version: 66.06
glider: 146
mission: 5
dive: 240
start: 9 19 110 8 35 37
data:
$ID,146
$MISSION,5
$DIVE,240
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,800
$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,166
$T_MISSION,350
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-251987.81
$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,30
$R_STBD_OVSHOOT,50
$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
$GPS1,082206,2243.206,-15744.993,40,1.5,40,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-68.5
$GPS2,083443,2242.968,-15745.035,9,1.6,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.064,0.226
$KALMAN_X,-247699.2,213.1,184.2,291313.3,-835.5
$KALMAN_Y,-225394.5,-12.5,-54.2,341005.8,-3323.8
$MHEAD_RNG_PITCHd_Wd,5.6,28316,-19.8,-10.040
$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,17,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.00,0.000,6,0.000,0.000,473,1754,3478,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.6,-10.4,11,125,11.20,2.53,0.00,0.000,4,0.136,0.025,2693,3347,3481,0,0,0,0,0,0
$GC,149,-0.74,-116.8,20.5,-37.6,16,159,0.62,2.58,0.00,0.000,6,0.071,0.039,2837,1780,3481,0,0,0,0,0,0
$GC,432,-0.88,-116.8,48.4,-8.7,46,442,0.12,0.00,0.00,0.000,6,0.071,0.000,2794,1780,3482,0,0,0,0,0,0
$GC,700,-0.98,-116.8,75.4,-9.9,71,704,0.00,2.72,0.00,0.000,4,0.000,0.067,2794,187,3482,0,0,0,0,0,0
$GC,758,-1.10,-116.8,82.3,-12.3,75,763,0.15,2.42,0.00,0.000,6,0.061,0.015,2744,1817,3482,0,0,0,0,0,0
$GC,1024,-1.14,-116.8,116.5,-12.4,99,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1818,3482,0,0,0,0,0,0
$GC,1287,-1.20,-116.8,145.3,-9.2,124,1291,0.00,2.33,0.00,0.000,4,0.000,0.032,2744,3315,3483,0,0,0,0,0,0
$GC,1309,-1.27,-116.8,147.2,-10.0,125,1313,0.00,2.47,0.00,0.000,6,0.000,0.034,2743,1756,3483,0,0,0,0,0,0
$GC,1573,-1.33,-116.8,170.9,-8.5,149,1579,0.15,0.00,0.00,0.000,6,0.160,0.000,2696,1756,3483,0,0,0,0,0,0
$GC,1834,-1.33,-116.8,198.9,-10.8,174,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1755,3483,0,0,0,0,0,0
$GC,2089,-1.33,-116.8,227.8,-11.5,181,2093,0.00,2.45,0.00,0.000,4,0.000,0.030,2696,3306,3483,0,0,0,0,0,0
$GC,2117,-1.33,-116.8,231.2,-12.4,181,2121,0.00,2.45,0.00,0.000,6,0.000,0.035,2696,1768,3483,0,0,0,0,0,0
$GC,2366,-1.33,-116.8,260.6,-12.0,187,2371,0.00,2.72,0.00,0.000,4,0.000,0.072,2695,195,3483,0,0,0,0,0,0
$GC,2388,-1.33,-116.8,263.4,-12.0,187,2392,0.00,2.35,0.00,0.000,6,0.000,0.018,2695,1729,3482,0,0,0,0,0,0
$GC,2650,-1.33,-116.8,294.1,-11.6,194,2655,0.00,2.55,0.00,0.000,4,0.000,0.034,2695,3343,3482,0,0,0,0,0,0
