version: 66.06
glider: 146
mission: 5
dive: 359
start: 10 8 110 2 47 59
data:
$ID,146
$MISSION,5
$DIVE,359
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,750
$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,360
$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,120
$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,-254595.05
$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,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$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
$GPS1,023749,2249.174,-15753.550,6,1.4,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.7
$GPS2,024706,2249.135,-15753.488,12,1.5,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.101,0.212
$KALMAN_X,-278446.6,241.4,-316.3,307974.5,473.6
$KALMAN_Y,-508827.2,-256.5,-469.9,636522.1,-425.5
$MHEAD_RNG_PITCHd_Wd,324.3,16620,-19.8,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.47,0.000,2,0.000,0.000,480,1736,3216,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.1,-5.1,10,126,11.15,2.58,-5.25,0.000,4,0.136,0.037,2689,3335,3479,0,0,0,0,0,0
$GC,269,-1.29,-116.8,35.4,-15.7,32,274,0.12,2.45,0.00,0.000,6,0.114,0.029,2716,1797,3481,0,0,0,0,0,0
$GC,536,-1.21,-116.8,76.1,-14.5,56,540,0.00,2.75,0.00,0.000,4,0.000,0.059,2717,187,3481,0,0,0,0,0,0
$GC,592,-1.16,-116.8,84.5,-13.8,60,597,0.15,2.40,0.00,0.000,6,0.107,0.015,2748,1793,3481,0,0,0,0,0,0
$GC,855,-1.21,-116.8,112.3,-10.2,84,859,0.00,2.35,0.00,0.000,4,0.000,0.023,2748,3308,3482,0,0,0,0,0,0
$GC,890,-1.31,-116.8,116.1,-10.9,86,898,0.10,2.50,0.00,0.000,6,0.037,0.027,2704,1763,3482,0,0,0,0,0,0
$GC,1157,-1.31,-116.8,144.7,-9.9,111,1161,0.00,2.67,0.00,0.000,4,0.000,0.063,2704,189,3482,0,0,0,0,0,0
$GC,1178,-1.31,-116.8,147.6,-10.2,112,1189,0.00,2.40,0.00,0.000,6,0.000,0.017,2704,1764,3482,0,0,0,0,0,0
$GC,1443,-1.31,-116.8,173.5,-10.2,137,1447,0.00,2.42,0.00,0.000,4,0.000,0.028,2704,3323,3482,0,0,0,0,0,0
$GC,1475,-1.31,-116.8,176.7,-10.2,139,1480,0.00,2.47,0.00,0.000,6,0.000,0.028,2704,1773,3482,0,0,0,0,0,0
$GC,1736,-1.31,-116.8,204.8,-10.7,160,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1773,3482,0,0,0,0,0,0
$GC,1978,-1.31,-116.8,229.7,-10.3,166,1983,0.00,2.67,0.00,0.000,4,0.000,0.070,2704,197,3482,0,0,0,0,0,0
$GC,1994,-1.31,-116.8,231.7,-10.6,166,1998,0.00,2.38,0.00,0.000,6,0.000,0.022,2704,1773,3482,0,0,0,0,0,0
$GC,2263,-1.31,-116.8,259.7,-10.7,173,2267,0.00,2.45,0.00,0.000,4,0.000,0.035,2703,3336,3482,0,0,0,0,0,0
$GC,2312,-1.38,-116.8,265.0,-10.3,174,2317,0.00,2.50,0.00,0.000,6,0.000,0.031,2704,1789,3482,0,0,0,0,0,0
$GC,2584,-1.38,-116.8,292.2,-10.1,181,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1785,3481,0,0,0,0,0,0
$STATE,2703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2703,begin apogee
$GC,2710,-0.31,0.0,303.3,9.2,184,2809,1.00,0.00,95.43,0.725,6,0.073,0.000,2931,1785,3000,0,0,0,0,0,0
$STATE,2810,end apogee,CONTROL_FINISHED_OK
$STATE,2810,begin climb
