version: 66.06
glider: 147
mission: 5
dive: 34
start: 7 14 110 17 31 51
data:
$ID,147
$MISSION,5
$DIVE,34
$D_SURF,4
$D_FLARE,3
$D_TGT,75
$D_ABORT,140
$D_NO_BLEED,80
$D_BOOST,0
$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,31
$T_MISSION,70
$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,420
$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,-19425.777
$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,2735
$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,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,28
$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
$GPS1,172514,2138.953,-15809.478,9,1.9,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.4
$GPS2,173058,2138.968,-15809.498,9,2.5,28,9.9
$SPEED_LIMITS,0.140,0.211
$TGT_NAME,TEMP4
$TGT_LATLONG,2140.600,-15810.900
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.109,0.180
$KALMAN_X,-994.5,-411.1,-203.3,-1083.9,-352.1
$KALMAN_Y,-1296.9,-581.6,-330.1,1055.1,-409.3
$MHEAD_RNG_PITCHd_Wd,319.0,3869,-17.0,-8.065
$D_GRID,75
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.26,-107.5,0.0,0.0,0,90,0.00,0.00,-70.40,0.000,2,0.000,0.000,472,2413,3407,0,0,0,0,0,0
$GC,93,-1.26,-107.5,4.8,-6.7,9,127,11.48,2.30,-10.02,0.000,4,0.185,0.051,2456,3814,3954,0,0,0,0,0,0
$GC,165,-1.26,-107.5,28.3,-23.6,18,174,0.00,2.28,0.00,0.000,6,0.000,0.030,2456,2403,3954,0,0,0,0,0,0
$STATE,417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,417,begin apogee
$GC,423,-0.33,0.0,75.9,19.3,42,513,0.90,0.00,81.28,0.492,6,0.089,0.000,2654,2721,3520,0,0,0,0,0,0
$STATE,515,end apogee,CONTROL_FINISHED_OK
$STATE,515,begin climb
$GC,517,1.26,107.5,81.3,0.0,51,612,1.52,2.42,80.75,0.489,4,0.049,0.044,3011,1297,3078,0,0,0,0,0,0
$GC,626,1.53,327.1,83.7,-3.1,60,804,0.25,2.22,166.82,0.490,6,0.045,0.032,3091,2686,2182,0,0,0,0,0,0
$GC,1060,1.53,327.1,68.5,9.3,99,1070,0.10,0.00,0.00,0.000,6,0.134,0.000,3072,2685,2179,0,0,0,0,0,0
$GC,1326,1.56,346.9,47.5,7.1,124,1354,0.00,2.35,17.00,0.446,4,0.000,0.047,3072,1300,2102,0,0,0,0,0,0
$GC,1432,1.58,367.8,40.2,7.0,132,1460,0.00,2.25,18.40,0.443,6,0.000,0.031,3072,2704,2018,0,0,0,0,0,0
$GC,1752,1.58,367.8,14.6,9.6,172,1761,0.00,2.33,0.00,0.000,4,0.000,0.043,3072,1298,2014,0,0,0,0,0,0
$STATE,1868,end climb,SURFACE_DEPTH_REACHED
$STATE,1868,begin surface coast
$FINISH,0.1,1.012740
$STATE,1926,end surface coast,CONTROL_FINISHED_OK
$STATE,1926,begin surface
$SM_CCo,1949,41.80,0.440,0,0,1805,420.19
$SM_GC,1.05,0.00,0.00,41.80,0.000,0.000,0.440,481,2419,1805,-10.37,0.54,420.19
$IRIDIUM_FIX,2131.85,-15808.47,081099,161654
$TT8_MAMPS,0.026845
$HUMID,37.04
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,24.1,5.597
$10V_AH,10.5,5.194
$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,24.950,18.425,364.250,41.800,0.000,25.602,35.073,152.589,0.000,0.000,30.919,337.518,363.207,331.767,981.129,334.991,33.321,719.200,0.000,976.224,0.000,1.009,0.000
$DEVICE_MAMPS,184.847,50.622,491.647,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,129.060,167.498,201.769,447.468,848.886,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,16263,197
$CAP_FILE_SIZE,31810,0
$CFSIZE,260165632,215994368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140710,180607,2138.877,-15809.804,26,1.1,26,9.9