version: 66.06
glider: 146
mission: 5
dive: 15
start: 1 14 110 12 29 19
data:
$ID,146
$MISSION,5
$DIVE,15
$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,-245202.59
$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,37
$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
$GPS1,122132,4807.376,-12223.203,11,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-75.2
$GPS2,122820,4807.513,-12223.291,12,1.5,12,18.3
$SPEED_LIMITS,0.101,0.229
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.191,0.127
$KALMAN_X,296.2,-32.4,-102.5,-578.7,-131.1
$KALMAN_Y,647.7,132.7,81.5,-477.4,347.5
$MHEAD_RNG_PITCHd_Wd,285.3,1258,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.94,-146.0,0.0,0.0,0,137,0.00,0.00,-117.75,0.000,2,0.000,0.000,484,1922,3744,0,0,0,0,0,0
$GC,140,-0.94,-146.0,6.3,-2.8,15,166,12.60,2.85,-5.35,0.000,4,0.166,0.074,2804,315,3952,0,0,0,0,0,0
$GC,396,-0.79,-146.0,25.6,-7.9,52,406,0.15,2.58,0.00,0.000,6,0.108,0.028,2838,1906,3953,0,0,0,0,0,0
$GC,492,-0.75,-146.0,31.8,-6.2,65,501,0.00,2.60,0.00,0.000,4,0.000,0.042,2838,3472,3952,0,0,0,0,0,0
$GC,511,-0.75,-146.0,33.1,-6.0,67,520,0.00,2.62,0.00,0.000,6,0.000,0.039,2838,1896,3952,0,0,0,0,0,0
$GC,608,-0.75,-146.0,38.7,-5.7,80,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1896,3952,0,0,0,0,0,0
$GC,696,-0.75,-146.0,43.9,-5.9,93,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1896,3952,0,0,0,0,0,0
$GC,852,-0.75,-146.0,52.4,-5.5,118,862,0.00,2.75,0.00,0.000,4,0.000,0.071,2838,329,3953,0,0,0,0,0,0
$GC,881,-0.75,-146.0,54.1,-5.5,122,890,0.00,2.53,0.00,0.000,6,0.000,0.028,2838,1898,3952,0,0,0,0,0,0
$GC,1044,-0.75,-146.0,62.5,-5.4,147,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1898,3953,0,0,0,0,0,0
$GC,1202,-0.75,-146.0,71.6,-5.8,172,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1899,3953,0,0,0,0,0,0
$GC,1365,-0.75,-146.0,80.6,-5.7,197,1370,0.00,2.58,0.00,0.000,4,0.000,0.037,2838,3472,3952,0,0,0,0,0,0
$GC,1394,-0.75,-146.0,82.2,-5.6,201,1399,0.00,2.60,0.00,0.000,6,0.000,0.035,2838,1891,3952,0,0,0,0,0,0
$GC,1550,-0.75,-146.0,91.3,-5.7,226,1560,0.00,2.78,0.00,0.000,4,0.000,0.073,2838,320,3953,0,0,0,0,0,0
$GC,1576,-0.75,-146.0,92.7,-5.8,229,1581,0.00,2.53,0.00,0.000,6,0.000,0.029,2838,1903,3953,0,0,0,0,0,0
$GC,1734,-0.75,-146.0,101.5,-5.2,254,1745,0.00,2.58,0.00,0.000,4,0.000,0.043,2838,3464,3953,0,0,0,0,0,0
$GC,1773,-0.75,-146.0,103.6,-5.6,259,1779,0.00,2.58,0.00,0.000,6,0.000,0.034,2838,1896,3952,0,0,0,0,0,0
$STATE,1836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1836,begin apogee
$GC,1843,-0.31,0.0,107.2,5.2,269,1950,0.47,0.00,96.38,0.694,6,0.120,0.000,2945,1895,3458,0,0,0,0,0,0
$STATE,1953,end apogee,CONTROL_FINISHED_OK
$STATE,1953,begin climb
