version: 66.06
glider: 146
mission: 5
dive: 241
start: 9 19 110 11 28 1
data:
$ID,146
$MISSION,5
$DIVE,241
$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,-252004.91
$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,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,35
$R_STBD_OVSHOOT,49
$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
$GPS1,112136,2242.420,-15745.182,35,1.0,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.6
$GPS2,112707,2242.321,-15745.219,9,1.6,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.059,0.227
$KALMAN_X,-248226.6,131.5,-155.4,291944.7,-711.1
$KALMAN_Y,-228467.9,-278.3,-163.8,343254.1,-2889.7
$MHEAD_RNG_PITCHd_Wd,4.5,29552,-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,14,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.82,0.000,6,0.000,0.000,471,1756,3478,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.6,-9.6,11,125,11.27,2.53,0.00,0.000,4,0.140,0.022,2687,3361,3481,0,0,0,0,0,0
$GC,137,-0.18,-116.8,17.7,-39.2,14,147,1.20,2.58,0.00,0.000,6,0.083,0.025,2954,1771,3482,0,0,0,0,0,0
$GC,456,-0.60,-116.8,33.4,-3.2,54,465,0.32,0.00,0.00,0.000,6,0.041,0.000,2853,1771,3483,0,0,0,0,0,0
$GC,724,-0.78,-116.8,54.4,-8.7,79,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1771,3483,0,0,0,0,0,0
$GC,990,-1.00,-116.8,79.0,-8.6,104,995,0.28,2.65,0.00,0.000,4,0.045,0.058,2767,198,3484,0,0,0,0,0,0
$GC,1013,-1.16,-116.8,81.2,-8.8,105,1017,0.00,2.40,0.00,0.000,6,0.000,0.022,2767,1817,3484,0,0,0,0,0,0
$GC,1280,-1.24,-116.8,111.0,-9.8,129,1285,0.15,0.00,0.00,0.000,6,0.060,0.000,2712,1818,3484,0,0,0,0,0,0
$GC,1542,-1.24,-116.8,141.5,-11.2,154,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1819,3485,0,0,0,0,0,0
$GC,1799,-1.24,-116.8,171.5,-11.9,178,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1819,3486,0,0,0,0,0,0
$GC,2069,-1.24,-116.8,205.4,-12.4,201,2073,0.00,2.78,0.00,0.000,4,0.000,0.066,2711,199,3486,0,0,0,0,0,0
$GC,2101,-1.24,-116.8,209.5,-13.4,201,2107,0.00,2.33,0.00,0.000,6,0.000,0.022,2712,1755,3486,0,0,0,0,0,0
$GC,2351,-1.24,-116.8,235.9,-10.1,208,2355,0.00,2.45,0.00,0.000,4,0.000,0.026,2712,3331,3486,0,0,0,0,0,0
$GC,2397,-1.31,-116.8,240.1,-9.4,209,2401,0.00,2.47,0.00,0.000,6,0.000,0.030,2712,1780,3486,0,0,0,0,0,0
$GC,2674,-1.31,-116.8,266.4,-9.7,216,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1780,3486,0,0,0,0,0,0
$GC,2918,-1.36,-116.8,291.8,-10.4,222,2922,0.00,2.45,0.00,0.000,4,0.000,0.036,2712,3330,3486,0,0,0,0,0,0
$GC,2935,-1.42,-116.8,293.5,-10.2,222,2939,0.00,2.53,0.00,0.000,6,0.000,0.035,2712,1786,3486,0,0,0,0,0,0
$GC,3196,-1.48,-116.8,320.0,-10.0,229,3201,0.15,2.85,0.00,0.000,4,0.064,0.086,2661,186,3486,0,0,0,0,0,0
