version: 66.06
glider: 146
mission: 5
dive: 3
start: 1 13 110 21 2 4
data:
$ID,146
$MISSION,5
$DIVE,3
$D_SURF,5
$D_FLARE,3
$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,72
$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,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,-244883.58
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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
$GPS1,205702,4806.920,-12222.821,11,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-75.6
$GPS2,210110,4806.896,-12222.778,8,2.1,27,18.3
$SPEED_LIMITS,0.099,0.228
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,0.125
$KALMAN_X,167.3,88.4,86.8,-132.0,182.5
$KALMAN_Y,-176.4,-89.8,-88.1,-395.1,-190.4
$MHEAD_RNG_PITCHd_Wd,291.6,335,-15.1,-6.944
$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,17,-1.07,-101.2,0.0,0.0,0,89,0.00,0.00,-70.65,0.000,2,0.000,0.000,485,1882,2051,0,0,0,0,0,0
$GC,93,-1.12,-146.0,3.1,-2.4,9,181,12.32,2.58,-69.97,0.000,4,0.168,0.046,2762,3456,3952,0,0,0,0,0,0
$GC,254,-0.93,-146.0,7.6,-3.8,30,264,0.22,2.58,0.00,0.000,6,0.100,0.038,2812,1905,3953,0,0,0,0,0,0
$GC,350,-0.88,-146.0,12.8,-5.7,43,359,0.00,2.78,0.00,0.000,4,0.000,0.067,2812,324,3953,0,0,0,0,0,0
$GC,390,-0.83,-146.0,15.4,-6.2,48,400,0.08,2.50,0.00,0.000,6,0.112,0.026,2831,1873,3954,0,0,0,0,0,0
$GC,487,-0.83,-146.0,21.4,-6.0,61,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1873,3954,0,0,0,0,0,0
$GC,583,-0.87,-146.0,27.3,-6.2,74,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1874,3954,0,0,0,0,0,0
$GC,677,-0.91,-146.0,33.1,-6.2,87,687,0.00,2.62,0.00,0.000,4,0.000,0.038,2830,3464,3954,0,0,0,0,0,0
$GC,704,-0.97,-146.0,34.8,-6.2,90,714,0.08,2.62,0.00,0.000,6,0.054,0.036,2803,1882,3953,0,0,0,0,0,0
$GC,798,-0.97,-146.0,41.8,-7.3,103,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1882,3954,0,0,0,0,0,0
$GC,955,-0.97,-146.0,52.9,-6.4,128,964,0.00,2.72,0.00,0.000,4,0.000,0.067,2804,325,3954,0,0,0,0,0,0
$GC,980,-0.97,-146.0,54.4,-6.8,131,986,0.00,2.50,0.00,0.000,6,0.000,0.030,2803,1892,3954,0,0,0,0,0,0
$GC,1139,-0.97,-146.0,65.4,-6.7,156,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1894,3954,0,0,0,0,0,0
$GC,1300,-0.97,-146.0,76.1,-6.6,181,1306,0.00,2.58,0.00,0.000,4,0.000,0.043,2803,3472,3954,0,0,0,0,0,0
$GC,1329,-0.97,-146.0,78.1,-6.8,185,1334,0.00,2.60,0.00,0.000,6,0.000,0.040,2803,1882,3954,0,0,0,0,0,0
$GC,1487,-0.97,-146.0,88.9,-6.6,210,1496,0.00,2.72,0.00,0.000,4,0.000,0.072,2803,326,3954,0,0,0,0,0,0
$GC,1512,-0.97,-146.0,90.6,-6.9,213,1517,0.00,2.47,0.00,0.000,6,0.000,0.028,2803,1883,3954,0,0,0,0,0,0
$GC,1671,-0.97,-146.0,101.6,-6.9,238,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1884,3954,0,0,0,0,0,0
$STATE,1721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1721,begin apogee
