version: 66.06
glider: 146
mission: 5
dive: 9
start: 1 14 110 5 3 12
data:
$ID,146
$MISSION,5
$DIVE,9
$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,-245048.58
$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,2000
$C_ROLL_CLIMB,1922
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,78
$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
$GPS1,045304,4805.901,-12221.768,66,99.0,85,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-74.2
$GPS2,050215,4805.920,-12221.651,9,99.0,28,18.3
$SPEED_LIMITS,0.101,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.156,0.041
$KALMAN_X,563.7,30.1,12.3,994.6,62.3
$KALMAN_Y,-144.1,-18.1,117.0,-2514.6,16.9
$MHEAD_RNG_PITCHd_Wd,266.5,456,-19.7,-7.042
$D_GRID,110
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.31,-65.6,0.0,0.0,0,129,0.00,0.00,-110.20,0.000,2,0.000,0.000,488,2042,3360,0,0,0,0,0,0
$GC,133,-1.32,-71.1,7.2,-6.6,14,159,12.23,2.80,-8.60,0.000,4,0.170,0.067,2723,415,3749,0,0,0,0,0,0
$GC,197,-0.97,-115.4,12.8,-3.8,22,208,0.38,2.50,-3.72,0.000,6,0.121,0.027,2799,1975,3930,0,0,0,0,0,0
$GC,294,-0.97,-115.4,17.7,-7.2,35,303,0.00,2.62,0.00,0.000,4,0.000,0.042,2800,3553,3931,0,0,0,0,0,0
$GC,355,-1.05,-115.4,22.8,-8.6,43,364,0.00,2.58,0.00,0.000,6,0.000,0.035,2799,2008,3932,0,0,0,0,0,0
$GC,450,-1.13,-115.4,30.3,-7.9,56,460,0.12,2.78,0.00,0.000,4,0.185,0.061,2768,423,3931,0,0,0,0,0,0
$GC,471,-1.20,-115.4,31.9,-7.8,58,481,0.00,2.53,0.00,0.000,6,0.000,0.029,2768,1991,3932,0,0,0,0,0,0
$GC,566,-1.20,-115.4,40.6,-9.2,71,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1992,3932,0,0,0,0,0,0
$GC,722,-1.24,-115.4,54.5,-8.5,96,731,0.00,2.72,0.00,0.000,4,0.000,0.061,2768,426,3932,0,0,0,0,0,0
$GC,747,-1.24,-115.4,56.5,-8.7,99,753,0.00,2.53,0.00,0.000,6,0.000,0.023,2768,2024,3931,0,0,0,0,0,0
$GC,906,-1.29,-115.4,70.2,-8.4,124,916,0.15,2.80,0.00,0.000,4,0.077,0.065,2730,426,3932,0,0,0,0,0,0
$GC,934,-1.29,-115.4,73.2,-9.3,128,944,0.00,2.53,0.00,0.000,6,0.000,0.028,2730,1995,3932,0,0,0,0,0,0
$GC,1098,-1.25,-115.4,89.0,-9.4,153,1104,0.00,2.72,0.00,0.000,4,0.000,0.066,2730,416,3931,0,0,0,0,0,0
$GC,1129,-1.19,-115.4,92.8,-10.2,158,1138,0.08,2.53,0.00,0.000,6,0.117,0.023,2749,1986,3932,0,0,0,0,0,0
$GC,1293,-1.19,-115.4,106.8,-8.5,183,1299,0.00,2.70,0.00,0.000,4,0.000,0.063,2748,420,3932,0,0,0,0,0,0
$GC,1308,-1.19,-115.4,108.4,-8.8,185,1314,0.00,2.47,0.00,0.000,6,0.000,0.028,2748,1994,3932,0,0,0,0,0,0
$STATE,1324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1324,begin apogee
$GC,1331,-0.31,0.0,110.4,9.0,188,1434,0.90,0.00,93.18,0.693,6,0.107,0.000,2942,1896,3457,0,0,0,0,0,0
