
$GC,3186,1.10,107.5,18.1,7.5,463,3195,0.00,2.33,0.00,0.000,6,0.000,0.033,2720,2526,3078,0,0,0,0,0,0
$GC,3280,1.11,109.3,11.3,6.9,476,3289,0.00,2.47,0.00,0.000,4,0.000,0.066,2720,1111,3078,0,0,0,0,0,0
$GC,3307,1.11,109.3,9.4,7.0,479,3317,0.00,2.35,0.00,0.000,6,0.000,0.039,2720,2512,3078,0,0,0,0,0,0
$STATE,3398,end climb,SURFACE_DEPTH_REACHED
$STATE,3398,begin surface coast
$FINISH,3.8,1.019828
$STATE,3501,end surface coast,CONTROL_FINISHED_OK
$STATE,3502,begin surface
$SM_CCo,3521,400.40,0.582,1,0,1071,600.24
$SM_GC,1.17,0.00,0.00,400.40,0.000,0.000,0.582,483,2512,1071,-9.19,-0.23,600.24
$IRIDIUM_FIX,4751.72,-12219.12,290499,050538
$TT8_MAMPS,0.027612
$HUMID,32.47
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,85.3,34.8
$24V_AH,23.7,1.657
$10V_AH,10.2,1.417
$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,21.900,76.050,166.875,400.400,0.000,28.763,26.781,199.124,4.750,0.000,34.527,846.234,358.063,653.856,2010.661,473.736,33.346,1325.029,0.000,2010.636,0.000,9.906,0.000
$DEVICE_MAMPS,174.109,76.700,688.766,582.153,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.791,272.726,353.192,878.505,1667.986,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,41555,507
$CAP_FILE_SIZE,70391,0
$CFSIZE,260165632,216190976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,020210,073202,4806.106,-12222.240,10,1.5,10,18.3