version: 66.06
glider: 147
mission: 5
dive: 20
start: 2 2 110 17 36 29
data:
$ID,147
$MISSION,5
$DIVE,20
$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,-18088.869
$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,28
$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
$GPS1,172822,4808.166,-12223.751,10,99.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-60.7
$GPS2,173536,4808.287,-12223.846,10,1.9,26,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.004,-0.200
$KALMAN_X,-4834.5,97.5,-120.7,4027.7,-77.1
$KALMAN_Y,3213.2,-126.6,225.9,-1598.5,702.3
$MHEAD_RNG_PITCHd_Wd,160.4,564,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.10,-107.5,0.0,0.0,0,163,0.00,0.00,-141.75,0.000,2,0.000,0.000,480,2605,3083,0,0,0,0,0,0
$GC,166,-1.10,-107.5,3.0,-2.6,18,216,10.23,2.38,-30.33,0.000,4,0.186,0.052,2231,1191,3952,0,0,0,0,0,0
$GC,268,-1.10,-107.5,8.2,-4.9,31,277,0.00,2.35,0.00,0.000,6,0.000,0.039,2231,2597,3952,0,0,0,0,0,0
$GC,361,-1.10,-107.5,13.5,-6.0,44,370,0.00,2.33,0.00,0.000,4,0.000,0.061,2232,3929,3953,0,0,0,0,0,0
$GC,381,-1.10,-107.5,14.9,-6.1,46,390,0.00,2.20,0.00,0.000,6,0.000,0.028,2231,2583,3952,0,0,0,0,0,0
$GC,475,-1.10,-107.5,20.8,-5.9,59,485,0.00,2.35,0.00,0.000,4,0.000,0.061,2231,3923,3952,0,0,0,0,0,0
$GC,510,-1.10,-107.5,23.2,-6.4,63,519,0.00,2.15,0.00,0.000,6,0.000,0.029,2231,2608,3952,0,0,0,0,0,0
$GC,604,-1.10,-107.5,29.4,-6.4,76,613,0.00,2.38,0.00,0.000,4,0.000,0.044,2231,1194,3952,0,0,0,0,0,0
$GC,624,-1.10,-107.5,30.8,-6.4,78,633,0.00,2.35,0.00,0.000,6,0.000,0.040,2231,2599,3952,0,0,0,0,0,0
$GC,717,-1.10,-107.5,36.5,-6.2,91,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2599,3952,0,0,0,0,0,0
$GC,803,-1.10,-107.5,42.5,-6.4,104,812,0.00,2.33,0.00,0.000,4,0.000,0.062,2231,3931,3952,0,0,0,0,0,0
$GC,828,-1.10,-107.5,43.9,-6.7,107,834,0.00,2.15,0.00,0.000,6,0.000,0.028,2231,2591,3952,0,0,0,0,0,0
$GC,987,-1.10,-107.5,54.3,-6.5,132,996,0.00,2.35,0.00,0.000,4,0.000,0.061,2231,3928,3952,0,0,0,0,0,0
$GC,1024,-1.10,-107.5,56.7,-6.7,137,1030,0.00,2.12,0.00,0.000,6,0.000,0.028,2231,2597,3952,0,0,0,0,0,0
$GC,1184,-1.10,-107.5,67.1,-6.4,162,1193,0.00,2.33,0.00,0.000,4,0.000,0.061,2231,3925,3952,0,0,0,0,0,0
$GC,1209,-1.10,-107.5,68.7,-6.4,165,1215,0.00,2.15,0.00,0.000,6,0.000,0.028,2231,2590,3952,0,0,0,0,0,0
$GC,1367,-1.10,-107.5,78.6,-6.1,190,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2590,3952,0,0,0,0,0,0
$GC,1528,-1.10,-107.5,88.0,-6.1,215,1533,0.00,2.33,0.00,0.000,4,0.000,0.062,2231,3930,3952,0,0,0,0,0,0
$GC,1570,-1.10,-107.5,90.8,-6.4,221,1576,0.00,2.15,0.00,0.000,6,0.000,0.028,2231,2594,3952,0,0,0,0,0,0
$GC,1729,-1.10,-107.5,101.0,-6.2,246,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2592,3952,0,0,0,0,0,0
$GC,1891,-1.10,-107.5,110.1,-5.2,271,1897,0.00,2.33,0.00,0.000,4,0.000,0.047,2231,1194,3952,0,0,0,0,0,0
