version: 66.06
glider: 146
mission: 5
dive: 12
start: 8 14 110 11 44 33
data:
$ID,146
$MISSION,5
$DIVE,12
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,208
$T_MISSION,420
$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,-247395.91
$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,12
$R_STBD_OVSHOOT,31
$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
$GPS1,113744,2144.639,-15814.467,13,1.6,13,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-66.3
$GPS2,114338,2144.630,-15814.471,12,2.0,12,9.9
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NEXT
$TGT_LATLONG,2144.950,-15814.050
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.092,0.068
$KALMAN_X,2855.5,-1657.7,246.2,-8091.2,1392.5
$KALMAN_Y,447.7,-604.6,354.7,7297.7,101.2
$MHEAD_RNG_PITCHd_Wd,296.5,936,-32.3,-8.013
$D_GRID,500
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-2.06,-32.0,0.0,0.0,0,96,0.00,0.00,-76.75,0.000,6,0.000,0.000,477,2127,3132,0,0,0,0,0,0
$GC,99,-2.09,-60.2,2.7,-3.3,10,118,10.70,2.47,-2.42,0.000,4,0.149,0.048,2547,3646,3250,0,0,0,0,0,0
$GC,323,-2.14,-60.2,58.3,-24.2,34,327,0.00,2.55,0.00,0.000,6,0.000,0.034,2547,2030,3251,0,0,0,0,0,0
$GC,586,-2.20,-60.2,111.6,-17.4,58,590,0.00,2.55,0.00,0.000,4,0.000,0.028,2547,3641,3252,0,0,0,0,0,0
$GC,607,-2.30,-60.2,115.3,-18.4,59,612,0.17,2.55,0.00,0.000,6,0.067,0.029,2497,2032,3252,0,0,0,0,0,0
$GC,870,-2.30,-60.2,167.9,-19.9,83,874,0.00,2.55,0.00,0.000,4,0.000,0.035,2497,3642,3253,0,0,0,0,0,0
$GC,887,-2.30,-60.2,171.6,-18.5,84,892,0.00,2.55,0.00,0.000,6,0.000,0.029,2498,2031,3253,0,0,0,0,0,0
$GC,1153,-2.30,-60.2,222.5,-17.8,100,1157,0.00,2.58,0.00,0.000,4,0.000,0.038,2498,3646,3254,0,0,0,0,0,0
$GC,1214,-2.30,-60.2,232.8,-16.8,101,1219,0.00,2.55,0.00,0.000,6,0.000,0.031,2497,2049,3253,0,0,0,0,0,0
$GC,1475,-2.34,-60.2,276.0,-16.5,108,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2049,3253,0,0,0,0,0,0
$GC,1718,-2.38,-60.2,317.0,-17.3,114,1723,0.00,2.60,0.00,0.000,4,0.000,0.045,2498,3635,3253,0,0,0,0,0,0
$GC,1780,-2.43,-60.2,327.8,-16.6,115,1784,0.00,2.60,0.00,0.000,6,0.000,0.051,2497,2050,3253,0,0,0,0,0,0
$GC,2040,-2.48,-60.2,368.1,-15.1,122,2045,0.12,2.62,0.00,0.000,4,0.087,0.057,2462,3627,3252,0,0,0,0,0,0
$GC,2090,-2.48,-60.2,375.5,-14.2,123,2094,0.00,2.65,0.00,0.000,6,0.000,0.056,2462,2039,3251,0,0,0,0,0,0
$GC,2363,-2.48,-60.2,414.5,-14.8,130,2368,0.00,2.88,0.00,0.000,4,0.000,0.110,2462,466,3250,0,0,0,0,0,0
$GC,2413,-2.42,-60.2,423.9,-18.4,131,2418,0.10,2.58,0.00,0.000,6,0.156,0.048,2479,2027,3250,0,0,0,0,0,0
$GC,2687,-2.46,-60.2,465.5,-14.9,138,2691,0.00,2.78,0.00,0.000,4,0.000,0.077,2478,3634,3248,0,0,0,0,0,0
$GC,2726,-2.51,-60.2,471.9,-15.3,139,2730,0.00,2.70,0.00,0.000,6,0.000,0.065,2479,2046,3248,0,0,0,0,0,0
$STATE,2925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2925,begin apogee
$GC,2930,-0.31,0.0,500.9,14.2,144,2986,2.17,0.00,50.65,0.907,6,0.116,0.000,2939,2046,3000,0,0,0,0,0,0
$STATE,2986,end apogee,CONTROL_FINISHED_OK
$STATE,2987,begin climb
$GC,2990,2.09,60.2,502.7,0.0,145,3050,2.15,3.05,51.25,0.884,4,0.047,0.113,3473,461,2755,0,0,0,0,0,0
$GC,3101,1.94,86.0,500.3,3.7,147,3131,0.22,2.67,22.98,0.856,6,0.166,0.042,3434,2059,2649,0,0,0,0,0,0
$GC,3407,1.94,87.8,477.8,7.7,155,3411,0.00,2.75,0.00,0.000,4,0.000,0.075,3434,3642,2642,0,0,0,0,0,0
$GC,3665,1.94,87.8,455.5,8.5,160,3671,0.00,2.65,0.00,0.000,6,0.000,0.044,3434,2061,2639,0,0,0,0,0,0
$GC,3915,1.95,92.4,437.0,7.2,167,3925,0.00,2.62,4.65,0.627,4,0.000,0.048,3434,3643,2624,0,0,0,0,0,0
