version: 66.04
glider: 147
mission: 1
dive: 1
start: 5 20 109 19 59 11
data:
$ID,147
$MISSION,1
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,80
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52067
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,720
$N_FILEKB,4
$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,-395.47003
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2462
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,2360
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3688
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,780
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.651693
$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,0
$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,0
$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
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0042836252
$SEABIRD_T_H,0.00062757189
$SEABIRD_T_I,2.2935745e-05
$SEABIRD_T_J,2.394582e-06
$SEABIRD_C_G,-9.8471985
$SEABIRD_C_H,1.102998
$SEABIRD_C_I,-0.0019362674
$SEABIRD_C_J,0.0002209621
$GPS1,195413,4805.831,-12221.773,8,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-59.1
$GPS2,195814,4805.843,-12221.801,11,1.8,11,18.3
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,-0.202
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,129.3,1850,-19.3,-10.000
$D_GRID,110
$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
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.36,-122.2,0.0,0.0,0,111,0.00,0.00,-93.93,0.000,2,0.000,0.000,480,2337,2497
$GC,114,-1.36,-122.2,3.3,-3.8,12,186,9.62,2.42,-54.55,0.000,4,0.183,0.064,2156,3752,3951
$GC,435,-1.36,-122.2,25.3,-10.5,66,444,0.00,2.25,0.00,0.000,6,0.000,0.031,2156,2383,3952
$GC,512,-1.36,-122.2,33.2,-9.8,79,520,0.00,2.33,0.00,0.000,4,0.000,0.047,2156,3754,3952
$STATE,625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,625,begin apogee
$GC,633,-0.31,0.0,45.5,10.6,99,687,1.10,0.00,50.65,0.622,6,0.098,0.000,2388,2360,3688
$STATE,688,end apogee,CONTROL_FINISHED_OK
$STATE,688,begin climb
$GC,690,1.36,122.2,48.5,0.0,107,797,1.60,2.53,94.50,0.607,4,0.054,0.067,2756,961,3189
$GC,866,1.44,190.1,43.6,6.3,135,926,0.00,2.30,53.50,0.598,6,0.000,0.034,2756,2354,2913
$GC,1061,1.46,207.9,27.2,9.0,168,1087,0.10,2.47,15.10,0.573,4,0.090,0.054,2779,3768,2839
$GC,1096,1.47,211.5,23.8,9.8,172,1105,0.00,2.38,4.72,0.444,6,0.000,0.036,2779,2365,2825
$GC,1174,1.47,211.5,15.8,10.3,185,1182,0.00,2.53,0.00,0.000,4,0.000,0.080,2778,957,2822
$GC,1212,1.47,211.5,11.7,10.7,191,1221,0.00,2.35,0.00,0.000,6,0.000,0.035,2779,2356,2821
$GC,1289,1.57,297.4,5.7,5.3,204,1347,0.12,0.00,54.50,0.587,2,0.076,0.000,2809,2356,2546
$STATE,1347,end climb,SURFACE_DEPTH_REACHED
$STATE,1347,begin surface coast
$FINISH,3.8,1.019174
$STATE,1524,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1524,begin surface
$SM_CCo,1544,354.65,0.578,0,0,752,720.19
$SM_GC,1.72,0.00,0.00,354.65,0.000,0.000,0.578,477,2355,752,-9.13,-0.14,720.19
$IRIDIUM_FIX,4751.72,-12401.09,140898,191910
$TT8_MAMPS,0.027612
$HUMID,1735
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,14.60
$XPDR_PINGS,122
$24V_AH,23.9,0.358
$10V_AH,10.7,0.160
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.825,23.875,272.975,354.650,0.000,0.000,0.000,0.000,30.500,0.000,0.000,11.745,367.210,28.448,632.943,880.255,68.830,29.237,1007.447,0.000,892.971,0.000,0.997,0.000
$DEVICE_MAMPS,182.546,79.768,622.037,577.551,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,169.970,145.382,221.184,372.700,787.003,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19208,243
$CAP_FILE_SIZE,60542,0
$CFSIZE,260165632,258883584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,195814,4805.843,-12221.801,11,1.8,11,18.3