version: 66.06
glider: 147
mission: 5
dive: 15
start: 2 2 110 11 29 39
data:
$ID,147
$MISSION,5
$DIVE,15
$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,-17958.855
$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,19
$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
$GPS1,112136,4806.623,-12222.624,12,0.9,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-65.1
$GPS2,112844,4806.650,-12222.659,15,1.1,15,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.069,0.187
$KALMAN_X,-3873.0,-88.3,87.6,4512.1,-152.9
$KALMAN_Y,854.0,95.9,-129.0,-2129.2,-127.5
$MHEAD_RNG_PITCHd_Wd,321.4,2999,-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,-107.5,0.0,0.0,0,116,0.00,0.00,-94.97,0.000,2,0.000,0.000,481,2511,2806,0,0,0,0,0,0
$GC,119,-1.10,-107.5,3.0,-2.5,12,177,10.40,2.40,-36.45,0.000,4,0.194,0.061,2229,1108,3953,0,0,0,0,0,0
$GC,348,-1.10,-107.5,18.1,-5.8,44,357,0.00,2.38,0.00,0.000,6,0.000,0.038,2229,2523,3953,0,0,0,0,0,0
$GC,441,-1.10,-107.5,23.3,-5.7,57,450,0.00,2.45,0.00,0.000,4,0.000,0.061,2228,3927,3953,0,0,0,0,0,0
$GC,521,-1.10,-107.5,28.9,-7.1,68,530,0.00,2.33,0.00,0.000,6,0.000,0.030,2229,2509,3954,0,0,0,0,0,0
$GC,616,-1.10,-107.5,35.8,-7.1,81,625,0.00,2.47,0.00,0.000,4,0.000,0.061,2229,3919,3954,0,0,0,0,0,0
$GC,663,-1.10,-107.5,39.5,-7.8,87,672,0.00,2.30,0.00,0.000,6,0.000,0.029,2229,2518,3954,0,0,0,0,0,0
$GC,748,-1.10,-107.5,45.6,-6.6,100,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2518,3953,0,0,0,0,0,0
$GC,911,-1.10,-107.5,56.4,-7.0,125,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2518,3953,0,0,0,0,0,0
$GC,1066,-1.10,-107.5,67.6,-6.9,150,1077,0.00,2.47,0.00,0.000,4,0.000,0.062,2229,3927,3953,0,0,0,0,0,0
$GC,1180,-1.10,-107.5,76.1,-7.6,167,1186,0.00,2.28,0.00,0.000,6,0.000,0.029,2228,2519,3954,0,0,0,0,0,0
$GC,1336,-1.10,-107.5,86.8,-6.5,192,1345,0.00,2.45,0.00,0.000,4,0.000,0.060,2229,3922,3953,0,0,0,0,0,0
$GC,1412,-1.10,-107.5,92.0,-7.3,203,1417,0.00,2.28,0.00,0.000,6,0.000,0.028,2229,2508,3954,0,0,0,0,0,0
$GC,1570,-1.10,-107.5,101.7,-5.8,228,1579,0.00,2.47,0.00,0.000,4,0.000,0.061,2228,3925,3954,0,0,0,0,0,0
$GC,1632,-1.10,-107.5,105.1,-5.8,237,1638,0.00,2.28,0.00,0.000,6,0.000,0.028,2228,2514,3954,0,0,0,0,0,0
$GC,1791,-1.10,-107.5,113.6,-5.4,262,1801,0.00,2.35,0.00,0.000,4,0.000,0.051,2229,1120,3954,0,0,0,0,0,0
$GC,1817,-1.10,-107.5,114.9,-5.2,265,1822,0.00,2.33,0.00,0.000,6,0.000,0.038,2228,2531,3954,0,0,0,0,0,0
$STATE,1846,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1846,begin apogee
$GC,1852,-0.33,0.0,116.9,5.6,270,1942,0.82,0.00,84.72,0.688,6,0.097,0.000,2402,2531,3518,0,0,0,0,0,0
$STATE,1943,end apogee,CONTROL_FINISHED_OK
