version: 66.06
glider: 146
mission: 5
dive: 5
start: 1 13 110 23 42 41
data:
$ID,146
$MISSION,5
$DIVE,5
$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,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,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,-244939.98
$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,81
$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
$GPS1,233343,4807.070,-12222.961,8,1.8,14,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.0
$GPS2,234144,4807.060,-12223.001,14,1.9,14,18.3
$SPEED_LIMITS,0.099,0.228
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.127,-0.189
$KALMAN_X,122.5,60.7,98.3,-338.4,-39.8
$KALMAN_Y,-167.9,-68.4,-106.0,-112.3,26.3
$MHEAD_RNG_PITCHd_Wd,127.9,2321,-12.0,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.93,-146.0,0.0,0.0,0,161,0.00,0.00,-136.68,0.000,6,0.000,0.000,487,1932,3950,0,0,0,0,0,0
$GC,164,-0.93,-146.0,6.8,-4.7,18,182,12.65,2.45,0.00,0.000,4,0.169,0.036,2808,3435,3950,0,0,0,0,0,0
$GC,273,-0.79,-146.0,16.9,-5.4,33,283,0.12,2.58,0.00,0.000,6,0.104,0.035,2837,1895,3951,0,0,0,0,0,0
$GC,369,-0.72,-146.0,22.1,-5.7,46,379,0.10,0.00,0.00,0.000,6,0.302,0.000,2857,1895,3951,0,0,0,0,0,0
$GC,465,-0.72,-146.0,27.1,-4.8,59,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1895,3951,0,0,0,0,0,0
$GC,559,-0.72,-146.0,31.4,-4.4,72,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1895,3951,0,0,0,0,0,0
$GC,655,-0.72,-146.0,35.9,-4.5,85,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1895,3951,0,0,0,0,0,0
$GC,745,-0.72,-146.0,40.5,-4.9,98,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1895,3951,0,0,0,0,0,0
$GC,906,-0.72,-146.0,48.9,-5.0,123,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1895,3951,0,0,0,0,0,0
$GC,1062,-0.72,-146.0,56.9,-4.7,148,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1895,3951,0,0,0,0,0,0
$GC,1224,-0.72,-146.0,64.2,-4.4,173,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1895,3951,0,0,0,0,0,0
$GC,1379,-0.72,-146.0,71.2,-4.5,198,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1895,3951,0,0,0,0,0,0
$GC,1541,-0.72,-146.0,78.7,-4.7,223,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1895,3951,0,0,0,0,0,0
$GC,1701,-0.72,-146.0,86.5,-4.9,248,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1894,3951,0,0,0,0,0,0
$GC,1862,-0.72,-146.0,94.4,-4.9,273,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1894,3951,0,0,0,0,0,0
$GC,2018,-0.72,-146.0,102.1,-5.0,298,2027,0.00,2.53,0.00,0.000,4,0.000,0.041,2857,3428,3952,0,0,0,0,0,0
$GC,2034,-0.72,-146.0,103.0,-4.9,300,2043,0.00,2.55,0.00,0.000,6,0.000,0.034,2857,1882,3952,0,0,0,0,0,0
$STATE,2072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2072,begin apogee
$GC,2077,-0.31,0.0,105.1,5.2,306,2180,0.40,0.00,95.85,0.699,6,0.098,0.000,2946,1883,3458,0,0,0,0,0,0
$STATE,2180,end apogee,CONTROL_FINISHED_OK
$STATE,2183,begin climb
$GC,2185,0.93,146.0,107.4,0.0,321,2307,1.17,0.00,116.43,0.671,6,0.082,0.000,3215,1882,2862,0,0,0,0,0,0
$GC,2463,0.81,146.0,89.9,8.1,363,2468,0.00,2.60,0.00,0.000,4,0.000,0.037,3215,3451,2858,0,0,0,0,0,0
$GC,2516,0.73,146.0,85.2,8.7,371,2523,0.17,2.53,0.00,0.000,6,0.117,0.043,3180,1932,2857,0,0,0,0,0,0
$GC,2675,0.74,158.0,74.1,6.6,396,2699,0.00,2.85,10.60,0.601,4,0.000,0.067,3179,341,2813,0,0,0,0,0,0
$GC,2718,0.69,158.0,70.7,7.4,402,2728,0.00,2.50,0.00,0.000,6,0.000,0.028,3179,1885,2812,0,0,0,0,0,0
$GC,2883,0.71,171.1,60.0,6.5,427,2903,0.00,2.70,12.38,0.609,4,0.000,0.039,3180,3501,2759,0,0,0,0,0,0
$GC,2937,0.71,171.1,56.0,7.0,435,2943,0.00,2.60,0.00,0.000,6,0.000,0.041,3179,1936,2757,0,0,0,0,0,0
$GC,3096,0.73,185.2,45.4,6.5,460,3119,0.00,2.85,12.57,0.607,4,0.000,0.070,3179,340,2702,0,0,0,0,0,0
$GC,3138,0.73,185.2,42.2,7.0,466,3147,0.00,2.58,0.00,0.000,6,0.000,0.029,3179,1931,2701,0,0,0,0,0,0
$GC,3314,0.73,186.9,30.4,6.9,491,3324,0.00,2.60,0.00,0.000,4,0.000,0.044,3179,3487,2700,0,0,0,0,0,0
$GC,3348,0.73,186.9,28.0,7.1,495,3358,0.00,2.60,0.00,0.000,6,0.000,0.043,3179,1933,2700,0,0,0,0,0,0
$GC,3443,0.75,205.0,21.5,6.4,508,3469,0.00,2.83,17.73,0.611,4,0.000,0.068,3179,343,2621,0,0,0,0,0,0
$GC,3494,0.76,210.8,18.1,6.8,514,3513,0.00,2.60,6.35,0.520,6,0.000,0.028,3180,1942,2599,0,0,0,0,0,0
$GC,3598,0.83,231.9,11.2,6.3,528,3623,0.00,2.60,19.73,0.604,4,0.000,0.042,3179,3510,2511,0,0,0,0,0,0
$GC,3667,1.02,277.4,7.2,5.5,537,3718,0.22,2.62,39.25,0.607,6,0.043,0.043,3243,1947,2326,0,0,0,0,0,0
$STATE,3727,end climb,SURFACE_DEPTH_REACHED
$STATE,3727,begin surface coast
$FINISH,4.5,1.017270
$STATE,3919,end surface coast,CONTROL_FINISHED_OK
$STATE,3919,begin surface
$SM_CCo,3940,368.90,0.582,1,0,502,725.11
$SM_GC,1.76,0.00,0.00,368.90,0.000,0.000,0.582,486,1877,502,-11.65,-0.62,725.11
$IRIDIUM_FIX,4751.72,-12226.29,090499,222223
$TT8_MAMPS,0.026078
$HUMID,33.02
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,12.40
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,85.2,37.5
$24V_AH,23.5,0.956
$10V_AH,10.3,0.746
$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,26.800,47.225,330.875,368.900,0.000,23.609,25.228,262.245,6.250,0.000,15.745,902.198,404.418,675.361,2255.684,568.737,33.315,1439.595,0.000,2275.464,0.000,9.906,0.000
$DEVICE_MAMPS,302.198,119.652,698.737,582.153,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.773,286.442,393.705,1231.254,1864.354,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324524
$DATA_FILE_SIZE,47908,572
$CAP_FILE_SIZE,75447,0
$CFSIZE,260165632,183009280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,005552,4806.744,-12222.631,12,99.0,32,18.3