version: 66.06
glider: 147
mission: 5
dive: 17
start: 2 2 110 14 6 39
data:
$ID,147
$MISSION,5
$DIVE,17
$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,-18028.246
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,135820,4807.635,-12223.591,8,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-59.4
$GPS2,140546,4807.751,-12223.665,14,3.4,33,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.021,0.118
$KALMAN_X,-4732.8,56.7,189.6,3883.8,-389.5
$KALMAN_Y,1504.5,-57.1,-208.1,-514.3,317.0
$MHEAD_RNG_PITCHd_Wd,331.8,620,-26.7,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.82,-36.6,0.0,0.0,0,163,0.00,0.00,-141.10,0.000,2,0.000,0.000,482,2497,3087,0,0,0,0,0,0
$GC,166,-1.85,-61.6,3.7,-3.8,18,216,9.25,2.35,-28.60,0.000,4,0.186,0.057,2066,1112,3772,0,0,0,0,0,0
$GC,518,-1.86,-66.3,22.1,-6.4,69,528,0.00,2.35,-0.32,0.000,6,0.000,0.036,2066,2523,3792,0,0,0,0,0,0
$GC,612,-1.86,-66.3,28.7,-7.2,82,621,0.00,2.35,0.00,0.000,4,0.000,0.041,2066,1118,3792,0,0,0,0,0,0
$GC,907,-1.86,-66.3,52.9,-8.1,128,917,0.00,2.33,0.00,0.000,6,0.000,0.035,2066,2519,3792,0,0,0,0,0,0
$GC,1072,-1.86,-66.3,65.5,-7.9,153,1078,0.00,2.33,0.00,0.000,4,0.000,0.041,2066,1111,3792,0,0,0,0,0,0
$GC,1137,-1.86,-66.3,71.1,-8.5,163,1143,0.00,2.33,0.00,0.000,6,0.000,0.036,2066,2525,3792,0,0,0,0,0,0
$GC,1296,-1.86,-66.3,83.7,-7.4,188,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2524,3792,0,0,0,0,0,0
$GC,1456,-1.86,-66.3,95.0,-7.3,213,1461,0.00,2.40,0.00,0.000,4,0.000,0.058,2066,3925,3792,0,0,0,0,0,0
$GC,1575,-1.86,-66.3,104.1,-7.3,232,1584,0.00,2.30,0.00,0.000,6,0.000,0.028,2066,2506,3792,0,0,0,0,0,0
$GC,1740,-1.88,-79.1,112.7,-5.3,257,1745,0.00,2.45,0.00,0.000,4,0.000,0.058,2066,3927,3792,0,0,0,0,0,0
$STATE,1802,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1802,begin apogee
$GC,1810,-0.33,0.0,116.8,6.5,267,1877,1.67,0.00,54.90,0.681,6,0.127,0.000,2401,2512,3519,0,0,0,0,0,0
$STATE,1878,end apogee,CONTROL_FINISHED_OK
$STATE,1878,begin climb
$GC,1881,1.88,79.1,117.7,0.0,277,1954,2.12,2.42,63.42,0.667,4,0.053,0.059,2890,1127,3195,0,0,0,0,0,0
$GC,1966,1.88,79.1,110.1,11.5,289,1973,0.00,2.35,0.00,0.000,6,0.000,0.043,2891,2519,3194,0,0,0,0,0,0
$GC,2125,1.88,79.1,85.0,14.7,314,2134,0.00,2.47,0.00,0.000,4,0.000,0.067,2891,3920,3194,0,0,0,0,0,0
$GC,2150,1.88,79.1,81.4,15.3,317,2156,0.00,2.28,0.00,0.000,6,0.000,0.029,2891,2526,3194,0,0,0,0,0,0
$GC,2309,1.88,79.1,58.4,13.2,342,2318,0.00,2.45,0.00,0.000,4,0.000,0.063,2891,3917,3193,0,0,0,0,0,0
$GC,2334,1.88,79.1,55.2,13.4,345,2339,0.00,2.28,0.00,0.000,6,0.000,0.031,2891,2520,3194,0,0,0,0,0,0
$GC,2498,1.88,79.1,33.8,13.1,370,2508,0.00,2.47,0.00,0.000,4,0.000,0.062,2891,3920,3194,0,0,0,0,0,0
$GC,2518,1.88,79.1,30.7,13.1,372,2528,0.00,2.33,0.00,0.000,6,0.000,0.033,2891,2524,3194,0,0,0,0,0,0
$GC,2611,1.88,79.1,18.1,13.2,385,2620,0.00,2.47,0.00,0.000,4,0.000,0.064,2891,3923,3194,0,0,0,0,0,0
$STATE,2742,end climb,SURFACE_DEPTH_REACHED
$STATE,2742,begin surface coast
$FINISH,3.6,1.021212
$STATE,2753,end surface coast,CONTROL_FINISHED_OK
$STATE,2753,begin surface
$SM_CCo,2777,424.95,0.574,1,0,1072,600.24
$SM_GC,1.09,0.00,0.00,424.95,0.000,0.000,0.574,480,2510,1072,-9.20,-0.28,600.24
$IRIDIUM_FIX,4748.51,-12221.84,290499,121247
$TT8_MAMPS,0.027612
$HUMID,32.12
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.10
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,80.3,43.4
$24V_AH,23.8,2.397
$10V_AH,10.2,2.190
$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,23.825,47.350,118.325,424.950,0.000,27.427,26.237,231.880,3.000,0.000,36.236,662.736,293.306,627.901,1602.278,473.027,33.332,1140.600,0.000,1601.924,0.000,5.532,0.000
$DEVICE_MAMPS,186.381,67.496,681.096,574.483,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,285.912,223.399,282.753,702.219,1333.339,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,35182,405
$CAP_FILE_SIZE,52443,0
$CFSIZE,260165632,215953408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,150130,4808.055,-12223.812,34,1.4,44,18.3