version: 66.06
glider: 146
mission: 5
dive: 7
start: 1 14 110 2 24 35
data:
$ID,146
$MISSION,5
$DIVE,7
$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,-244986.59
$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,22
$R_STBD_OVSHOOT,36
$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
$GPS1,021532,4806.519,-12222.332,11,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.0
$GPS2,022338,4806.578,-12222.419,12,1.8,12,18.3
$SPEED_LIMITS,0.101,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.098,-0.207
$KALMAN_X,173.9,67.3,-13.2,430.1,-42.5
$KALMAN_Y,-72.7,-47.6,16.5,-1241.1,100.5
$MHEAD_RNG_PITCHd_Wd,136.3,1189,-12.2,-7.042
$D_GRID,107
$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,-0.94,-146.0,0.0,0.0,0,162,0.00,0.00,-142.12,0.000,2,0.000,0.000,483,2057,3899,0,0,0,0,0,0
$GC,166,-0.94,-146.0,6.1,-7.1,18,184,12.52,0.00,-1.27,0.000,6,0.166,0.000,2802,2057,3954,0,0,0,0,0,0
$GC,268,-0.79,-146.0,15.5,-6.5,32,277,0.20,0.00,0.00,0.000,6,0.120,0.000,2841,2057,3955,0,0,0,0,0,0
$GC,363,-0.73,-146.0,20.4,-5.6,45,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2057,3955,0,0,0,0,0,0
$GC,459,-0.69,-146.0,26.0,-5.9,58,469,0.12,2.88,0.00,0.000,4,0.126,0.065,2867,418,3956,0,0,0,0,0,0
$GC,479,-0.69,-146.0,27.1,-5.9,60,488,0.00,2.53,0.00,0.000,6,0.000,0.024,2867,1986,3956,0,0,0,0,0,0
$GC,574,-0.69,-146.0,32.1,-5.1,73,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1987,3956,0,0,0,0,0,0
$GC,670,-0.73,-146.0,36.6,-4.9,86,679,0.00,2.72,0.00,0.000,4,0.000,0.062,2867,420,3956,0,0,0,0,0,0
$GC,690,-0.77,-146.0,37.7,-4.8,88,699,0.00,2.50,0.00,0.000,6,0.000,0.022,2867,1972,3956,0,0,0,0,0,0
$GC,782,-0.81,-146.0,42.1,-4.6,101,787,0.12,0.00,0.00,0.000,6,0.082,0.000,2833,1973,3956,0,0,0,0,0,0
$GC,938,-0.81,-146.0,51.2,-5.6,126,947,0.00,2.70,0.00,0.000,4,0.000,0.060,2833,418,3956,0,0,0,0,0,0
$GC,954,-0.77,-146.0,52.3,-5.8,128,963,0.00,2.50,0.00,0.000,6,0.000,0.023,2833,1977,3956,0,0,0,0,0,0
$GC,1119,-0.77,-146.0,62.0,-6.0,153,1124,0.00,2.67,0.00,0.000,4,0.000,0.063,2833,417,3956,0,0,0,0,0,0
$GC,1137,-0.77,-146.0,63.5,-5.9,156,1146,0.00,2.47,0.00,0.000,6,0.000,0.026,2833,1960,3956,0,0,0,0,0,0
$GC,1301,-0.77,-146.0,73.1,-5.7,181,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1962,3956,0,0,0,0,0,0
$GC,1457,-0.77,-146.0,82.1,-5.6,206,1466,0.00,2.67,0.00,0.000,4,0.000,0.064,2833,419,3956,0,0,0,0,0,0
$GC,1472,-0.77,-146.0,83.1,-5.7,208,1482,0.00,2.47,0.00,0.000,6,0.000,0.023,2833,1963,3956,0,0,0,0,0,0
$GC,1637,-0.77,-146.0,92.1,-5.6,233,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1964,3956,0,0,0,0,0,0
$GC,1794,-0.77,-146.0,101.3,-5.4,258,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1964,3956,0,0,0,0,0,0
$STATE,1893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1894,begin apogee
