version: 66.06
glider: 147
mission: 5
dive: 67
start: 7 15 110 22 26 59
data:
$ID,147
$MISSION,5
$DIVE,67
$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,-20114.791
$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,50
$R_STBD_OVSHOOT,23
$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
$GPS1,222045,2142.693,-15818.733,41,2.3,61,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-67.4
$GPS2,222638,2142.771,-15818.660,14,2.0,14,9.9
$SPEED_LIMITS,0.174,0.226
$TGT_NAME,HEADING
$TGT_LATLONG,2146.465,-15829.588
$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,-63.03,0.000,2,0.000,0.000,477,2137,3185,0,0,0,0,0,0
$GC,85,-1.51,-107.5,3.8,-5.8,8,119,10.82,2.35,-15.52,0.000,4,0.183,0.049,2360,3585,3953,0,0,0,0,0,0
$GC,213,-1.51,-107.5,40.3,-26.7,23,217,0.00,2.25,0.00,0.000,6,0.000,0.034,2359,2194,3954,0,0,0,0,0,0
$GC,505,-1.51,-107.5,114.6,-23.0,47,510,0.00,2.38,0.00,0.000,4,0.000,0.051,2360,760,3954,0,0,0,0,0,0
$GC,545,-1.51,-107.5,126.6,-25.5,49,558,0.00,2.28,0.00,0.000,6,0.000,0.029,2359,2182,3955,0,0,0,0,0,0
$GC,860,-1.51,-107.5,191.5,-19.1,74,864,0.00,2.25,0.00,0.000,4,0.000,0.044,2360,3577,3956,0,0,0,0,0,0
$GC,946,-1.51,-107.5,210.0,-17.6,77,951,0.00,2.25,0.00,0.000,6,0.000,0.031,2360,2167,3956,0,0,0,0,0,0
$GC,1205,-1.51,-107.5,254.3,-16.5,84,1210,0.00,2.38,0.00,0.000,4,0.000,0.057,2360,3570,3958,0,0,0,0,0,0
$GC,1277,-1.51,-107.5,266.3,-15.3,85,1281,0.00,2.28,0.00,0.000,6,0.000,0.040,2360,2168,3958,0,0,0,0,0,0
$GC,1541,-1.51,-107.5,309.0,-16.4,92,1545,0.00,2.38,0.00,0.000,4,0.000,0.060,2359,3571,3958,0,0,0,0,0,0
$GC,1601,-1.51,-107.5,319.8,-15.7,93,1606,0.00,2.33,0.00,0.000,6,0.000,0.048,2359,2166,3958,0,0,0,0,0,0
$GC,1876,-1.51,-107.5,364.3,-16.2,100,1881,0.00,2.40,0.00,0.000,4,0.000,0.065,2360,3572,3958,0,0,0,0,0,0
$GC,1936,-1.51,-107.5,374.4,-16.5,101,1941,0.00,2.33,0.00,0.000,6,0.000,0.048,2359,2171,3958,0,0,0,0,0,0
$GC,2216,-1.51,-107.5,419.0,-16.5,108,2221,0.00,2.42,0.00,0.000,4,0.000,0.074,2359,3564,3957,0,0,0,0,0,0
$GC,2308,-1.51,-107.5,432.8,-14.3,110,2312,0.00,2.33,0.00,0.000,6,0.000,0.053,2359,2171,3956,0,0,0,0,0,0
$GC,2591,-1.51,-107.5,471.6,-13.4,117,2598,0.00,2.60,0.00,0.000,4,0.000,0.107,2360,765,3955,0,0,0,0,0,0
$GC,2609,-1.51,-107.5,474.3,-13.0,117,2613,0.00,2.35,0.00,0.000,6,0.000,0.052,2360,2160,3955,0,0,0,0,0,0
$STATE,2798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2798,begin apogee
$GC,2806,-0.33,0.0,500.6,14.0,122,2897,1.25,0.00,87.12,0.870,6,0.095,0.000,2623,2604,3519,0,0,0,0,0,0
$STATE,2897,end apogee,CONTROL_FINISHED_OK
$STATE,2898,begin climb
