version: 66.06
glider: 146
mission: 5
dive: 12
start: 1 14 110 8 47 11
data:
$ID,146
$MISSION,5
$DIVE,12
$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,700
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-245137.94
$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,21
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,4
$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
$GPS1,082757,4806.118,-12222.097,126,1.1,126,18.3
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-75.3
$GPS2,084613,4806.160,-12222.127,26,1.0,32,18.3
$SPEED_LIMITS,0.101,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,-0.063
$KALMAN_X,664.0,66.9,100.4,191.3,-44.6
$KALMAN_Y,-569.3,-38.9,-75.4,-1438.3,-133.2
$MHEAD_RNG_PITCHd_Wd,110.4,336,-32.1,-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,14,begin dive
$GC,16,-2.04,-26.4,0.0,0.0,0,113,0.00,0.00,-94.62,0.000,2,0.000,0.000,484,1909,3041,0,0,0,0,0,0
$GC,116,-2.05,-38.6,6.9,-4.9,12,151,11.45,2.75,-16.33,0.000,4,0.174,0.068,2564,315,3616,0,0,0,0,0,0
$GC,452,-1.89,-38.6,28.3,-9.5,61,461,0.17,2.55,0.00,0.000,6,0.143,0.024,2599,1902,3617,0,0,0,0,0,0
$GC,545,-1.89,-38.6,36.0,-8.2,74,554,0.00,2.75,0.00,0.000,4,0.000,0.065,2599,325,3616,0,0,0,0,0,0
$GC,836,-1.83,-38.6,63.1,-9.3,119,842,0.00,2.53,0.00,0.000,6,0.000,0.029,2599,1905,3617,0,0,0,0,0,0
$GC,994,-1.83,-38.6,76.0,-7.8,144,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1905,3617,0,0,0,0,0,0
$GC,1155,-1.83,-38.6,88.4,-8.0,169,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1907,3617,0,0,0,0,0,0
$GC,1311,-1.83,-38.6,100.2,-7.2,194,1321,0.00,2.58,0.00,0.000,4,0.000,0.037,2599,3468,3617,0,0,0,0,0,0
$GC,1327,-1.83,-38.6,101.5,-7.3,196,1336,0.00,2.60,0.00,0.000,6,0.000,0.031,2599,1887,3617,0,0,0,0,0,0
$STATE,1424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1425,begin apogee
$GC,1430,-0.31,0.0,108.2,7.0,211,1471,1.67,0.00,32.72,0.698,6,0.127,0.000,2945,1886,3457,0,0,0,0,0,0
$STATE,1472,end apogee,CONTROL_FINISHED_OK
$STATE,1472,begin climb
$GC,1476,2.05,38.6,109.3,0.0,217,1519,2.22,2.75,32.25,0.679,4,0.071,0.066,3465,351,3299,0,0,0,0,0,0
$GC,1525,2.05,38.6,105.7,8.3,224,1534,0.00,2.58,0.00,0.000,6,0.000,0.030,3465,1914,3299,0,0,0,0,0,0
$GC,1690,1.97,38.6,88.9,10.6,249,1696,0.00,2.62,0.00,0.000,4,0.000,0.042,3465,3502,3299,0,0,0,0,0,0
$GC,1706,1.89,38.6,86.8,10.8,251,1712,0.20,2.62,0.00,0.000,6,0.166,0.042,3431,1918,3299,0,0,0,0,0,0
$GC,1865,1.89,38.6,70.9,9.7,276,1874,0.00,2.62,0.00,0.000,4,0.000,0.037,3431,3500,3299,0,0,0,0,0,0
$GC,1944,1.89,38.6,63.0,10.0,288,1955,0.00,2.62,0.00,0.000,6,0.000,0.042,3431,1929,3299,0,0,0,0,0,0
$GC,2107,1.89,38.6,48.0,9.1,313,2113,0.00,2.58,0.00,0.000,4,0.000,0.037,3431,3511,3299,0,0,0,0,0,0
$GC,2275,1.89,38.6,33.4,8.3,338,2285,0.00,2.65,0.00,0.000,6,0.000,0.038,3431,1924,3299,0,0,0,0,0,0
$GC,2370,1.89,38.6,26.5,7.1,351,2379,0.00,2.60,0.00,0.000,4,0.000,0.039,3431,3498,3299,0,0,0,0,0,0
$GC,2389,1.89,38.6,25.0,7.1,353,2398,0.00,2.62,0.00,0.000,6,0.000,0.038,3431,1923,3299,0,0,0,0,0,0
$GC,2485,1.89,38.6,17.4,8.0,366,2494,0.00,2.60,0.00,0.000,4,0.000,0.040,3431,3500,3299,0,0,0,0,0,0
$GC,2806,1.94,77.2,14.2,0.1,412,2817,0.00,2.62,5.45,0.514,2,0.000,0.037,3431,1917,3280,0,0,0,0,0,0
$STATE,2818,end climb,NO_VERTICAL_VELOCITY
$STATE,2818,begin surface
$SM_CCo,2822,556.53,0.594,0,0,476,731.24
$SM_GC,1.55,12.68,0.00,0.00,0.047,0.000,0.000,483,1915,473,-11.62,0.42,732.22
$IRIDIUM_FIX,4751.72,-12221.84,100499,080857
$TT8_MAMPS,0.026078
$HUMID,32.79
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,12.40
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,80.3,46.3
$24V_AH,23.5,1.961
$10V_AH,10.3,1.667
$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,28.400,47.250,70.425,556.525,0.000,96.555,78.506,611.512,5.750,0.000,33.971,693.721,498.388,703.089,1691.399,1013.775,33.316,1178.612,0.000,1692.295,0.000,6.425,0.000
$DEVICE_MAMPS,174.109,68.263,697.970,594.425,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,290.643,222.463,296.598,927.226,1404.854,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324496
$DATA_FILE_SIZE,35253,413
$CAP_FILE_SIZE,66369,0
$CFSIZE,260165632,182730752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140110,094658,4806.296,-12222.113,36,99.0,56,18.3