$GC,4122,1.96,104.3,422.0,6.0,171,4141,0.00,2.62,12.40,0.818,6,0.000,0.043,3434,2062,2574,0,0,0,0,0,0
$GC,4421,1.97,114.1,403.2,6.4,179,4432,0.00,0.00,9.48,0.782,6,0.000,0.000,3434,2062,2535,0,0,0,0,0,0
$GC,4664,1.97,114.1,381.4,9.3,185,4669,0.00,2.60,0.00,0.000,4,0.000,0.047,3434,3647,2532,0,0,0,0,0,0
$GC,4693,1.97,114.1,378.7,9.4,185,4697,0.00,2.62,0.00,0.000,6,0.000,0.046,3434,2049,2531,0,0,0,0,0,0
$GC,4942,1.97,114.1,354.4,9.8,191,4947,0.00,2.62,0.00,0.000,4,0.000,0.046,3434,3652,2529,0,0,0,0,0,0
$GC,4997,1.97,114.1,349.4,9.3,192,5002,0.00,2.60,0.00,0.000,6,0.000,0.041,3434,2063,2529,0,0,0,0,0,0
$GC,5265,1.97,114.1,326.6,8.5,199,5269,0.00,2.58,0.00,0.000,4,0.000,0.042,3433,3646,2528,0,0,0,0,0,0
$GC,5365,1.98,118.2,318.7,7.3,201,5369,0.00,2.58,0.00,0.000,6,0.000,0.038,3434,2064,2527,0,0,0,0,0,0
$GC,5633,2.02,126.4,301.3,6.6,208,5645,0.00,0.00,10.65,0.749,6,0.000,0.000,3434,2064,2485,0,0,0,0,0,0
$GC,5875,2.07,127.3,282.6,7.9,214,5877,0.12,0.00,0.00,0.000,6,0.157,0.000,3460,2064,2482,0,0,0,0,0,0
$GC,6118,2.07,127.3,261.6,8.3,220,6123,0.00,2.58,0.00,0.000,4,0.000,0.042,3460,3651,2481,0,0,0,0,0,0
$GC,6376,2.07,127.3,241.9,8.0,225,6381,0.00,2.55,0.00,0.000,6,0.000,0.038,3460,2070,2480,0,0,0,0,0,0
$GC,6625,2.07,127.3,222.6,8.0,232,6630,0.00,2.55,0.00,0.000,4,0.000,0.038,3460,3651,2480,0,0,0,0,0,0
$GC,6799,2.08,139.9,209.0,5.9,236,6819,0.00,2.53,12.70,0.690,6,0.000,0.032,3460,2075,2429,0,0,0,0,0,0
$GC,7077,2.13,146.2,190.5,7.0,250,7089,0.00,2.55,6.43,0.593,4,0.000,0.040,3460,3654,2404,0,0,0,0,0,0
$GC,7160,2.14,154.5,184.8,6.6,257,7174,0.00,2.53,8.95,0.631,6,0.000,0.038,3460,2082,2370,0,0,0,0,0,0
$GC,7441,2.18,154.5,159.3,10.5,283,7446,0.10,2.53,0.00,0.000,4,0.124,0.034,3482,3654,2368,0,0,0,0,0,0
$GC,7709,2.18,154.5,130.3,10.7,305,7715,0.00,2.47,0.00,0.000,6,0.000,0.034,3483,2104,2367,0,0,0,0,0,0
$GC,7974,2.23,161.3,107.3,6.9,330,7989,0.00,2.53,7.30,0.540,4,0.000,0.037,3483,3654,2342,0,0,0,0,0,0
$GC,8259,2.28,169.9,87.0,6.6,353,8279,0.10,2.45,8.70,0.535,6,0.110,0.035,3506,2116,2309,0,0,0,0,0,0
$GC,8534,2.29,172.6,62.0,7.6,379,8544,0.00,0.00,4.05,0.392,6,0.000,0.000,3506,2116,2297,0,0,0,0,0,0
$GC,8804,2.34,183.0,46.1,6.3,404,8821,0.00,2.50,10.93,0.515,4,0.000,0.031,3505,3649,2254,0,0,0,0,0,0
$GC,8846,2.39,189.7,43.3,6.9,407,8861,0.10,2.45,7.38,0.476,6,0.108,0.035,3529,2115,2226,0,0,0,0,0,0
$GC,9148,2.39,189.7,13.8,11.6,443,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2115,2224,0,0,0,0,0,0
$STATE,9232,end climb,SURFACE_DEPTH_REACHED
$STATE,9232,begin surface coast
$FINISH,0.2,1.015384
$STATE,9281,end surface coast,CONTROL_FINISHED_OK
$STATE,9281,begin surface
$SM_CCo,9305,190.75,0.487,1,0,1288,420.20
$SM_GC,0.83,0.00,0.00,190.75,0.000,0.000,0.487,483,2023,1288,-11.62,-0.74,420.20
$IRIDIUM_FIX,2136.49,-15814.93,081199,080800
$TT8_MAMPS,0.026078
$HUMID,40.23
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.40
$XPDR_PINGS,43
$24V_AH,23.6,4.822
$10V_AH,10.4,4.518
$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,28.700,104.025,228.475,190.750,0.000,25.016,27.031,169.154,10.750,0.000,14.383,987.688,5891.208,500.153,2000.789,474.273,33.336,1226.312,0.000,1998.878,0.000,0.535,0.000
$DEVICE_MAMPS,166.439,112.749,907.361,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,312.629,298.173,354.611,706.190,1068.280,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356040
$DATA_FILE_SIZE,35344,462
$CAP_FILE_SIZE,100942,0
$CFSIZE,260165632,182796288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140810,142407,2145.101,-15814.710,32,1.0,32,9.9