version: 66.06
glider: 146
mission: 5
dive: 13
start: 8 14 110 14 30 38
data:
$ID,146
$MISSION,5
$DIVE,13
$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,-247411.06
$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,45
$R_STBD_OVSHOOT,22
$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
$GPS1,142407,2145.101,-15814.710,32,1.0,32,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-66.4
$GPS2,142944,2145.093,-15814.752,13,1.1,13,9.9
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NEXT
$TGT_LATLONG,2144.950,-15814.050
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.091,-0.069
$KALMAN_X,2507.5,-956.7,515.3,-9196.9,264.5
$KALMAN_Y,504.8,-139.4,-159.8,8150.5,444.5
$MHEAD_RNG_PITCHd_Wd,117.1,1236,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-2.06,-32.0,0.0,0.0,0,97,0.00,0.00,-76.95,0.000,6,0.000,0.000,483,2024,3133,0,0,0,0,0,0
$GC,100,-2.09,-62.3,2.5,-2.9,10,126,10.70,2.62,-2.62,0.000,4,0.149,0.061,2546,487,3257,0,0,0,0,0,0
$GC,151,-1.64,-62.3,17.9,-30.5,16,161,0.47,2.47,0.00,0.000,6,0.112,0.024,2648,2089,3257,0,0,0,0,0,0
$GC,429,-1.84,-62.3,67.0,-15.3,44,434,0.17,2.70,0.00,0.000,4,0.069,0.058,2599,485,3258,0,0,0,0,0,0
$GC,502,-1.93,-62.3,82.4,-21.0,49,507,0.00,2.35,0.00,0.000,6,0.000,0.017,2600,2040,3258,0,0,0,0,0,0
$GC,764,-2.10,-62.3,125.3,-14.4,74,769,0.20,2.60,0.00,0.000,4,0.067,0.058,2546,490,3259,0,0,0,0,0,0
$GC,865,-2.10,-62.3,142.7,-17.4,82,869,0.00,2.33,0.00,0.000,6,0.000,0.025,2545,2019,3259,0,0,0,0,0,0
$GC,1131,-2.19,-62.3,188.2,-17.0,106,1136,0.00,2.58,0.00,0.000,4,0.000,0.058,2546,484,3260,0,0,0,0,0,0
$GC,1195,-2.19,-62.3,200.8,-19.2,111,1199,0.00,2.33,0.00,0.000,6,0.000,0.019,2545,2011,3260,0,0,0,0,0,0
$GC,1456,-2.30,-62.3,240.8,-14.9,118,1461,0.15,2.60,0.00,0.000,4,0.078,0.061,2506,491,3260,0,0,0,0,0,0
$GC,1483,-2.30,-62.3,245.3,-16.0,118,1487,0.00,2.35,0.00,0.000,6,0.000,0.023,2506,2010,3260,0,0,0,0,0,0
$GC,1734,-2.35,-62.3,286.2,-16.9,124,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2011,3260,0,0,0,0,0,0
$GC,1977,-2.41,-62.3,322.2,-14.9,130,1981,0.00,2.60,0.00,0.000,4,0.000,0.048,2505,3612,3260,0,0,0,0,0,0
$GC,1992,-2.47,-62.3,324.9,-15.5,130,1998,0.15,2.55,0.00,0.000,6,0.077,0.047,2465,2048,3260,0,0,0,0,0,0
$GC,2254,-2.47,-62.3,369.3,-17.1,137,2259,0.00,2.60,0.00,0.000,4,0.000,0.051,2465,3611,3259,0,0,0,0,0,0
$GC,2303,-2.47,-62.3,378.4,-17.4,138,2308,0.00,2.62,0.00,0.000,6,0.000,0.055,2466,2043,3259,0,0,0,0,0,0
$GC,2575,-2.47,-62.3,423.5,-17.1,145,2580,0.00,2.65,0.00,0.000,4,0.000,0.064,2465,3614,3257,0,0,0,0,0,0
$GC,2620,-2.47,-62.3,431.0,-16.2,146,2624,0.00,2.65,0.00,0.000,6,0.000,0.061,2465,2046,3257,0,0,0,0,0,0
$GC,2897,-2.47,-62.3,471.5,-14.2,153,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2045,3255,0,0,0,0,0,0
$STATE,3139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3139,begin apogee
$GC,3144,-0.31,0.0,504.4,13.3,159,3201,2.25,0.00,51.97,0.910,6,0.115,0.000,2937,2045,3001,0,0,0,0,0,0
$STATE,3202,end apogee,CONTROL_FINISHED_OK
$STATE,3202,begin climb
$GC,3205,2.09,62.3,506.1,0.0,160,3267,2.17,2.78,53.03,0.889,4,0.050,0.068,3471,3602,2746,0,0,0,0,0,0
$GC,3517,2.04,86.4,493.6,4.0,167,3543,0.00,2.65,20.77,0.865,6,0.000,0.056,3471,2050,2647,0,0,0,0,0,0
$GC,3794,1.99,86.4,473.0,8.3,174,3799,0.15,3.03,0.00,0.000,4,0.219,0.114,3447,462,2643,0,0,0,0,0,0
$GC,4053,1.87,86.4,451.5,8.4,179,4059,0.15,2.53,0.00,0.000,6,0.176,0.035,3421,2019,2640,0,0,0,0,0,0
$GC,4303,1.87,87.5,431.9,7.8,186,4307,0.00,2.72,0.00,0.000,4,0.000,0.058,3421,3636,2638,0,0,0,0,0,0
