version: 66.06
glider: 147
mission: 5
dive: 13
start: 2 2 110 8 55 3
data:
$ID,147
$MISSION,5
$DIVE,13
$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,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,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,600
$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,-17926.309
$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,2480
$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,2520
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,21
$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
$GPS1,084704,4806.002,-12222.027,11,99.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-63.8
$GPS2,085408,4806.033,-12222.091,13,1.0,13,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.057,0.191
$KALMAN_X,-3511.7,-127.3,-63.4,5046.1,-369.1
$KALMAN_Y,1215.2,76.0,14.6,-3759.9,125.8
$MHEAD_RNG_PITCHd_Wd,325.0,4341,-14.6,-6.944
$D_GRID,150
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.10,-107.5,0.0,0.0,0,133,0.00,0.00,-110.32,0.000,2,0.000,0.000,483,2510,3076,0,0,0,0,0,0
$GC,136,-1.10,-107.5,3.2,-2.7,14,178,10.15,2.47,-23.42,0.000,4,0.184,0.069,2231,3922,3953,0,0,0,0,0,0
$GC,270,-1.10,-107.5,14.3,-1.2,32,279,0.00,2.33,0.00,0.000,6,0.000,0.030,2231,2506,3954,0,0,0,0,0,0
$GC,363,-1.10,-107.5,20.6,-3.5,45,373,0.00,2.50,0.00,0.000,4,0.000,0.062,2231,3926,3954,0,0,0,0,0,0
$GC,410,-1.10,-107.5,24.7,-8.5,51,420,0.00,2.30,0.00,0.000,6,0.000,0.030,2231,2525,3954,0,0,0,0,0,0
$GC,505,-1.10,-107.5,30.1,-7.0,64,514,0.00,2.38,0.00,0.000,4,0.000,0.050,2231,1123,3954,0,0,0,0,0,0
$GC,565,-1.10,-107.5,34.1,-6.4,72,574,0.00,2.35,0.00,0.000,6,0.000,0.039,2231,2523,3954,0,0,0,0,0,0
$GC,659,-1.10,-107.5,40.6,-6.0,85,664,0.00,2.40,0.00,0.000,4,0.000,0.062,2231,3926,3954,0,0,0,0,0,0
$GC,738,-1.10,-107.5,46.9,-7.5,97,743,0.00,2.30,0.00,0.000,6,0.000,0.030,2231,2511,3954,0,0,0,0,0,0
$GC,895,-1.10,-107.5,58.2,-6.0,122,904,0.00,2.47,0.00,0.000,4,0.000,0.062,2231,3922,3954,0,0,0,0,0,0
$GC,957,-1.10,-107.5,62.8,-8.1,131,963,0.00,2.28,0.00,0.000,6,0.000,0.030,2231,2519,3954,0,0,0,0,0,0
$GC,1117,-1.10,-107.5,73.0,-6.1,156,1126,0.00,2.47,0.00,0.000,4,0.000,0.063,2231,3926,3954,0,0,0,0,0,0
$GC,1170,-1.10,-107.5,76.7,-7.0,164,1179,0.00,2.30,0.00,0.000,6,0.000,0.029,2231,2521,3954,0,0,0,0,0,0
$GC,1335,-1.10,-107.5,86.3,-5.8,189,1340,0.00,2.42,0.00,0.000,4,0.000,0.062,2231,3929,3954,0,0,0,0,0,0
$GC,1413,-1.10,-107.5,91.3,-6.6,201,1418,0.00,2.28,0.00,0.000,6,0.000,0.030,2231,2510,3954,0,0,0,0,0,0
$GC,1572,-1.10,-107.5,100.6,-5.2,226,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2510,3954,0,0,0,0,0,0
$GC,1733,-1.10,-107.5,108.7,-5.5,251,1739,0.00,2.45,0.00,0.000,4,0.000,0.061,2231,3934,3954,0,0,0,0,0,0
