version: 66.06
glider: 146
mission: 5
dive: 14
start: 1 14 110 11 14 29
data:
$ID,146
$MISSION,5
$DIVE,14
$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,-245187.7
$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,22
$R_STBD_OVSHOOT,53
$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
$GPS1,110629,4806.909,-12222.587,77,1.2,87,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-75.3
$GPS2,111332,4807.023,-12222.664,15,1.5,15,18.3
$SPEED_LIMITS,0.101,0.229
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.180,0.141
$KALMAN_X,386.4,11.2,-17.5,-22.0,-157.7
$KALMAN_Y,391.7,50.4,-46.4,-924.0,346.6
$MHEAD_RNG_PITCHd_Wd,289.8,2450,-12.2,-7.042
$D_GRID,107
$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,-0.94,-146.0,0.0,0.0,0,146,0.00,0.00,-125.18,0.000,6,0.000,0.000,486,1916,3953,0,0,0,0,0,0
$GC,149,-0.94,-146.0,5.8,-2.3,16,167,12.68,2.72,0.00,0.000,4,0.170,0.049,2803,314,3954,0,0,0,0,0,0
$GC,423,-0.80,-146.0,28.8,-7.8,56,433,0.15,2.55,0.00,0.000,6,0.104,0.028,2838,1889,3955,0,0,0,0,0,0
$GC,518,-0.80,-146.0,35.1,-6.0,69,528,0.00,2.62,0.00,0.000,4,0.000,0.042,2838,3471,3955,0,0,0,0,0,0
$GC,545,-0.80,-146.0,36.5,-5.8,72,554,0.00,2.62,0.00,0.000,6,0.000,0.040,2838,1892,3955,0,0,0,0,0,0
$GC,640,-0.80,-146.0,42.1,-5.9,85,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1892,3955,0,0,0,0,0,0
$GC,795,-0.80,-146.0,51.2,-5.8,110,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1892,3955,0,0,0,0,0,0
$GC,958,-0.80,-146.0,60.1,-5.7,135,964,0.00,2.72,0.00,0.000,4,0.000,0.070,2838,322,3955,0,0,0,0,0,0
$GC,977,-0.80,-146.0,61.6,-5.8,138,986,0.00,2.55,0.00,0.000,6,0.000,0.024,2839,1906,3955,0,0,0,0,0,0
$GC,1142,-0.80,-146.0,70.8,-5.5,163,1147,0.00,2.58,0.00,0.000,4,0.000,0.040,2838,3479,3955,0,0,0,0,0,0
$GC,1162,-0.80,-146.0,72.3,-5.8,166,1171,0.00,2.62,0.00,0.000,6,0.000,0.038,2838,1896,3955,0,0,0,0,0,0
$GC,1324,-0.80,-146.0,81.1,-5.6,191,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1895,3955,0,0,0,0,0,0
$GC,1480,-0.80,-146.0,90.4,-5.8,216,1489,0.00,2.75,0.00,0.000,4,0.000,0.067,2839,330,3955,0,0,0,0,0,0
$GC,1505,-0.80,-146.0,91.8,-6.1,219,1511,0.00,2.50,0.00,0.000,6,0.000,0.024,2839,1900,3955,0,0,0,0,0,0
$GC,1663,-0.80,-146.0,100.7,-5.6,244,1673,0.00,2.60,0.00,0.000,4,0.000,0.040,2838,3472,3955,0,0,0,0,0,0
$GC,1701,-0.80,-146.0,102.7,-5.5,249,1707,0.00,2.60,0.00,0.000,6,0.000,0.035,2839,1891,3955,0,0,0,0,0,0
$STATE,1781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1781,begin apogee
$GC,1786,-0.31,0.0,107.2,5.2,262,1889,0.47,0.00,96.90,0.689,6,0.093,0.000,2945,1891,3458,0,0,0,0,0,0
$STATE,1889,end apogee,CONTROL_FINISHED_OK
$STATE,1892,begin climb
