version: 66.06
glider: 146
mission: 5
dive: 2
start: 1 13 110 20 12 44
data:
$ID,146
$MISSION,5
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,4
$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,15
$T_MISSION,25
$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,120
$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,690
$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,-244820.08
$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,3004
$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
$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,56
$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
$GPS1,200454,4807.182,-12222.928,85,1.2,86,18.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-73.9
$GPS2,201149,4807.130,-12222.863,9,1.3,14,18.3
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.189,-0.138
$KALMAN_X,32.1,32.1,32.1,10.2,54.9
$KALMAN_Y,-27.1,-27.1,-27.1,-237.0,-46.2
$MHEAD_RNG_PITCHd_Wd,215.6,295,-19.8,-10.000
$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,15,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-79.47,0.000,2,0.000,0.000,484,1924,2246,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.2,-1.9,10,182,12.00,2.58,-56.25,0.000,4,0.170,0.057,2696,3453,3936,0,0,0,0,0,0
$GC,194,-1.38,-116.8,6.3,-1.3,21,203,0.00,2.58,0.00,0.000,6,0.000,0.039,2696,1898,3937,0,0,0,0,0,0
$GC,288,-1.38,-116.8,13.6,-8.4,34,298,0.00,2.58,0.00,0.000,4,0.000,0.037,2696,3447,3937,0,0,0,0,0,0
$GC,308,-1.38,-116.8,15.3,-8.3,36,317,0.00,2.62,0.00,0.000,6,0.000,0.037,2695,1874,3937,0,0,0,0,0,0
$GC,404,-1.38,-116.8,24.3,-10.3,49,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1874,3937,0,0,0,0,0,0
$GC,497,-1.38,-116.8,34.6,-11.2,62,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1873,3937,0,0,0,0,0,0
$STATE,585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,585,begin apogee
$GC,591,-0.31,0.0,45.0,11.9,75,689,1.10,0.00,92.68,0.665,6,0.110,0.000,2926,1788,3458,0,0,0,0,0,0
$STATE,689,end apogee,CONTROL_FINISHED_OK
$STATE,690,begin climb
$GC,693,1.38,116.8,49.1,0.0,90,794,1.67,0.00,92.40,0.640,6,0.074,0.000,3301,1788,2981,0,0,0,0,0,0
$GC,960,1.38,116.8,25.9,10.4,129,969,0.00,2.62,0.00,0.000,4,0.000,0.041,3301,3358,2979,0,0,0,0,0,0
$GC,1047,1.38,116.8,16.3,10.7,141,1056,0.00,2.62,0.00,0.000,6,0.000,0.050,3301,1812,2978,0,0,0,0,0,0
$GC,1143,1.42,154.2,7.4,7.8,154,1185,0.00,2.60,30.27,0.611,4,0.000,0.040,3301,3354,2828,0,0,0,0,0,0
$STATE,1327,end climb,NO_VERTICAL_VELOCITY
$STATE,1327,begin surface
$SM_CCo,1330,469.08,0.597,0,0,477,731.24
$SM_GC,1.83,12.32,0.00,0.00,0.058,0.000,0.000,485,1882,476,-11.55,-0.51,731.73
$IRIDIUM_FIX,4748.51,-12236.18,090499,191914
$TT8_MAMPS,0.025311
$HUMID,34.13
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,12.10
$XPDR_PINGS,31
$24V_AH,23.6,0.522
$10V_AH,10.3,0.307
$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,27.100,20.800,215.350,469.075,0.000,29.935,25.225,223.426,7.750,0.000,15.844,291.252,108.134,668.052,856.712,419.923,30.183,1047.026,0.000,867.269,0.000,0.984,0.000
$DEVICE_MAMPS,169.507,120.419,664.989,596.726,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,127.809,115.365,162.492,510.483,768.694,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324556
$DATA_FILE_SIZE,13146,180
$CAP_FILE_SIZE,34513,0
$CFSIZE,260165632,183201792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130110,204615,4807.000,-12222.928,59,2.0,60,18.3