version: 66.06
glider: 147
mission: 5
dive: 18
start: 2 2 110 15 11 38
data:
$ID,147
$MISSION,5
$DIVE,18
$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,-18041.895
$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,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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
$GPS1,150130,4808.055,-12223.812,34,1.4,44,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.8
$GPS2,151043,4808.207,-12223.889,11,1.4,11,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.050,-0.173
$KALMAN_X,-4819.9,61.0,81.3,3794.2,-352.3
$KALMAN_Y,1680.4,-61.3,-43.5,-2.4,365.6
$MHEAD_RNG_PITCHd_Wd,145.5,407,-16.7,-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,17,begin dive
$GC,19,-1.22,-85.3,0.0,0.0,0,132,0.00,0.00,-109.97,0.000,2,0.000,0.000,480,2511,3070,0,0,0,0,0,0
$GC,135,-1.25,-107.5,3.5,-3.0,14,192,9.85,2.53,-36.92,0.000,4,0.178,0.077,2201,3930,3951,0,0,0,0,0,0
$GC,204,-1.25,-107.5,4.8,-0.6,22,214,0.00,2.20,0.00,0.000,6,0.000,0.029,2200,2589,3953,0,0,0,0,0,0
$GC,298,-1.25,-107.5,10.3,-6.3,35,307,0.00,2.35,0.00,0.000,4,0.000,0.046,2200,1196,3953,0,0,0,0,0,0
$GC,333,-1.25,-107.5,12.7,-6.6,39,342,0.00,2.35,0.00,0.000,6,0.000,0.040,2200,2597,3953,0,0,0,0,0,0
$GC,426,-1.25,-107.5,19.3,-7.3,52,435,0.00,2.35,0.00,0.000,4,0.000,0.042,2200,1197,3953,0,0,0,0,0,0
$GC,446,-1.25,-107.5,20.8,-7.4,54,455,0.00,2.35,0.00,0.000,6,0.000,0.038,2200,2601,3953,0,0,0,0,0,0
$GC,539,-1.25,-107.5,27.9,-7.7,67,548,0.00,2.35,0.00,0.000,4,0.000,0.042,2200,1200,3952,0,0,0,0,0,0
$GC,558,-1.25,-107.5,29.4,-7.3,69,567,0.00,2.35,0.00,0.000,6,0.000,0.039,2200,2604,3953,0,0,0,0,0,0
$GC,652,-1.25,-107.5,36.2,-7.0,82,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2604,3953,0,0,0,0,0,0
$GC,742,-1.25,-107.5,42.7,-7.2,95,747,0.00,2.28,0.00,0.000,4,0.000,0.061,2200,3930,3953,0,0,0,0,0,0
$GC,757,-1.25,-107.5,44.0,-7.3,97,762,0.00,2.15,0.00,0.000,6,0.000,0.028,2200,2597,3953,0,0,0,0,0,0
$GC,914,-1.25,-107.5,55.1,-6.8,122,923,0.00,2.35,0.00,0.000,4,0.000,0.063,2200,3935,3953,0,0,0,0,0,0
$GC,977,-1.25,-107.5,59.5,-7.6,131,982,0.00,2.15,0.00,0.000,6,0.000,0.028,2201,2600,3953,0,0,0,0,0,0
$GC,1134,-1.25,-107.5,70.9,-6.7,156,1143,0.00,2.33,0.00,0.000,4,0.000,0.061,2200,3929,3953,0,0,0,0,0,0
$GC,1172,-1.25,-107.5,73.4,-7.3,161,1178,0.00,2.12,0.00,0.000,6,0.000,0.028,2201,2594,3952,0,0,0,0,0,0
$GC,1332,-1.25,-107.5,84.9,-6.7,186,1341,0.00,2.33,0.00,0.000,4,0.000,0.061,2200,3925,3952,0,0,0,0,0,0
$GC,1371,-1.25,-107.5,87.4,-7.3,191,1376,0.00,2.15,0.00,0.000,6,0.000,0.028,2200,2589,3953,0,0,0,0,0,0
$GC,1528,-1.25,-107.5,98.3,-6.7,216,1538,0.00,2.35,0.00,0.000,4,0.000,0.062,2200,3929,3953,0,0,0,0,0,0
$GC,1555,-1.25,-107.5,99.9,-6.7,219,1560,0.00,2.15,0.00,0.000,6,0.000,0.028,2201,2593,3953,0,0,0,0,0,0
