version: 66.06
glider: 146
mission: 5
dive: 16
start: 1 14 110 13 45 17
data:
$ID,146
$MISSION,5
$DIVE,16
$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,700
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-245218.75
$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,1922
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,4
$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
$GPS1,133736,4807.843,-12223.804,34,0.9,35,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.8
$GPS2,134420,4807.980,-12223.879,14,1.7,14,18.3
$SPEED_LIMITS,0.101,0.229
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.222,-0.058
$KALMAN_X,240.9,-70.4,-155.3,-1160.4,-44.4
$KALMAN_Y,881.1,224.3,220.1,-75.3,195.6
$MHEAD_RNG_PITCHd_Wd,86.4,1087,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.94,-146.0,0.0,0.0,0,154,0.00,0.00,-133.00,0.000,2,0.000,0.000,486,1927,3936,0,0,0,0,0,0
$GC,158,-0.94,-146.0,6.0,-3.0,17,176,12.57,2.55,-0.32,0.000,4,0.167,0.044,2804,3482,3952,0,0,0,0,0,0
$GC,315,-0.80,-146.0,19.7,-6.7,39,325,0.15,2.65,0.00,0.000,6,0.093,0.040,2839,1896,3953,0,0,0,0,0,0
$GC,411,-0.74,-146.0,25.2,-5.2,52,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1896,3953,0,0,0,0,0,0
$GC,505,-0.71,-146.0,30.8,-5.8,65,514,0.10,0.00,0.00,0.000,6,0.136,0.000,2860,1896,3952,0,0,0,0,0,0
$GC,602,-0.71,-146.0,35.7,-5.2,78,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1896,3953,0,0,0,0,0,0
$GC,695,-0.71,-146.0,40.6,-5.1,91,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1896,3953,0,0,0,0,0,0
$GC,852,-0.71,-146.0,48.8,-5.3,116,862,0.00,2.62,0.00,0.000,4,0.000,0.040,2860,3476,3953,0,0,0,0,0,0
$GC,878,-0.71,-146.0,49.9,-5.3,119,883,0.00,2.60,0.00,0.000,6,0.000,0.040,2860,1894,3953,0,0,0,0,0,0
$GC,1034,-0.71,-146.0,58.2,-5.0,144,1043,0.00,2.75,0.00,0.000,4,0.000,0.069,2860,329,3953,0,0,0,0,0,0
$GC,1060,-0.71,-146.0,59.3,-5.2,147,1066,0.00,2.53,0.00,0.000,6,0.000,0.022,2860,1917,3953,0,0,0,0,0,0
$GC,1219,-0.71,-146.0,67.7,-5.1,172,1228,0.00,2.55,0.00,0.000,4,0.000,0.040,2860,3468,3953,0,0,0,0,0,0
$GC,1244,-0.71,-146.0,68.8,-4.8,175,1250,0.00,2.58,0.00,0.000,6,0.000,0.033,2860,1899,3953,0,0,0,0,0,0
$GC,1403,-0.71,-146.0,76.6,-4.9,200,1412,0.00,2.75,0.00,0.000,4,0.000,0.065,2861,328,3953,0,0,0,0,0,0
$GC,1441,-0.74,-146.0,78.6,-5.2,205,1447,0.00,2.50,0.00,0.000,6,0.000,0.029,2860,1897,3953,0,0,0,0,0,0
$GC,1602,-0.78,-146.0,86.9,-4.9,230,1611,0.00,2.60,0.00,0.000,4,0.000,0.042,2860,3475,3953,0,0,0,0,0,0
$GC,1640,-0.83,-146.0,88.7,-5.1,235,1646,0.10,2.60,0.00,0.000,6,0.091,0.035,2832,1889,3953,0,0,0,0,0,0
$GC,1801,-0.83,-146.0,97.9,-5.8,260,1810,0.00,2.75,0.00,0.000,4,0.000,0.071,2832,325,3953,0,0,0,0,0,0
$GC,1851,-0.83,-146.0,100.8,-6.0,267,1857,0.00,2.53,0.00,0.000,6,0.000,0.027,2832,1909,3953,0,0,0,0,0,0