$GC,1908,-1.10,-107.5,110.9,-4.9,273,1913,0.00,2.33,0.00,0.000,6,0.000,0.039,2231,2601,3952,0,0,0,0,0,0
$STATE,1934,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1934,begin apogee
$GC,1939,-0.33,0.0,112.4,5.1,277,2039,0.80,0.00,94.20,0.683,6,0.096,0.000,2401,2601,3519,0,0,0,0,0,0
$STATE,2040,end apogee,CONTROL_FINISHED_OK
$STATE,2042,begin climb
$GC,2044,1.10,107.5,113.9,0.0,292,2133,1.40,0.00,84.85,0.661,6,0.057,0.000,2719,2601,3080,0,0,0,0,0,0
$GC,2285,1.10,107.5,95.1,8.8,329,2290,0.00,2.35,0.00,0.000,4,0.000,0.049,2719,1208,3077,0,0,0,0,0,0
$GC,2313,1.10,107.5,92.6,8.9,333,2318,0.00,2.33,0.00,0.000,6,0.000,0.039,2719,2601,3077,0,0,0,0,0,0
$GC,2469,1.10,107.5,78.7,8.7,358,2478,0.00,2.33,0.00,0.000,4,0.000,0.064,2719,3927,3076,0,0,0,0,0,0
$GC,2544,1.10,107.5,71.7,10.0,369,2549,0.00,2.15,0.00,0.000,6,0.000,0.029,2719,2609,3077,0,0,0,0,0,0
$GC,2701,1.10,107.5,57.8,8.4,394,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2608,3077,0,0,0,0,0,0
$GC,2862,1.10,107.5,43.8,8.7,419,2868,0.00,2.30,0.00,0.000,4,0.000,0.064,2719,3930,3077,0,0,0,0,0,0
$GC,2906,1.10,107.5,39.4,9.5,426,2916,0.00,2.20,0.00,0.000,6,0.000,0.031,2719,2598,3077,0,0,0,0,0,0
$GC,3000,1.10,107.5,31.8,8.2,439,3009,0.00,2.42,0.00,0.000,4,0.000,0.061,2719,1201,3077,0,0,0,0,0,0
$GC,3019,1.10,107.5,30.2,8.1,441,3029,0.00,2.35,0.00,0.000,6,0.000,0.041,2719,2596,3077,0,0,0,0,0,0
$GC,3112,1.10,107.5,22.8,8.1,454,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2596,3077,0,0,0,0,0,0
$GC,3205,1.10,107.5,15.6,7.5,467,3214,0.00,2.38,0.00,0.000,4,0.000,0.049,2719,1199,3077,0,0,0,0,0,0
$GC,3246,1.10,107.5,12.6,7.4,472,3255,0.00,2.35,0.00,0.000,6,0.000,0.041,2719,2598,3077,0,0,0,0,0,0
$GC,3339,1.14,137.5,7.0,5.6,485,3372,0.00,0.00,24.33,0.590,6,0.000,0.000,2719,2598,2957,0,0,0,0,0,0
$GC,3456,1.35,306.7,4.6,-0.5,501,3554,0.22,0.00,94.32,0.593,2,0.053,0.000,2781,2598,2473,0,0,0,0,0,0
$STATE,3555,end climb,NO_VERTICAL_VELOCITY
$STATE,3555,begin surface
$SM_CCo,3574,286.27,0.558,1,0,1072,600.24
$SM_GC,1.10,0.00,0.00,286.27,0.000,0.000,0.558,483,2600,1072,-9.19,0.00,600.24
$IRIDIUM_FIX,4742.09,-12205.09,290499,161602
$TT8_MAMPS,0.026845
$HUMID,32.51
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.10
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,80.3,38.9
$24V_AH,23.8,2.763
$10V_AH,10.1,2.568
$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,22.800,64.175,297.700,286.275,0.000,25.908,30.165,229.008,4.750,0.000,28.152,822.794,352.852,593.248,2026.098,512.229,33.328,1342.636,0.000,2036.968,0.000,5.518,0.000
$DEVICE_MAMPS,186.381,64.428,683.397,558.376,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.568,273.125,358.381,891.256,1692.186,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,44787,513
$CAP_FILE_SIZE,71568,0
$CFSIZE,260165632,215801856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,184207,4808.056,-12223.839,32,1.0,32,18.3