$GC,2812,1.38,116.8,305.8,0.0,186,2919,1.50,2.78,96.50,0.713,4,0.041,0.070,3301,244,2523,0,0,0,0,0,0
$GC,2966,1.26,168.0,303.4,7.0,189,3016,0.12,2.42,43.05,0.700,6,0.132,0.025,3276,1807,2316,0,0,0,0,0,0
$GC,3266,1.30,199.7,280.1,8.2,197,3301,0.00,2.62,27.38,0.686,4,0.000,0.034,3277,3383,2185,0,0,0,0,0,0
$GC,3359,1.30,204.8,271.8,9.7,199,3369,0.00,2.58,5.30,0.518,6,0.000,0.040,3277,1820,2166,0,0,0,0,0,0
$GC,3637,1.32,222.0,245.9,9.0,206,3655,0.00,0.00,16.12,0.656,6,0.000,0.000,3277,1820,2095,0,0,0,0,0,0
$GC,3882,1.40,250.2,224.5,8.4,212,3913,0.12,2.58,25.10,0.665,4,0.117,0.033,3309,3393,1980,0,0,0,0,0,0
$GC,3960,1.40,252.2,217.0,9.9,213,3965,0.00,2.62,0.00,0.000,6,0.000,0.042,3309,1814,1978,0,0,0,0,0,0
$GC,4215,1.41,264.2,193.8,9.3,223,4236,0.00,2.80,12.90,0.617,4,0.000,0.066,3310,243,1922,0,0,0,0,0,0
$GC,4256,1.36,268.3,190.1,9.8,226,4267,0.00,2.47,5.12,0.488,6,0.000,0.022,3309,1818,1907,0,0,0,0,0,0
$GC,4522,1.36,268.3,159.8,11.4,251,4526,0.00,2.55,0.00,0.000,4,0.000,0.038,3309,3396,1904,0,0,0,0,0,0
$GC,4649,1.41,268.3,146.4,10.5,261,4654,0.00,2.55,0.00,0.000,6,0.000,0.037,3309,1838,1902,0,0,0,0,0,0
$GC,4917,1.44,294.1,121.5,8.5,285,4945,0.00,2.78,22.83,0.601,4,0.000,0.063,3309,239,1801,0,0,0,0,0,0
$GC,4973,1.45,302.7,116.3,9.5,289,4987,0.00,2.53,8.80,0.533,6,0.000,0.019,3309,1847,1766,0,0,0,0,0,0
$GC,5255,1.53,314.9,91.0,9.3,315,5279,0.10,2.55,11.43,0.544,4,0.090,0.028,3338,3395,1716,0,0,0,0,0,0
$GC,5306,1.58,314.9,85.3,11.0,319,5311,0.00,2.58,0.00,0.000,6,0.000,0.039,3338,1830,1715,0,0,0,0,0,0
$GC,5574,1.61,314.9,57.4,10.2,343,5579,0.00,2.70,0.00,0.000,4,0.000,0.064,3338,236,1713,0,0,0,0,0,0
$GC,5620,1.61,314.9,51.9,11.7,346,5625,0.00,2.50,0.00,0.000,6,0.000,0.019,3338,1843,1712,0,0,0,0,0,0
$GC,5900,1.62,316.3,23.7,9.9,374,5909,0.00,2.75,0.00,0.000,4,0.000,0.056,3338,247,1712,0,0,0,0,0,0
$GC,5927,1.62,317.9,20.8,9.9,377,5936,0.00,2.45,0.00,0.000,6,0.000,0.018,3337,1820,1712,0,0,0,0,0,0
$STATE,6100,end climb,SURFACE_DEPTH_REACHED
$STATE,6102,begin surface coast
$FINISH,0.2,1.009950
$STATE,6151,end surface coast,CONTROL_FINISHED_OK
$STATE,6151,begin surface
$SM_CCo,6174,90.97,0.457,1,0,1287,420.20
$SM_GC,1.09,0.00,0.00,90.97,0.000,0.000,0.457,476,1743,1287,-11.61,-0.76,420.20
$IRIDIUM_FIX,2239.35,-15714.18,020100,000057
$TT8_MAMPS,0.026078
$HUMID,47.59
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,22.80
$XPDR_PINGS,32
$24V_AH,23.6,50.349
$10V_AH,10.2,48.921
$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,25.975,81.875,369.950,90.975,0.000,24.267,37.562,293.699,8.000,0.000,29.651,794.015,3227.459,500.914,1669.320,638.059,33.363,1062.856,0.000,1658.284,0.000,0.536,0.000
$DEVICE_MAMPS,135.759,116.584,724.815,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,275.559,269.321,368.858,745.262,1122.489,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,31916,409
$CAP_FILE_SIZE,79750,0
$CFSIZE,260165632,161091584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,043337,2249.181,-15753.211,25,1.6,26,10.1