$GC,1727,-0.31,0.0,105.3,6.7,246,1830,0.62,0.00,96.50,0.700,6,0.097,0.000,2942,1782,3459,0,0,0,0,0,0
$STATE,1831,end apogee,CONTROL_FINISHED_OK
$STATE,1834,begin climb
$GC,1836,1.12,146.0,107.5,0.0,261,1957,1.40,0.00,116.30,0.674,6,0.070,0.000,3260,1782,2862,0,0,0,0,0,0
$GC,2112,0.99,146.0,83.6,10.9,303,2118,0.12,2.65,0.00,0.000,4,0.241,0.039,3238,3371,2859,0,0,0,0,0,0
$GC,2165,0.94,146.0,78.1,10.0,311,2171,0.00,2.60,0.00,0.000,6,0.000,0.044,3238,1814,2858,0,0,0,0,0,0
$GC,2323,0.87,146.0,62.9,9.3,336,2333,0.15,2.60,0.00,0.000,4,0.250,0.037,3211,3370,2858,0,0,0,0,0,0
$GC,2350,0.82,146.0,60.8,9.2,339,2356,0.00,2.60,0.00,0.000,6,0.000,0.039,3211,1806,2858,0,0,0,0,0,0
$GC,2508,0.82,146.0,47.9,7.9,364,2517,0.00,2.58,0.00,0.000,4,0.000,0.039,3210,3364,2858,0,0,0,0,0,0
$GC,2546,0.82,146.0,45.1,8.0,369,2552,0.00,2.58,0.00,0.000,6,0.000,0.041,3211,1814,2858,0,0,0,0,0,0
$GC,2715,0.82,146.0,32.2,7.3,394,2725,0.00,2.60,0.00,0.000,4,0.000,0.041,3211,3375,2858,0,0,0,0,0,0
$GC,2735,0.82,146.0,30.6,7.3,396,2744,0.00,2.58,0.00,0.000,6,0.000,0.044,3211,1838,2858,0,0,0,0,0,0
$GC,2831,0.82,146.0,23.5,7.2,409,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1838,2858,0,0,0,0,0,0
$GC,2924,0.82,146.0,16.7,7.4,422,2933,0.00,2.53,0.00,0.000,4,0.000,0.039,3211,3370,2858,0,0,0,0,0,0
$GC,2950,0.82,146.0,14.6,7.7,425,2959,0.00,2.55,0.00,0.000,6,0.000,0.039,3211,1847,2858,0,0,0,0,0,0
$GC,3046,0.89,172.0,8.2,5.7,438,3073,0.00,2.53,21.58,0.621,4,0.000,0.038,3211,3379,2756,0,0,0,0,0,0
$GC,3085,1.01,202.9,6.2,5.5,442,3120,0.08,2.53,26.42,0.604,6,0.061,0.039,3236,1881,2630,0,0,0,0,0,0
$STATE,3129,end climb,SURFACE_DEPTH_REACHED
$STATE,3129,begin surface coast
$FINISH,5.3,1.018463
$STATE,3285,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3285,begin surface
$SM_CCo,3289,428.60,0.597,0,0,477,731.24
$SM_GC,1.92,12.07,0.00,0.00,0.059,0.000,0.000,487,1879,474,-11.60,-0.59,731.98
$IRIDIUM_FIX,4748.51,-12226.29,090499,212122
$TT8_MAMPS,0.025311
$HUMID,33.73
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,12.40
$XPDR_PINGS,30
$ALTIM_BOTTOM_PING,80.1,42.3
$24V_AH,23.6,0.666
$10V_AH,10.3,0.442
$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,27.150,62.325,260.800,428.600,0.000,0.000,0.000,0.000,8.000,0.000,30.274,763.387,384.603,697.868,1925.458,147.183,31.408,1354.577,0.000,1929.677,0.000,5.520,0.000
$DEVICE_MAMPS,250.042,77.467,700.271,597.493,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.885,240.714,338.375,1057.808,1603.873,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324584
$DATA_FILE_SIZE,38411,470
$CAP_FILE_SIZE,77997,0
$CFSIZE,260165632,183103488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130110,220723,4807.076,-12223.102,29,3.5,49,18.3