version: 66.06
glider: 146
mission: 5
dive: 3
start: 8 13 110 17 31 4
data:
$ID,146
$MISSION,5
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,4
$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,30
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,420
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-247099.38
$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,2961
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$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,-29.527605
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$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,0.0043563824
$SEABIRD_T_H,0.00063101487
$SEABIRD_T_I,2.4083547e-05
$SEABIRD_T_J,2.5612533e-06
$SEABIRD_C_G,-9.9059887
$SEABIRD_C_H,1.1423759
$SEABIRD_C_I,-0.0019893181
$SEABIRD_C_J,0.00023308786
$GPS1,172244,2140.612,-15810.735,12,1.9,12,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-66.5
$GPS2,173013,2140.635,-15810.737,12,1.9,29,9.9
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,FIR
$TGT_LATLONG,2140.650,-15813.229
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.258,-0.030
$KALMAN_X,2.0,2.0,2.0,-231.6,5.0
$KALMAN_Y,22.9,22.9,22.9,29.6,56.7
$MHEAD_RNG_PITCHd_Wd,253.5,4287,-17.5,-10.000
$D_GRID,90
$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,15,-1.27,-146.0,0.0,0.0,0,104,0.00,0.00,-86.57,0.000,2,0.000,0.000,476,2024,3423,0,0,0,0,0,0
$GC,107,-1.27,-146.0,3.1,-6.1,11,133,10.95,2.55,-3.28,0.000,4,0.135,0.054,2677,3600,3600,0,0,0,0,0,0
$GC,272,-1.18,-146.0,43.5,-17.7,30,282,0.08,2.47,0.00,0.000,6,0.091,0.036,2699,2058,3600,0,0,0,0,0,0
$GC,538,-1.11,-146.0,84.1,-15.0,55,543,0.00,2.67,0.00,0.000,4,0.000,0.065,2699,464,3599,0,0,0,0,0,0
$STATE,570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,570,begin apogee
$GC,578,-0.31,0.0,90.2,15.4,57,698,0.82,0.00,111.50,0.551,6,0.084,0.000,2886,2053,3000,0,0,0,0,0,0
$STATE,699,end apogee,CONTROL_FINISHED_OK
$STATE,699,begin climb
$GC,701,1.27,146.0,96.3,0.0,69,824,1.48,2.50,113.32,0.541,4,0.057,0.035,3237,3605,2403,0,0,0,0,0,0
$GC,923,1.44,222.6,90.5,6.5,87,994,0.15,2.50,61.00,0.532,6,0.078,0.040,3276,2048,2092,0,0,0,0,0,0
$GC,1249,1.47,243.1,64.9,9.1,117,1277,0.00,2.58,17.35,0.499,4,0.000,0.041,3276,3609,2007,0,0,0,0,0,0
$GC,1319,1.61,304.4,59.6,7.2,122,1376,0.15,2.50,49.85,0.515,6,0.080,0.034,3316,2052,1758,0,0,0,0,0,0
$GC,1651,1.61,304.4,21.0,10.9,156,1660,0.00,2.67,0.00,0.000,4,0.000,0.060,3316,479,1752,0,0,0,0,0,0
$GC,1753,1.57,304.4,8.1,13.4,170,1762,0.00,2.40,0.00,0.000,6,0.000,0.030,3316,2028,1751,0,0,0,0,0,0
$STATE,1790,end climb,SURFACE_DEPTH_REACHED
$STATE,1790,begin surface coast
$FINISH,0.0,1.008801
$STATE,1840,end surface coast,CONTROL_FINISHED_OK
$STATE,1840,begin surface
$SM_CCo,1861,97.25,0.443,1,0,1288,420.20
$SM_GC,0.60,0.00,0.00,97.25,0.000,0.000,0.443,480,2029,1288,-11.41,-0.57,420.20
$IRIDIUM_FIX,2131.85,-15812.78,071199,171717
$TT8_MAMPS,0.025311
$HUMID,40.51
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.30
$XPDR_PINGS,11
$24V_AH,23.9,3.846
$10V_AH,10.4,3.511
$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,25.125,25.300,353.025,97.250,0.000,0.000,0.000,0.000,2.750,0.000,31.192,317.948,349.633,393.588,932.019,59.731,30.182,769.317,0.000,924.108,0.000,0.538,0.000
$DEVICE_MAMPS,134.992,65.195,550.706,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,118.448,152.608,186.283,504.905,763.678,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,13112,182
$CAP_FILE_SIZE,40786,0
$CFSIZE,260165632,183291904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130810,180437,2140.653,-15811.039,6,1.7,11,9.9