$GC,1955,0.94,146.0,109.4,0.0,285,2084,1.20,2.72,115.93,0.668,4,0.079,0.038,3217,3484,2861,0,0,0,0,0,0
$GC,2110,0.84,146.0,100.2,8.4,308,2119,0.00,2.62,0.00,0.000,6,0.000,0.035,3217,1929,2858,0,0,0,0,0,0
$GC,2276,0.73,146.0,87.3,7.9,333,2282,0.20,0.00,0.00,0.000,6,0.115,0.000,3178,1929,2858,0,0,0,0,0,0
$GC,2433,0.77,182.6,77.3,5.8,358,2469,0.00,2.62,30.30,0.639,4,0.000,0.040,3178,3501,2713,0,0,0,0,0,0
$GC,2485,0.80,206.0,74.2,6.3,365,2513,0.00,2.65,20.95,0.620,6,0.000,0.038,3178,1914,2618,0,0,0,0,0,0
$GC,2666,0.80,206.0,61.4,7.3,393,2671,0.00,2.75,0.00,0.000,4,0.000,0.065,3178,341,2613,0,0,0,0,0,0
$GC,2693,0.80,206.0,59.3,7.5,397,2699,0.00,2.50,0.00,0.000,6,0.000,0.023,3178,1918,2613,0,0,0,0,0,0
$GC,2851,0.80,206.0,47.8,7.1,422,2860,0.00,2.62,0.00,0.000,4,0.000,0.038,3178,3500,2612,0,0,0,0,0,0
$GC,2876,0.80,206.0,46.0,7.3,425,2882,0.00,2.62,0.00,0.000,6,0.000,0.038,3178,1915,2611,0,0,0,0,0,0
$GC,3044,0.80,206.0,34.1,7.1,450,3053,0.00,2.75,0.00,0.000,4,0.000,0.064,3178,345,2611,0,0,0,0,0,0
$GC,3076,0.80,206.0,31.4,7.4,454,3086,0.00,2.55,0.00,0.000,6,0.000,0.026,3178,1922,2611,0,0,0,0,0,0
$GC,3171,0.82,215.4,24.9,6.7,467,3189,0.00,2.62,8.68,0.565,4,0.000,0.041,3178,3494,2578,0,0,0,0,0,0
$GC,3202,0.82,222.7,22.9,6.8,470,3220,0.00,2.65,7.68,0.540,6,0.000,0.036,3178,1916,2550,0,0,0,0,0,0
$GC,3305,0.83,229.7,15.7,6.8,484,3323,0.00,2.80,7.65,0.545,4,0.000,0.067,3178,343,2520,0,0,0,0,0,0
$GC,3347,0.84,238.4,12.7,6.8,489,3366,0.00,2.58,8.62,0.551,6,0.000,0.025,3178,1925,2486,0,0,0,0,0,0
$GC,3451,1.03,309.2,7.3,4.7,503,3502,0.25,0.00,48.70,0.604,2,0.059,0.000,3244,1926,2259,0,0,0,0,0,0
$STATE,3503,end climb,SURFACE_DEPTH_REACHED
$STATE,3503,begin surface coast
$FINISH,4.0,1.017185
$STATE,3659,end surface coast,CONTROL_FINISHED_OK
$STATE,3659,begin surface
$SM_CCo,3680,335.12,0.574,1,0,603,700.09
$SM_GC,1.74,0.00,0.00,335.12,0.000,0.000,0.574,485,1925,603,-11.65,0.71,700.09
$IRIDIUM_FIX,4738.89,-12512.44,100499,111123
$TT8_MAMPS,0.026078
$HUMID,33.06
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,12.50
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,80.2,43.4
$24V_AH,23.5,2.365
$10V_AH,10.3,2.090
$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,26.775,68.625,344.875,335.125,0.000,24.356,28.022,231.975,7.750,0.000,14.266,844.361,370.171,645.944,2077.060,501.725,33.326,1377.392,0.000,2096.856,0.000,5.821,0.000
$DEVICE_MAMPS,166.439,73.632,694.135,574.483,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.423,272.224,362.169,1133.039,1715.432,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324840
$DATA_FILE_SIZE,44674,532
$CAP_FILE_SIZE,72096,0
$CFSIZE,260165632,182583296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,133736,4807.843,-12223.804,34,0.9,35,18.3