version: 66.06
glider: 147
mission: 5
dive: 36
start: 7 14 110 18 52 44
data:
$ID,147
$MISSION,5
$DIVE,36
$D_SURF,4
$D_FLARE,3
$D_TGT,100
$D_ABORT,150
$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,37
$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,0
$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,-19455.051
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,184644,2138.911,-15810.044,8,1.2,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.5
$GPS2,185156,2138.956,-15809.988,13,1.1,13,9.9
$SPEED_LIMITS,0.156,0.219
$TGT_NAME,TEMP4
$TGT_LATLONG,2140.600,-15810.900
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.100,0.194
$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,322.8,3426,-18.8,-9.009
$D_GRID,100
$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,14,begin dive
$GC,17,-1.39,-107.5,0.0,0.0,0,82,0.00,0.00,-63.22,0.000,2,0.000,0.000,481,2341,3192,0,0,0,0,0,0
$GC,85,-1.39,-107.5,3.0,-3.9,8,119,11.15,2.40,-15.95,0.000,4,0.183,0.052,2422,3812,3952,0,0,0,0,0,0
$GC,170,-1.39,-107.5,25.2,-20.5,19,179,0.00,2.30,0.00,0.000,6,0.000,0.031,2421,2394,3953,0,0,0,0,0,0
$GC,442,-1.39,-107.5,79.4,-20.2,45,446,0.00,2.28,0.00,0.000,4,0.000,0.044,2422,990,3952,0,0,0,0,0,0
$GC,541,-1.39,-107.5,98.4,-18.8,53,545,0.00,2.25,0.00,0.000,6,0.000,0.030,2422,2418,3952,0,0,0,0,0,0
$STATE,550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,550,begin apogee
$GC,556,-0.33,0.0,101.6,19.5,54,647,1.08,0.00,81.40,0.508,6,0.096,0.000,2653,2706,3520,0,0,0,0,0,0
$STATE,647,end apogee,CONTROL_FINISHED_OK
$STATE,647,begin climb
$GC,651,1.39,107.5,108.8,0.0,63,745,1.62,2.38,81.70,0.504,4,0.048,0.040,3036,1297,3079,0,0,0,0,0,0
$GC,965,1.71,372.7,126.9,-5.9,89,1178,0.30,2.22,205.05,0.522,6,0.044,0.031,3124,2699,1999,0,0,0,0,0,0
$GC,1437,1.71,372.7,95.2,13.7,131,1441,0.00,2.05,0.00,0.000,4,0.000,0.054,3123,3931,1993,0,0,0,0,0,0
$GC,1597,1.71,372.7,70.5,14.9,144,1606,0.00,1.98,0.00,0.000,6,0.000,0.027,3123,2693,1992,0,0,0,0,0,0
$GC,1863,1.71,372.7,39.8,11.4,169,1867,0.00,2.30,0.00,0.000,4,0.000,0.053,3124,1293,1991,0,0,0,0,0,0
$GC,2034,1.71,372.7,19.8,11.8,188,2043,0.00,2.28,0.00,0.000,6,0.000,0.031,3123,2707,1990,0,0,0,0,0,0
$STATE,2163,end climb,SURFACE_DEPTH_REACHED
$STATE,2163,begin surface coast
$FINISH,0.2,1.023220
$STATE,2207,end surface coast,CONTROL_FINISHED_OK
$STATE,2208,begin surface
$SM_CCo,2229,37.50,0.445,0,0,1805,420.19
$SM_GC,1.36,0.00,0.00,37.50,0.000,0.000,0.445,478,2387,1805,-10.38,-0.37,420.19
$IRIDIUM_FIX,2129.53,-15811.49,081099,181842
$TT8_MAMPS,0.026845
$HUMID,37.59
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,24.1,5.735
$10V_AH,10.5,5.319
$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,24.925,23.375,368.150,37.500,0.000,27.777,23.982,146.916,1.250,0.000,14.613,376.072,539.897,328.880,1017.783,328.498,29.237,736.851,0.000,1029.795,0.000,8.768,0.000
$DEVICE_MAMPS,182.546,53.690,521.560,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,140.491,172.936,219.857,422.049,800.681,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,16354,213
$CAP_FILE_SIZE,36499,0
$CFSIZE,260165632,215941120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140710,193138,2139.003,-15810.033,10,1.9,28,9.9