$GC,3229,-1.41,-116.8,324.4,-13.6,229,3235,0.15,2.42,0.00,0.000,6,0.107,0.021,2692,1755,3485,0,0,0,0,0,0
$GC,3480,-1.41,-116.8,353.3,-11.6,236,3484,0.00,2.72,0.00,0.000,4,0.000,0.075,2692,188,3484,0,0,0,0,0,0
$GC,3501,-1.41,-116.8,356.2,-12.1,236,3505,0.00,2.50,0.00,0.000,6,0.000,0.023,2692,1773,3484,0,0,0,0,0,0
$GC,3757,-1.45,-116.8,385.3,-11.3,243,3761,0.00,2.58,0.00,0.000,4,0.000,0.052,2692,3358,3483,0,0,0,0,0,0
$GC,3802,-1.52,-116.8,390.6,-11.4,244,3808,0.10,2.62,0.00,0.000,6,0.085,0.057,2654,1787,3483,0,0,0,0,0,0
$GC,4080,-1.52,-116.8,424.6,-11.7,251,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1787,3482,0,0,0,0,0,0
$GC,4324,-1.52,-116.8,449.0,-9.6,257,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1787,3480,0,0,0,0,0,0
$GC,4569,-1.52,-116.8,470.9,-8.7,263,4574,0.00,2.97,0.00,0.000,4,0.000,0.112,2654,185,3479,0,0,0,0,0,0
$GC,4591,-1.48,-116.8,473.3,-10.1,263,4596,0.10,2.55,0.00,0.000,6,0.129,0.037,2674,1775,3478,0,0,0,0,0,0
$GC,4846,-1.48,-116.8,496.6,-9.3,270,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1774,3477,0,0,0,0,0,0
$STATE,4884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4884,begin apogee
$GC,4892,-0.31,0.0,500.4,9.3,271,4993,1.15,0.00,97.90,0.904,6,0.080,0.000,2932,1829,3001,0,0,0,0,0,0
$STATE,4994,end apogee,CONTROL_FINISHED_OK
$STATE,4994,begin climb
$GC,4996,1.38,116.8,502.4,0.0,273,5102,1.55,0.00,100.45,0.883,6,0.049,0.000,3307,1829,2524,0,0,0,0,0,0
$GC,5333,1.28,139.7,483.0,8.7,282,5359,0.12,2.97,19.80,0.833,4,0.269,0.087,3282,233,2431,0,0,0,0,0,0
$GC,5365,1.23,177.0,480.0,7.9,282,5406,0.00,2.58,34.53,0.848,6,0.000,0.031,3282,1815,2278,0,0,0,0,0,0
$GC,5660,1.18,177.0,449.2,10.6,290,5665,0.12,2.70,0.00,0.000,4,0.130,0.053,3258,3410,2271,0,0,0,0,0,0
$GC,5727,1.20,195.8,442.6,9.0,291,5750,0.00,2.70,16.38,0.808,6,0.000,0.053,3258,1823,2201,0,0,0,0,0,0
$GC,6032,1.23,222.3,416.1,8.5,299,6062,0.00,2.65,24.05,0.822,4,0.000,0.037,3258,3411,2093,0,0,0,0,0,0
$GC,6091,1.30,242.2,410.6,8.9,300,6118,0.10,2.70,19.08,0.800,6,0.100,0.052,3283,1829,2012,0,0,0,0,0,0
$GC,6362,1.30,242.2,382.4,10.5,307,6366,0.00,2.60,0.00,0.000,4,0.000,0.034,3283,3423,2006,0,0,0,0,0,0
$GC,6388,1.30,242.2,379.2,11.0,307,6393,0.00,2.70,0.00,0.000,6,0.000,0.043,3283,1818,2005,0,0,0,0,0,0
$GC,6644,1.30,242.2,350.6,11.3,314,6648,0.00,2.60,0.00,0.000,4,0.000,0.037,3283,3422,2003,0,0,0,0,0,0
$GC,6676,1.30,242.2,346.7,11.3,314,6682,0.00,2.62,0.00,0.000,6,0.000,0.046,3283,1832,2002,0,0,0,0,0,0
$GC,6928,1.30,242.2,317.0,12.2,321,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1832,2002,0,0,0,0,0,0
$GC,7170,1.30,242.2,289.2,11.1,327,7174,0.00,2.58,0.00,0.000,4,0.000,0.035,3283,3426,2000,0,0,0,0,0,0
