version: 66.06
glider: 146
mission: 5
dive: 13
start: 1 14 110 9 54 36
data:
$ID,146
$MISSION,5
$DIVE,13
$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,-245170.22
$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,26
$R_STBD_OVSHOOT,35
$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
$GPS1,094658,4806.296,-12222.113,36,99.0,56,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-76.1
$GPS2,095340,4806.387,-12222.170,10,2.3,29,18.3
$SPEED_LIMITS,0.101,0.229
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.135,0.185
$KALMAN_X,496.6,29.1,42.0,403.9,-105.4
$KALMAN_Y,-80.4,5.2,-89.7,-1546.5,122.9
$MHEAD_RNG_PITCHd_Wd,305.5,3748,-12.2,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.94,-146.0,0.0,0.0,0,114,0.00,0.00,-94.60,0.000,2,0.000,0.000,484,1915,3058,0,0,0,0,0,0
$GC,118,-0.94,-146.0,6.5,-5.8,12,168,12.70,2.62,-26.90,0.000,4,0.171,0.048,2803,3475,3951,0,0,0,0,0,0
$GC,430,-0.84,-146.0,27.8,-7.6,57,440,0.10,2.62,0.00,0.000,6,0.103,0.036,2828,1906,3952,0,0,0,0,0,0
$GC,526,-0.78,-146.0,34.2,-6.5,70,535,0.00,2.80,0.00,0.000,4,0.000,0.066,2827,321,3953,0,0,0,0,0,0
$GC,553,-0.71,-146.0,36.0,-6.4,73,562,0.12,2.55,0.00,0.000,6,0.098,0.028,2858,1909,3953,0,0,0,0,0,0
$GC,641,-0.71,-146.0,41.3,-5.5,86,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1910,3953,0,0,0,0,0,0
$GC,804,-0.71,-146.0,49.2,-5.0,111,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1910,3953,0,0,0,0,0,0
$GC,960,-0.71,-146.0,57.2,-5.1,136,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1910,3953,0,0,0,0,0,0
$GC,1121,-0.71,-146.0,65.4,-5.1,161,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1910,3953,0,0,0,0,0,0
$GC,1277,-0.71,-146.0,73.3,-4.8,186,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1910,3953,0,0,0,0,0,0
$GC,1443,-0.71,-146.0,81.0,-4.6,211,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1911,3953,0,0,0,0,0,0
$GC,1598,-0.71,-146.0,88.4,-4.6,236,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1911,3953,0,0,0,0,0,0
$GC,1759,-0.71,-146.0,96.2,-4.9,261,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1911,3953,0,0,0,0,0,0
$GC,1916,-0.71,-146.0,103.7,-4.4,286,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1911,3953,0,0,0,0,0,0
$STATE,2012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2012,begin apogee
$GC,2018,-0.31,0.0,108.1,4.4,301,2125,0.38,0.00,96.97,0.691,6,0.095,0.000,2943,1911,3457,0,0,0,0,0,0
$STATE,2129,end apogee,CONTROL_FINISHED_OK
$STATE,2129,begin climb
$GC,2131,0.94,146.0,109.9,0.0,317,2260,1.20,2.70,116.35,0.666,4,0.068,0.045,3216,3491,2861,0,0,0,0,0,0
$GC,2272,0.82,146.0,102.2,7.6,337,2277,0.00,2.65,0.00,0.000,6,0.000,0.037,3216,1912,2860,0,0,0,0,0,0
$GC,2430,0.71,146.0,88.4,8.4,362,2440,0.20,0.00,0.00,0.000,6,0.113,0.000,3177,1912,2857,0,0,0,0,0,0
$GC,2594,0.75,171.6,78.1,6.2,387,2621,0.00,2.65,21.88,0.634,4,0.000,0.042,3177,3491,2756,0,0,0,0,0,0
$GC,2638,0.78,202.8,75.4,6.0,393,2671,0.00,2.62,26.95,0.628,6,0.000,0.041,3177,1917,2631,0,0,0,0,0,0
$GC,2822,0.80,211.6,62.6,6.8,422,2836,0.00,2.80,8.45,0.567,4,0.000,0.067,3177,334,2594,0,0,0,0,0,0
$GC,2849,0.80,213.2,61.1,7.0,425,2855,0.00,2.55,0.00,0.000,6,0.000,0.029,3177,1920,2593,0,0,0,0,0,0
$GC,3008,0.80,213.2,49.4,7.1,450,3018,0.00,2.62,0.00,0.000,4,0.000,0.041,3176,3497,2592,0,0,0,0,0,0
$GC,3033,0.80,213.2,47.8,7.1,453,3039,0.00,2.62,0.00,0.000,6,0.000,0.041,3177,1915,2592,0,0,0,0,0,0
$GC,3201,0.81,219.8,36.4,6.8,478,3219,0.00,2.78,8.52,0.570,4,0.000,0.067,3177,347,2560,0,0,0,0,0,0
$GC,3244,0.81,220.1,33.2,7.0,483,3253,0.00,2.55,0.00,0.000,6,0.000,0.028,3177,1921,2559,0,0,0,0,0,0
$GC,3339,0.82,234.3,26.7,6.6,496,3358,0.00,2.67,13.68,0.594,4,0.000,0.038,3177,3499,2502,0,0,0,0,0,0
$GC,3376,0.87,241.3,24.1,6.8,500,3395,0.10,2.65,7.40,0.535,6,0.058,0.038,3208,1927,2473,0,0,0,0,0,0
$GC,3480,0.87,241.3,15.9,7.9,514,3489,0.00,2.78,0.00,0.000,4,0.000,0.064,3208,346,2470,0,0,0,0,0,0
$GC,3499,0.87,241.3,14.0,8.0,516,3508,0.00,2.55,0.00,0.000,6,0.000,0.024,3208,1922,2470,0,0,0,0,0,0
$GC,3594,0.92,282.3,7.9,5.7,529,3636,0.00,2.80,36.58,0.607,4,0.000,0.064,3208,342,2304,0,0,0,0,0,0
$STATE,3685,end climb,SURFACE_DEPTH_REACHED
$STATE,3685,begin surface coast
$FINISH,5.0,1.017099
$STATE,3810,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3810,begin surface
$SM_CCo,3834,345.15,0.578,1,0,604,700.09
$SM_GC,1.81,0.00,0.00,345.15,0.000,0.000,0.578,486,1915,604,-11.65,0.42,700.09
$IRIDIUM_FIX,4748.51,-12226.29,100499,080844
$TT8_MAMPS,0.026078
$HUMID,32.94
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,12.60
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,80.3,45.2
$24V_AH,23.5,2.095
$10V_AH,10.3,1.812
$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,26.550,53.125,336.775,345.150,0.000,24.104,24.176,223.752,5.500,0.000,31.657,881.913,416.447,647.929,2171.879,479.923,33.333,1373.116,0.000,2176.748,0.000,5.826,0.000
$DEVICE_MAMPS,171.041,67.496,691.067,578.318,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.561,281.682,373.479,1168.921,1765.178,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324808
$DATA_FILE_SIZE,47882,559
$CAP_FILE_SIZE,70093,0
$CFSIZE,260165632,182669312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,110629,4806.909,-12222.587,77,1.2,87,18.3