version: 66.06
glider: 146
mission: 5
dive: 8
start: 1 14 110 3 43 33
data:
$ID,146
$MISSION,5
$DIVE,8
$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,-245017.16
$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,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$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
$GPS1,033406,4806.226,-12222.087,9,1.6,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-64.3
$GPS2,034237,4806.296,-12222.150,10,1.5,28,18.3
$SPEED_LIMITS,0.101,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.063,-0.204
$KALMAN_X,233.8,57.2,-40.2,739.4,-6.2
$KALMAN_Y,-50.1,-38.2,90.5,-1868.7,76.6
$MHEAD_RNG_PITCHd_Wd,144.5,579,-13.6,-7.042
$D_GRID,108
$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,17,-1.00,-123.3,0.0,0.0,0,169,0.00,0.00,-147.82,0.000,6,0.000,0.000,486,2061,3953,0,0,0,0,0,0
$GC,173,-1.01,-132.1,6.1,-6.7,19,191,12.50,2.47,0.00,0.000,4,0.168,0.029,2788,3580,3954,0,0,0,0,0,0
$GC,248,-0.86,-132.1,14.5,-7.5,29,258,0.15,2.62,0.00,0.000,6,0.100,0.034,2823,2000,3954,0,0,0,0,0,0
$GC,344,-0.82,-146.0,20.1,-5.2,42,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2000,3954,0,0,0,0,0,0
$GC,439,-0.78,-146.0,26.2,-6.5,55,448,0.10,0.00,0.00,0.000,6,0.140,0.000,2843,2000,3955,0,0,0,0,0,0
$GC,534,-0.78,-146.0,31.9,-5.8,68,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2000,3955,0,0,0,0,0,0
$GC,629,-0.78,-146.0,37.4,-5.8,81,638,0.00,2.75,0.00,0.000,4,0.000,0.068,2843,426,3955,0,0,0,0,0,0
$GC,656,-0.78,-146.0,39.1,-6.0,84,666,0.00,2.55,0.00,0.000,6,0.000,0.024,2843,2009,3955,0,0,0,0,0,0
$GC,745,-0.78,-146.0,44.6,-6.0,97,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2010,3955,0,0,0,0,0,0
$GC,901,-0.78,-146.0,53.7,-5.6,122,910,0.00,2.78,0.00,0.000,4,0.000,0.061,2843,416,3955,0,0,0,0,0,0
$GC,929,-0.78,-146.0,55.5,-6.0,126,938,0.00,2.53,0.00,0.000,6,0.000,0.029,2843,1984,3955,0,0,0,0,0,0
$GC,1093,-0.82,-146.0,64.3,-5.5,151,1099,0.00,2.70,0.00,0.000,4,0.000,0.064,2843,416,3955,0,0,0,0,0,0
$GC,1109,-0.82,-146.0,65.3,-5.5,153,1115,0.00,2.50,0.00,0.000,6,0.000,0.022,2843,1992,3955,0,0,0,0,0,0
$GC,1267,-0.86,-146.0,74.3,-5.6,178,1276,0.00,2.72,0.00,0.000,4,0.000,0.059,2843,423,3955,0,0,0,0,0,0
$GC,1283,-0.86,-146.0,75.3,-5.7,180,1292,0.00,2.47,0.00,0.000,6,0.000,0.023,2843,1968,3955,0,0,0,0,0,0
$GC,1449,-0.90,-146.0,84.3,-5.6,205,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1970,3955,0,0,0,0,0,0
$GC,1608,-0.95,-146.0,93.2,-5.5,230,1618,0.15,2.70,0.00,0.000,4,0.079,0.062,2804,427,3955,0,0,0,0,0,0
$GC,1624,-0.95,-146.0,94.4,-5.8,232,1633,0.00,2.47,0.00,0.000,6,0.000,0.030,2804,1966,3955,0,0,0,0,0,0
$GC,1789,-0.95,-146.0,105.4,-6.8,257,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1967,3955,0,0,0,0,0,0
$STATE,1826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1826,begin apogee
