version: 66.06
glider: 146
mission: 5
dive: 9
start: 8 14 110 2 39 56
data:
$ID,146
$MISSION,5
$DIVE,9
$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,-247311.61
$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,18
$R_STBD_OVSHOOT,56
$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
$GPS1,023226,2141.040,-15812.576,24,2.5,43,9.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-66.9
$GPS2,023900,2141.012,-15812.578,37,1.5,41,9.9
$SPEED_LIMITS,0.115,0.241
$TGT_NAME,NDD
$TGT_LATLONG,2143.350,-15815.100
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.115,0.211
$KALMAN_X,2571.0,787.4,409.2,-7153.9,-655.4
$KALMAN_Y,377.9,381.9,-363.3,403.2,-184.0
$MHEAD_RNG_PITCHd_Wd,321.4,6130,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-86.05,0.000,2,0.000,0.000,478,2144,3476,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.4,-6.4,11,133,11.68,2.40,-2.05,0.000,4,0.143,0.048,2771,3611,3601,0,0,0,0,0,0
$GC,184,-1.00,-146.0,27.3,-15.2,21,193,0.00,2.55,0.00,0.000,6,0.000,0.035,2771,2035,3601,0,0,0,0,0,0
$GC,456,-0.88,-146.0,64.0,-13.4,47,462,0.20,2.62,0.00,0.000,4,0.099,0.058,2815,470,3601,0,0,0,0,0,0
$GC,526,-0.88,-146.0,72.2,-10.3,52,530,0.00,2.40,0.00,0.000,6,0.000,0.024,2815,2051,3602,0,0,0,0,0,0
$GC,791,-0.92,-146.0,93.3,-6.7,76,796,0.00,2.65,0.00,0.000,4,0.000,0.055,2815,469,3602,0,0,0,0,0,0
$GC,896,-0.98,-146.0,102.5,-9.0,84,905,0.00,2.35,0.00,0.000,6,0.000,0.025,2815,2004,3602,0,0,0,0,0,0
$GC,1163,-1.04,-146.0,123.1,-7.6,109,1168,0.12,2.60,0.00,0.000,4,0.079,0.064,2772,469,3602,0,0,0,0,0,0
$GC,1208,-1.04,-146.0,128.2,-10.1,112,1219,0.00,2.35,0.00,0.000,6,0.000,0.021,2772,2006,3602,0,0,0,0,0,0
$GC,1471,-1.04,-146.0,154.3,-8.0,137,1475,0.00,2.58,0.00,0.000,4,0.000,0.059,2772,470,3602,0,0,0,0,0,0
$GC,1504,-1.04,-146.0,156.8,-8.6,139,1509,0.00,2.33,0.00,0.000,6,0.000,0.020,2772,2002,3602,0,0,0,0,0,0
$GC,1771,-1.04,-146.0,181.2,-10.4,163,1775,0.00,2.58,0.00,0.000,4,0.000,0.064,2772,473,3602,0,0,0,0,0,0
$GC,1823,-1.04,-146.0,187.1,-10.2,167,1827,0.00,2.30,0.00,0.000,6,0.000,0.025,2772,1987,3602,0,0,0,0,0,0
$GC,2108,-1.04,-146.0,215.7,-9.6,182,2112,0.00,2.55,0.00,0.000,4,0.000,0.061,2772,471,3602,0,0,0,0,0,0
$GC,2242,-1.04,-146.0,227.0,-8.7,185,2246,0.00,2.30,0.00,0.000,6,0.000,0.028,2772,1972,3601,0,0,0,0,0,0
$GC,2520,-1.04,-146.0,249.0,-7.9,192,2525,0.00,2.55,0.00,0.000,4,0.000,0.071,2772,477,3601,0,0,0,0,0,0
$GC,2560,-1.04,-146.0,252.1,-8.0,193,2564,0.00,2.28,0.00,0.000,6,0.000,0.025,2772,1948,3601,0,0,0,0,0,0
$GC,2845,-1.04,-146.0,272.0,-7.1,200,2849,0.00,2.50,0.00,0.000,4,0.000,0.074,2772,476,3600,0,0,0,0,0,0
$GC,2906,-1.07,-146.0,276.7,-7.6,201,2910,0.00,2.28,0.00,0.000,6,0.000,0.035,2772,1923,3600,0,0,0,0,0,0
$GC,3167,-1.07,-146.0,295.3,-7.1,208,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1922,3599,0,0,0,0,0,0
$GC,3411,-1.11,-146.0,313.5,-7.5,214,3416,0.00,2.50,0.00,0.000,4,0.000,0.073,2772,469,3597,0,0,0,0,0,0
$GC,3439,-1.11,-146.0,315.5,-6.4,214,3443,0.00,2.30,0.00,0.000,6,0.000,0.028,2772,1920,3597,0,0,0,0,0,0
$GC,3689,-1.15,-146.0,330.2,-5.9,220,3694,0.00,2.50,0.00,0.000,4,0.000,0.082,2772,476,3596,0,0,0,0,0,0
$GC,3769,-1.22,-146.0,335.4,-6.7,221,3775,0.12,2.28,0.00,0.000,6,0.084,0.038,2736,1902,3595,0,0,0,0,0,0
$STATE,3975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3975,begin apogee
$GC,3982,-0.31,0.0,353.2,8.7,227,4101,0.90,0.00,116.10,0.802,6,0.081,0.000,2939,2028,3001,0,0,0,0,0,0
$STATE,4102,end apogee,CONTROL_FINISHED_OK
$STATE,4102,begin climb
$GC,4105,1.06,146.0,356.9,0.0,230,4234,1.25,2.67,119.43,0.777,4,0.059,0.053,3243,3624,2404,0,0,0,0,0,0