$GC,2672,-1.37,-116.8,296.8,-11.7,194,2676,0.00,2.55,0.00,0.000,6,0.000,0.034,2695,1767,3482,0,0,0,0,0,0
$GC,2927,-1.37,-116.8,324.9,-11.1,201,2931,0.00,2.78,0.00,0.000,4,0.000,0.083,2695,187,3481,0,0,0,0,0,0
$GC,2949,-1.37,-116.8,327.5,-11.8,201,2953,0.00,2.40,0.00,0.000,6,0.000,0.022,2695,1742,3481,0,0,0,0,0,0
$GC,3204,-1.37,-116.8,353.3,-9.8,208,3208,0.00,2.70,0.00,0.000,4,0.000,0.081,2695,189,3480,0,0,0,0,0,0
$GC,3225,-1.37,-116.8,355.6,-10.2,208,3229,0.00,2.42,0.00,0.000,6,0.000,0.023,2695,1741,3480,0,0,0,0,0,0
$GC,3483,-1.41,-116.8,378.4,-8.8,215,3487,0.00,2.62,0.00,0.000,4,0.000,0.045,2695,3358,3479,0,0,0,0,0,0
$GC,3561,-1.48,-116.8,384.9,-7.7,216,3566,0.00,2.65,0.00,0.000,6,0.000,0.056,2695,1768,3478,0,0,0,0,0,0
$GC,3811,-1.52,-116.8,403.7,-7.6,223,3813,0.12,0.00,0.00,0.000,6,0.074,0.000,2654,1768,3476,0,0,0,0,0,0
$GC,4055,-1.52,-116.8,427.9,-10.3,229,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1768,3475,0,0,0,0,0,0
$GC,4298,-1.52,-116.8,456.1,-12.1,235,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1768,3473,0,0,0,0,0,0
$GC,4541,-1.52,-116.8,485.5,-12.0,241,4546,0.00,2.65,0.00,0.000,4,0.000,0.052,2654,3347,3472,0,0,0,0,0,0
$GC,4557,-1.52,-116.8,487.6,-12.1,241,4561,0.00,2.70,0.00,0.000,6,0.000,0.063,2654,1756,3472,0,0,0,0,0,0
$STATE,4693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4693,begin apogee
$GC,4701,-0.31,0.0,503.7,11.7,245,4801,1.25,0.00,96.97,0.913,6,0.081,0.000,2933,1837,3000,0,0,0,0,0,0
$STATE,4802,end apogee,CONTROL_FINISHED_OK
$STATE,4802,begin climb
$GC,4805,1.38,116.8,506.5,0.0,247,4918,1.55,2.70,100.93,0.892,4,0.043,0.058,3309,3378,2523,0,0,0,0,0,0
$GC,4981,1.26,116.8,499.2,10.2,251,4987,0.17,2.70,0.00,0.000,6,0.125,0.061,3275,1818,2518,0,0,0,0,0,0
$GC,5260,1.22,138.5,474.4,8.8,258,5280,0.00,0.00,18.48,0.832,6,0.000,0.000,3275,1818,2436,0,0,0,0,0,0
$GC,5505,1.18,149.5,451.3,9.4,264,5521,0.00,2.62,10.55,0.780,4,0.000,0.044,3275,3385,2391,0,0,0,0,0,0
$GC,5559,1.18,149.5,445.7,10.6,265,5564,0.00,2.67,0.00,0.000,6,0.000,0.052,3275,1826,2389,0,0,0,0,0,0
$GC,5828,1.17,170.4,422.2,8.8,272,5853,0.00,2.62,19.35,0.826,4,0.000,0.038,3275,3386,2305,0,0,0,0,0,0
$GC,5920,1.19,189.4,413.9,8.9,274,5945,0.00,2.65,18.05,0.811,6,0.000,0.049,3275,1832,2228,0,0,0,0,0,0
$GC,6197,1.22,212.9,389.4,8.7,281,6226,0.00,2.58,21.30,0.811,4,0.000,0.038,3275,3394,2131,0,0,0,0,0,0
$GC,6265,1.23,222.1,382.6,9.5,282,6282,0.00,2.60,9.43,0.732,6,0.000,0.042,3275,1840,2095,0,0,0,0,0,0
$GC,6525,1.23,222.1,356.8,10.2,289,6530,0.00,2.53,0.00,0.000,4,0.000,0.031,3275,3397,2090,0,0,0,0,0,0
