version: 66.06
glider: 147
mission: 5
dive: 65
start: 7 15 110 18 34 53
data:
$ID,147
$MISSION,5
$DIVE,65
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,1000
$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,166
$T_MISSION,400
$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,-20085.982
$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,45
$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
$GPS1,182836,2140.738,-15817.842,14,1.0,30,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.9
$GPS2,183432,2140.818,-15817.833,17,1.9,17,9.9
$SPEED_LIMITS,0.174,0.226
$TGT_NAME,HEADING
$TGT_LATLONG,2144.512,-15828.758
$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,-20.7,-10.040
$D_GRID,500
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.51,-107.5,0.0,0.0,0,81,0.00,0.00,-63.15,0.000,2,0.000,0.000,475,2148,3178,0,0,0,0,0,0
$GC,85,-1.51,-107.5,3.3,-5.7,8,119,10.80,2.35,-16.05,0.000,4,0.182,0.051,2361,3588,3953,0,0,0,0,0,0
$GC,275,-1.51,-107.5,55.7,-25.8,29,279,0.00,2.25,0.00,0.000,6,0.000,0.031,2361,2184,3954,0,0,0,0,0,0
$GC,539,-1.51,-107.5,118.5,-22.7,53,544,0.00,2.30,0.00,0.000,4,0.000,0.044,2361,3588,3953,0,0,0,0,0,0
$GC,614,-1.51,-107.5,135.2,-21.3,59,618,0.00,2.25,0.00,0.000,6,0.000,0.030,2361,2162,3953,0,0,0,0,0,0
$GC,874,-1.51,-107.5,192.9,-22.0,83,878,0.00,2.30,0.00,0.000,4,0.000,0.044,2361,3581,3953,0,0,0,0,0,0
$GC,931,-1.51,-107.5,204.4,-19.7,86,938,0.00,2.22,0.00,0.000,6,0.000,0.031,2361,2167,3954,0,0,0,0,0,0
$GC,1206,-1.51,-107.5,257.0,-19.1,93,1213,0.00,2.35,0.00,0.000,4,0.000,0.054,2361,3576,3954,0,0,0,0,0,0
$GC,1241,-1.51,-107.5,263.7,-17.7,93,1245,0.00,2.28,0.00,0.000,6,0.000,0.036,2361,2169,3954,0,0,0,0,0,0
$GC,1500,-1.51,-107.5,306.0,-17.1,100,1504,0.00,2.38,0.00,0.000,4,0.000,0.059,2361,3575,3954,0,0,0,0,0,0
$GC,1556,-1.51,-107.5,315.6,-16.3,101,1561,0.00,2.30,0.00,0.000,6,0.000,0.046,2361,2172,3954,0,0,0,0,0,0
$GC,1833,-1.51,-107.5,356.4,-14.5,108,1838,0.00,2.42,0.00,0.000,4,0.000,0.071,2361,3572,3954,0,0,0,0,0,0
$GC,1893,-1.51,-107.5,366.2,-14.4,109,1898,0.00,2.35,0.00,0.000,6,0.000,0.049,2361,2176,3953,0,0,0,0,0,0
$GC,2171,-1.51,-107.5,407.7,-15.5,116,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2176,3953,0,0,0,0,0,0
$GC,2410,-1.51,-107.5,446.2,-15.4,122,2415,0.00,2.45,0.00,0.000,4,0.000,0.083,2361,3570,3951,0,0,0,0,0,0
$GC,2522,-1.51,-107.5,462.5,-14.2,124,2526,0.00,2.38,0.00,0.000,6,0.000,0.060,2361,2167,3949,0,0,0,0,0,0
$STATE,2791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2791,begin apogee
$GC,2798,-0.33,0.0,500.5,14.7,131,2887,1.25,0.00,85.22,0.872,6,0.095,0.000,2625,2601,3519,0,0,0,0,0,0
$STATE,2888,end apogee,CONTROL_FINISHED_OK
$STATE,2888,begin climb