$GC,1834,-0.31,0.0,108.2,6.9,263,1941,0.62,0.00,97.38,0.690,6,0.095,0.000,2943,1898,3459,0,0,0,0,0,0
$STATE,1943,end apogee,CONTROL_FINISHED_OK
$STATE,1944,begin climb
$GC,1946,1.03,146.0,110.9,0.0,279,2068,1.30,0.00,116.93,0.667,6,0.064,0.000,3240,1898,2862,0,0,0,0,0,0
$GC,2224,0.90,146.0,90.5,9.3,321,2231,0.12,2.67,0.00,0.000,4,0.128,0.041,3218,3503,2858,0,0,0,0,0,0
$GC,2281,0.86,146.0,85.5,9.0,329,2287,0.00,2.55,0.00,0.000,6,0.000,0.038,3217,1965,2858,0,0,0,0,0,0
$GC,2439,0.80,146.0,72.3,8.1,354,2448,0.12,2.88,0.00,0.000,4,0.130,0.064,3194,343,2857,0,0,0,0,0,0
$GC,2466,0.73,146.0,70.3,8.0,357,2471,0.00,2.55,0.00,0.000,6,0.000,0.023,3194,1936,2857,0,0,0,0,0,0
$GC,2624,0.74,157.4,59.1,6.6,382,2647,0.00,2.65,10.10,0.589,4,0.000,0.044,3194,3500,2815,0,0,0,0,0,0
$GC,2665,0.74,157.4,55.8,7.3,388,2675,0.00,2.62,0.00,0.000,6,0.000,0.035,3194,1935,2815,0,0,0,0,0,0
$GC,2832,0.75,167.5,44.6,6.7,413,2848,0.00,2.80,10.00,0.584,4,0.000,0.064,3194,335,2775,0,0,0,0,0,0
$GC,2876,0.75,167.5,41.2,7.1,419,2881,0.00,2.58,0.00,0.000,6,0.000,0.029,3194,1936,2774,0,0,0,0,0,0
$GC,3051,0.76,172.2,29.5,6.9,444,3061,0.00,2.62,5.53,0.506,4,0.000,0.044,3194,3495,2755,0,0,0,0,0,0
$GC,3099,0.80,172.2,25.8,7.2,450,3108,0.00,2.62,0.00,0.000,6,0.000,0.040,3194,1933,2754,0,0,0,0,0,0
$GC,3195,0.80,172.2,18.8,7.2,463,3204,0.00,2.78,0.00,0.000,4,0.000,0.066,3194,346,2754,0,0,0,0,0,0
$GC,3248,0.80,172.2,14.9,7.2,470,3257,0.00,2.53,0.00,0.000,6,0.000,0.025,3194,1907,2753,0,0,0,0,0,0
$GC,3344,0.91,209.4,9.3,5.6,483,3387,0.00,2.70,31.83,0.610,4,0.000,0.044,3194,3501,2603,0,0,0,0,0,0
$GC,3413,1.11,266.8,5.9,4.8,491,3441,0.25,2.60,21.48,0.591,2,0.040,0.033,3264,1944,2504,0,0,0,0,0,0
$STATE,3442,end climb,SURFACE_DEPTH_REACHED
$STATE,3442,begin surface coast
$FINISH,4.5,1.018966
$STATE,3604,end surface coast,CONTROL_FINISHED_OK
$STATE,3604,begin surface
$SM_CCo,3626,410.48,0.578,1,0,502,725.11
$SM_GC,1.81,0.00,0.00,410.48,0.000,0.000,0.578,488,2042,502,-11.64,1.19,725.11
$IRIDIUM_FIX,4748.51,-12224.57,100499,020204
$TT8_MAMPS,0.026078
$HUMID,33.22
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,12.50
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,80.1,42.1
$24V_AH,23.5,1.379
$10V_AH,10.3,1.171
$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,27.450,68.575,293.225,410.475,0.000,29.899,26.485,269.241,7.250,0.000,29.932,835.150,359.314,709.509,2067.104,590.679,33.324,1427.792,0.000,2074.341,0.000,5.521,0.000
$DEVICE_MAMPS,167.973,115.817,689.533,577.551,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.087,257.051,357.856,1120.145,1697.224,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324532
$DATA_FILE_SIZE,44682,518
$CAP_FILE_SIZE,76495,0
$CFSIZE,260165632,182878208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,045304,4805.901,-12221.768,66,99.0,85,18.3