version: 66.06
glider: 146
mission: 5
dive: 8
start: 8 14 110 0 6 22
data:
$ID,146
$MISSION,5
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,350
$D_ABORT,400
$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,145
$T_MISSION,250
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-247266.44
$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,3010
$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,27
$R_STBD_OVSHOOT,53
$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
$GPS1,235726,2140.918,-15811.542,13,1.7,14,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-66.1
$GPS2,000526,2140.877,-15811.462,11,1.8,11,9.9
$SPEED_LIMITS,0.115,0.241
$TGT_NAME,FIRA
$TGT_LATLONG,2141.550,-15812.700
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.223,0.090
$KALMAN_X,2886.5,573.7,252.1,-5185.5,1115.5
$KALMAN_Y,551.0,461.0,-88.8,-370.3,-296.3
$MHEAD_RNG_PITCHd_Wd,281.9,2469,-14.1,-8.046
$D_GRID,350
$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,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-86.45,0.000,2,0.000,0.000,480,2060,3462,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.2,-5.8,11,133,11.62,2.53,-2.33,0.000,4,0.143,0.051,2769,3612,3600,0,0,0,0,0,0
$GC,222,-1.06,-146.0,31.5,-13.0,27,227,0.00,2.47,0.00,0.000,6,0.000,0.036,2769,2047,3601,0,0,0,0,0,0
$GC,489,-0.98,-146.0,64.5,-12.5,51,494,0.12,2.65,0.00,0.000,4,0.114,0.058,2796,475,3601,0,0,0,0,0,0
$GC,534,-0.98,-146.0,70.2,-11.3,54,538,0.00,2.38,0.00,0.000,6,0.000,0.021,2796,2062,3601,0,0,0,0,0,0
$GC,797,-0.98,-146.0,94.9,-9.5,78,802,0.00,2.67,0.00,0.000,4,0.000,0.057,2796,471,3601,0,0,0,0,0,0
$GC,901,-0.98,-146.0,104.8,-8.3,86,911,0.00,2.38,0.00,0.000,6,0.000,0.019,2796,2023,3601,0,0,0,0,0,0
$GC,1168,-0.98,-146.0,124.1,-8.4,111,1172,0.00,2.60,0.00,0.000,4,0.000,0.060,2796,470,3602,0,0,0,0,0,0
$GC,1237,-1.02,-146.0,131.3,-9.2,116,1247,0.00,2.35,0.00,0.000,6,0.000,0.018,2795,2009,3602,0,0,0,0,0,0
$GC,1501,-1.02,-146.0,152.1,-7.2,141,1505,0.00,2.58,0.00,0.000,4,0.000,0.063,2795,476,3602,0,0,0,0,0,0
$GC,1557,-1.07,-146.0,156.2,-8.0,145,1561,0.00,2.33,0.00,0.000,6,0.000,0.020,2795,2006,3602,0,0,0,0,0,0
$GC,1824,-1.07,-146.0,177.7,-8.9,169,1828,0.00,2.58,0.00,0.000,4,0.000,0.060,2795,474,3602,0,0,0,0,0,0
$GC,1876,-1.12,-146.0,182.7,-8.2,173,1880,0.12,2.30,0.00,0.000,6,0.074,0.027,2754,1988,3601,0,0,0,0,0,0
$GC,2146,-1.08,-146.0,207.4,-8.8,192,2151,0.10,2.58,0.00,0.000,4,0.122,0.068,2775,477,3601,0,0,0,0,0,0