$GC,1800,-1.10,-107.5,112.5,-5.9,261,1805,0.00,2.30,0.00,0.000,6,0.000,0.028,2231,2508,3954,0,0,0,0,0,0
$STATE,1863,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1863,begin apogee
$GC,1870,-0.33,0.0,115.8,4.7,271,1964,0.80,0.00,84.05,0.690,6,0.094,0.000,2402,2507,3519,0,0,0,0,0,0
$STATE,1965,end apogee,CONTROL_FINISHED_OK
$STATE,1965,begin climb
$GC,1968,1.10,107.5,117.2,0.0,285,2063,1.40,0.00,84.00,0.674,6,0.060,0.000,2719,2507,3079,0,0,0,0,0,0
$GC,2216,1.10,107.5,97.5,9.1,323,2221,0.00,2.50,0.00,0.000,4,0.000,0.067,2719,3923,3077,0,0,0,0,0,0
$GC,2245,1.10,107.5,94.7,9.3,327,2250,0.00,2.30,0.00,0.000,6,0.000,0.031,2719,2527,3077,0,0,0,0,0,0
$GC,2402,1.10,107.5,80.9,8.0,352,2412,0.00,2.47,0.00,0.000,4,0.000,0.065,2719,3923,3077,0,0,0,0,0,0
$GC,2452,1.10,107.5,76.5,9.1,359,2458,0.00,2.33,0.00,0.000,6,0.000,0.033,2719,2513,3077,0,0,0,0,0,0
$GC,2610,1.10,107.5,62.8,8.6,384,2619,0.00,2.50,0.00,0.000,4,0.000,0.064,2719,3927,3077,0,0,0,0,0,0
$GC,2647,1.10,107.5,59.5,9.2,389,2653,0.00,2.33,0.00,0.000,6,0.000,0.033,2719,2519,3077,0,0,0,0,0,0
$GC,2806,1.10,107.5,46.3,7.9,414,2815,0.00,2.47,0.00,0.000,4,0.000,0.065,2719,3920,3077,0,0,0,0,0,0
$GC,2843,1.10,107.5,43.5,7.6,419,2849,0.00,2.30,0.00,0.000,6,0.000,0.032,2719,2520,3077,0,0,0,0,0,0
$GC,3009,1.10,107.5,30.8,7.7,444,3019,0.00,2.47,0.00,0.000,4,0.000,0.063,2719,3923,3077,0,0,0,0,0,0
$GC,3029,1.10,107.5,29.1,7.7,446,3039,0.00,2.33,0.00,0.000,6,0.000,0.033,2719,2524,3077,0,0,0,0,0,0
$GC,3122,1.10,107.5,21.9,7.8,459,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2524,3077,0,0,0,0,0,0
$GC,3215,1.10,107.5,14.7,7.1,472,3224,0.00,2.47,0.00,0.000,4,0.000,0.065,2719,3924,3077,0,0,0,0,0,0
$GC,3526,1.31,270.9,9.1,-0.2,518,3559,0.15,2.33,27.45,0.606,2,0.048,0.031,2766,2515,2941,0,0,0,0,0,0
$STATE,3560,end climb,NO_VERTICAL_VELOCITY
$STATE,3560,begin surface
$SM_CCo,3564,489.20,0.587,0,0,477,746.19
$SM_GC,1.15,9.80,0.00,0.00,0.029,0.000,0.000,482,2512,473,-9.12,-0.23,747.17
$IRIDIUM_FIX,4751.72,-12223.57,290499,070756
$TT8_MAMPS,0.026845
$HUMID,32.51
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,13.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,80.2,42.4
$24V_AH,23.8,1.905
$10V_AH,10.2,1.679
$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,22.300,66.800,195.500,489.200,0.000,24.155,32.825,229.067,2.500,0.000,13.693,852.316,469.809,729.610,2026.212,512.917,33.354,1378.812,0.000,2051.158,0.000,5.530,0.000
$DEVICE_MAMPS,184.080,69.030,690.300,586.755,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.110,284.513,360.364,895.991,1700.675,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,44829,522
$CAP_FILE_SIZE,68448,0
$CFSIZE,260165632,216104960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,100534,4806.315,-12222.284,11,2.9,30,18.3