$GC,1895,0.94,146.0,109.4,0.0,277,2023,1.20,2.75,115.95,0.667,4,0.078,0.042,3218,3487,2861,0,0,0,0,0,0
$GC,2059,0.85,146.0,99.7,8.6,301,2065,0.00,2.62,0.00,0.000,6,0.000,0.037,3218,1919,2859,0,0,0,0,0,0
$GC,2217,0.74,146.0,86.2,8.2,326,2228,0.20,2.65,0.00,0.000,4,0.114,0.038,3180,3497,2858,0,0,0,0,0,0
$GC,2247,0.68,146.0,83.8,7.7,330,2256,0.00,2.65,0.00,0.000,6,0.000,0.038,3180,1920,2858,0,0,0,0,0,0
$GC,2413,0.71,171.6,73.4,6.2,355,2440,0.00,2.80,21.95,0.630,4,0.000,0.069,3179,340,2757,0,0,0,0,0,0
$GC,2456,0.74,191.2,70.4,6.4,361,2483,0.00,2.53,16.92,0.611,6,0.000,0.027,3179,1921,2679,0,0,0,0,0,0
$GC,2639,0.74,191.2,57.7,7.1,389,2644,0.00,2.60,0.00,0.000,4,0.000,0.038,3179,3501,2676,0,0,0,0,0,0
$GC,2667,0.75,197.0,55.7,6.9,393,2682,0.00,2.62,6.40,0.532,6,0.000,0.042,3180,1923,2653,0,0,0,0,0,0
$GC,2836,0.76,204.9,43.7,6.8,419,2851,0.00,2.78,8.25,0.563,4,0.000,0.064,3179,339,2621,0,0,0,0,0,0
$GC,2879,0.76,204.9,40.4,7.4,425,2885,0.00,2.55,0.00,0.000,6,0.000,0.027,3179,1924,2621,0,0,0,0,0,0
$GC,3056,0.77,216.7,28.4,6.7,450,3074,0.00,2.60,11.38,0.590,4,0.000,0.036,3179,3501,2574,0,0,0,0,0,0
$GC,3092,0.78,227.0,25.8,6.7,454,3111,0.00,2.65,10.40,0.570,6,0.000,0.041,3179,1926,2532,0,0,0,0,0,0
$GC,3194,0.78,227.0,18.5,7.3,468,3203,0.00,2.78,0.00,0.000,4,0.000,0.071,3179,349,2529,0,0,0,0,0,0
$GC,3236,0.78,227.0,15.5,7.1,473,3246,0.00,2.55,0.00,0.000,6,0.000,0.028,3180,1921,2528,0,0,0,0,0,0
$GC,3332,0.88,271.4,9.7,5.6,486,3374,0.12,0.00,38.67,0.607,6,0.085,0.000,3213,1922,2351,0,0,0,0,0,0
$STATE,3422,end climb,SURFACE_DEPTH_REACHED
$STATE,3423,begin surface coast
$FINISH,4.7,1.017111
$STATE,3586,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3586,begin surface
$SM_CCo,3607,354.42,0.578,1,0,604,700.09
$SM_GC,1.77,0.00,0.00,354.42,0.000,0.000,0.578,484,1922,604,-11.66,0.62,700.09
$IRIDIUM_FIX,4751.72,-12223.57,100499,090926
$TT8_MAMPS,0.026078
$HUMID,32.98
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,12.60
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,80.1,43.2
$24V_AH,23.5,2.230
$10V_AH,10.3,1.951
$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,26.600,68.575,326.825,354.425,0.000,26.231,38.573,229.811,7.500,0.000,16.865,829.777,359.478,650.974,2043.575,517.749,33.329,1345.757,0.000,2062.733,0.000,5.820,0.000
$DEVICE_MAMPS,170.274,70.564,688.766,578.318,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.976,267.543,357.039,1115.115,1689.653,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324840
$DATA_FILE_SIZE,44605,522
$CAP_FILE_SIZE,70128,0
$CFSIZE,260165632,182628352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,122132,4807.376,-12223.203,11,1.5,12,18.3