$STATE,1434,end apogee,CONTROL_FINISHED_OK
$STATE,1436,begin climb
$GC,1438,1.37,115.4,112.7,0.0,203,1549,1.62,2.75,92.35,0.671,4,0.064,0.047,3313,3486,2986,0,0,0,0,0,0
$GC,1556,1.24,115.4,104.0,9.8,220,1566,0.10,2.60,0.00,0.000,6,0.126,0.041,3292,1952,2985,0,0,0,0,0,0
$GC,1721,1.16,115.4,86.5,10.6,245,1726,0.00,2.55,0.00,0.000,4,0.000,0.038,3292,3492,2985,0,0,0,0,0,0
$GC,1750,1.10,115.4,83.2,10.7,249,1756,0.17,2.62,0.00,0.000,6,0.140,0.043,3259,1917,2984,0,0,0,0,0,0
$GC,1909,1.10,115.4,67.8,9.2,274,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1917,2985,0,0,0,0,0,0
$GC,2073,1.10,115.4,53.4,8.9,299,2078,0.00,2.60,0.00,0.000,4,0.000,0.038,3259,3489,2985,0,0,0,0,0,0
$GC,2113,1.10,115.4,49.5,9.3,305,2119,0.00,2.58,0.00,0.000,6,0.000,0.037,3259,1935,2984,0,0,0,0,0,0
$GC,2279,1.10,115.4,35.5,8.4,330,2288,0.00,2.58,0.00,0.000,4,0.000,0.041,3259,3486,2984,0,0,0,0,0,0
$GC,2299,1.10,115.4,33.7,8.3,332,2308,0.00,2.58,0.00,0.000,6,0.000,0.041,3259,1945,2985,0,0,0,0,0,0
$GC,2393,1.10,115.4,25.8,8.4,345,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1945,2985,0,0,0,0,0,0
$GC,2487,1.10,117.4,18.8,6.9,358,2496,0.00,2.80,0.00,0.000,4,0.000,0.067,3259,337,2985,0,0,0,0,0,0
$GC,2555,1.10,117.4,13.6,7.9,367,2565,0.00,2.60,0.00,0.000,6,0.000,0.028,3259,1948,2985,0,0,0,0,0,0
$GC,2651,1.31,180.4,10.4,2.5,380,2710,0.17,0.00,52.95,0.618,6,0.077,0.000,3303,1949,2721,0,0,0,0,0,0
$GC,2796,1.62,282.9,9.2,-0.4,399,2890,0.25,2.58,86.68,0.606,4,0.087,0.038,3368,3498,2302,0,0,0,0,0,0
$STATE,3044,end climb,NO_VERTICAL_VELOCITY
$STATE,3044,begin surface
$SM_CCo,3048,364.83,0.590,0,0,477,731.24
$SM_GC,1.85,12.35,0.00,0.00,0.044,0.000,0.000,484,1986,473,-11.61,-0.40,732.22
$IRIDIUM_FIX,4748.51,-12220.12,100499,030337
$TT8_MAMPS,0.026078
$HUMID,32.94
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,12.40
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,80.1,43.4
$24V_AH,23.5,1.522
$10V_AH,10.3,1.297
$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,28.525,68.300,325.150,364.825,0.000,24.321,33.903,306.330,8.250,0.000,30.799,696.193,350.599,646.391,1784.334,608.858,33.322,1305.478,0.000,1787.154,0.000,5.519,0.000
$DEVICE_MAMPS,184.847,80.535,693.368,589.823,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,301.238,225.796,313.811,981.789,1486.928,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324516
$DATA_FILE_SIZE,35362,433
$CAP_FILE_SIZE,68432,0
$CFSIZE,260165632,182849536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140110,060331,4805.892,-12222.018,50,1.2,50,18.3