$STATE,1927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1927,begin apogee
$GC,1932,-0.31,0.0,105.2,5.5,279,2040,0.50,0.00,96.85,0.686,6,0.089,0.000,2945,1910,3457,0,0,0,0,0,0
$STATE,2044,end apogee,CONTROL_FINISHED_OK
$STATE,2044,begin climb
$GC,2046,0.94,146.0,107.7,0.0,295,2167,1.20,0.00,116.22,0.664,6,0.066,0.000,3218,1910,2862,0,0,0,0,0,0
$GC,2324,0.83,146.0,88.9,8.2,337,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1910,2858,0,0,0,0,0,0
$GC,2479,0.73,146.0,76.1,8.0,362,2488,0.20,0.00,0.00,0.000,6,0.171,0.000,3179,1910,2858,0,0,0,0,0,0
$GC,2642,0.75,164.2,65.9,6.4,387,2670,0.00,2.67,15.75,0.616,4,0.000,0.041,3179,3488,2787,0,0,0,0,0,0
$GC,2686,0.77,178.3,62.9,6.6,393,2706,0.00,2.62,12.95,0.597,6,0.000,0.038,3179,1916,2731,0,0,0,0,0,0
$GC,2858,0.77,185.7,50.9,6.8,420,2873,0.00,2.78,7.50,0.554,4,0.000,0.064,3179,343,2699,0,0,0,0,0,0
$GC,2885,0.77,185.7,48.7,7.0,424,2895,0.00,2.55,0.00,0.000,6,0.000,0.023,3179,1911,2699,0,0,0,0,0,0
$GC,3052,0.78,190.3,37.7,6.9,449,3063,0.00,2.60,5.18,0.496,4,0.000,0.036,3179,3496,2681,0,0,0,0,0,0
$GC,3087,0.79,195.4,35.1,6.9,453,3105,0.00,2.65,6.18,0.521,6,0.000,0.036,3179,1920,2660,0,0,0,0,0,0
$GC,3189,0.79,200.5,28.1,6.9,467,3207,0.00,2.80,5.75,0.515,4,0.000,0.065,3179,343,2640,0,0,0,0,0,0
$GC,3226,0.80,204.6,25.4,6.9,471,3238,0.00,2.55,5.12,0.489,6,0.000,0.028,3179,1914,2623,0,0,0,0,0,0
$GC,3321,0.82,222.8,19.1,6.4,484,3348,0.00,2.65,17.42,0.606,4,0.000,0.038,3179,3488,2547,0,0,0,0,0,0
$GC,3367,0.89,242.8,16.2,6.4,489,3394,0.10,2.62,17.90,0.591,6,0.055,0.036,3214,1929,2467,0,0,0,0,0,0
$GC,3477,0.89,242.8,8.0,7.2,504,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1929,2464,0,0,0,0,0,0
$STATE,3534,end climb,SURFACE_DEPTH_REACHED
$STATE,3535,begin surface coast
$FINISH,4.1,1.018223
$STATE,3675,end surface coast,CONTROL_FINISHED_OK
$STATE,3675,begin surface
$SM_CCo,3696,377.62,0.577,1,0,604,700.09
$SM_GC,1.64,0.00,0.00,377.62,0.000,0.000,0.577,483,1926,604,-11.66,0.71,700.09
$IRIDIUM_FIX,4751.72,-12223.57,100499,121212
$TT8_MAMPS,0.026078
$HUMID,32.94
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,12.50
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,85.1,35.3
$24V_AH,23.5,2.499
$10V_AH,10.3,2.231
$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,26.775,63.050,306.825,377.625,0.000,24.818,26.796,227.031,7.750,0.000,15.535,857.369,376.374,675.506,2086.368,496.728,33.339,1395.533,0.000,2105.331,0.000,10.203,0.000
$DEVICE_MAMPS,171.041,70.564,685.698,576.784,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.671,265.956,362.058,1132.967,1716.543,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324840
$DATA_FILE_SIZE,44757,532
$CAP_FILE_SIZE,73275,0
$CFSIZE,260165632,182538240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,145425,4808.122,-12223.422,9,1.7,27,18.3