version: 66.06
glider: 147
mission: 5
dive: 12
start: 2 2 110 7 39 51
data:
$ID,147
$MISSION,5
$DIVE,12
$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,-17911.984
$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,22
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$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
$GPS1,073202,4806.106,-12222.240,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.0
$GPS2,073856,4806.165,-12222.293,14,1.3,14,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.175,-0.096
$KALMAN_X,-2983.1,-110.8,-104.1,4288.9,-412.4
$KALMAN_Y,996.8,45.5,94.0,-3344.5,125.4
$MHEAD_RNG_PITCHd_Wd,100.5,474,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.10,-107.5,0.0,0.0,0,139,0.00,0.00,-118.35,0.000,2,0.000,0.000,482,2512,3249,0,0,0,0,0,0
$GC,143,-1.10,-107.5,3.6,-3.9,15,184,10.07,0.00,-28.80,0.000,6,0.180,0.000,2232,2512,3952,0,0,0,0,0,0
$GC,268,-1.10,-107.5,8.0,-4.7,32,278,0.00,2.45,0.00,0.000,4,0.000,0.060,2232,3918,3954,0,0,0,0,0,0
$GC,355,-1.10,-107.5,13.1,-6.0,44,365,0.00,2.30,0.00,0.000,6,0.000,0.030,2233,2511,3953,0,0,0,0,0,0
$GC,448,-1.10,-107.5,18.9,-6.2,57,458,0.00,2.47,0.00,0.000,4,0.000,0.061,2232,3919,3953,0,0,0,0,0,0
$GC,496,-1.10,-107.5,22.4,-7.0,63,505,0.00,2.30,0.00,0.000,6,0.000,0.030,2232,2517,3953,0,0,0,0,0,0
$GC,590,-1.10,-107.5,28.8,-6.7,76,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2516,3953,0,0,0,0,0,0
$GC,683,-1.10,-107.5,35.0,-6.5,89,693,0.00,2.47,0.00,0.000,4,0.000,0.061,2232,3926,3953,0,0,0,0,0,0
$GC,737,-1.10,-107.5,38.8,-7.1,96,746,0.00,2.30,0.00,0.000,6,0.000,0.029,2232,2522,3952,0,0,0,0,0,0
$GC,826,-1.10,-107.5,44.6,-6.6,109,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2521,3953,0,0,0,0,0,0
$GC,981,-1.10,-107.5,55.0,-6.5,134,990,0.00,2.45,0.00,0.000,4,0.000,0.061,2232,3922,3953,0,0,0,0,0,0
$GC,1031,-1.10,-107.5,58.3,-7.1,141,1037,0.00,2.25,0.00,0.000,6,0.000,0.028,2232,2516,3953,0,0,0,0,0,0
$GC,1190,-1.10,-107.5,68.2,-5.9,166,1199,0.00,2.47,0.00,0.000,4,0.000,0.061,2232,3927,3953,0,0,0,0,0,0
$GC,1228,-1.10,-107.5,70.5,-6.4,171,1233,0.00,2.28,0.00,0.000,6,0.000,0.029,2233,2520,3953,0,0,0,0,0,0
$GC,1388,-1.10,-107.5,80.1,-5.8,196,1397,0.00,2.45,0.00,0.000,4,0.000,0.062,2232,3918,3953,0,0,0,0,0,0
$GC,1439,-1.10,-107.5,83.2,-6.2,203,1444,0.00,2.28,0.00,0.000,6,0.000,0.029,2232,2511,3953,0,0,0,0,0,0
$GC,1597,-1.10,-107.5,92.6,-5.8,228,1606,0.00,2.47,0.00,0.000,4,0.000,0.062,2232,3924,3953,0,0,0,0,0,0
$GC,1659,-1.10,-107.5,96.6,-6.7,237,1665,0.00,2.28,0.00,0.000,6,0.000,0.028,2232,2515,3953,0,0,0,0,0,0
$GC,1818,-1.10,-107.5,104.9,-4.8,262,1828,0.00,2.47,0.00,0.000,4,0.000,0.061,2232,3929,3953,0,0,0,0,0,0
$GC,1869,-1.10,-107.5,107.6,-5.5,269,1874,0.00,2.28,0.00,0.000,6,0.000,0.028,2232,2519,3953,0,0,0,0,0,0
