version: 66.06
glider: 147
mission: 5
dive: 69
start: 7 16 110 1 5 12
data:
$ID,147
$MISSION,5
$DIVE,69
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1020
$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,300
$T_MISSION,620
$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,-20140.178
$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,2250
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,36
$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
$GPS1,005843,2143.625,-15819.040,15,1.4,15,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.4
$GPS2,010449,2143.613,-15819.017,11,1.5,11,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,HEADING
$TGT_LATLONG,2147.306,-15829.945
$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,900
$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,13,begin dive
$GC,15,-1.51,-107.5,0.0,0.0,0,89,0.00,0.00,-71.70,0.000,2,0.000,0.000,475,2182,3477,0,0,0,0,0,0
$GC,94,-1.51,-107.5,3.9,-3.9,5,125,10.90,2.42,-8.35,0.000,4,0.183,0.048,2356,3647,3952,0,0,0,0,0,0
$GC,270,-1.51,-107.5,63.0,-24.4,15,286,0.00,2.28,0.00,0.000,6,0.000,0.033,2356,2258,3953,0,0,0,0,0,0
$GC,595,-1.51,-107.5,135.6,-22.4,40,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2256,3954,0,0,0,0,0,0
$GC,907,-1.51,-107.5,198.4,-16.7,65,911,0.00,2.35,0.00,0.000,4,0.000,0.053,2356,841,3953,0,0,0,0,0,0
$GC,928,-1.51,-107.5,203.7,-16.2,66,932,0.00,2.20,0.00,0.000,6,0.000,0.028,2356,2246,3953,0,0,0,0,0,0
$GC,1203,-1.51,-107.5,248.1,-16.5,73,1210,0.00,2.35,0.00,0.000,4,0.000,0.058,2356,3652,3953,0,0,0,0,0,0
$GC,1255,-1.51,-107.5,256.6,-14.8,74,1259,0.00,2.25,0.00,0.000,6,0.000,0.036,2356,2249,3954,0,0,0,0,0,0
$GC,1549,-1.51,-107.5,300.0,-15.8,81,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2248,3954,0,0,0,0,0,0
$GC,1783,-1.51,-107.5,335.3,-14.0,87,1790,0.00,2.42,0.00,0.000,4,0.000,0.068,2356,3644,3953,0,0,0,0,0,0
$GC,1831,-1.51,-107.5,342.4,-14.3,88,1835,0.00,2.30,0.00,0.000,6,0.000,0.046,2356,2251,3954,0,0,0,0,0,0
$GC,2114,-1.51,-107.5,383.7,-14.6,95,2119,0.00,2.50,0.00,0.000,4,0.000,0.092,2356,839,3951,0,0,0,0,0,0
$GC,2147,-1.51,-107.5,388.7,-14.8,95,2152,0.00,2.33,0.00,0.000,6,0.000,0.045,2356,2240,3951,0,0,0,0,0,0
$GC,2407,-1.51,-107.5,425.7,-15.3,101,2412,0.00,2.53,0.00,0.000,4,0.000,0.087,2356,3660,3949,0,0,0,0,0,0
$GC,2486,-1.51,-107.5,439.2,-14.3,102,2491,0.00,2.38,0.00,0.000,6,0.000,0.052,2356,2246,3948,0,0,0,0,0,0
$STATE,2530,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2530,begin apogee
$GC,2536,-0.33,0.0,446.2,15.3,104,2626,1.27,0.00,85.68,0.821,6,0.095,0.000,2624,2511,3519,0,0,0,0,0,0
$STATE,2627,end apogee,CONTROL_FINISHED_OK
$STATE,2627,begin climb
$GC,2629,1.51,107.5,450.1,0.0,106,2727,1.70,2.62,86.07,0.801,4,0.033,0.082,3039,1097,3080,0,0,0,0,0,0
