version: 66.06
glider: 146
mission: 5
dive: 6
start: 8 13 110 20 31 44
data:
$ID,146
$MISSION,5
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,360
$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,100
$T_MISSION,200
$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,-247237.59
$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,3000
$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,31
$R_STBD_OVSHOOT,55
$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
$GPS1,202002,2140.902,-15811.293,11,1.3,11,9.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-64.7
$GPS2,203049,2141.008,-15811.110,10,1.1,14,9.9
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,FIRA
$TGT_LATLONG,2141.550,-15812.700
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.259,-0.014
$KALMAN_X,832.1,411.1,-18.4,-2108.8,695.6
$KALMAN_Y,645.6,365.4,107.4,-336.3,402.7
$MHEAD_RNG_PITCHd_Wd,257.1,2915,-17.5,-10.000
$D_GRID,300
$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,-86.10,0.000,2,0.000,0.000,481,2028,3467,0,0,0,0,0,0
$GC,107,-1.27,-146.0,4.1,-9.1,11,133,11.32,2.58,-2.25,0.000,4,0.143,0.047,2713,3609,3600,0,0,0,0,0,0
$GC,296,-1.22,-146.0,44.9,-15.2,32,300,0.00,2.47,0.00,0.000,6,0.000,0.031,2713,2050,3601,0,0,0,0,0,0
$GC,559,-1.16,-146.0,87.7,-15.6,56,564,0.15,2.67,0.00,0.000,4,0.130,0.065,2742,467,3600,0,0,0,0,0,0
$GC,650,-1.16,-146.0,98.7,-11.0,63,654,0.00,2.42,0.00,0.000,6,0.000,0.025,2742,2048,3600,0,0,0,0,0,0
$GC,917,-1.16,-146.0,126.4,-8.6,87,921,0.00,2.62,0.00,0.000,4,0.000,0.065,2742,473,3600,0,0,0,0,0,0
$GC,1004,-1.16,-146.0,136.3,-10.6,94,1009,0.00,2.38,0.00,0.000,6,0.000,0.029,2742,2031,3600,0,0,0,0,0,0
$GC,1272,-1.21,-146.0,168.2,-12.1,118,1276,0.00,2.62,0.00,0.000,4,0.000,0.067,2742,472,3600,0,0,0,0,0,0
$GC,1327,-1.21,-146.0,175.8,-12.0,122,1333,0.00,2.38,0.00,0.000,6,0.000,0.032,2743,2019,3600,0,0,0,0,0,0
$GC,1590,-1.25,-146.0,205.4,-11.7,144,1594,0.00,2.60,0.00,0.000,4,0.000,0.070,2742,470,3600,0,0,0,0,0,0
$GC,1678,-1.30,-146.0,216.6,-11.6,146,1683,0.12,2.35,0.00,0.000,6,0.076,0.032,2701,1991,3600,0,0,0,0,0,0
$GC,1956,-1.30,-146.0,253.0,-13.5,153,1960,0.00,2.58,0.00,0.000,4,0.000,0.065,2700,478,3600,0,0,0,0,0,0
$GC,2005,-1.30,-146.0,260.2,-13.8,154,2009,0.00,2.33,0.00,0.000,6,0.000,0.028,2701,1970,3599,0,0,0,0,0,0
$GC,2283,-1.30,-146.0,288.4,-9.6,161,2288,0.00,2.58,0.00,0.000,4,0.000,0.072,2701,473,3599,0,0,0,0,0,0
$GC,2333,-1.30,-146.0,294.4,-12.6,162,2337,0.00,2.33,0.00,0.000,6,0.000,0.038,2701,1943,3599,0,0,0,0,0,0
$STATE,2400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2400,begin apogee
$GC,2406,-0.31,0.0,302.8,12.2,164,2524,1.02,0.00,114.75,0.730,6,0.083,0.000,2931,2045,3001,0,0,0,0,0,0
$STATE,2525,end apogee,CONTROL_FINISHED_OK