$STATE,2010,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2011,begin apogee
$GC,2018,-0.33,0.0,115.4,5.5,292,2107,0.80,0.00,84.22,0.688,6,0.091,0.000,2404,2518,3519,0,0,0,0,0,0
$STATE,2108,end apogee,CONTROL_FINISHED_OK
$STATE,2108,begin climb
$GC,2111,1.10,107.5,116.9,0.0,305,2205,1.40,2.42,83.70,0.671,4,0.058,0.054,2721,1135,3081,0,0,0,0,0,0
$GC,2237,1.10,107.5,108.4,9.2,323,2242,0.00,2.30,0.00,0.000,6,0.000,0.040,2721,2520,3080,0,0,0,0,0,0
$GC,2395,1.10,107.5,92.9,8.7,348,2404,0.00,2.47,0.00,0.000,4,0.000,0.067,2721,3922,3079,0,0,0,0,0,0
$GC,2460,1.10,107.5,86.2,10.5,358,2469,0.00,2.30,0.00,0.000,6,0.000,0.030,2721,2526,3079,0,0,0,0,0,0
$GC,2623,1.10,107.5,71.7,8.9,383,2629,0.00,2.45,0.00,0.000,4,0.000,0.065,2721,3925,3079,0,0,0,0,0,0
$GC,2651,1.10,107.5,69.0,9.1,387,2657,0.00,2.30,0.00,0.000,6,0.000,0.031,2721,2523,3079,0,0,0,0,0,0
$GC,2810,1.10,107.5,54.8,8.6,412,2819,0.00,2.47,0.00,0.000,4,0.000,0.063,2721,3928,3079,0,0,0,0,0,0
$GC,2835,1.10,107.5,52.7,8.6,415,2841,0.00,2.30,0.00,0.000,6,0.000,0.032,2721,2518,3079,0,0,0,0,0,0
$GC,2996,1.10,107.5,38.9,8.4,440,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2518,3079,0,0,0,0,0,0
$GC,3089,1.10,107.5,31.2,8.4,453,3098,0.00,2.47,0.00,0.000,4,0.000,0.065,2721,3919,3079,0,0,0,0,0,0
$GC,3155,1.10,107.5,25.1,9.3,462,3164,0.00,2.33,0.00,0.000,6,0.000,0.033,2721,2522,3079,0,0,0,0,0,0
$GC,3249,1.10,107.5,17.8,7.4,475,3258,0.00,2.47,0.00,0.000,4,0.000,0.065,2721,3923,3079,0,0,0,0,0,0
$GC,3290,1.10,107.5,14.4,8.2,480,3299,0.00,2.35,0.00,0.000,6,0.000,0.034,2721,2512,3079,0,0,0,0,0,0
$GC,3383,1.11,108.8,7.6,6.9,493,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2512,3079,0,0,0,0,0,0
$STATE,3440,end climb,SURFACE_DEPTH_REACHED
$STATE,3440,begin surface coast
$FINISH,3.7,1.019132
$STATE,3535,end surface coast,CONTROL_FINISHED_OK
$STATE,3535,begin surface
$SM_CCo,3555,401.10,0.579,1,0,1072,600.24
$SM_GC,1.07,0.00,0.00,401.10,0.000,0.000,0.579,484,2510,1072,-9.19,-0.28,600.24
$IRIDIUM_FIX,4751.72,-12223.57,290499,060659
$TT8_MAMPS,0.028379
$HUMID,32.04
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,13.90
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,80.1,42.2
$24V_AH,23.7,1.771
$10V_AH,10.2,1.546
$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,22.050,66.625,167.925,401.100,0.000,27.285,24.153,227.379,3.250,0.000,14.840,856.287,377.590,645.368,2003.863,501.985,33.348,1298.326,0.000,2028.683,0.000,7.706,0.000
$DEVICE_MAMPS,180.245,67.496,687.999,579.085,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.033,274.914,354.275,880.937,1672.672,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,44783,515
$CAP_FILE_SIZE,69087,0
$CFSIZE,260165632,216150016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,084704,4806.002,-12222.027,11,99.0,30,18.3