version: 66.06
glider: 147
mission: 5
dive: 1
start: 2 1 110 18 26 18
data:
$ID,147
$MISSION,5
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$D_ABORT,120
$D_NO_BLEED,80
$D_BOOST,4
$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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,730
$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,-17297.543
$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,2562
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3479
$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,0
$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
$GPS1,182207,4807.333,-12223.133,7,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-62.2
$GPS2,182520,4807.357,-12223.177,13,1.2,13,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.071,-0.214
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,143.4,697,-20.6,-10.000
$D_GRID,105
$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,-107.5,0.0,0.0,0,183,0.00,0.00,-164.62,0.000,2,0.000,0.000,472,2211,3460,0,0,0,0,0,0
$GC,188,-1.51,-107.5,3.1,-3.0,21,230,9.57,2.40,-21.33,0.000,4,0.162,0.075,2225,3581,3918,0,0,0,0,0,0
$GC,248,-1.51,-107.5,3.7,-2.4,28,258,0.00,2.30,0.00,0.000,6,0.000,0.041,2225,2210,3919,0,0,0,0,0,0
$GC,341,-1.51,-107.5,5.7,-2.4,41,351,0.00,2.47,0.00,0.000,4,0.000,0.067,2225,795,3919,0,0,0,0,0,0
$GC,474,-1.51,-107.5,10.8,-4.3,60,483,0.00,2.30,0.00,0.000,6,0.000,0.038,2225,2189,3919,0,0,0,0,0,0
$GC,567,-1.51,-107.5,14.9,-4.7,73,577,0.00,2.40,0.00,0.000,4,0.000,0.055,2225,3594,3919,0,0,0,0,0,0
$GC,615,-1.51,-107.5,17.2,-5.3,79,625,0.00,2.33,0.00,0.000,6,0.000,0.038,2225,2194,3919,0,0,0,0,0,0
$GC,709,-1.51,-107.5,22.3,-5.8,92,718,0.00,2.40,0.00,0.000,4,0.000,0.053,2224,3601,3919,0,0,0,0,0,0
$GC,749,-1.51,-107.5,24.8,-6.1,97,758,0.00,2.30,0.00,0.000,6,0.000,0.036,2225,2205,3919,0,0,0,0,0,0
$STATE,766,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,766,begin apogee
$GC,772,-0.33,0.0,26.1,6.3,99,860,1.23,0.00,83.90,0.647,6,0.095,0.000,2484,2205,3479,0,0,0,0,0,0
$STATE,861,end apogee,CONTROL_FINISHED_OK
$STATE,861,begin climb
$GC,864,1.51,107.5,27.2,0.0,110,953,1.73,0.00,83.30,0.622,6,0.038,0.000,2896,2205,3039,0,0,0,0,0,0
$GC,1037,1.51,107.5,5.7,16.2,133,1047,0.00,2.42,0.00,0.000,4,0.000,0.056,2896,3601,3037,0,0,0,0,0,0
$STATE,1055,end climb,SURFACE_DEPTH_REACHED
$STATE,1055,begin surface coast
$FINISH,2.0,1.018375
$STATE,1064,end surface coast,CONTROL_FINISHED_OK
$STATE,1064,begin surface
$SM_CCo,1088,510.38,0.575,1,0,503,730.00
$SM_GC,1.11,0.00,0.00,510.38,0.000,0.000,0.575,482,2187,503,-9.57,-0.37,730.00
$IRIDIUM_FIX,4748.51,-12220.12,280499,181806
$TT8_MAMPS,0.027612
$HUMID,32.87
$INTERNAL_PRESSURE,8.61361
$TCM_TEMP,13.00
$XPDR_PINGS,5
$24V_AH,23.9,0.385
$10V_AH,10.2,0.166
$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,23.275,23.700,167.200,510.375,0.000,0.000,0.000,0.000,1.250,0.000,15.054,239.541,1.923,685.636,688.186,69.620,29.237,1057.937,0.000,698.663,0.000,0.991,0.000
$DEVICE_MAMPS,161.837,75.166,647.348,575.250,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,103.361,107.609,139.552,347.475,659.711,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,325040
$DATA_FILE_SIZE,9979,136
$CAP_FILE_SIZE,53139,0
$CFSIZE,260165632,216649728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010210,185350,4807.353,-12223.225,10,1.9,11,18.3