$STATE,2525,begin climb
$GC,2528,1.27,146.0,307.7,0.0,167,2652,1.45,0.00,116.80,0.715,6,0.049,0.000,3281,2045,2404,0,0,0,0,0,0
$GC,2894,1.24,201.2,289.2,7.5,176,2945,0.00,2.62,45.60,0.702,4,0.000,0.044,3281,3620,2179,0,0,0,0,0,0
$GC,2981,1.20,201.2,280.9,11.3,178,2985,0.00,2.55,0.00,0.000,6,0.000,0.036,3280,2058,2176,0,0,0,0,0,0
$GC,3258,1.13,201.2,250.0,11.0,185,3263,0.15,2.53,0.00,0.000,4,0.139,0.039,3249,3617,2171,0,0,0,0,0,0
$GC,3348,1.17,228.4,241.6,8.7,187,3378,0.00,2.50,22.67,0.673,6,0.000,0.038,3249,2067,2068,0,0,0,0,0,0
$GC,3629,1.24,288.0,220.0,7.3,194,3684,0.00,2.80,49.72,0.681,4,0.000,0.068,3249,475,1826,0,0,0,0,0,0
$GC,3752,1.24,288.0,206.2,14.1,197,3757,0.00,2.53,0.00,0.000,6,0.000,0.029,3249,2075,1822,0,0,0,0,0,0
$GC,4015,1.29,288.0,172.9,10.3,216,4020,0.15,2.75,0.00,0.000,4,0.084,0.061,3287,470,1819,0,0,0,0,0,0
$GC,4085,1.22,288.0,163.9,12.3,221,4090,0.00,2.47,0.00,0.000,6,0.000,0.024,3287,2055,1817,0,0,0,0,0,0
$GC,4347,1.22,288.0,134.1,10.3,246,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2054,1816,0,0,0,0,0,0
$GC,4601,1.22,288.0,107.0,11.8,270,4605,0.00,2.65,0.00,0.000,4,0.000,0.062,3287,470,1816,0,0,0,0,0,0
$GC,4646,1.16,288.0,101.5,13.8,273,4652,0.15,2.45,0.00,0.000,6,0.120,0.027,3257,2056,1815,0,0,0,0,0,0
$GC,4912,1.27,322.1,72.0,8.4,297,4953,0.00,2.75,27.73,0.568,4,0.000,0.056,3256,467,1685,0,0,0,0,0,0
$GC,5080,1.34,326.9,55.9,9.8,310,5096,0.15,2.42,4.93,0.420,6,0.079,0.021,3296,2033,1667,0,0,0,0,0,0
$GC,5359,1.40,345.0,25.9,9.2,338,5387,0.00,2.58,15.98,0.512,4,0.000,0.035,3296,3615,1593,0,0,0,0,0,0
$GC,5398,1.46,345.0,21.7,10.6,342,5408,0.00,2.60,0.00,0.000,6,0.000,0.035,3296,2014,1592,0,0,0,0,0,0
$STATE,5564,end climb,SURFACE_DEPTH_REACHED
$STATE,5564,begin surface coast
$FINISH,0.1,1.012003
$STATE,5616,end surface coast,CONTROL_FINISHED_OK
$STATE,5616,begin surface
$SM_CCo,5637,66.15,0.440,1,0,1288,420.20
$SM_GC,0.76,0.00,0.00,66.15,0.000,0.000,0.440,477,2012,1288,-11.61,-1.07,420.20
$IRIDIUM_FIX,2134.17,-15810.62,071199,202050
$TT8_MAMPS,0.025311
$HUMID,44.88
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.80
$XPDR_PINGS,30
$24V_AH,23.8,4.144
$10V_AH,10.5,3.795
$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,26.200,71.225,398.175,66.150,0.000,46.072,69.239,328.805,7.500,0.000,15.890,739.857,2886.881,478.793,1600.466,663.128,33.313,1055.311,0.000,1606.241,0.000,0.537,0.000
$DEVICE_MAMPS,142.662,140.361,730.184,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,250.874,277.538,336.272,687.152,1039.256,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,28855,373
$CAP_FILE_SIZE,77240,0
$CFSIZE,260165632,183144448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130810,220806,2141.019,-15811.397,32,0.9,33,9.9