$GC,6628,1.23,222.1,345.2,11.4,291,6633,0.00,2.58,0.00,0.000,6,0.000,0.041,3275,1858,2089,0,0,0,0,0,0
$GC,6895,1.24,230.0,318.2,9.6,298,6904,0.00,0.00,7.18,0.676,6,0.000,0.000,3275,1858,2063,0,0,0,0,0,0
$GC,7138,1.28,262.6,297.9,8.2,304,7171,0.00,0.00,30.65,0.772,6,0.000,0.000,3275,1858,1930,0,0,0,0,0,0
$GC,7384,1.36,294.7,278.4,8.2,310,7417,0.00,0.00,28.92,0.752,6,0.000,0.000,3275,1858,1798,0,0,0,0,0,0
$GC,7668,1.41,294.7,249.0,10.9,317,7670,0.12,0.00,0.00,0.000,6,0.137,0.000,3307,1858,1793,0,0,0,0,0,0
$GC,7912,1.41,294.7,214.6,14.5,323,7916,0.00,2.47,0.00,0.000,4,0.000,0.030,3306,3395,1791,0,0,0,0,0,0
$GC,7952,1.41,294.7,208.9,14.7,324,7956,0.00,2.50,0.00,0.000,6,0.000,0.040,3307,1869,1789,0,0,0,0,0,0
$GC,8218,1.41,294.7,173.3,12.5,343,8222,0.00,2.45,0.00,0.000,4,0.000,0.035,3307,3397,1789,0,0,0,0,0,0
$GC,8235,1.41,294.7,170.6,12.3,344,8240,0.00,2.50,0.00,0.000,6,0.000,0.040,3307,1869,1788,0,0,0,0,0,0
$GC,8498,1.41,294.7,142.3,10.1,368,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1868,1788,0,0,0,0,0,0
$GC,8753,1.43,315.5,119.0,8.8,392,8777,0.00,2.47,17.83,0.608,4,0.000,0.031,3307,3390,1713,0,0,0,0,0,0
$GC,8840,1.50,315.5,109.9,11.1,399,8845,0.00,2.45,0.00,0.000,6,0.000,0.032,3307,1877,1712,0,0,0,0,0,0
$GC,9108,1.57,315.5,76.9,12.6,423,9117,0.15,0.00,0.00,0.000,6,0.070,0.000,3349,1877,1710,0,0,0,0,0,0
$GC,9372,1.57,315.5,43.5,11.4,448,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1876,1710,0,0,0,0,0,0
$GC,9672,1.60,335.2,10.7,8.9,486,9697,0.00,2.47,17.88,0.512,4,0.000,0.031,3349,3390,1632,0,0,0,0,0,0
$STATE,9733,end climb,SURFACE_DEPTH_REACHED
$STATE,9733,begin surface coast
$FINISH,0.3,1.011559
$STATE,9777,end surface coast,CONTROL_FINISHED_OK
$STATE,9777,begin surface
$SM_CCo,9801,76.03,0.452,1,0,1287,420.20
$SM_GC,1.07,0.00,0.00,76.03,0.000,0.000,0.452,471,1758,1287,-11.63,-0.34,420.20
$IRIDIUM_FIX,2237.01,-15745.45,141299,080800
$TT8_MAMPS,0.025311
$HUMID,47.48
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.30
$XPDR_PINGS,43
$24V_AH,23.5,33.732
$10V_AH,10.3,34.711
$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,27.275,97.375,397.500,76.025,0.000,82.647,100.397,294.061,10.750,0.000,16.295,987.997,6499.661,530.315,1858.271,762.620,33.375,1206.308,0.000,1861.873,0.000,0.537,0.000
$DEVICE_MAMPS,159.536,97.409,912.730,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.274,285.443,388.878,759.507,1150.147,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,38391,500
$CAP_FILE_SIZE,103288,0
$CFSIZE,260165632,168243200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190910,112136,2242.420,-15745.182,35,1.0,35,10.1