$GC,1713,-1.25,-107.5,110.2,-6.7,244,1722,0.00,2.33,0.00,0.000,4,0.000,0.061,2200,3925,3953,0,0,0,0,0,0
$GC,1763,-1.25,-107.5,113.4,-6.7,251,1769,0.00,2.12,0.00,0.000,6,0.000,0.028,2200,2601,3953,0,0,0,0,0,0
$STATE,1777,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1777,begin apogee
$GC,1782,-0.33,0.0,114.4,6.8,253,1876,0.95,0.00,84.93,0.680,6,0.100,0.000,2400,2600,3518,0,0,0,0,0,0
$STATE,1877,end apogee,CONTROL_FINISHED_OK
$STATE,1877,begin climb
$GC,1882,1.25,107.5,115.9,0.0,267,1977,1.55,2.45,84.65,0.665,4,0.058,0.056,2751,1207,3079,0,0,0,0,0,0
$GC,1996,1.25,107.5,107.8,9.1,283,2002,0.00,2.35,0.00,0.000,6,0.000,0.041,2751,2604,3078,0,0,0,0,0,0
$GC,2152,1.25,107.5,91.2,10.3,308,2161,0.00,2.35,0.00,0.000,4,0.000,0.067,2751,3934,3078,0,0,0,0,0,0
$GC,2192,1.25,107.5,86.5,11.2,314,2201,0.00,2.20,0.00,0.000,6,0.000,0.031,2751,2603,3077,0,0,0,0,0,0
$GC,2358,1.25,107.5,69.8,10.4,339,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2602,3077,0,0,0,0,0,0
$GC,2513,1.25,107.5,53.9,9.9,364,2522,0.00,2.35,0.00,0.000,4,0.000,0.065,2751,3929,3077,0,0,0,0,0,0
$GC,2613,1.25,107.5,43.7,10.9,379,2619,0.00,2.17,0.00,0.000,6,0.000,0.031,2751,2604,3077,0,0,0,0,0,0
$GC,2782,1.25,107.5,27.5,9.3,404,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2604,3077,0,0,0,0,0,0
$GC,2875,1.25,107.5,19.0,9.2,417,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2604,3077,0,0,0,0,0,0
$GC,2967,1.25,107.5,11.3,8.0,430,2976,0.00,2.45,0.00,0.000,4,0.000,0.063,2751,1196,3077,0,0,0,0,0,0
$GC,3041,1.25,107.5,5.6,7.4,440,3051,0.00,2.38,0.00,0.000,6,0.000,0.043,2752,2601,3077,0,0,0,0,0,0
$STATE,3066,end climb,SURFACE_DEPTH_REACHED
$STATE,3066,begin surface coast
$FINISH,3.3,1.018513
$STATE,3148,end surface coast,CONTROL_FINISHED_OK
$STATE,3148,begin surface
$SM_CCo,3168,403.35,0.573,1,0,1071,600.24
$SM_GC,1.17,0.00,0.00,403.35,0.000,0.000,0.573,484,2602,1071,-9.18,0.06,600.24
$IRIDIUM_FIX,4748.51,-12221.84,290499,151522
$TT8_MAMPS,0.027612
$HUMID,31.53
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.20
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.1,40.3
$24V_AH,23.8,2.514
$10V_AH,10.2,2.308
$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,22.300,64.325,169.575,403.350,0.000,59.812,104.876,199.919,2.000,0.000,13.017,757.179,377.932,649.356,1777.260,580.275,33.330,1265.764,0.000,1801.924,0.000,5.521,0.000
$DEVICE_MAMPS,177.944,77.467,680.329,572.949,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.348,244.132,315.813,783.858,1488.375,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,38464,455
$CAP_FILE_SIZE,65121,0
$CFSIZE,260165632,215896064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,161208,4808.064,-12223.777,12,1.2,12,18.3