version: 66.06
glider: 146
mission: 5
dive: 10
start: 1 14 110 6 12 52
data:
$ID,146
$MISSION,5
$DIVE,10
$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,-245066.58
$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,28
$R_STBD_OVSHOOT,38
$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
$GPS1,060331,4805.892,-12222.018,50,1.2,50,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.7
$GPS2,061155,4805.789,-12221.891,10,1.3,15,18.3
$SPEED_LIMITS,0.101,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.096,0.169
$KALMAN_X,750.6,10.3,19.8,529.3,160.2
$KALMAN_Y,-466.0,12.7,100.7,-2445.4,-134.5
$MHEAD_RNG_PITCHd_Wd,312.2,413,-15.5,-7.042
$D_GRID,108
$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,16,-1.09,-99.3,0.0,0.0,0,90,0.00,0.00,-71.18,0.000,2,0.000,0.000,484,1985,2304,0,0,0,0,0,0
$GC,92,-1.09,-99.3,6.6,-9.0,9,158,12.30,2.65,-46.17,0.000,4,0.164,0.054,2769,3575,3864,0,0,0,0,0,0
$GC,185,-0.79,-123.4,9.4,-5.9,20,196,0.32,2.60,-2.10,0.000,6,0.101,0.035,2840,2001,3952,0,0,0,0,0,0
$GC,281,-0.82,-146.0,15.0,-4.5,33,290,0.00,2.75,0.00,0.000,4,0.000,0.067,2840,427,3953,0,0,0,0,0,0
$GC,390,-0.82,-146.0,22.8,-7.2,48,399,0.00,2.62,0.00,0.000,6,0.000,0.029,2840,2049,3954,0,0,0,0,0,0
$GC,486,-0.88,-146.0,28.3,-5.3,61,495,0.00,2.53,0.00,0.000,4,0.000,0.038,2840,3569,3954,0,0,0,0,0,0
$GC,506,-0.94,-146.0,29.3,-5.2,63,514,0.10,2.55,0.00,0.000,6,0.048,0.035,2805,2034,3954,0,0,0,0,0,0
$GC,600,-0.94,-146.0,35.8,-7.1,76,609,0.00,2.80,0.00,0.000,4,0.000,0.067,2805,426,3954,0,0,0,0,0,0
$GC,646,-0.94,-146.0,39.6,-8.2,82,656,0.00,2.60,0.00,0.000,6,0.000,0.024,2805,2036,3954,0,0,0,0,0,0
$GC,733,-0.94,-146.0,46.2,-7.1,95,739,0.00,2.53,0.00,0.000,4,0.000,0.044,2805,3571,3954,0,0,0,0,0,0
$GC,753,-0.94,-146.0,47.8,-6.8,98,762,0.00,2.53,0.00,0.000,6,0.000,0.038,2805,2049,3954,0,0,0,0,0,0
$GC,918,-0.94,-146.0,59.4,-7.0,123,923,0.00,2.83,0.00,0.000,4,0.000,0.070,2805,417,3954,0,0,0,0,0,0
$GC,982,-0.94,-146.0,64.4,-8.0,133,987,0.00,2.58,0.00,0.000,6,0.000,0.024,2805,2031,3954,0,0,0,0,0,0
$GC,1139,-0.94,-146.0,75.9,-7.2,158,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2033,3954,0,0,0,0,0,0
$GC,1303,-0.94,-146.0,87.0,-6.9,183,1308,0.00,2.80,0.00,0.000,4,0.000,0.064,2805,415,3954,0,0,0,0,0,0
$GC,1359,-0.94,-146.0,91.8,-7.8,192,1368,0.00,2.58,0.00,0.000,6,0.000,0.030,2805,2013,3954,0,0,0,0,0,0
$GC,1523,-0.94,-146.0,103.0,-6.8,217,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2013,3954,0,0,0,0,0,0
$STATE,1589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1589,begin apogee
$GC,1597,-0.31,0.0,108.1,6.6,228,1699,0.62,0.00,97.32,0.698,6,0.091,0.000,2944,1899,3458,0,0,0,0,0,0
$STATE,1700,end apogee,CONTROL_FINISHED_OK
$STATE,1702,begin climb
$GC,1704,1.15,146.0,110.4,0.0,243,1834,1.42,2.70,117.05,0.673,4,0.077,0.043,3266,3491,2861,0,0,0,0,0,0
$GC,1857,1.03,146.0,100.2,9.9,265,1863,0.12,2.60,0.00,0.000,6,0.142,0.039,3244,1942,2859,0,0,0,0,0,0
$GC,2016,0.95,146.0,84.8,9.3,290,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1942,2858,0,0,0,0,0,0
$GC,2178,0.89,146.0,69.6,9.2,315,2184,0.15,2.58,0.00,0.000,4,0.230,0.038,3215,3494,2857,0,0,0,0,0,0
$GC,2207,0.89,146.0,66.8,9.3,319,2212,0.00,2.60,0.00,0.000,6,0.000,0.037,3215,1925,2857,0,0,0,0,0,0
$GC,2367,0.89,146.0,54.1,7.8,344,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1925,2857,0,0,0,0,0,0
$GC,2528,0.89,146.0,41.6,7.5,369,2534,0.00,2.58,0.00,0.000,4,0.000,0.041,3214,3494,2857,0,0,0,0,0,0
$GC,2558,0.89,146.0,39.6,7.5,373,2567,0.00,2.62,0.00,0.000,6,0.000,0.041,3214,1926,2857,0,0,0,0,0,0
$GC,2652,0.89,146.0,32.3,7.4,386,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1926,2857,0,0,0,0,0,0
$GC,2747,0.89,146.0,25.4,7.2,399,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1926,2857,0,0,0,0,0,0
$GC,2842,0.89,146.9,18.7,7.0,412,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1926,2857,0,0,0,0,0,0
$GC,2936,0.98,179.8,13.1,5.5,425,2968,0.00,0.00,28.15,0.615,6,0.000,0.000,3215,1926,2724,0,0,0,0,0,0
$GC,3053,1.38,280.9,8.9,2.2,441,3146,0.38,2.67,86.20,0.608,4,0.079,0.035,3313,3496,2312,0,0,0,0,0,0
$STATE,3303,end climb,NO_VERTICAL_VELOCITY
$STATE,3303,begin surface
$SM_CCo,3307,367.77,0.588,0,0,476,731.24
$SM_GC,1.79,12.40,0.00,0.00,0.057,0.000,0.000,485,1993,473,-11.61,-0.20,732.22
$IRIDIUM_FIX,4748.51,-12224.57,100499,050537
$TT8_MAMPS,0.026078
$HUMID,33.22
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,12.40
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,80.1,42.2
$24V_AH,23.5,1.663
$10V_AH,10.3,1.429
$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,27.825,57.950,328.725,367.775,0.000,32.819,43.702,259.812,7.000,0.000,17.381,756.507,400.303,651.165,1913.507,581.525,33.329,1325.828,0.000,1932.388,0.000,5.518,0.000
$DEVICE_MAMPS,230.100,72.865,697.970,587.522,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.406,244.574,337.342,1054.699,1598.007,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324512
$DATA_FILE_SIZE,41640,475
$CAP_FILE_SIZE,67750,0
$CFSIZE,260165632,182800384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140110,071746,4805.988,-12222.127,43,2.8,62,18.3