$GC,7225,1.36,242.2,283.4,10.2,328,7229,0.00,2.62,0.00,0.000,6,0.000,0.038,3283,1830,2000,0,0,0,0,0,0
$GC,7494,1.36,242.2,256.4,10.1,335,7498,0.00,2.53,0.00,0.000,4,0.000,0.035,3283,3416,2000,0,0,0,0,0,0
$GC,7526,1.40,242.2,252.9,10.3,335,7532,0.00,2.55,0.00,0.000,6,0.000,0.040,3283,1841,1999,0,0,0,0,0,0
$GC,7776,1.40,242.2,227.4,10.2,342,7780,0.00,2.53,0.00,0.000,4,0.000,0.029,3283,3416,1999,0,0,0,0,0,0
$GC,7838,1.48,254.4,221.7,9.3,343,7854,0.17,2.55,9.77,0.653,6,0.072,0.040,3327,1855,1962,0,0,0,0,0,0
$GC,8106,1.43,254.4,192.7,11.7,352,8110,0.00,2.53,0.00,0.000,4,0.000,0.035,3327,3428,1961,0,0,0,0,0,0
$GC,8135,1.43,254.4,188.8,11.5,354,8139,0.00,2.58,0.00,0.000,6,0.000,0.039,3327,1854,1960,0,0,0,0,0,0
$GC,8399,1.40,254.4,157.5,11.7,378,8408,0.12,0.00,0.00,0.000,6,0.158,0.000,3302,1854,1960,0,0,0,0,0,0
$GC,8664,1.40,254.4,126.9,12.0,403,8668,0.00,2.50,0.00,0.000,4,0.000,0.033,3303,3422,1960,0,0,0,0,0,0
$GC,8699,1.45,254.4,122.2,12.5,405,8704,0.00,2.53,0.00,0.000,6,0.000,0.038,3302,1854,1959,0,0,0,0,0,0
$GC,8961,1.53,318.6,98.9,6.3,430,9025,0.12,2.55,55.62,0.604,4,0.082,0.028,3336,3426,1702,0,0,0,0,0,0
$GC,9078,1.59,320.1,88.7,10.0,439,9084,0.00,2.53,0.00,0.000,6,0.000,0.034,3336,1877,1698,0,0,0,0,0,0
$GC,9346,1.63,325.7,64.2,9.7,464,9361,0.00,2.50,6.85,0.482,4,0.000,0.027,3336,3412,1673,0,0,0,0,0,0
$GC,9390,1.70,325.7,59.4,10.9,467,9395,0.15,2.47,0.00,0.000,6,0.080,0.033,3373,1885,1672,0,0,0,0,0,0
$GC,9662,1.70,325.7,25.5,12.3,493,9672,0.00,2.47,0.00,0.000,4,0.000,0.027,3373,3422,1671,0,0,0,0,0,0
$GC,9696,1.70,325.7,21.0,13.5,497,9706,0.00,2.50,0.00,0.000,6,0.000,0.040,3373,1902,1671,0,0,0,0,0,0
$STATE,9823,end climb,SURFACE_DEPTH_REACHED
$STATE,9824,begin surface coast
$FINISH,0.2,1.001453
$STATE,9861,end surface coast,CONTROL_FINISHED_OK
$STATE,9861,begin surface
$SM_CCo,9883,86.60,0.458,1,0,1287,420.20
$SM_GC,0.91,0.00,0.00,86.60,0.000,0.000,0.458,476,1746,1287,-11.61,-0.68,420.20
$IRIDIUM_FIX,2234.68,-15747.62,141299,080835
$TT8_MAMPS,0.026078
$HUMID,47.12
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.30
$XPDR_PINGS,43
$24V_AH,23.5,33.845
$10V_AH,10.3,34.831
$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,29.150,113.975,384.425,86.600,0.000,23.082,34.143,142.926,10.750,0.000,16.461,1017.030,6288.691,535.161,1994.885,473.412,33.376,1248.480,0.000,1997.548,0.000,0.534,0.000
$DEVICE_MAMPS,269.217,127.322,903.526,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.533,296.452,411.243,836.371,1266.142,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,41646,520
$CAP_FILE_SIZE,103555,0
$CFSIZE,260165632,168185856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190910,141536,2241.838,-15745.292,38,1.1,38,10.1