version: 66.06
glider: 146
mission: 5
dive: 4
start: 1 13 110 22 29 19
data:
$ID,146
$MISSION,5
$DIVE,4
$D_SURF,5
$D_FLARE,6
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,5
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52407
$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,725
$N_FILEKB,4
$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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-244923.61
$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,3018
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3458
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-28.22426
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$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,0.0042931344
$SEABIRD_T_H,0.00062637561
$SEABIRD_T_I,2.1754668e-05
$SEABIRD_T_J,2.0718112e-06
$SEABIRD_C_G,-10.090527
$SEABIRD_C_H,1.1300763
$SEABIRD_C_I,-0.00016902627
$SEABIRD_C_J,0.00021855479
$GPS1,220723,4807.076,-12223.102,29,3.5,49,18.3
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.8
$GPS2,222824,4807.070,-12223.146,33,1.7,37,18.3
$SPEED_LIMITS,0.099,0.228
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.091,-0.040
$KALMAN_X,181.7,82.1,89.8,-588.9,58.2
$KALMAN_Y,-227.3,-96.5,-97.4,-14.1,-74.5
$MHEAD_RNG_PITCHd_Wd,95.7,222,-32.1,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-2.04,-25.8,0.0,0.0,0,139,0.00,0.00,-118.15,0.000,2,0.000,0.000,486,1880,3192,0,0,0,0,0,0
$GC,142,-2.04,-25.8,6.7,-8.7,15,176,11.25,2.65,-11.80,0.000,4,0.167,0.048,2565,3460,3566,0,0,0,0,0,0
$GC,478,-1.97,-45.3,18.3,-3.4,64,488,0.08,2.58,-1.27,0.000,6,0.146,0.037,2581,1895,3642,0,0,0,0,0,0
$GC,574,-1.97,-45.3,26.3,-9.8,77,583,0.00,2.60,0.00,0.000,4,0.000,0.038,2581,3467,3643,0,0,0,0,0,0
$GC,841,-1.97,-45.3,53.2,-10.1,117,846,0.00,2.55,0.00,0.000,6,0.000,0.031,2581,1905,3644,0,0,0,0,0,0
$GC,998,-1.97,-45.3,68.8,-9.2,142,1007,0.00,2.58,0.00,0.000,4,0.000,0.034,2581,3468,3644,0,0,0,0,0,0
$GC,1022,-1.97,-45.3,70.8,-9.1,145,1028,0.00,2.53,0.00,0.000,6,0.000,0.035,2581,1913,3644,0,0,0,0,0,0
$GC,1186,-1.97,-45.3,85.5,-9.1,170,1195,0.00,2.55,0.00,0.000,4,0.000,0.034,2581,3463,3644,0,0,0,0,0,0
$GC,1224,-1.97,-45.3,89.2,-9.4,175,1230,0.00,2.53,0.00,0.000,6,0.000,0.035,2581,1912,3644,0,0,0,0,0,0
$STATE,1370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1370,begin apogee
$GC,1376,-0.31,0.0,103.3,9.1,198,1425,1.77,0.00,37.17,0.703,6,0.125,0.000,2943,1790,3458,0,0,0,0,0,0
$STATE,1426,end apogee,CONTROL_FINISHED_OK
$STATE,1426,begin climb
$GC,1429,2.06,45.3,105.0,0.0,205,1476,2.28,2.78,37.35,0.680,4,0.067,0.073,3470,233,3272,0,0,0,0,0,0
$GC,1498,1.90,45.3,100.4,8.4,215,1505,0.20,2.53,0.00,0.000,6,0.181,0.028,3436,1794,3273,0,0,0,0,0,0
$GC,1657,1.86,45.3,83.1,10.6,240,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1794,3273,0,0,0,0,0,0
$GC,1819,1.86,45.3,66.6,10.0,265,1825,0.00,2.58,0.00,0.000,4,0.000,0.044,3436,3380,3273,0,0,0,0,0,0
$GC,1938,1.86,45.3,54.3,10.0,284,1947,0.00,2.62,0.00,0.000,6,0.000,0.047,3436,1819,3272,0,0,0,0,0,0
$GC,2103,1.86,45.3,39.0,9.7,309,2112,0.00,2.55,0.00,0.000,4,0.000,0.034,3436,3372,3273,0,0,0,0,0,0
$GC,2309,1.86,45.3,20.6,8.0,338,2318,0.00,2.62,0.00,0.000,6,0.000,0.044,3436,1810,3273,0,0,0,0,0,0
$GC,2404,1.86,45.3,12.5,7.8,351,2413,0.00,2.58,0.00,0.000,4,0.000,0.035,3436,3379,3273,0,0,0,0,0,0
$GC,2567,1.91,86.0,9.0,-0.4,374,2609,0.00,2.60,33.15,0.621,6,0.000,0.040,3436,1819,3106,0,0,0,0,0,0
$GC,2695,2.05,107.9,6.5,3.0,391,2721,0.12,0.00,18.23,0.602,6,0.108,0.000,3461,1819,3019,0,0,0,0,0,0
$GC,2807,2.17,141.9,6.7,0.8,406,2841,0.12,0.00,28.42,0.608,6,0.111,0.000,3488,1819,2877,0,0,0,0,0,0
$GC,2925,2.29,181.7,6.3,-0.2,422,2968,0.12,2.88,32.95,0.606,4,0.109,0.071,3515,218,2716,0,0,0,0,0,0
$GC,3013,2.33,214.4,5.9,1.1,433,3048,0.00,2.58,28.27,0.600,6,0.000,0.020,3515,1825,2584,0,0,0,0,0,0
$STATE,3130,end climb,SURFACE_DEPTH_REACHED
$STATE,3130,begin surface coast
$FINISH,4.7,1.019227
$STATE,3357,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3358,begin surface
$SM_CCo,3382,421.65,0.591,1,0,502,725.11
$SM_GC,1.77,0.00,0.00,421.65,0.000,0.000,0.591,487,1932,502,-11.64,0.90,725.11
$IRIDIUM_FIX,4748.51,-12226.29,090499,222236
$TT8_MAMPS,0.026078
$HUMID,32.63
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,12.00
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,95.4,25.9
$24V_AH,23.6,0.816
$10V_AH,10.3,0.595
$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,29.500,47.100,215.550,421.650,0.000,143.787,132.661,493.429,7.500,0.000,39.413,784.272,485.846,637.905,2110.705,1061.603,32.331,1251.538,0.000,2106.618,0.000,17.359,0.000
$DEVICE_MAMPS,181.012,111.215,703.339,591.357,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.546,291.578,384.742,1203.486,1823.765,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324504
$DATA_FILE_SIZE,38471,482
$CAP_FILE_SIZE,73136,0
$CFSIZE,260165632,183070720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130110,233343,4807.070,-12222.961,8,1.8,14,18.3