$GC,2235,-1.08,-146.0,215.1,-7.9,194,2240,0.00,2.28,0.00,0.000,6,0.000,0.023,2775,1963,3601,0,0,0,0,0,0
$GC,2515,-1.08,-146.0,235.7,-7.8,201,2519,0.00,2.53,0.00,0.000,4,0.000,0.064,2775,476,3600,0,0,0,0,0,0
$GC,2609,-1.08,-146.0,245.1,-9.8,203,2613,0.00,2.22,0.00,0.000,6,0.000,0.031,2775,1936,3600,0,0,0,0,0,0
$GC,2881,-1.08,-146.0,266.4,-7.6,210,2885,0.00,2.50,0.00,0.000,4,0.000,0.070,2775,474,3600,0,0,0,0,0,0
$GC,2903,-1.08,-146.0,268.1,-7.5,210,2907,0.00,2.25,0.00,0.000,6,0.000,0.025,2775,1923,3600,0,0,0,0,0,0
$GC,3158,-1.08,-146.0,285.2,-6.8,217,3162,0.00,2.70,0.00,0.000,4,0.000,0.045,2775,3603,3599,0,0,0,0,0,0
$GC,3173,-1.08,-146.0,286.6,-7.3,217,3178,0.00,2.65,0.00,0.000,6,0.000,0.038,2775,1944,3599,0,0,0,0,0,0
$GC,3435,-1.08,-146.0,307.9,-8.4,224,3439,0.00,2.55,0.00,0.000,4,0.000,0.083,2775,478,3598,0,0,0,0,0,0
$GC,3495,-1.08,-146.0,313.0,-8.3,225,3499,0.00,2.22,0.00,0.000,6,0.000,0.031,2775,1914,3597,0,0,0,0,0,0
$GC,3763,-1.11,-146.0,332.2,-6.8,232,3767,0.00,2.50,0.00,0.000,4,0.000,0.076,2775,474,3596,0,0,0,0,0,0
$GC,3830,-1.18,-146.0,337.3,-7.2,233,3835,0.10,2.25,0.00,0.000,6,0.093,0.037,2744,1898,3596,0,0,0,0,0,0
$STATE,4007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4007,begin apogee
$GC,4013,-0.31,0.0,351.6,8.1,238,4133,0.88,0.00,116.12,0.782,6,0.078,0.000,2943,2035,3001,0,0,0,0,0,0
$STATE,4133,end apogee,CONTROL_FINISHED_OK
$STATE,4133,begin climb
$GC,4137,1.06,146.0,354.0,0.0,241,4265,1.23,2.65,119.07,0.762,4,0.046,0.050,3242,3625,2404,0,0,0,0,0,0
$GC,4335,0.95,165.8,348.4,7.3,245,4360,0.12,2.58,16.98,0.708,6,0.124,0.043,3218,2055,2324,0,0,0,0,0,0
$GC,4635,0.89,186.9,325.4,7.3,253,4659,0.00,2.62,18.52,0.720,4,0.000,0.048,3218,3609,2238,0,0,0,0,0,0
$GC,4684,0.87,224.3,322.2,6.6,254,4723,0.00,2.55,32.67,0.734,6,0.000,0.042,3218,2052,2086,0,0,0,0,0,0
$GC,5010,0.83,224.3,296.4,8.3,262,5015,0.15,2.75,0.00,0.000,4,0.124,0.076,3189,465,2078,0,0,0,0,0,0
$GC,5184,0.83,224.3,281.9,8.4,266,5188,0.00,2.47,0.00,0.000,6,0.000,0.023,3188,2038,2075,0,0,0,0,0,0
$GC,5467,0.85,241.9,260.4,7.4,273,5487,0.00,2.75,14.85,0.693,4,0.000,0.070,3189,462,2013,0,0,0,0,0,0
$GC,5506,0.85,241.9,257.2,8.2,274,5510,0.00,2.47,0.00,0.000,6,0.000,0.028,3189,2029,2012,0,0,0,0,0,0
$GC,5789,0.91,291.6,238.1,6.2,281,5834,0.00,0.00,42.92,0.711,6,0.000,0.000,3189,2030,1811,0,0,0,0,0,0
$GC,6073,0.96,297.0,217.7,7.8,288,6084,0.12,2.67,5.38,0.535,4,0.081,0.064,3223,464,1789,0,0,0,0,0,0
$GC,6161,0.91,297.0,207.9,12.0,290,6165,0.00,2.42,0.00,0.000,6,0.000,0.025,3223,2025,1788,0,0,0,0,0,0