$STATE,1943,begin climb
$GC,1945,1.10,107.5,117.9,0.0,283,2040,1.40,0.00,84.30,0.670,6,0.058,0.000,2720,2531,3078,0,0,0,0,0,0
$GC,2193,1.10,107.5,97.8,9.3,321,2199,0.00,2.42,0.00,0.000,4,0.000,0.066,2720,3923,3077,0,0,0,0,0,0
$GC,2209,1.10,107.5,96.2,9.2,323,2214,0.00,2.30,0.00,0.000,6,0.000,0.030,2720,2520,3077,0,0,0,0,0,0
$GC,2369,1.10,107.5,82.2,8.1,348,2378,0.00,2.47,0.00,0.000,4,0.000,0.065,2720,3918,3076,0,0,0,0,0,0
$GC,2419,1.10,107.5,77.7,9.4,355,2424,0.00,2.30,0.00,0.000,6,0.000,0.031,2720,2520,3076,0,0,0,0,0,0
$GC,2576,1.10,107.5,65.2,7.7,380,2585,0.00,2.47,0.00,0.000,4,0.000,0.062,2720,3920,3076,0,0,0,0,0,0
$GC,2627,1.10,107.5,60.9,9.1,387,2632,0.00,2.30,0.00,0.000,6,0.000,0.032,2720,2522,3076,0,0,0,0,0,0
$GC,2787,1.10,107.5,47.9,7.8,412,2796,0.00,2.47,0.00,0.000,4,0.000,0.064,2720,3924,3076,0,0,0,0,0,0
$GC,2812,1.10,107.5,46.0,7.9,415,2817,0.00,2.33,0.00,0.000,6,0.000,0.033,2720,2512,3076,0,0,0,0,0,0
$GC,2979,1.10,107.5,32.7,8.2,440,2988,0.00,2.47,0.00,0.000,4,0.000,0.063,2720,3918,3076,0,0,0,0,0,0
$GC,2998,1.10,107.5,31.0,8.0,442,3007,0.00,2.33,0.00,0.000,6,0.000,0.033,2720,2520,3076,0,0,0,0,0,0
$GC,3091,1.10,107.5,23.1,8.5,455,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2520,3076,0,0,0,0,0,0
$GC,3183,1.10,107.5,15.9,7.8,468,3193,0.00,2.50,0.00,0.000,4,0.000,0.066,2720,3926,3076,0,0,0,0,0,0
$GC,3225,1.10,107.5,12.8,7.7,473,3234,0.00,2.35,0.00,0.000,6,0.000,0.033,2720,2513,3077,0,0,0,0,0,0
$GC,3318,1.17,161.2,7.3,4.6,486,3367,0.00,2.47,42.28,0.601,4,0.000,0.062,2720,3923,2860,0,0,0,0,0,0
$GC,3505,1.35,305.7,4.9,0.6,512,3548,0.20,2.33,36.75,0.597,2,0.036,0.031,2779,2518,2674,0,0,0,0,0,0
$STATE,3549,end climb,NO_VERTICAL_VELOCITY
$STATE,3549,begin surface
$SM_CCo,3552,440.12,0.580,0,0,476,746.19
$SM_GC,1.03,9.88,0.00,0.00,0.030,0.000,0.000,483,2514,470,-9.12,-0.17,747.66
$IRIDIUM_FIX,4748.51,-12226.29,290499,101026
$TT8_MAMPS,0.027612
$HUMID,31.84
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,13.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.3,43.3
$24V_AH,23.8,2.155
$10V_AH,10.1,1.950
$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,22.700,66.750,248.050,440.125,0.000,24.969,28.925,235.299,2.000,0.000,16.679,839.894,464.452,699.016,2014.316,517.982,33.339,1386.386,0.000,2041.225,0.000,5.531,0.000
$DEVICE_MAMPS,194.051,65.962,687.999,579.852,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.851,277.594,357.512,888.755,1687.429,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,45017,517
$CAP_FILE_SIZE,68990,0
$CFSIZE,260165632,216014848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,123850,4807.096,-12223.081,9,1.9,9,18.3