version: 66.06
glider: 147
mission: 5
dive: 39
start: 7 14 110 21 1 4
data:
$ID,147
$MISSION,5
$DIVE,39
$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,-19503.342
$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,2350
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,45
$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
$GPS1,205419,2139.326,-15809.547,10,1.6,15,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-67.1
$GPS2,210013,2139.360,-15809.443,9,1.6,14,9.9
$SPEED_LIMITS,0.156,0.219
$TGT_NAME,TEMP4
$TGT_LATLONG,2140.600,-15810.900
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.217,0.030
$KALMAN_X,851.8,495.3,389.2,-810.1,444.4
$KALMAN_Y,-38.6,-90.5,-93.6,968.6,-32.5
$MHEAD_RNG_PITCHd_Wd,267.9,3400,-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,-107.5,0.0,0.0,0,90,0.00,0.00,-70.78,0.000,2,0.000,0.000,474,2357,3240,0,0,0,0,0,0
$GC,93,-1.39,-107.5,3.4,-4.7,9,127,11.10,2.35,-14.57,0.000,4,0.179,0.054,2426,941,3953,0,0,0,0,0,0
$GC,223,-1.39,-107.5,34.7,-19.2,25,227,0.00,2.22,0.00,0.000,6,0.000,0.029,2426,2341,3953,0,0,0,0,0,0
$GC,490,-1.39,-107.5,86.2,-19.2,49,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2341,3953,0,0,0,0,0,0
$STATE,558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,559,begin apogee
$GC,565,-0.33,0.0,100.8,19.0,56,655,1.05,0.00,81.82,0.506,6,0.092,0.000,2654,2725,3519,0,0,0,0,0,0
$STATE,656,end apogee,CONTROL_FINISHED_OK
$STATE,656,begin climb
$GC,659,1.39,107.5,107.1,0.0,65,753,1.62,2.05,81.50,0.501,4,0.048,0.051,3037,3917,3079,0,0,0,0,0,0
$GC,911,1.74,394.7,124.3,-7.2,86,1143,0.30,1.92,222.68,0.519,6,0.038,0.025,3140,2681,1908,0,0,0,0,0,0
$GC,1398,1.74,394.7,88.2,13.6,130,1403,0.12,2.30,0.00,0.000,4,0.129,0.049,3116,1305,1903,0,0,0,0,0,0
$GC,1443,1.74,394.7,82.8,13.4,133,1447,0.00,2.22,0.00,0.000,6,0.000,0.033,3117,2687,1902,0,0,0,0,0,0
$GC,1710,1.74,394.7,45.5,12.6,157,1714,0.00,2.25,0.00,0.000,4,0.000,0.044,3117,1300,1902,0,0,0,0,0,0
$GC,1976,1.74,394.7,10.3,13.2,188,1986,0.00,2.25,0.00,0.000,6,0.000,0.041,3117,2695,1901,0,0,0,0,0,0
$STATE,2028,end climb,SURFACE_DEPTH_REACHED
$STATE,2028,begin surface coast
$FINISH,0.1,1.014115
$STATE,2064,end surface coast,CONTROL_FINISHED_OK
$STATE,2064,begin surface
$SM_CCo,2085,19.95,0.433,0,0,1805,420.19
$SM_GC,0.77,0.00,0.00,19.95,0.000,0.000,0.433,481,2320,1805,-10.37,-0.85,420.19
$IRIDIUM_FIX,2129.53,-15811.49,081099,202004
$TT8_MAMPS,0.027612
$HUMID,37.20
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.40
$XPDR_PINGS,1
$24V_AH,24.1,5.953
$10V_AH,10.5,5.501
$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,25.150,18.675,386.000,19.950,0.000,29.130,33.539,170.051,1.500,0.000,16.246,347.582,497.009,322.075,940.168,364.681,32.334,712.116,0.000,946.248,0.000,10.257,0.000
$DEVICE_MAMPS,178.711,53.690,519.259,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,130.985,161.613,205.038,396.667,750.040,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,16268,200
$CAP_FILE_SIZE,34710,0
$CFSIZE,260165632,215863296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140710,213730,2139.581,-15809.358,31,0.9,41,9.9