version: 66.06
glider: 147
mission: 5
dive: 61
start: 7 15 110 15 6 42
data:
$ID,147
$MISSION,5
$DIVE,61
$D_SURF,4
$D_FLARE,3
$D_TGT,160
$D_ABORT,230
$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,53
$T_MISSION,120
$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,-19978.051
$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,2700
$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,2170
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,46
$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
$GPS1,145952,2139.585,-15815.266,12,2.4,31,9.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.0
$GPS2,150620,2139.606,-15815.374,10,1.8,10,9.9
$SPEED_LIMITS,0.174,0.226
$TGT_NAME,HEADING
$TGT_LATLONG,2143.299,-15826.298
$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,-20.8,-10.063
$D_GRID,160
$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,-1.52,-107.5,0.0,0.0,0,80,0.00,0.00,-62.85,0.000,2,0.000,0.000,476,2200,3170,0,0,0,0,0,0
$GC,84,-1.52,-107.5,3.1,-5.4,8,118,10.73,2.20,-16.33,0.000,4,0.179,0.048,2359,3565,3953,0,0,0,0,0,0
$GC,237,-1.52,-107.5,49.3,-25.4,25,247,0.00,2.28,0.00,0.000,6,0.000,0.032,2359,2164,3954,0,0,0,0,0,0
$GC,499,-1.52,-107.5,110.1,-20.8,50,503,0.00,2.30,0.00,0.000,4,0.000,0.045,2359,3564,3953,0,0,0,0,0,0
$GC,552,-1.52,-107.5,121.0,-20.5,54,556,0.00,2.22,0.00,0.000,6,0.000,0.030,2359,2166,3954,0,0,0,0,0,0
$STATE,762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,762,begin apogee
$GC,768,-0.33,0.0,161.3,21.2,73,858,1.25,0.00,82.38,0.555,6,0.100,0.000,2623,2603,3518,0,0,0,0,0,0
$STATE,859,end apogee,CONTROL_FINISHED_OK
$STATE,859,begin climb
$GC,861,1.52,107.5,169.5,0.0,82,952,1.75,2.28,81.70,0.550,4,0.048,0.057,3033,3905,3079,0,0,0,0,0,0
$GC,966,1.84,367.9,175.3,-6.3,91,1176,0.28,2.08,202.35,0.563,6,0.045,0.026,3113,2589,2019,0,0,0,0,0,0
$GC,1431,1.84,367.9,132.6,17.0,134,1435,0.00,2.35,0.00,0.000,4,0.000,0.061,3113,1195,2013,0,0,0,0,0,0
$GC,1546,1.84,367.9,113.3,16.4,143,1550,0.00,2.22,0.00,0.000,6,0.000,0.034,3113,2588,2012,0,0,0,0,0,0
$GC,1811,1.84,367.9,75.9,12.8,167,1815,0.00,2.25,0.00,0.000,4,0.000,0.056,3113,3931,2011,0,0,0,0,0,0
$GC,1943,1.84,367.9,61.2,11.1,177,1947,0.00,2.10,0.00,0.000,6,0.000,0.028,3113,2601,2010,0,0,0,0,0,0
$GC,2211,1.84,367.9,36.8,10.1,201,2215,0.00,2.35,0.00,0.000,4,0.000,0.058,3113,1195,2010,0,0,0,0,0,0
$GC,2270,1.86,390.9,31.3,8.6,205,2301,0.00,2.25,19.58,0.457,6,0.000,0.031,3113,2607,1923,0,0,0,0,0,0
$STATE,2474,end climb,SURFACE_DEPTH_REACHED
$STATE,2474,begin surface coast
$FINISH,0.2,1.002572
$STATE,2510,end surface coast,CONTROL_FINISHED_OK
$STATE,2510,begin surface
$SM_CCo,2533,24.10,0.447,0,0,1805,420.19
$SM_GC,1.38,0.00,0.00,24.10,0.000,0.000,0.447,481,2142,1805,-10.21,-0.79,420.19
$IRIDIUM_FIX,2131.85,-15815.79,091099,141411
$TT8_MAMPS,0.026845
$HUMID,38.10
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.1,7.699
$10V_AH,10.5,6.978
$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,24.900,28.250,386.000,24.100,0.000,31.262,31.260,209.147,4.250,0.000,13.404,423.418,729.035,342.430,1048.302,414.878,0.000,747.085,0.000,1046.664,0.000,27.350,0.000
$DEVICE_MAMPS,179.478,61.360,562.978,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,157.997,186.417,245.387,419.449,795.771,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,19368,239
$CAP_FILE_SIZE,42133,0
$CFSIZE,260165632,215232512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150710,155007,2139.751,-15816.114,9,2.0,9,9.9