version: 66.06
glider: 147
mission: 5
dive: 5
start: 2 1 110 23 5 26
data:
$ID,147
$MISSION,5
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$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,72
$T_MISSION,80
$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,570
$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,-17715.197
$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,2500
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$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,10
$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
$GPS1,225802,4806.881,-12222.973,7,1.7,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.6
$GPS2,230431,4806.848,-12222.945,12,1.8,12,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.053,0.156
$KALMAN_X,-60.6,-111.9,-81.6,538.7,90.8
$KALMAN_Y,-273.5,-25.8,43.0,-682.2,-185.0
$MHEAD_RNG_PITCHd_Wd,322.9,290,-18.9,-6.944
$D_GRID,103
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.34,-69.3,0.0,0.0,0,98,0.00,0.00,-79.10,0.000,2,0.000,0.000,485,2280,2691,0,0,0,0,0,0
$GC,101,-1.39,-107.5,3.6,-3.7,10,167,9.60,2.38,-44.80,0.000,4,0.170,0.058,2187,888,3953,0,0,0,0,0,0
$GC,344,-1.39,-107.5,17.0,-5.3,44,354,0.00,2.35,0.00,0.000,6,0.000,0.036,2187,2302,3953,0,0,0,0,0,0
$GC,438,-1.39,-107.5,22.9,-6.6,57,447,0.00,2.40,0.00,0.000,4,0.000,0.054,2187,3696,3953,0,0,0,0,0,0
$GC,556,-1.39,-107.5,32.6,-8.4,74,566,0.00,2.33,0.00,0.000,6,0.000,0.031,2187,2292,3953,0,0,0,0,0,0
$GC,651,-1.39,-107.5,39.9,-7.7,87,661,0.00,2.45,0.00,0.000,4,0.000,0.057,2187,3702,3953,0,0,0,0,0,0
$GC,711,-1.39,-107.5,45.5,-8.9,96,720,0.00,2.30,0.00,0.000,6,0.000,0.031,2187,2302,3953,0,0,0,0,0,0
$GC,874,-1.39,-107.5,58.9,-8.4,121,879,0.00,2.40,0.00,0.000,4,0.000,0.056,2186,3703,3953,0,0,0,0,0,0
$GC,1004,-1.39,-107.5,70.9,-9.1,142,1013,0.00,2.33,0.00,0.000,6,0.000,0.031,2187,2296,3953,0,0,0,0,0,0
$GC,1168,-1.39,-107.5,83.5,-8.0,167,1174,0.00,2.40,0.00,0.000,4,0.000,0.055,2186,3710,3953,0,0,0,0,0,0
$GC,1285,-1.39,-107.5,93.8,-8.4,186,1294,0.00,2.33,0.00,0.000,6,0.000,0.031,2187,2298,3953,0,0,0,0,0,0
$STATE,1418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1418,begin apogee
$GC,1424,-0.33,0.0,103.3,6.7,207,1520,1.12,0.00,84.00,0.691,6,0.106,0.000,2420,2298,3518,0,0,0,0,0,0
$STATE,1520,end apogee,CONTROL_FINISHED_OK
$STATE,1520,begin climb
$GC,1524,1.39,107.5,105.1,0.0,221,1619,1.67,2.47,83.72,0.673,4,0.053,0.058,2803,902,3079,0,0,0,0,0,0
$GC,1628,1.39,107.5,96.5,10.5,236,1637,0.00,2.38,0.00,0.000,6,0.000,0.040,2802,2297,3079,0,0,0,0,0,0
$GC,1793,1.39,107.5,76.9,11.6,261,1798,0.00,2.42,0.00,0.000,4,0.000,0.059,2803,3705,3078,0,0,0,0,0,0
$GC,1908,1.39,107.5,62.2,12.7,279,1914,0.00,2.30,0.00,0.000,6,0.000,0.032,2803,2307,3078,0,0,0,0,0,0
$GC,2065,1.39,107.5,43.9,11.3,304,2075,0.00,2.42,0.00,0.000,4,0.000,0.058,2803,3698,3078,0,0,0,0,0,0
$GC,2130,1.39,107.5,36.3,12.6,313,2140,0.00,2.33,0.00,0.000,6,0.000,0.035,2803,2311,3078,0,0,0,0,0,0
$GC,2225,1.39,107.5,25.3,11.8,326,2234,0.00,2.42,0.00,0.000,4,0.000,0.059,2803,3698,3078,0,0,0,0,0,0
$GC,2298,1.39,107.5,16.7,11.7,336,2307,0.00,2.35,0.00,0.000,6,0.000,0.037,2803,2301,3078,0,0,0,0,0,0
$GC,2390,1.39,107.5,7.4,8.0,349,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2301,3078,0,0,0,0,0,0
$GC,2483,1.52,214.6,5.1,-0.3,362,2574,0.12,2.45,83.20,0.613,4,0.079,0.057,2838,3705,2642,0,0,0,0,0,0
$GC,2619,1.62,297.2,4.1,1.4,379,2670,0.00,2.35,44.67,0.599,2,0.000,0.034,2839,2304,2416,0,0,0,0,0,0
$STATE,2670,end climb,SURFACE_DEPTH_REACHED
$STATE,2670,begin surface coast
$FINISH,3.5,1.017048
$STATE,3003,end surface coast,CONTROL_FINISHED_OK
$STATE,3003,begin surface
$SM_CCo,3023,250.80,0.581,1,0,1194,570.07
$SM_GC,1.27,0.00,0.00,250.80,0.000,0.000,0.581,484,2301,1194,-9.27,0.03,570.07
$IRIDIUM_FIX,4748.51,-12221.84,280499,222250
$TT8_MAMPS,0.027612
$HUMID,32.47
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,13.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,85.5,35.6
$24V_AH,23.8,0.887
$10V_AH,10.2,0.648
$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,22.900,47.550,295.600,250.800,0.000,21.994,25.133,209.051,2.250,0.000,13.939,690.856,234.510,504.194,1802.377,445.682,33.314,1119.895,0.000,1821.365,0.000,9.910,0.000
$DEVICE_MAMPS,170.274,59.059,691.067,581.386,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,306.833,266.566,333.048,830.241,1576.237,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,35121,435
$CAP_FILE_SIZE,54813,0
$CFSIZE,260165632,216477696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,000116,4807.009,-12223.109,11,8.5,30,18.3