version: 66.06
glider: 5
mission: 8
dive: 21
start: 3 3 110 13 30 49
data:
$ID,5
$MISSION,8
$DIVE,21
$D_SURF,4
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$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,75
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-110734.12
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2794
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.24641
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,132528,4806.223,-12221.891,12,3.9,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-71.5
$GPS2,132958,4806.239,-12221.938,11,3.5,30,18.3
$SPEED_LIMITS,0.115,0.230
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.142,-0.181
$KALMAN_X,-7537.0,-1021.2,356.6,9756.7,-1010.2
$KALMAN_Y,6046.7,-226.3,-288.5,-8374.7,754.9
$MHEAD_RNG_PITCHd_Wd,123.7,449,-12.3,-6.667
$D_GRID,150
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.06,-146.6,0.0,0.0,0,83,0.00,0.00,-66.12,0.000,2,0.000,0.000,426,2278,2274,0,0,0,0,0,0
$GC,86,-1.06,-146.6,2.0,-3.8,12,160,11.75,2.70,-56.22,0.000,4,0.166,0.087,2557,840,3837,0,0,0,0,0,0
$GC,184,-1.06,-146.6,11.2,-15.9,29,191,0.00,2.65,0.00,0.000,6,0.000,0.068,2557,2244,3837,0,0,1,0,0,0
$GC,257,-1.06,-146.6,19.9,-11.7,42,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2244,3838,0,0,0,0,0,0
$GC,327,-1.06,-146.6,27.3,-10.4,49,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2244,3838,0,0,0,0,0,0
$GC,519,-1.06,-146.6,47.0,-10.1,67,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2244,3838,0,0,0,0,0,0
$GC,717,-1.06,-146.6,65.3,-9.2,78,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2244,3838,0,0,0,0,0,0
$GC,1024,-1.06,-146.6,95.0,-9.6,93,1029,0.00,2.62,0.00,0.000,4,0.000,0.080,2557,3665,3838,0,0,0,0,0,0
$GC,1078,-1.06,-146.6,100.5,-9.7,95,1085,0.00,2.62,0.00,0.000,6,0.000,0.066,2557,2250,3837,0,0,1,0,0,0
$STATE,1253,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1253,begin apogee
$GC,1259,-0.33,0.0,116.2,8.2,112,1386,0.75,0.00,118.45,0.841,6,0.088,0.000,2718,2180,3239,0,0,0,0,0,0
$STATE,1387,end apogee,CONTROL_FINISHED_OK
$STATE,1387,begin climb
$GC,1389,1.06,146.6,119.5,0.0,125,1512,1.38,0.00,117.43,0.813,6,0.064,0.000,3019,2177,2641,0,0,0,0,0,0
$GC,1832,1.06,146.6,78.1,9.6,158,1836,0.00,2.55,0.00,0.000,4,0.000,0.067,3019,782,2640,0,0,0,0,0,0
$GC,1938,1.06,146.6,67.5,10.7,163,1942,0.00,2.60,0.00,0.000,6,0.000,0.058,3019,2205,2641,0,0,0,0,0,0
$GC,2260,1.06,146.6,36.9,9.7,185,2264,0.00,2.62,0.00,0.000,4,0.000,0.069,3020,780,2640,0,0,1,0,0,0
$GC,2344,1.06,146.6,28.6,8.9,192,2349,0.00,2.58,0.00,0.000,6,0.000,0.059,3019,2199,2641,0,0,1,0,0,0
$GC,2544,1.06,146.6,12.0,7.7,219,2550,0.00,2.65,0.00,0.000,4,0.000,0.070,3020,790,2641,0,0,1,0,0,0
$GC,2589,1.06,146.6,8.1,8.7,227,2595,0.00,2.58,0.00,0.000,6,0.000,0.061,3019,2191,2640,0,0,1,0,0,0
$GC,2661,1.28,287.4,5.3,2.4,240,2751,0.22,0.00,86.35,0.765,2,0.054,0.000,3079,2192,2180,0,0,0,0,0,0
$STATE,2752,end climb,SURFACE_DEPTH_REACHED
$STATE,2753,begin surface coast
$FINISH,0.5,1.017099
$STATE,2996,end surface coast,CONTROL_FINISHED_OK
$STATE,2996,begin surface
$SM_CCo,3016,183.80,0.739,0,0,792,600.00
$SM_GC,0.63,0.00,0.00,183.80,0.000,0.000,0.739,428,2264,792,-10.88,0.40,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,47.51
$TCM_TEMP,15.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.6
$ALTIM_BOTTOM_PING,91.0,34.8
$24V_AH,23.9,76.754
$10V_AH,9.9,34.153
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$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,25.875,26.400,322.225,183.800,0.000,39.007,28.342,99.618,1.750,0.000,31.594,470.619,1344.622,508.578,903.774,255.982,33.321,915.892,0.000,885.904,0.000,11.698,0.000
$DEVICE_MAMPS,166.439,114.283,841.399,738.621,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,200.779,229.840,768.014,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324168
$DATA_FILE_SIZE,16058,301
$CAP_FILE_SIZE,43196,0
$CFSIZE,254472192,252055552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,030310,142525,4805.979,-12221.835,39,1.3,39,18.3