version: 66.06
glider: 146
mission: 5
dive: 6
start: 1 14 110 1 5 59
data:
$ID,146
$MISSION,5
$DIVE,6
$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,71
$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,-244972.48
$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,2000
$C_ROLL_CLIMB,1922
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,33
$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
$GPS1,005552,4806.744,-12222.631,12,99.0,32,18.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-67.3
$GPS2,010503,4806.788,-12222.699,9,3.8,28,18.3
$SPEED_LIMITS,0.101,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.124,-0.192
$KALMAN_X,127.7,76.0,59.9,49.0,-98.3
$KALMAN_Y,-130.3,-73.0,-75.7,-677.7,116.3
$MHEAD_RNG_PITCHd_Wd,128.9,1696,-12.2,-7.042
$D_GRID,105
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.94,-146.0,0.0,0.0,0,168,0.00,0.00,-144.38,0.000,6,0.000,0.000,486,1878,3952,0,0,0,0,0,0
$GC,173,-0.94,-146.0,6.5,-7.0,19,191,12.70,2.47,0.00,0.000,4,0.171,0.054,2805,427,3953,0,0,0,0,0,0
$GC,209,0.40,-146.0,13.1,-13.2,23,218,1.35,2.55,0.00,0.000,6,0.093,0.028,3100,2005,3953,0,0,0,0,0,0
$GC,303,-0.30,-146.0,15.2,-2.9,36,312,0.65,2.72,0.00,0.000,4,0.097,0.055,2953,437,3953,0,0,0,0,0,0
$GC,418,-0.66,-146.0,21.1,-5.3,52,428,0.32,2.50,0.00,0.000,6,0.057,0.029,2869,1990,3954,0,0,0,0,0,0
$GC,516,-0.78,-146.0,26.2,-5.5,65,525,0.00,2.62,0.00,0.000,4,0.000,0.044,2869,3567,3954,0,0,0,0,0,0
$GC,550,-0.88,-146.0,28.2,-5.7,69,558,0.15,2.55,0.00,0.000,6,0.041,0.031,2822,2020,3954,0,0,0,0,0,0
$GC,643,-0.82,-146.0,33.7,-6.3,82,652,0.00,2.78,0.00,0.000,4,0.000,0.061,2821,421,3954,0,0,0,0,0,0
$GC,678,-0.75,-146.0,36.0,-6.4,86,688,0.12,2.55,0.00,0.000,6,0.102,0.028,2850,2005,3954,0,0,0,0,0,0
$GC,771,-0.75,-146.0,41.5,-5.4,99,776,0.00,2.72,0.00,0.000,4,0.000,0.062,2850,420,3954,0,0,0,0,0,0
$GC,786,-0.75,-146.0,42.4,-5.5,101,792,0.00,2.53,0.00,0.000,6,0.000,0.028,2850,2008,3954,0,0,0,0,0,0
$GC,944,-0.75,-146.0,51.1,-5.4,126,953,0.00,2.75,0.00,0.000,4,0.000,0.062,2850,420,3954,0,0,0,0,0,0
$GC,960,-0.75,-146.0,52.0,-5.4,128,969,0.00,2.53,0.00,0.000,6,0.000,0.027,2850,1995,3954,0,0,0,0,0,0
$GC,1124,-0.75,-146.0,61.0,-5.6,153,1130,0.00,2.67,0.00,0.000,4,0.000,0.059,2850,424,3954,0,0,0,0,0,0
$GC,1143,-0.75,-146.0,62.4,-5.5,156,1152,0.00,2.50,0.00,0.000,6,0.000,0.025,2850,1983,3954,0,0,0,0,0,0
$GC,1306,-0.75,-146.0,71.0,-5.3,181,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1983,3954,0,0,0,0,0,0
$GC,1462,-0.75,-146.0,79.3,-5.5,206,1471,0.00,2.70,0.00,0.000,4,0.000,0.060,2850,426,3954,0,0,0,0,0,0
$GC,1487,-0.75,-146.0,80.8,-5.6,209,1493,0.00,2.50,0.00,0.000,6,0.000,0.028,2850,1998,3954,0,0,0,0,0,0
$GC,1645,-0.75,-146.0,89.5,-5.3,234,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1999,3954,0,0,0,0,0,0
$GC,1807,-0.75,-146.0,98.1,-5.2,259,1812,0.00,2.70,0.00,0.000,4,0.000,0.065,2850,425,3954,0,0,0,0,0,0
$GC,1822,-0.75,-146.0,99.0,-5.2,261,1828,0.00,2.50,0.00,0.000,6,0.000,0.024,2850,1998,3954,0,0,0,0,0,0