$GC,2766,1.85,382.5,460.6,-7.2,109,3002,0.28,2.35,226.25,0.809,6,0.052,0.050,3109,2491,1959,0,0,0,0,0,0
$GC,3244,1.85,382.5,406.1,17.4,120,3248,0.00,2.50,0.00,0.000,4,0.000,0.074,3109,3913,1951,0,0,0,0,0,0
$GC,3271,1.85,382.5,401.0,18.4,120,3276,0.00,2.33,0.00,0.000,6,0.000,0.038,3109,2493,1951,0,0,0,0,0,0
$GC,3528,1.85,382.5,357.2,17.1,126,3533,0.00,2.45,0.00,0.000,4,0.000,0.076,3109,1095,1948,0,0,0,0,0,0
$GC,3561,1.85,382.5,350.1,17.0,126,3567,0.00,2.33,0.00,0.000,6,0.000,0.038,3109,2506,1947,0,0,0,0,0,0
$GC,3812,1.85,382.5,304.6,18.8,133,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2506,1946,0,0,0,0,0,0
$GC,4055,1.85,382.5,264.1,16.1,139,4059,0.00,2.40,0.00,0.000,4,0.000,0.056,3109,1087,1944,0,0,0,0,0,0
$GC,4109,1.85,382.5,255.2,15.7,140,4113,0.00,2.30,0.00,0.000,6,0.000,0.035,3110,2506,1944,0,0,0,0,0,0
$GC,4383,1.85,382.5,213.3,15.5,147,4387,0.00,2.38,0.00,0.000,4,0.000,0.060,3109,3908,1942,0,0,0,0,0,0
$GC,4405,1.85,382.5,209.7,16.3,147,4409,0.00,2.25,0.00,0.000,6,0.000,0.028,3109,2489,1942,0,0,0,0,0,0
$GC,4694,1.85,382.5,169.0,14.0,166,4698,0.00,2.38,0.00,0.000,4,0.000,0.065,3109,1097,1941,0,0,0,0,0,0
$GC,4735,1.85,382.5,162.3,16.2,168,4739,0.00,2.28,0.00,0.000,6,0.000,0.035,3109,2505,1940,0,0,0,0,0,0
$GC,5040,1.85,382.5,120.6,12.7,193,5044,0.00,2.33,0.00,0.000,4,0.000,0.054,3109,1102,1940,0,0,0,0,0,0
$GC,5120,1.85,382.5,107.3,14.3,197,5133,0.00,2.25,0.00,0.000,6,0.000,0.033,3109,2493,1939,0,0,0,0,0,0
$GC,5433,1.85,382.5,60.6,14.8,222,5437,0.00,2.35,0.00,0.000,4,0.000,0.054,3109,3908,1939,0,0,0,0,0,0
$GC,5442,1.85,382.5,57.9,14.3,222,5458,0.00,2.25,0.00,0.000,6,0.000,0.028,3109,2508,1939,0,0,0,0,0,0
$GC,5841,1.85,382.5,15.2,10.8,252,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2509,1939,0,0,0,0,0,0
$STATE,5934,end climb,SURFACE_DEPTH_REACHED
$STATE,5935,begin surface coast
$FINISH,0.7,0.999013
$STATE,6015,end surface coast,CONTROL_FINISHED_OK
$STATE,6015,begin surface
$SM_CCo,6036,29.12,0.486,0,0,1805,420.19
$SM_GC,1.66,0.00,0.00,29.12,0.000,0.000,0.486,475,2233,1805,-10.24,-0.48,420.19
$IRIDIUM_FIX,2136.49,-15820.10,101099,000036
$TT8_MAMPS,0.027612
$HUMID,40.62
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,413.3,37.3
$24V_AH,23.9,8.486
$10V_AH,10.2,7.749
$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,25.000,66.900,398.000,29.125,0.000,25.267,29.018,197.350,17.250,0.000,12.954,614.121,2536.898,410.426,2393.769,493.385,0.000,963.575,0.000,2403.067,0.000,117.951,0.000
$DEVICE_MAMPS,182.546,92.040,820.690,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,180.760,140.459,1757.947,1082.354,1319.887,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,19421,265
$CAP_FILE_SIZE,114675,123
$CFSIZE,260165632,214900736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160710,024728,2143.593,-15820.220,9,2.1,29,9.9