version: 66.06
glider: 146
mission: 5
dive: 17
start: 1 14 110 15 5 28
data:
$ID,146
$MISSION,5
$DIVE,17
$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,-245236.81
$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,23
$R_STBD_OVSHOOT,39
$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
$GPS1,145425,4808.122,-12223.422,9,1.7,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.1
$GPS2,150431,4808.394,-12223.562,10,1.4,15,18.3
$SPEED_LIMITS,0.101,0.229
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.129,-0.189
$KALMAN_X,48.3,-108.7,-162.2,-527.9,-37.5
$KALMAN_Y,1529.5,328.8,302.7,-155.6,196.1
$MHEAD_RNG_PITCHd_Wd,127.5,1007,-12.2,-7.042
$D_GRID,99
$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,14,begin dive
$GC,16,-0.94,-146.0,0.0,0.0,0,152,0.00,0.00,-133.43,0.000,2,0.000,0.000,483,1926,3895,0,0,0,0,0,0
$GC,156,-0.94,-146.0,6.2,-5.1,17,174,12.62,0.00,-1.38,0.000,6,0.168,0.000,2804,1926,3954,0,0,0,0,0,0
$GC,258,-0.79,-146.0,15.9,-6.4,31,267,0.20,0.00,0.00,0.000,6,0.117,0.000,2844,1926,3955,0,0,0,0,0,0
$GC,354,-0.74,-146.0,21.5,-5.6,44,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1926,3956,0,0,0,0,0,0
$GC,448,-0.70,-146.0,27.3,-6.2,57,458,0.10,0.00,0.00,0.000,6,0.136,0.000,2863,1926,3956,0,0,0,0,0,0
$GC,544,-0.70,-146.0,32.8,-5.7,70,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1926,3956,0,0,0,0,0,0
$GC,640,-0.70,-146.0,38.1,-5.5,83,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1926,3955,0,0,0,0,0,0
$GC,727,-0.70,-146.0,42.9,-5.1,96,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1926,3956,0,0,0,0,0,0
$GC,888,-0.70,-146.0,50.8,-4.9,121,894,0.00,2.78,0.00,0.000,4,0.000,0.063,2863,321,3955,0,0,0,0,0,0
$GC,905,-0.70,-146.0,51.5,-4.9,123,911,0.00,2.53,0.00,0.000,6,0.000,0.022,2863,1909,3956,0,0,0,0,0,0
$GC,1062,-0.70,-146.0,59.7,-5.2,148,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1910,3956,0,0,0,0,0,0
$GC,1225,-0.70,-146.0,68.1,-5.1,173,1231,0.00,2.55,0.00,0.000,4,0.000,0.040,2863,3475,3956,0,0,0,0,0,0
$GC,1241,-0.70,-146.0,68.9,-5.1,175,1247,0.00,2.60,0.00,0.000,6,0.000,0.035,2863,1887,3955,0,0,0,0,0,0
$GC,1401,-0.74,-146.0,76.8,-4.8,200,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1886,3956,0,0,0,0,0,0
$GC,1562,-0.78,-146.0,84.3,-4.9,225,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1886,3956,0,0,0,0,0,0
$GC,1723,-0.82,-146.0,91.9,-4.5,250,1732,0.10,2.78,0.00,0.000,4,0.124,0.066,2836,320,3956,0,0,0,0,0,0
$GC,1739,-0.82,-146.0,92.8,-4.6,252,1748,0.00,2.53,0.00,0.000,6,0.000,0.024,2835,1893,3956,0,0,0,0,0,0
$STATE,1848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1848,begin apogee
$GC,1854,-0.31,0.0,99.1,5.7,269,1961,0.47,0.00,97.30,0.683,6,0.091,0.000,2943,1894,3458,0,0,0,0,0,0
$STATE,1965,end apogee,CONTROL_FINISHED_OK
$STATE,1965,begin climb
$GC,1967,0.94,146.0,101.7,0.0,285,2090,1.20,0.00,116.12,0.666,6,0.065,0.000,3218,1894,2861,0,0,0,0,0,0
$GC,2245,0.84,146.0,83.4,8.1,327,2251,0.00,2.67,0.00,0.000,4,0.000,0.040,3218,3499,2858,0,0,0,0,0,0
$GC,2266,0.74,146.0,81.6,8.2,330,2276,0.15,2.65,0.00,0.000,6,0.101,0.035,3184,1924,2857,0,0,0,0,0,0
$GC,2428,0.76,163.5,70.9,6.5,355,2447,0.00,0.00,15.10,0.615,6,0.000,0.000,3184,1924,2791,0,0,0,0,0,0
$GC,2599,0.79,182.2,59.5,6.4,382,2621,0.00,0.00,16.38,0.613,6,0.000,0.000,3184,1924,2715,0,0,0,0,0,0
$GC,2778,0.79,185.1,47.5,6.9,409,2784,0.00,0.00,3.85,0.423,6,0.000,0.000,3184,1924,2703,0,0,0,0,0,0
$GC,2942,0.79,189.0,36.2,6.9,434,2952,0.00,2.60,4.68,0.474,4,0.000,0.034,3184,3501,2688,0,0,0,0,0,0
$GC,2971,0.79,189.0,34.1,7.1,437,2982,0.00,2.65,0.00,0.000,6,0.000,0.035,3184,1922,2688,0,0,0,0,0,0
$GC,3067,0.81,202.4,27.4,6.6,450,3086,0.00,2.78,13.23,0.594,4,0.000,0.067,3184,341,2632,0,0,0,0,0,0
$GC,3117,0.81,202.4,23.9,7.2,456,3126,0.00,2.55,0.00,0.000,6,0.000,0.024,3183,1912,2630,0,0,0,0,0,0
$GC,3212,0.82,212.9,17.2,6.7,469,3229,0.00,2.62,10.38,0.572,4,0.000,0.040,3183,3499,2588,0,0,0,0,0,0
$GC,3282,0.92,224.6,12.7,6.7,478,3300,0.12,2.65,11.48,0.574,6,0.045,0.042,3224,1927,2541,0,0,0,0,0,0
$GC,3387,1.04,252.2,6.3,6.1,492,3421,0.00,2.85,24.23,0.598,4,0.000,0.071,3224,341,2427,0,0,0,0,0,0
$STATE,3557,end climb,NO_VERTICAL_VELOCITY
$STATE,3557,begin surface
$SM_CCo,3560,390.77,0.589,0,0,476,731.24
$SM_GC,1.63,11.82,0.00,0.00,0.048,0.000,0.000,484,1920,472,-11.62,0.57,732.47
$IRIDIUM_FIX,4758.15,-11946.30,100499,151523
$TT8_MAMPS,0.026078
$HUMID,33.22
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,12.80
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,90.3,26.9
$24V_AH,23.5,2.642
$10V_AH,10.3,2.370
$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,26.800,42.325,312.725,390.775,0.000,58.710,68.152,269.657,5.500,0.000,17.437,827.029,507.966,673.070,2039.350,631.806,33.337,1365.282,0.000,2053.167,0.000,14.835,0.000
$DEVICE_MAMPS,167.973,71.331,682.630,589.056,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.168,259.815,354.852,1108.782,1681.275,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324792
$DATA_FILE_SIZE,44711,516
$CAP_FILE_SIZE,72404,0
$CFSIZE,260165632,182493184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140110,161436,4808.263,-12223.401,35,1.0,41,18.3