version: 66.06
glider: 147
mission: 5
dive: 16
start: 2 2 110 12 47 0
data:
$ID,147
$MISSION,5
$DIVE,16
$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,-17991.383
$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,27
$R_STBD_OVSHOOT,22
$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
$GPS1,123850,4807.096,-12223.081,9,1.9,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-60.8
$GPS2,124607,4807.156,-12223.167,31,1.2,31,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.075,0.185
$KALMAN_X,-4330.7,-27.6,162.7,4209.9,-210.2
$KALMAN_Y,1113.6,36.2,-210.4,-1315.5,13.6
$MHEAD_RNG_PITCHd_Wd,319.5,1872,-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,-133.07,0.000,2,0.000,0.000,482,2515,2953,0,0,0,0,0,0
$GC,158,-1.10,-107.5,3.5,-3.3,17,216,10.07,2.40,-35.72,0.000,4,0.182,0.061,2228,1106,3953,0,0,0,0,0,0
$GC,518,-1.10,-107.5,24.7,-6.6,69,527,0.00,2.38,0.00,0.000,6,0.000,0.038,2228,2523,3953,0,0,0,0,0,0
$GC,612,-1.10,-107.5,30.9,-6.5,82,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2523,3953,0,0,0,0,0,0
$GC,704,-1.10,-107.5,37.2,-7.3,95,714,0.00,2.42,0.00,0.000,4,0.000,0.061,2228,3918,3953,0,0,0,0,0,0
$GC,746,-1.10,-107.5,40.4,-7.5,100,755,0.00,2.30,0.00,0.000,6,0.000,0.029,2228,2512,3953,0,0,0,0,0,0
$GC,910,-1.10,-107.5,51.9,-6.9,125,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2512,3953,0,0,0,0,0,0
$GC,1066,-1.10,-107.5,62.5,-6.5,150,1077,0.00,2.47,0.00,0.000,4,0.000,0.062,2228,3922,3953,0,0,0,0,0,0
$GC,1180,-1.10,-107.5,70.7,-7.4,167,1185,0.00,2.28,0.00,0.000,6,0.000,0.029,2228,2518,3953,0,0,0,0,0,0
$GC,1341,-1.10,-107.5,81.6,-6.4,192,1350,0.00,2.45,0.00,0.000,4,0.000,0.062,2228,3917,3953,0,0,0,0,0,0
$GC,1403,-1.10,-107.5,85.8,-7.2,201,1409,0.00,2.25,0.00,0.000,6,0.000,0.028,2228,2520,3953,0,0,0,0,0,0
$GC,1562,-1.10,-107.5,96.1,-6.0,226,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2519,3953,0,0,0,0,0,0
$GC,1724,-1.10,-107.5,105.6,-5.7,251,1730,0.00,2.42,0.00,0.000,4,0.000,0.062,2228,3931,3953,0,0,0,0,0,0
$GC,1792,-1.10,-107.5,109.8,-6.3,261,1797,0.00,2.28,0.00,0.000,6,0.000,0.028,2228,2518,3953,0,0,0,0,0,0
$STATE,1922,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1922,begin apogee
$GC,1927,-0.33,0.0,117.2,5.3,282,2017,0.80,0.00,85.10,0.682,6,0.094,0.000,2399,2517,3518,0,0,0,0,0,0
$STATE,2018,end apogee,CONTROL_FINISHED_OK
$STATE,2018,begin climb
$GC,2021,1.10,107.5,118.4,0.0,295,2116,1.42,2.53,85.12,0.663,4,0.059,0.067,2721,3923,3079,0,0,0,0,0,0
$GC,2123,1.10,107.5,111.8,7.8,310,2133,0.00,2.33,0.00,0.000,6,0.000,0.031,2721,2538,3079,0,0,0,0,0,0
$GC,2288,1.10,107.5,97.0,9.0,335,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2538,3078,0,0,0,0,0,0
$GC,2443,1.10,107.5,83.2,8.4,360,2452,0.00,2.45,0.00,0.000,4,0.000,0.066,2720,3919,3077,0,0,0,0,0,0
$GC,2468,1.10,107.5,81.3,8.5,363,2473,0.00,2.30,0.00,0.000,6,0.000,0.031,2721,2519,3078,0,0,0,0,0,0
$GC,2624,1.10,107.5,67.9,8.4,388,2633,0.00,2.47,0.00,0.000,4,0.000,0.065,2721,3917,3077,0,0,0,0,0,0
$GC,2649,1.10,107.5,66.0,8.4,391,2654,0.00,2.30,0.00,0.000,6,0.000,0.032,2720,2519,3078,0,0,0,0,0,0
$GC,2806,1.10,107.5,52.3,8.5,416,2816,0.00,2.47,0.00,0.000,4,0.000,0.064,2721,3919,3077,0,0,0,0,0,0
$GC,2831,1.10,107.5,50.4,8.5,419,2837,0.00,2.30,0.00,0.000,6,0.000,0.032,2721,2519,3077,0,0,0,0,0,0
$GC,2992,1.10,107.5,37.7,7.9,444,3001,0.00,2.47,0.00,0.000,4,0.000,0.063,2721,3923,3078,0,0,0,0,0,0
$GC,3012,1.10,107.5,35.9,8.1,446,3021,0.00,2.33,0.00,0.000,6,0.000,0.033,2721,2524,3077,0,0,0,0,0,0
$GC,3105,1.10,107.5,28.1,8.3,459,3114,0.00,2.47,0.00,0.000,4,0.000,0.064,2720,3925,3077,0,0,0,0,0,0
$GC,3124,1.10,107.5,26.5,8.0,461,3133,0.00,2.33,0.00,0.000,6,0.000,0.032,2721,2524,3077,0,0,0,0,0,0
$GC,3218,1.10,107.5,18.6,8.7,474,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2524,3077,0,0,0,0,0,0
$GC,3311,1.11,114.9,11.7,6.6,487,3329,0.00,2.50,7.45,0.537,4,0.000,0.064,2721,3922,3049,0,0,0,0,0,0
$STATE,3443,end climb,SURFACE_DEPTH_REACHED
$STATE,3443,begin surface coast
$FINISH,4.1,1.020061
$STATE,3592,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3592,begin surface
$SM_CCo,3596,521.15,0.577,1,0,477,746.19
$SM_GC,1.02,9.60,0.00,0.00,0.029,0.000,0.000,482,2499,467,-9.12,-0.59,748.64
$IRIDIUM_FIX,4751.72,-12237.92,290499,111134
$TT8_MAMPS,0.027612
$HUMID,32.08
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.2,43.7
$24V_AH,23.8,2.289
$10V_AH,10.2,2.085
$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,21.900,57.275,177.675,521.150,0.000,28.355,25.345,228.813,1.000,0.000,31.900,852.137,472.412,763.996,2084.529,500.343,33.327,1425.778,0.000,2095.036,0.000,5.532,0.000
$DEVICE_MAMPS,181.779,66.729,681.863,576.784,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.623,289.363,367.622,914.311,1735.877,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,44708,528
$CAP_FILE_SIZE,66144,0
$CFSIZE,260165632,215969792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,135820,4807.635,-12223.591,8,1.3,9,18.3