version: 66.06
glider: 147
mission: 5
dive: 19
start: 2 2 110 16 20 15
data:
$ID,147
$MISSION,5
$DIVE,19
$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,-18060.086
$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,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,19
$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
$GPS1,161208,4808.064,-12223.777,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-62.5
$GPS2,161920,4808.177,-12223.844,16,1.4,16,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.006,-0.190
$KALMAN_X,-4857.1,62.9,-39.4,4006.5,-219.0
$KALMAN_Y,2251.0,-93.0,115.8,-759.7,495.9
$MHEAD_RNG_PITCHd_Wd,159.7,381,-15.7,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.16,-95.6,0.0,0.0,0,137,0.00,0.00,-116.70,0.000,2,0.000,0.000,484,2602,3214,0,0,0,0,0,0
$GC,140,-1.18,-107.5,3.6,-3.6,15,190,9.98,2.33,-30.50,0.000,4,0.180,0.072,2217,3930,3951,0,0,0,0,0,0
$GC,202,-1.18,-107.5,4.8,-1.1,22,211,0.00,2.20,0.00,0.000,6,0.000,0.028,2216,2583,3952,0,0,0,0,0,0
$GC,296,-1.18,-107.5,9.8,-5.9,35,305,0.00,2.38,0.00,0.000,4,0.000,0.061,2217,3931,3953,0,0,0,0,0,0
$GC,606,-1.18,-107.5,31.7,-7.0,81,616,0.00,2.15,0.00,0.000,6,0.000,0.028,2217,2609,3952,0,0,0,0,0,0
$GC,701,-1.18,-107.5,37.9,-6.4,94,710,0.00,2.35,0.00,0.000,4,0.000,0.044,2217,1206,3952,0,0,0,0,0,0
$GC,928,-1.18,-107.5,55.1,-7.2,130,937,0.00,2.35,0.00,0.000,6,0.000,0.040,2217,2605,3952,0,0,0,0,0,0
$GC,1091,-1.18,-107.5,66.0,-7.0,155,1097,0.00,2.28,0.00,0.000,4,0.000,0.062,2216,3940,3952,0,0,0,0,0,0
$GC,1132,-1.18,-107.5,68.9,-7.1,161,1137,0.00,2.17,0.00,0.000,6,0.000,0.028,2217,2588,3952,0,0,0,0,0,0
$GC,1290,-1.18,-107.5,79.7,-6.9,186,1304,0.00,2.35,0.00,0.000,4,0.000,0.061,2217,3929,3952,0,0,0,0,0,0
$GC,1581,-1.18,-107.5,100.5,-7.1,232,1590,0.00,2.15,0.00,0.000,6,0.000,0.028,2217,2605,3952,0,0,0,0,0,0
$GC,1744,-1.18,-107.5,109.9,-5.3,257,1750,0.00,2.30,0.00,0.000,4,0.000,0.046,2217,1203,3952,0,0,0,0,0,0
$STATE,1834,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1834,begin apogee
$GC,1843,-0.33,0.0,115.2,5.9,271,1936,0.88,0.00,84.85,0.679,6,0.103,0.000,2399,2604,3520,0,0,0,0,0,0
$STATE,1937,end apogee,CONTROL_FINISHED_OK
$STATE,1937,begin climb
$GC,1940,1.18,107.5,116.8,0.0,285,2034,1.48,2.35,85.20,0.662,4,0.058,0.067,2734,3931,3080,0,0,0,0,0,0
$GC,2102,1.18,107.5,103.5,11.5,309,2107,0.00,2.17,0.00,0.000,6,0.000,0.030,2734,2605,3078,0,0,0,0,0,0
$GC,2260,1.18,107.5,87.8,9.5,334,2270,0.00,2.42,0.00,0.000,4,0.000,0.058,2734,1202,3078,0,0,0,0,0,0
$GC,2286,1.18,107.5,85.7,9.7,337,2291,0.00,2.35,0.00,0.000,6,0.000,0.041,2734,2608,3077,0,0,0,0,0,0
$GC,2442,1.18,107.5,70.6,9.2,362,2451,0.00,2.33,0.00,0.000,4,0.000,0.064,2734,3935,3078,0,0,0,0,0,0
$GC,2504,1.18,107.5,64.7,10.3,371,2509,0.00,2.15,0.00,0.000,6,0.000,0.029,2734,2600,3078,0,0,0,0,0,0
$GC,2660,1.18,107.5,50.0,9.0,396,2669,0.00,2.38,0.00,0.000,4,0.000,0.065,2734,3927,3078,0,0,0,0,0,0
$GC,2689,1.18,107.5,47.3,9.1,400,2698,0.00,2.20,0.00,0.000,6,0.000,0.031,2734,2598,3077,0,0,0,0,0,0
$GC,2858,1.18,107.5,33.1,8.3,425,2867,0.00,2.42,0.00,0.000,4,0.000,0.061,2734,1198,3078,0,0,0,0,0,0
$GC,2877,1.18,107.5,31.2,8.3,427,2887,0.00,2.35,0.00,0.000,6,0.000,0.042,2734,2592,3078,0,0,0,0,0,0
$GC,2971,1.18,107.5,23.7,8.0,440,2980,0.00,2.35,0.00,0.000,4,0.000,0.064,2734,3935,3078,0,0,0,0,0,0
$GC,2990,1.18,107.5,22.0,7.9,442,3000,0.00,2.20,0.00,0.000,6,0.000,0.029,2734,2600,3078,0,0,0,0,0,0
$GC,3084,1.18,107.5,14.7,7.6,455,3093,0.00,2.45,0.00,0.000,4,0.000,0.060,2734,1197,3078,0,0,0,0,0,0
$GC,3137,1.18,107.5,10.6,7.5,462,3147,0.00,2.38,0.00,0.000,6,0.000,0.042,2734,2605,3077,0,0,0,0,0,0
$GC,3230,1.21,133.3,4.8,5.7,475,3258,0.00,2.40,20.80,0.586,4,0.000,0.045,2734,1192,2974,0,0,0,0,0,0
$STATE,3407,end climb,NO_VERTICAL_VELOCITY
$STATE,3407,begin surface
$SM_CCo,3410,496.83,0.579,0,0,477,746.19
$SM_GC,1.07,9.70,0.00,0.00,0.031,0.000,0.000,481,2605,472,-9.14,0.14,747.42
$IRIDIUM_FIX,4748.51,-12226.29,290499,151512
$TT8_MAMPS,0.027612
$HUMID,32.39
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,14.20
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,80.2,42.0
$24V_AH,23.8,2.647
$10V_AH,10.1,2.437
$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,22.025,64.650,190.850,496.825,0.000,27.881,28.040,236.912,2.500,0.000,17.563,810.715,446.728,728.488,1964.799,506.209,33.322,1368.522,0.000,1988.068,0.000,5.543,0.000
$DEVICE_MAMPS,180.245,72.098,678.795,579.085,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.311,277.169,352.595,875.668,1661.835,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,41937,500
$CAP_FILE_SIZE,63559,0
$CFSIZE,260165632,215855104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,172822,4808.166,-12223.751,10,99.0,30,18.3