version: 66.06
glider: 146
mission: 5
dive: 242
start: 9 19 110 14 22 18
data:
$ID,146
$MISSION,5
$DIVE,242
$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,-252037.38
$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,49
$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
$GPS1,141536,2241.838,-15745.292,38,1.1,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-68.7
$GPS2,142125,2241.752,-15745.312,13,1.9,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.020,0.234
$KALMAN_X,-248715.6,-36.0,-251.1,292535.3,-260.4
$KALMAN_Y,-231675.2,-453.6,-86.4,345507.8,-2628.9
$MHEAD_RNG_PITCHd_Wd,354.9,30617,-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,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.00,0.000,2,0.000,0.000,476,1745,3228,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.3,-6.9,10,125,11.23,2.62,-4.88,0.000,4,0.138,0.035,2689,3373,3481,0,0,0,0,0,0
$GC,202,-1.30,-116.8,26.6,-17.3,24,212,0.08,2.60,0.00,0.000,6,0.086,0.032,2711,1789,3482,0,0,0,0,0,0
$GC,479,-1.21,-116.8,72.0,-15.7,50,488,0.12,0.00,0.00,0.000,6,0.115,0.000,2737,1788,3483,0,0,0,0,0,0
$GC,745,-1.21,-116.8,106.5,-11.5,75,749,0.00,2.70,0.00,0.000,4,0.000,0.065,2737,194,3483,0,0,0,0,0,0
$GC,766,-1.21,-116.8,109.6,-11.1,76,775,0.00,2.50,0.00,0.000,6,0.000,0.016,2737,1845,3483,0,0,0,0,0,0
$GC,1034,-1.21,-116.8,134.8,-9.0,101,1038,0.00,2.38,0.00,0.000,4,0.000,0.027,2737,3374,3484,0,0,0,0,0,0
$GC,1052,-1.25,-116.8,137.1,-9.3,102,1057,0.00,2.58,0.00,0.000,6,0.000,0.033,2737,1765,3484,0,0,0,0,0,0
$GC,1316,-1.29,-116.8,165.2,-11.7,126,1321,0.00,2.67,0.00,0.000,4,0.000,0.071,2737,197,3485,0,0,0,0,0,0
$GC,1350,-1.33,-116.8,169.7,-12.0,128,1357,0.12,2.45,0.00,0.000,6,0.073,0.022,2697,1830,3485,0,0,0,0,0,0
$GC,1643,-1.33,-116.8,205.7,-11.8,153,1647,0.00,2.80,0.00,0.000,4,0.000,0.067,2696,197,3486,0,0,0,0,0,0
$GC,1677,-1.28,-116.8,210.3,-13.6,153,1685,0.08,2.42,0.00,0.000,6,0.085,0.016,2718,1815,3485,0,0,0,0,0,0
$GC,1926,-1.28,-116.8,238.2,-11.0,160,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1816,3485,0,0,0,0,0,0
$GC,2171,-1.33,-116.8,263.3,-10.3,166,2175,0.00,2.35,0.00,0.000,4,0.000,0.028,2718,3327,3485,0,0,0,0,0,0
$GC,2201,-1.40,-116.8,266.1,-9.0,166,2206,0.10,2.50,0.00,0.000,6,0.084,0.038,2679,1767,3485,0,0,0,0,0,0
$GC,2451,-1.40,-116.8,293.2,-10.6,172,2455,0.00,2.45,0.00,0.000,4,0.000,0.027,2679,3331,3485,0,0,0,0,0,0
$GC,2478,-1.40,-116.8,296.1,-9.8,172,2482,0.00,2.53,0.00,0.000,6,0.000,0.041,2679,1781,3485,0,0,0,0,0,0
$GC,2729,-1.40,-116.8,322.9,-11.0,178,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1780,3485,0,0,0,0,0,0
$GC,2971,-1.40,-116.8,350.0,-10.9,184,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1781,3484,0,0,0,0,0,0
$GC,3215,-1.40,-116.8,373.6,-9.5,190,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1781,3483,0,0,0,0,0,0
$GC,3459,-1.40,-116.8,398.1,-10.2,196,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1781,3482,0,0,0,0,0,0
$GC,3704,-1.40,-116.8,422.0,-9.9,202,3708,0.00,2.53,0.00,0.000,4,0.000,0.046,2680,3317,3480,0,0,0,0,0,0
$GC,3725,-1.40,-116.8,424.4,-10.0,202,3730,0.00,2.58,0.00,0.000,6,0.000,0.060,2679,1800,3480,0,0,0,0,0,0
$GC,3981,-1.40,-116.8,449.7,-9.8,209,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1800,3479,0,0,0,0,0,0
$GC,4226,-1.40,-116.8,472.0,-8.8,215,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1800,3478,0,0,0,0,0,0
$GC,4468,-1.40,-116.8,493.2,-8.7,221,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1800,3476,0,0,0,0,0,0
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4549,begin apogee