$GC,2900,1.51,107.5,504.7,0.0,124,2999,1.70,2.53,86.72,0.854,4,0.035,0.101,3036,3935,3079,0,0,0,0,0,0
$GC,3049,1.85,384.5,516.2,-7.3,127,3289,0.28,2.25,229.55,0.861,6,0.047,0.047,3112,2596,1951,0,0,0,0,0,0
$GC,3572,1.85,384.5,443.7,20.8,140,3576,0.00,2.45,0.00,0.000,4,0.000,0.072,3112,1187,1943,0,0,0,0,0,0
$GC,3767,1.85,384.5,406.0,17.1,144,3772,0.00,2.38,0.00,0.000,6,0.000,0.043,3112,2612,1941,0,0,0,0,0,0
$GC,4048,1.85,384.5,356.3,18.2,151,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2612,1940,0,0,0,0,0,0
$GC,4284,1.85,384.5,309.0,19.4,157,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2612,1938,0,0,0,0,0,0
$GC,4527,1.85,384.5,264.8,17.9,163,4531,0.00,2.40,0.00,0.000,4,0.000,0.053,3111,1184,1937,0,0,0,0,0,0
$GC,4555,1.85,384.5,259.7,18.6,163,4559,0.00,2.33,0.00,0.000,6,0.000,0.037,3112,2602,1937,0,0,0,0,0,0
$GC,4805,1.85,384.5,219.4,15.8,169,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2602,1936,0,0,0,0,0,0
$GC,5067,1.85,384.5,182.3,15.3,181,5071,0.00,2.38,0.00,0.000,4,0.000,0.054,3112,1188,1936,0,0,0,0,0,0
$GC,5108,1.85,384.5,175.3,17.8,183,5112,0.00,2.30,0.00,0.000,6,0.000,0.035,3112,2607,1935,0,0,0,0,0,0
$GC,5410,1.85,384.5,127.6,14.0,208,5414,0.00,2.35,0.00,0.000,4,0.000,0.051,3112,1189,1935,0,0,0,0,0,0
$GC,5467,1.85,384.5,117.1,15.3,211,5481,0.00,2.30,0.00,0.000,6,0.000,0.034,3112,2596,1935,0,0,0,0,0,0
$GC,5770,1.85,384.5,80.1,11.5,236,5774,0.00,2.33,0.00,0.000,4,0.000,0.050,3112,1185,1935,0,0,0,0,0,0
$GC,6114,1.85,384.5,34.2,13.1,254,6129,0.00,2.30,0.00,0.000,6,0.000,0.031,3112,2610,1935,0,0,0,0,0,0
$STATE,6366,end climb,SURFACE_DEPTH_REACHED
$STATE,6366,begin surface coast
$FINISH,0.9,1.011355
$STATE,6447,end surface coast,CONTROL_FINISHED_OK
$STATE,6447,begin surface
$SM_CCo,6469,28.08,0.486,0,0,1806,420.19
$SM_GC,1.31,0.00,0.00,28.08,0.000,0.000,0.486,472,2136,1806,-10.25,-0.96,420.19
$IRIDIUM_FIX,2136.49,-15812.78,091099,202035
$TT8_MAMPS,0.026845
$HUMID,40.27
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.8,8.295
$10V_AH,10.3,7.507
$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,24.850,67.350,403.400,28.075,0.000,25.129,34.694,166.302,21.000,0.000,16.172,654.779,2993.170,415.701,2325.078,454.322,0.000,972.052,0.000,2308.796,0.000,135.687,0.000
$DEVICE_MAMPS,182.546,106.613,869.778,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,191.320,149.714,1497.418,874.694,1130.847,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355800
$DATA_FILE_SIZE,22667,279
$CAP_FILE_SIZE,110361,89
$CFSIZE,260165632,214966272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160710,001649,2143.438,-15818.862,31,2.5,51,9.9