$GC,2891,1.51,107.5,506.2,0.0,133,2988,1.67,2.53,86.25,0.855,4,0.031,0.098,3037,3924,3079,0,0,0,0,0,0
$GC,3129,1.89,413.3,528.7,-9.1,138,3394,0.30,2.25,255.20,0.873,6,0.047,0.054,3117,2597,1833,0,0,0,0,0,0
$GC,3657,1.89,413.3,466.1,19.9,151,3662,0.00,2.53,0.00,0.000,4,0.000,0.090,3117,1188,1825,0,0,0,0,0,0
$GC,3746,1.89,413.3,446.2,20.1,153,3750,0.00,2.40,0.00,0.000,6,0.000,0.051,3118,2606,1823,0,0,0,0,0,0
$GC,4030,1.89,413.3,392.4,19.0,160,4034,0.00,2.42,0.00,0.000,4,0.000,0.063,3117,1190,1821,0,0,0,0,0,0
$GC,4119,1.89,413.3,375.0,19.0,162,4123,0.00,2.33,0.00,0.000,6,0.000,0.043,3117,2603,1820,0,0,0,0,0,0
$GC,4402,1.89,413.3,319.0,20.6,169,4406,0.00,2.40,0.00,0.000,4,0.000,0.057,3117,1185,1818,0,0,0,0,0,0
$GC,4423,1.89,413.3,314.3,20.2,169,4427,0.00,2.35,0.00,0.000,6,0.000,0.037,3117,2605,1818,0,0,0,0,0,0
$GC,4692,1.89,413.3,261.1,20.2,176,4696,0.00,2.38,0.00,0.000,4,0.000,0.053,3117,1187,1816,0,0,0,0,0,0
$GC,4731,1.89,413.3,251.6,19.3,177,4736,0.00,2.33,0.00,0.000,6,0.000,0.036,3117,2612,1816,0,0,0,0,0,0
$GC,5015,1.89,413.3,199.1,18.3,184,5019,0.00,2.40,0.00,0.000,4,0.000,0.054,3117,1182,1815,0,0,0,0,0,0
$GC,5188,1.89,413.3,169.3,16.1,194,5192,0.00,2.30,0.00,0.000,6,0.000,0.034,3118,2610,1814,0,0,0,0,0,0
$GC,5475,1.89,413.3,119.3,16.1,219,5479,0.00,2.38,0.00,0.000,4,0.000,0.051,3117,1179,1814,0,0,0,0,0,0
$GC,5517,1.89,413.3,111.5,17.5,222,5521,0.00,2.30,0.00,0.000,6,0.000,0.034,3117,2607,1813,0,0,0,0,0,0
$GC,5783,1.89,414.4,73.4,10.0,246,5787,0.00,2.20,0.00,0.000,4,0.000,0.055,3117,3932,1813,0,0,0,0,0,0
$GC,5866,1.89,414.4,59.6,15.4,252,5876,0.00,2.15,0.00,0.000,6,0.000,0.029,3117,2594,1813,0,0,0,0,0,0
$GC,6142,1.89,414.4,20.7,12.5,281,6152,0.00,2.38,0.00,0.000,4,0.000,0.064,3117,1197,1813,0,0,0,0,0,0
$STATE,6258,end climb,SURFACE_DEPTH_REACHED
$STATE,6258,begin surface coast
$FINISH,2.2,1.023168
$STATE,6268,end surface coast,CONTROL_FINISHED_OK
$STATE,6268,begin surface
$SM_CCo,6291,1.45,0.072,0,0,1806,420.19
$SM_GC,2.76,0.00,0.00,1.45,0.000,0.000,0.072,481,2184,1806,-10.21,0.40,420.19
$IRIDIUM_FIX,2131.85,-15818.80,091099,171740
$TT8_MAMPS,0.026845
$HUMID,43.73
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.9,8.053
$10V_AH,10.4,7.271
$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,24.975,74.925,426.675,1.450,0.000,23.848,27.776,183.051,20.750,0.000,18.527,685.719,3504.614,416.288,1620.123,434.546,0.000,981.739,0.000,1567.023,0.000,131.166,0.000
$DEVICE_MAMPS,181.779,98.176,872.846,72.098,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,203.721,173.614,515.222,420.047,741.285,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,22563,299
$CAP_FILE_SIZE,84394,10
$CFSIZE,260165632,215068672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150710,202038,2141.680,-15818.652,11,1.4,12,9.9