version: 66.06
glider: 146
mission: 5
dive: 4
start: 8 13 110 18 23 28
data:
$ID,146
$MISSION,5
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,210
$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,50
$T_MISSION,100
$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,-247162.8
$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,28
$R_STBD_OVSHOOT,58
$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
$GPS1,181832,2140.732,-15810.997,14,1.7,14,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-66.7
$GPS2,182236,2140.747,-15810.974,10,1.7,26,9.9
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,FIR
$TGT_LATLONG,2140.650,-15813.229
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.253,-0.060
$KALMAN_X,23.9,17.8,16.7,-691.3,28.6
$KALMAN_Y,123.4,95.9,90.9,-6.2,147.7
$MHEAD_RNG_PITCHd_Wd,246.7,3885,-17.5,-10.000
$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,15,-1.27,-146.0,0.0,0.0,0,104,0.00,0.00,-86.25,0.000,2,0.000,0.000,480,2030,3452,0,0,0,0,0,0
$GC,107,-1.27,-146.0,3.6,-8.1,11,133,10.90,2.65,-2.65,0.000,4,0.135,0.070,2677,470,3600,0,0,0,0,0,0
$GC,248,-1.09,-146.0,39.6,-18.8,28,253,0.20,2.40,0.00,0.000,6,0.114,0.027,2719,2055,3600,0,0,0,0,0,0
$GC,514,-1.04,-146.0,79.1,-15.1,52,519,0.00,2.65,0.00,0.000,4,0.000,0.058,2718,474,3600,0,0,0,0,0,0
$GC,584,-0.99,-146.0,90.6,-13.8,57,590,0.12,2.40,0.00,0.000,6,0.123,0.025,2744,2055,3600,0,0,0,0,0,0
$GC,847,-0.99,-146.0,119.5,-11.4,82,851,0.00,2.65,0.00,0.000,4,0.000,0.063,2744,473,3600,0,0,0,0,0,0
$GC,940,-1.04,-146.0,130.7,-10.7,89,946,0.00,2.35,0.00,0.000,6,0.000,0.024,2744,2012,3600,0,0,0,0,0,0
$STATE,1128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1128,begin apogee
$GC,1134,-0.31,0.0,150.2,10.3,107,1250,0.60,0.00,112.35,0.598,6,0.076,0.000,2888,2013,3001,0,0,0,0,0,0
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1251,begin climb
$GC,1253,1.27,146.0,156.5,0.0,119,1380,1.48,2.60,114.25,0.589,4,0.056,0.044,3238,3615,2403,0,0,0,0,0,0
$GC,1513,1.36,216.0,147.2,6.8,141,1579,0.00,2.50,56.50,0.579,6,0.000,0.040,3238,2049,2118,0,0,0,0,0,0
$GC,1834,1.45,232.0,119.0,9.3,171,1854,0.15,0.00,13.55,0.530,6,0.077,0.000,3278,2049,2054,0,0,0,0,0,0
$GC,2109,1.47,255.0,93.5,8.9,197,2134,0.00,2.72,20.00,0.541,4,0.000,0.068,3278,464,1959,0,0,0,0,0,0
$GC,2210,1.45,270.8,84.2,9.3,205,2235,0.00,2.45,13.75,0.516,6,0.000,0.021,3278,2045,1897,0,0,0,0,0,0
$GC,2490,1.50,270.8,58.5,10.6,231,2495,0.00,2.65,0.00,0.000,4,0.000,0.059,3278,464,1893,0,0,0,0,0,0
$GC,2535,1.50,270.8,53.3,10.9,234,2539,0.00,2.45,0.00,0.000,6,0.000,0.022,3278,2052,1892,0,0,0,0,0,0
$GC,2803,1.61,297.2,32.2,8.8,258,2833,0.12,0.00,22.42,0.515,6,0.089,0.000,3315,2053,1786,0,0,0,0,0,0
$STATE,3066,end climb,SURFACE_DEPTH_REACHED
$STATE,3066,begin surface coast
$FINISH,0.1,1.022265
$STATE,3123,end surface coast,CONTROL_FINISHED_OK
$STATE,3123,begin surface
$SM_CCo,3145,101.75,0.453,1,0,1287,420.20
$SM_GC,0.79,0.00,0.00,101.75,0.000,0.000,0.453,480,2054,1287,-11.41,0.11,420.20
$IRIDIUM_FIX,2131.85,-15808.47,071199,181850
$TT8_MAMPS,0.025311
$HUMID,41.61
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.60
$XPDR_PINGS,15
$24V_AH,23.9,3.943
$10V_AH,10.5,3.607
$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,25.075,30.475,352.825,101.750,0.000,0.000,0.000,0.000,3.750,0.000,27.591,519.524,969.434,416.222,1340.651,91.641,31.411,862.351,0.000,1341.043,0.000,0.538,0.000
$DEVICE_MAMPS,134.992,69.797,598.260,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,201.624,259.247,310.928,701.546,1062.127,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355976
$DATA_FILE_SIZE,25865,304
$CAP_FILE_SIZE,54693,0
$CFSIZE,260165632,183234560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130810,191852,2140.747,-15811.322,13,2.8,32,9.9