version: 66.06
glider: 147
mission: 5
dive: 14
start: 2 2 110 10 13 21
data:
$ID,147
$MISSION,5
$DIVE,14
$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,-17941.545
$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,28
$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
$GPS1,100534,4806.315,-12222.284,11,2.9,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-61.9
$GPS2,101226,4806.287,-12222.319,14,1.8,14,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.068,0.188
$KALMAN_X,-3634.4,-115.3,2.4,4802.3,-191.9
$KALMAN_Y,918.1,95.1,-49.4,-2939.6,-73.2
$MHEAD_RNG_PITCHd_Wd,321.9,3793,-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,-107.5,0.0,0.0,0,155,0.00,0.00,-133.30,0.000,2,0.000,0.000,482,2511,2984,0,0,0,0,0,0
$GC,158,-1.10,-107.5,3.5,-3.2,17,201,10.30,2.47,-26.15,0.000,4,0.190,0.072,2230,3931,3952,0,0,0,0,0,0
$GC,252,-1.10,-107.5,11.6,-4.1,29,262,0.00,2.33,0.00,0.000,6,0.000,0.030,2229,2519,3952,0,0,0,0,0,0
$GC,346,-1.10,-107.5,16.1,-4.4,42,355,0.00,2.47,0.00,0.000,4,0.000,0.061,2229,3928,3952,0,0,0,0,0,0
$GC,406,-1.10,-107.5,19.5,-5.9,50,416,0.00,2.33,0.00,0.000,6,0.000,0.030,2229,2514,3953,0,0,0,0,0,0
$GC,501,-1.10,-107.5,25.3,-6.5,63,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2513,3952,0,0,0,0,0,0
$GC,593,-1.10,-107.5,31.3,-6.7,76,603,0.00,2.47,0.00,0.000,4,0.000,0.061,2229,3920,3953,0,0,0,0,0,0
$GC,648,-1.10,-107.5,35.4,-7.4,83,657,0.00,2.30,0.00,0.000,6,0.000,0.030,2229,2522,3952,0,0,0,0,0,0
$GC,735,-1.10,-107.5,42.1,-7.2,96,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2522,3953,0,0,0,0,0,0
$GC,897,-1.10,-107.5,53.6,-7.3,121,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2522,3953,0,0,0,0,0,0
$GC,1052,-1.10,-107.5,64.9,-7.0,146,1061,0.00,2.47,0.00,0.000,4,0.000,0.063,2229,3929,3952,0,0,0,0,0,0
$GC,1128,-1.10,-107.5,70.6,-8.2,157,1134,0.00,2.30,0.00,0.000,6,0.000,0.029,2229,2510,3952,0,0,0,0,0,0
$GC,1285,-1.10,-107.5,81.2,-6.7,182,1295,0.00,2.47,0.00,0.000,4,0.000,0.061,2229,3923,3953,0,0,0,0,0,0
$GC,1361,-1.10,-107.5,86.6,-7.7,193,1367,0.00,2.28,0.00,0.000,6,0.000,0.029,2229,2515,3952,0,0,0,0,0,0
$GC,1521,-1.10,-107.5,97.1,-6.0,218,1530,0.00,2.47,0.00,0.000,4,0.000,0.061,2229,3929,3953,0,0,0,0,0,0
$GC,1574,-1.10,-107.5,100.5,-6.6,226,1583,0.00,2.30,0.00,0.000,6,0.000,0.028,2229,2521,3952,0,0,0,0,0,0
$GC,1739,-1.10,-107.5,109.9,-5.7,251,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2520,3953,0,0,0,0,0,0
$STATE,1853,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1853,begin apogee
$GC,1859,-0.33,0.0,116.3,5.3,269,1954,0.80,0.00,84.35,0.689,6,0.091,0.000,2400,2519,3518,0,0,0,0,0,0
$STATE,1955,end apogee,CONTROL_FINISHED_OK
$STATE,1955,begin climb
$GC,1959,1.10,107.5,117.6,0.0,283,2054,1.40,2.45,84.20,0.670,4,0.060,0.058,2718,1132,3079,0,0,0,0,0,0