$GC,4420,1.87,87.5,423.0,8.3,188,4425,0.00,2.60,0.00,0.000,6,0.000,0.044,3421,2061,2637,0,0,0,0,0,0
$GC,4670,1.87,90.6,404.2,7.5,194,4675,0.00,2.60,0.00,0.000,4,0.000,0.044,3421,3642,2635,0,0,0,0,0,0
$GC,4871,1.89,107.6,392.4,5.2,198,4896,0.00,2.58,17.85,0.845,6,0.000,0.044,3421,2075,2561,0,0,0,0,0,0
$GC,5177,1.94,107.6,368.8,8.0,206,5181,0.00,2.58,0.00,0.000,4,0.000,0.041,3421,3646,2557,0,0,0,0,0,0
$GC,5188,1.99,108.9,367.8,7.8,206,5193,0.00,2.62,0.00,0.000,6,0.000,0.042,3421,2058,2556,0,0,0,0,0,0
$GC,5455,2.04,112.1,347.8,7.5,213,5462,0.15,0.00,4.20,0.579,6,0.126,0.000,3451,2058,2544,0,0,0,0,0,0
$GC,5698,2.04,119.4,330.5,6.8,219,5708,0.00,0.00,8.00,0.736,6,0.000,0.000,3451,2058,2514,0,0,0,0,0,0
$GC,5943,2.04,119.4,306.9,9.6,225,5947,0.00,2.60,0.00,0.000,4,0.000,0.041,3451,3649,2512,0,0,0,0,0,0
$GC,6201,2.04,119.4,283.0,8.3,230,6207,0.00,2.55,0.00,0.000,6,0.000,0.040,3451,2082,2510,0,0,0,0,0,0
$GC,6451,2.06,135.4,268.2,5.3,237,6471,0.00,2.58,14.98,0.756,4,0.000,0.044,3451,3650,2448,0,0,0,0,0,0
$GC,6605,2.06,135.4,257.0,8.1,240,6609,0.00,2.58,0.00,0.000,6,0.000,0.035,3451,2068,2445,0,0,0,0,0,0
$GC,6862,2.07,139.5,238.4,7.3,247,6872,0.00,2.58,4.43,0.543,4,0.000,0.042,3451,3646,2432,0,0,0,0,0,0
$GC,7127,2.07,139.5,215.0,9.6,252,7133,0.00,2.55,0.00,0.000,6,0.000,0.031,3451,2072,2431,0,0,0,0,0,0
$GC,7383,2.13,145.8,194.2,7.0,262,7397,0.00,2.80,7.12,0.618,4,0.000,0.063,3451,474,2406,0,0,0,0,0,0
$GC,7405,2.13,152.1,192.4,7.0,264,7420,0.10,2.50,7.32,0.612,6,0.120,0.026,3473,2087,2380,0,0,0,0,0,0
$GC,7676,2.13,152.1,165.9,9.5,289,7680,0.00,2.45,0.00,0.000,4,0.000,0.037,3472,3620,2378,0,0,0,0,0,0
$GC,7855,2.13,152.1,148.7,9.9,304,7860,0.00,2.45,0.00,0.000,6,0.000,0.030,3473,2078,2377,0,0,0,0,0,0
$GC,8118,2.13,152.1,124.9,8.8,328,8122,0.00,2.67,0.00,0.000,4,0.000,0.064,3472,474,2377,0,0,0,0,0,0
$GC,8328,2.08,152.1,105.2,8.6,345,8332,0.00,2.45,0.00,0.000,6,0.000,0.020,3472,2066,2376,0,0,0,0,0,0
$GC,8595,2.13,152.2,85.2,8.0,369,8599,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,2066,2377,0,0,0,0,0,0
$GC,8861,2.23,179.0,66.5,3.5,394,8892,0.10,2.55,24.33,0.577,4,0.102,0.038,3498,3615,2270,0,0,0,0,0,0
$GC,9174,2.27,179.0,38.9,9.8,419,9178,0.00,2.50,0.00,0.000,6,0.000,0.035,3498,2061,2267,0,0,0,0,0,0
$GC,9479,2.33,183.7,16.0,7.2,456,9489,0.00,2.50,4.95,0.406,4,0.000,0.032,3498,3617,2253,0,0,0,0,0,0
$STATE,9604,end climb,SURFACE_DEPTH_REACHED
$STATE,9604,begin surface coast
$FINISH,0.1,1.023269
$STATE,9656,end surface coast,CONTROL_FINISHED_OK
$STATE,9656,begin surface
$SM_CCo,9680,195.68,0.493,1,0,1288,420.20
$SM_GC,0.87,0.00,0.00,195.68,0.000,0.000,0.493,476,2045,1288,-11.66,-0.14,420.20
$IRIDIUM_FIX,2138.81,-15814.93,081199,111133
$TT8_MAMPS,0.025311
$HUMID,40.62
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,23.20
$XPDR_PINGS,45
$24V_AH,23.6,4.913
$10V_AH,10.4,4.632
$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,29.250,108.100,218.950,195.675,0.000,25.675,27.309,162.013,11.250,0.000,14.531,1031.327,6093.833,499.457,2127.876,469.658,33.341,1255.797,0.000,2122.101,0.000,0.536,0.000
$DEVICE_MAMPS,218.595,113.516,910.429,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.854,304.314,371.099,741.329,1121.424,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356056
$DATA_FILE_SIZE,38498,481
$CAP_FILE_SIZE,103167,0
$CFSIZE,260165632,182734848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140810,171628,2144.553,-15814.085,7,99.0,26,9.9