$GC,1901,-0.31,0.0,107.1,5.7,274,2003,0.50,0.00,97.25,0.693,6,0.091,0.000,2945,1896,3458,0,0,0,0,0,0
$STATE,2004,end apogee,CONTROL_FINISHED_OK
$STATE,2006,begin climb
$GC,2008,0.94,146.0,109.2,0.0,289,2138,1.20,2.72,116.62,0.670,4,0.069,0.039,3219,3486,2861,0,0,0,0,0,0
$GC,2151,0.81,146.0,101.3,7.5,310,2161,0.08,2.60,0.00,0.000,6,0.110,0.037,3201,1947,2859,0,0,0,0,0,0
$GC,2314,0.74,146.0,88.8,7.7,335,2319,0.10,0.00,0.00,0.000,6,0.140,0.000,3182,1947,2858,0,0,0,0,0,0
$GC,2471,0.74,148.6,77.7,7.0,360,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1947,2857,0,0,0,0,0,0
$GC,2633,0.76,167.3,67.2,6.4,385,2661,0.00,0.00,18.02,0.625,6,0.000,0.000,3182,1947,2775,0,0,0,0,0,0
$GC,2815,0.78,181.2,54.9,6.6,413,2830,0.00,0.00,12.62,0.602,6,0.000,0.000,3182,1947,2719,0,0,0,0,0,0
$GC,2985,0.80,196.3,43.8,6.5,439,3005,0.00,2.85,14.07,0.604,4,0.000,0.063,3181,333,2656,0,0,0,0,0,0
$GC,3027,0.81,200.9,40.6,6.9,445,3042,0.00,2.55,5.25,0.490,6,0.000,0.025,3181,1920,2639,0,0,0,0,0,0
$GC,3127,0.83,218.3,33.9,6.5,459,3153,0.00,2.65,16.60,0.605,4,0.000,0.038,3182,3491,2566,0,0,0,0,0,0
$GC,3178,0.83,218.3,30.1,7.4,465,3187,0.00,2.62,0.00,0.000,6,0.000,0.038,3182,1933,2564,0,0,0,0,0,0
$GC,3274,0.83,218.3,22.9,7.4,478,3283,0.00,2.80,0.00,0.000,4,0.000,0.064,3182,338,2563,0,0,0,0,0,0
$GC,3315,0.83,218.3,19.7,7.9,483,3324,0.00,2.55,0.00,0.000,6,0.000,0.024,3181,1917,2563,0,0,0,0,0,0
$GC,3410,0.89,229.9,12.9,6.7,496,3428,0.12,2.62,10.85,0.576,4,0.086,0.038,3214,3510,2519,0,0,0,0,0,0
$GC,3473,0.93,229.9,8.2,7.7,504,3482,0.00,2.67,0.00,0.000,6,0.000,0.038,3214,1916,2518,0,0,0,0,0,0
$STATE,3531,end climb,SURFACE_DEPTH_REACHED
$STATE,3531,begin surface coast
$FINISH,3.5,1.019690
$STATE,3665,end surface coast,CONTROL_FINISHED_OK
$STATE,3665,begin surface
$SM_CCo,3686,409.77,0.579,1,0,502,725.11
$SM_GC,1.64,0.00,0.00,409.77,0.000,0.000,0.579,486,2060,502,-11.65,1.72,725.11
$IRIDIUM_FIX,4748.51,-12226.29,100499,010124
$TT8_MAMPS,0.026078
$HUMID,32.87
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,12.60
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,80.1,44.1
$24V_AH,23.5,1.239
$10V_AH,10.3,1.031
$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,26.775,52.975,291.300,409.775,0.000,30.792,22.626,263.498,6.750,0.000,13.483,851.904,368.823,706.385,2089.638,579.755,33.327,1425.800,0.000,2115.962,0.000,5.525,0.000
$DEVICE_MAMPS,165.672,115.817,692.601,579.085,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.896,259.208,362.937,1135.394,1721.427,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324532
$DATA_FILE_SIZE,44684,531
$CAP_FILE_SIZE,75448,0
$CFSIZE,260165632,182923264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,033406,4806.226,-12222.087,9,1.6,26,18.3