$STATE,1935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1935,begin apogee
$GC,1942,-0.31,0.0,105.0,5.1,279,2042,0.43,0.00,96.65,0.693,6,0.091,0.000,2946,1902,3458,0,0,0,0,0,0
$STATE,2043,end apogee,CONTROL_FINISHED_OK
$STATE,2045,begin climb
$GC,2047,0.94,146.0,107.4,0.0,294,2178,1.20,0.00,116.32,0.669,6,0.074,0.000,3216,1902,2861,0,0,0,0,0,0
$GC,2334,0.83,146.0,89.0,8.0,337,2339,0.00,2.62,0.00,0.000,4,0.000,0.045,3216,3498,2858,0,0,0,0,0,0
$GC,2386,0.75,146.0,84.7,8.2,345,2392,0.17,2.58,0.00,0.000,6,0.124,0.044,3184,1947,2858,0,0,0,0,0,0
$GC,2544,0.76,154.2,73.9,6.8,370,2558,0.00,2.83,7.55,0.568,4,0.000,0.071,3183,342,2828,0,0,0,0,0,0
$GC,2582,0.72,154.2,71.4,7.1,375,2588,0.00,2.55,0.00,0.000,6,0.000,0.026,3183,1924,2828,0,0,0,0,0,0
$GC,2740,0.72,159.0,60.4,6.9,400,2754,0.00,2.67,5.85,0.528,4,0.000,0.040,3183,3504,2808,0,0,0,0,0,0
$GC,2790,0.73,160.5,57.1,7.0,407,2796,0.00,2.60,0.00,0.000,6,0.000,0.042,3184,1936,2808,0,0,0,0,0,0
$GC,2945,0.75,176.3,46.7,6.5,432,2967,0.00,2.80,15.30,0.611,4,0.000,0.065,3183,341,2739,0,0,0,0,0,0
$GC,3000,0.71,176.3,42.6,7.2,440,3009,0.00,2.58,0.00,0.000,6,0.000,0.031,3182,1924,2738,0,0,0,0,0,0
$GC,3175,0.73,193.3,31.1,6.5,465,3201,0.00,2.65,15.45,0.605,4,0.000,0.039,3183,3494,2668,0,0,0,0,0,0
$GC,3226,0.73,199.1,27.6,6.9,471,3237,0.00,2.65,6.22,0.517,6,0.000,0.042,3183,1922,2646,0,0,0,0,0,0
$GC,3322,0.73,199.1,20.7,7.1,484,3331,0.00,2.80,0.00,0.000,4,0.000,0.071,3183,340,2644,0,0,0,0,0,0
$GC,3355,0.73,199.1,18.0,7.5,488,3364,0.00,2.55,0.00,0.000,6,0.000,0.024,3183,1915,2643,0,0,0,0,0,0
$GC,3451,0.80,219.1,11.5,6.4,501,3477,0.00,2.65,18.52,0.601,4,0.000,0.037,3183,3491,2563,0,0,0,0,0,0
$GC,3528,0.99,264.0,7.1,5.6,511,3572,0.17,2.65,37.65,0.604,2,0.048,0.038,3233,1909,2387,0,0,0,0,0,0
$STATE,3573,end climb,SURFACE_DEPTH_REACHED
$STATE,3573,begin surface coast
$FINISH,3.9,1.018148
$STATE,3709,end surface coast,CONTROL_FINISHED_OK
$STATE,3709,begin surface
$SM_CCo,3731,382.35,0.578,1,0,502,725.11
$SM_GC,1.49,0.00,0.00,382.35,0.000,0.000,0.578,483,2056,502,-11.66,1.58,725.11
$IRIDIUM_FIX,4748.51,-12214.67,090499,232308
$TT8_MAMPS,0.026078
$HUMID,32.94
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,12.60
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,80.3,49.1
$24V_AH,23.5,1.100
$10V_AH,10.3,0.890
$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,29.200,84.275,319.525,382.350,0.000,30.629,23.609,309.036,9.750,0.000,31.872,870.400,366.915,692.820,2112.775,634.225,33.319,1435.468,0.000,2121.655,0.000,5.538,0.000
$DEVICE_MAMPS,171.041,80.535,692.601,578.318,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,373.605,272.886,368.200,1148.965,1742.106,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324464
$DATA_FILE_SIZE,44724,536
$CAP_FILE_SIZE,81645,0
$CFSIZE,260165632,182964224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,021532,4806.519,-12222.332,11,1.7,12,18.3