$GC,6422,0.91,297.0,181.7,9.1,309,6427,0.00,2.65,0.00,0.000,4,0.000,0.064,3223,455,1786,0,0,0,0,0,0
$GC,6491,0.91,297.0,173.8,11.2,314,6497,0.00,2.42,0.00,0.000,6,0.000,0.028,3223,2016,1785,0,0,0,0,0,0
$GC,6754,0.91,297.0,149.6,9.7,339,6759,0.00,2.60,0.00,0.000,4,0.000,0.062,3223,455,1785,0,0,0,0,0,0
$GC,6771,0.91,297.0,147.8,9.3,340,6775,0.00,2.40,0.00,0.000,6,0.000,0.027,3223,2009,1784,0,0,0,0,0,0
$GC,7034,0.92,297.5,126.7,8.0,364,7039,0.00,2.60,0.00,0.000,4,0.000,0.061,3223,457,1784,0,0,0,0,0,0
$GC,7054,0.92,297.5,125.0,8.1,365,7058,0.00,2.33,0.00,0.000,6,0.000,0.022,3223,1988,1784,0,0,0,0,0,0
$GC,7322,0.92,297.5,101.2,10.1,389,7326,0.00,2.58,0.00,0.000,4,0.000,0.060,3223,454,1783,0,0,0,0,0,0
$GC,7355,0.92,297.5,97.4,10.9,391,7359,0.00,2.33,0.00,0.000,6,0.000,0.025,3223,1973,1783,0,0,0,0,0,0
$GC,7623,1.01,331.3,77.8,6.8,415,7664,0.00,2.62,29.23,0.577,4,0.000,0.058,3223,464,1648,0,0,0,0,0,0
$GC,7682,1.05,331.3,73.0,8.5,419,7686,0.00,2.35,0.00,0.000,6,0.000,0.025,3223,1977,1647,0,0,0,0,0,0
$GC,7950,1.13,331.3,50.3,9.0,443,7955,0.12,2.60,0.00,0.000,4,0.081,0.033,3261,3616,1645,0,0,0,0,0,0
$GC,7995,1.21,331.3,45.8,10.1,446,8000,0.00,2.67,0.00,0.000,6,0.000,0.032,3260,1952,1644,0,0,0,0,0,0
$GC,8282,1.21,331.3,21.7,8.1,477,8291,0.00,2.53,0.00,0.000,4,0.000,0.064,3261,459,1644,0,0,0,0,0,0
$GC,8376,1.21,331.3,13.2,8.9,490,8385,0.00,2.30,0.00,0.000,6,0.000,0.027,3261,1955,1643,0,0,0,0,0,0
$STATE,8496,end climb,SURFACE_DEPTH_REACHED
$STATE,8496,begin surface coast
$FINISH,0.0,1.006044
$STATE,8574,end surface coast,CONTROL_FINISHED_OK
$STATE,8574,begin surface
$SM_CCo,8596,77.00,0.445,1,0,1287,420.20
$SM_GC,0.86,0.00,0.00,77.00,0.000,0.000,0.445,478,2144,1287,-11.65,2.66,420.20
$IRIDIUM_FIX,2134.17,-15815.79,071199,222222
$TT8_MAMPS,0.026078
$HUMID,43.38
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,23.60
$XPDR_PINGS,52
$24V_AH,23.7,4.365
$10V_AH,10.4,4.022
$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,25.875,120.225,395.750,77.000,0.000,27.144,33.332,266.803,13.000,0.000,13.171,1040.487,4834.477,535.332,2140.941,618.369,33.336,1275.687,0.000,2152.655,0.000,0.538,0.000
$DEVICE_MAMPS,142.662,155.701,782.340,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.950,370.709,447.618,878.851,1329.306,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,41746,518
$CAP_FILE_SIZE,104737,0
$CFSIZE,260165632,183021568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140810,023226,2141.040,-15812.576,24,2.5,43,9.9