$GC,4315,0.92,146.0,351.5,8.6,235,4320,0.15,2.58,0.00,0.000,6,0.123,0.044,3214,2058,2397,0,0,0,0,0,0
$GC,4599,0.86,171.5,331.0,7.1,242,4622,0.00,0.00,21.45,0.746,6,0.000,0.000,3213,2058,2301,0,0,0,0,0,0
$GC,4843,0.81,191.9,313.8,7.3,248,4868,0.12,2.90,17.98,0.738,4,0.134,0.086,3189,469,2217,0,0,0,0,0,0
$GC,4975,0.75,191.9,303.5,8.7,251,4979,0.00,2.47,0.00,0.000,6,0.000,0.028,3189,2025,2214,0,0,0,0,0,0
$GC,5258,0.80,237.4,285.3,6.3,258,5299,0.00,0.00,39.05,0.754,6,0.000,0.000,3189,2025,2033,0,0,0,0,0,0
$GC,5544,0.83,260.7,266.5,7.2,265,5566,0.00,0.00,20.73,0.727,6,0.000,0.000,3189,2026,1938,0,0,0,0,0,0
$GC,5787,0.85,271.6,247.1,7.6,271,5802,0.00,2.72,10.35,0.673,4,0.000,0.065,3189,459,1892,0,0,0,0,0,0
$GC,5853,0.85,271.6,241.1,10.0,272,5858,0.00,2.47,0.00,0.000,6,0.000,0.022,3188,2028,1890,0,0,0,0,0,0
$GC,6109,0.89,312.1,223.8,6.5,279,6150,0.00,2.75,35.10,0.713,4,0.000,0.066,3189,458,1727,0,0,0,0,0,0
$GC,6178,0.90,315.0,218.6,7.9,280,6182,0.00,2.45,0.00,0.000,6,0.000,0.028,3189,2016,1724,0,0,0,0,0,0
$GC,6434,0.98,341.2,200.4,7.1,287,6466,0.15,2.72,25.12,0.683,4,0.074,0.063,3228,459,1607,0,0,0,0,0,0
$GC,6532,0.95,341.2,191.7,9.6,293,6536,0.00,2.40,0.00,0.000,6,0.000,0.021,3228,1990,1604,0,0,0,0,0,0
$GC,6796,0.95,341.2,169.5,8.5,317,6800,0.00,2.60,0.00,0.000,4,0.000,0.061,3228,464,1602,0,0,0,0,0,0
$GC,6827,0.90,341.2,166.8,9.7,319,6832,0.12,2.38,0.00,0.000,6,0.127,0.021,3205,1993,1601,0,0,0,0,0,0
$GC,7093,0.93,341.2,144.1,8.5,343,7097,0.00,2.58,0.00,0.000,4,0.000,0.064,3204,463,1601,0,0,0,0,0,0
$GC,7124,0.93,341.2,141.1,10.3,345,7128,0.00,2.35,0.00,0.000,6,0.000,0.025,3204,1988,1600,0,0,0,0,0,0
$GC,7392,1.00,341.2,118.2,8.2,369,7397,0.10,2.55,0.00,0.000,4,0.102,0.058,3232,461,1600,0,0,0,0,0,0
$GC,7462,1.00,341.2,110.5,10.5,374,7471,0.00,2.35,0.00,0.000,6,0.000,0.024,3232,1966,1600,0,0,0,0,0,0
$GC,7729,1.00,341.2,86.7,8.3,399,7733,0.00,2.55,0.00,0.000,4,0.000,0.063,3232,458,1599,0,0,0,0,0,0
$GC,7792,1.00,341.2,80.0,9.9,404,7797,0.00,2.30,0.00,0.000,6,0.000,0.020,3232,1955,1599,0,0,0,0,0,0
$GC,8059,1.01,346.6,58.0,7.8,428,8073,0.00,2.67,4.32,0.403,4,0.000,0.033,3232,3617,1588,0,0,0,0,0,0
$GC,8117,1.12,359.2,53.0,7.6,432,8140,0.00,2.70,12.55,0.528,6,0.000,0.037,3232,1946,1536,0,0,0,0,0,0
$GC,8397,1.18,361.0,31.9,8.0,458,8402,0.15,2.50,0.00,0.000,4,0.123,0.059,3271,457,1534,0,0,0,0,0,0
$GC,8491,1.18,361.0,22.1,10.3,470,8500,0.00,2.30,0.00,0.000,6,0.000,0.019,3271,1946,1533,0,0,0,0,0,0
$STATE,8693,end climb,SURFACE_DEPTH_REACHED
$STATE,8693,begin surface coast
$FINISH,0.1,1.023135
$STATE,8754,end surface coast,CONTROL_FINISHED_OK
$STATE,8754,begin surface
$SM_CCo,8776,58.75,0.428,1,0,1288,420.20
$SM_GC,0.83,0.00,0.00,58.75,0.000,0.000,0.428,480,2146,1288,-11.64,2.71,420.20
$IRIDIUM_FIX,2131.85,-15733.16,081199,000043
$TT8_MAMPS,0.026078
$HUMID,43.85
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.00
$XPDR_PINGS,45
$24V_AH,23.7,4.477
$10V_AH,10.4,4.145
$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,26.475,110.000,422.175,58.750,0.000,24.914,32.978,180.972,11.250,0.000,44.545,1014.295,5116.742,534.467,2077.493,495.987,33.327,1261.212,0.000,2058.902,0.000,0.536,0.000
$DEVICE_MAMPS,142.662,85.904,802.282,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.148,355.752,431.415,850.148,1285.957,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356076
$DATA_FILE_SIZE,41558,509
$CAP_FILE_SIZE,100689,0
$CFSIZE,260165632,182968320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140810,050836,2141.504,-15814.112,29,0.8,39,9.9