$GC,2063,1.10,107.5,110.7,8.2,298,2072,0.00,2.35,0.00,0.000,6,0.000,0.040,2718,2512,3079,0,0,0,0,0,0
$GC,2227,1.10,107.5,95.7,9.4,323,2232,0.00,2.47,0.00,0.000,4,0.000,0.067,2718,3926,3078,0,0,0,0,0,0
$GC,2255,1.10,107.5,92.9,9.6,327,2261,0.00,2.30,0.00,0.000,6,0.000,0.030,2718,2520,3078,0,0,0,0,0,0
$GC,2409,1.10,107.5,79.2,8.5,352,2419,0.00,2.50,0.00,0.000,4,0.000,0.065,2718,3929,3077,0,0,0,0,0,0
$GC,2447,1.10,107.5,75.7,9.4,357,2453,0.00,2.30,0.00,0.000,6,0.000,0.031,2718,2523,3077,0,0,0,0,0,0
$GC,2604,1.10,107.5,61.9,8.4,382,2614,0.00,2.47,0.00,0.000,4,0.000,0.063,2718,3924,3077,0,0,0,0,0,0
$GC,2642,1.10,107.5,58.7,8.9,387,2647,0.00,2.30,0.00,0.000,6,0.000,0.032,2718,2523,3077,0,0,0,0,0,0
$GC,2801,1.10,107.5,45.8,8.1,412,2810,0.00,2.47,0.00,0.000,4,0.000,0.064,2718,3926,3077,0,0,0,0,0,0
$GC,2826,1.10,107.5,43.8,8.2,415,2831,0.00,2.33,0.00,0.000,6,0.000,0.032,2718,2514,3077,0,0,0,0,0,0
$GC,2992,1.10,107.5,31.2,7.4,440,3002,0.00,2.50,0.00,0.000,4,0.000,0.064,2718,3928,3077,0,0,0,0,0,0
$GC,3026,1.10,107.5,28.5,7.9,444,3036,0.00,2.35,0.00,0.000,6,0.000,0.033,2718,2519,3077,0,0,0,0,0,0
$GC,3120,1.10,107.5,21.2,7.8,457,3129,0.00,2.47,0.00,0.000,4,0.000,0.063,2719,3924,3077,0,0,0,0,0,0
$GC,3139,1.10,107.5,19.7,7.8,459,3148,0.00,2.33,0.00,0.000,6,0.000,0.033,2718,2523,3077,0,0,0,0,0,0
$GC,3232,1.10,107.5,12.6,7.3,472,3242,0.00,2.47,0.00,0.000,4,0.000,0.064,2718,3927,3077,0,0,0,0,0,0
$GC,3261,1.11,114.1,10.7,6.7,475,3279,0.00,2.35,6.53,0.525,6,0.000,0.034,2718,2514,3054,0,0,0,0,0,0
$GC,3363,1.25,223.1,6.5,2.2,489,3460,0.12,2.55,86.15,0.603,4,0.074,0.065,2756,3926,2607,0,0,0,0,0,0
$GC,3552,1.46,396.7,5.0,-0.6,514,3642,0.15,2.35,83.45,0.594,2,0.038,0.031,2802,2513,2187,0,0,0,0,0,0
$STATE,3643,end climb,SURFACE_DEPTH_REACHED
$STATE,3643,begin surface coast
$FINISH,2.3,1.018143
$STATE,3765,end surface coast,CONTROL_FINISHED_OK
$STATE,3766,begin surface
$SM_CCo,3786,235.45,0.567,1,0,1072,600.24
$SM_GC,1.18,0.00,0.00,235.45,0.000,0.000,0.567,481,2510,1072,-9.20,-0.28,600.24
$IRIDIUM_FIX,4748.51,-12224.57,290499,080802
$TT8_MAMPS,0.027612
$HUMID,31.57
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,13.70
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,95.0,28.1
$24V_AH,23.8,2.021
$10V_AH,10.1,1.818
$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,22.950,72.000,344.675,235.450,0.000,24.734,23.808,227.546,3.750,0.000,14.608,860.416,358.758,552.706,2161.191,512.376,33.359,1344.534,0.000,2183.029,0.000,18.645,0.000
$DEVICE_MAMPS,190.216,72.098,688.766,566.813,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.873,301.654,388.606,965.501,1833.068,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,44854,543
$CAP_FILE_SIZE,72262,0
$CFSIZE,260165632,216055808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,112136,4806.623,-12222.624,12,0.9,28,18.3