version: 66.06
glider: 147
mission: 5
dive: 44
start: 7 15 110 0 59 12
data:
$ID,147
$MISSION,5
$DIVE,44
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,180
$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,40
$T_MISSION,90
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,290
$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,-19593.014
$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,2200
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,25
$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
$GPS1,005213,2139.892,-15808.601,10,1.3,27,9.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.5
$GPS2,005850,2139.836,-15808.572,12,1.5,12,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,HEADING
$TGT_LATLONG,2143.530,-15819.496
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.204,-0.095
$KALMAN_X,2184.8,943.7,425.3,-1676.0,507.1
$KALMAN_Y,527.9,14.2,-117.3,904.5,220.7
$MHEAD_RNG_PITCHd_Wd,280.1,20000,-20.6,-10.000
$D_GRID,120
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.51,-107.5,0.0,0.0,0,80,0.00,0.00,-63.00,0.000,2,0.000,0.000,480,2175,3185,0,0,0,0,0,0
$GC,84,-1.51,-107.5,3.4,-6.4,8,118,10.88,2.38,-15.48,0.000,4,0.177,0.056,2400,3608,3949,0,0,0,0,0,0
$GC,187,-1.51,-107.5,30.7,-20.5,22,192,0.00,2.25,0.00,0.000,6,0.000,0.031,2400,2207,3951,0,0,0,0,0,0
$GC,451,-1.51,-107.5,90.7,-25.7,46,455,0.00,2.30,0.00,0.000,4,0.000,0.048,2400,3607,3950,0,0,0,0,0,0
$GC,572,-1.51,-107.5,116.5,-15.9,55,578,0.00,2.25,0.00,0.000,6,0.000,0.030,2400,2199,3950,0,0,0,0,0,0
$STATE,599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,599,begin apogee
$GC,606,-0.33,0.0,120.6,15.4,58,696,1.20,0.00,80.95,0.524,6,0.094,0.000,2659,2620,3519,0,0,0,0,0,0
$STATE,697,end apogee,CONTROL_FINISHED_OK
$STATE,697,begin climb
$GC,699,1.51,107.5,125.0,0.0,67,794,1.73,2.42,81.38,0.517,4,0.045,0.044,3068,1188,3079,0,0,0,0,0,0
$GC,871,1.77,322.1,132.3,-3.4,81,1044,0.22,2.25,164.30,0.526,6,0.051,0.032,3134,2594,2205,0,0,0,0,0,0
$GC,1298,1.77,322.1,104.1,12.8,120,1302,0.00,2.33,0.00,0.000,4,0.000,0.048,3135,1194,2200,0,0,0,0,0,0
$GC,1436,1.77,322.1,90.4,10.1,131,1440,0.00,2.22,0.00,0.000,6,0.000,0.031,3135,2600,2199,0,0,0,0,0,0
$GC,1704,1.77,322.1,67.3,10.7,155,1708,0.00,2.30,0.00,0.000,4,0.000,0.042,3134,1187,2198,0,0,0,0,0,0
$GC,1713,1.77,322.1,65.3,11.1,155,1723,0.00,2.28,0.00,0.000,6,0.000,0.031,3134,2601,2198,0,0,0,0,0,0
$GC,1981,1.83,367.0,43.4,7.2,180,2024,0.00,2.30,36.90,0.471,4,0.000,0.055,3135,3928,2021,0,0,0,0,0,0
$GC,2317,1.83,367.0,5.4,11.6,221,2326,0.00,2.15,0.00,0.000,6,0.000,0.029,3135,2602,2016,0,0,0,0,0,0
$STATE,2334,end climb,SURFACE_DEPTH_REACHED
$STATE,2334,begin surface coast
$FINISH,0.1,1.015781
$STATE,2384,end surface coast,CONTROL_FINISHED_OK
$STATE,2384,begin surface
$SM_CCo,2405,41.92,0.449,0,0,1806,420.19
$SM_GC,1.67,0.00,0.00,41.92,0.000,0.000,0.449,475,2192,1806,-10.40,-0.23,420.19
$IRIDIUM_FIX,2129.53,-15810.62,091099,000009
$TT8_MAMPS,0.026845
$HUMID,37.87
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,24.1,6.369
$10V_AH,10.5,5.834
$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,25.075,28.725,363.525,41.925,0.000,22.903,32.723,221.910,2.250,0.000,13.780,409.688,615.893,331.404,1081.170,420.479,0.000,745.884,0.000,1087.172,0.000,14.958,0.000
$DEVICE_MAMPS,177.177,55.991,526.162,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,151.839,178.945,235.884,457.799,868.407,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355776
$DATA_FILE_SIZE,19525,230
$CAP_FILE_SIZE,40440,0
$CFSIZE,260165632,215719936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150710,014049,2139.921,-15808.735,5,1.6,11,9.9