$GC,4554,-0.31,0.0,500.4,8.7,223,4655,1.12,0.00,97.50,0.904,6,0.077,0.000,2932,1800,3001,0,0,0,0,0,0
$STATE,4656,end apogee,CONTROL_FINISHED_OK
$STATE,4656,begin climb
$GC,4658,1.38,116.8,502.5,0.0,225,4769,1.55,2.78,101.12,0.884,4,0.048,0.063,3310,3360,2523,0,0,0,0,0,0
$GC,4796,1.33,185.6,501.5,6.1,229,4862,0.00,2.67,60.60,0.871,6,0.000,0.063,3310,1818,2244,0,0,0,0,0,0
$GC,5118,1.23,185.6,466.4,11.5,237,5123,0.20,2.60,0.00,0.000,4,0.169,0.041,3271,3369,2234,0,0,0,0,0,0
$GC,5229,1.23,185.6,454.4,10.2,239,5234,0.00,2.65,0.00,0.000,6,0.000,0.054,3271,1834,2232,0,0,0,0,0,0
$GC,5486,1.24,194.1,429.7,9.6,246,5500,0.00,2.60,6.65,0.696,4,0.000,0.038,3271,3365,2208,0,0,0,0,0,0
$GC,5551,1.25,203.9,423.3,9.5,247,5567,0.00,2.58,10.48,0.768,6,0.000,0.054,3271,1843,2169,0,0,0,0,0,0
$GC,5811,1.28,225.6,400.3,8.8,253,5836,0.00,2.53,20.27,0.815,4,0.000,0.035,3271,3372,2080,0,0,0,0,0,0
$GC,5883,1.34,236.3,393.5,9.4,254,5899,0.00,2.58,10.90,0.758,6,0.000,0.050,3271,1853,2037,0,0,0,0,0,0
$GC,6177,1.34,236.3,363.1,10.7,262,6181,0.00,2.47,0.00,0.000,4,0.000,0.035,3271,3380,2032,0,0,0,0,0,0
$GC,6228,1.39,236.3,357.0,12.4,263,6233,0.12,2.53,0.00,0.000,6,0.088,0.046,3305,1856,2030,0,0,0,0,0,0
$GC,6500,1.36,236.3,318.3,14.7,270,6505,0.00,2.45,0.00,0.000,4,0.000,0.037,3305,3371,2030,0,0,0,0,0,0
$GC,6533,1.36,236.3,313.4,14.1,270,6539,0.00,2.47,0.00,0.000,6,0.000,0.037,3305,1858,2029,0,0,0,0,0,0
$GC,6785,1.36,236.3,283.2,11.3,277,6789,0.00,2.45,0.00,0.000,4,0.000,0.037,3305,3379,2029,0,0,0,0,0,0
$GC,6833,1.36,236.3,277.9,10.3,278,6837,0.00,2.45,0.00,0.000,6,0.000,0.036,3305,1876,2028,0,0,0,0,0,0
$GC,7112,1.37,246.1,252.1,9.5,285,7126,0.00,2.45,8.50,0.663,4,0.000,0.031,3305,3366,1997,0,0,0,0,0,0
$GC,7217,1.37,246.1,240.2,11.9,287,7221,0.00,2.40,0.00,0.000,6,0.000,0.039,3305,1892,1996,0,0,0,0,0,0
$GC,7484,1.37,246.1,210.3,11.0,294,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1892,1994,0,0,0,0,0,0
$GC,7735,1.37,246.1,184.8,10.1,309,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1892,1993,0,0,0,0,0,0
$GC,7988,1.37,250.2,159.4,9.8,333,8001,0.00,0.00,4.53,0.483,6,0.000,0.000,3305,1892,1982,0,0,0,0,0,0
$GC,8254,1.37,250.2,130.4,11.4,358,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1892,1981,0,0,0,0,0,0
$GC,8508,1.40,271.8,102.9,8.8,382,8536,0.00,2.47,20.70,0.601,4,0.000,0.034,3305,3380,1892,0,0,0,0,0,0
$GC,8621,1.52,313.3,94.6,7.6,391,8670,0.12,2.42,36.78,0.594,6,0.084,0.035,3338,1885,1721,0,0,0,0,0,0
$GC,8925,1.54,322.7,66.0,9.5,419,8935,0.00,0.00,8.80,0.510,6,0.000,0.000,3338,1885,1685,0,0,0,0,0,0
$GC,9194,1.54,322.7,38.8,11.0,444,9198,0.00,2.40,0.00,0.000,4,0.000,0.027,3338,3382,1683,0,0,0,0,0,0
$GC,9227,1.58,322.7,35.0,10.4,446,9231,0.00,2.40,0.00,0.000,6,0.000,0.032,3338,1896,1682,0,0,0,0,0,0
$STATE,9505,end climb,SURFACE_DEPTH_REACHED
$STATE,9506,begin surface coast
$FINISH,0.3,1.001702
$STATE,9562,end surface coast,CONTROL_FINISHED_OK
$STATE,9562,begin surface
$SM_CCo,9583,91.75,0.460,1,0,1288,420.20
$SM_GC,0.94,0.00,0.00,91.75,0.000,0.000,0.460,474,1744,1288,-11.62,-0.74,420.20
$IRIDIUM_FIX,2232.34,-15746.34,141299,111125
$TT8_MAMPS,0.026078
$HUMID,47.04
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.60
$XPDR_PINGS,38
$24V_AH,23.5,33.957
$10V_AH,10.3,34.941
$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,26.425,91.200,386.825,91.750,0.000,31.270,31.534,139.946,9.500,0.000,31.851,961.382,6238.507,529.251,1844.339,458.344,33.374,1193.018,0.000,1833.144,0.000,0.536,0.000
$DEVICE_MAMPS,168.740,70.564,903.526,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.558,287.678,383.481,734.135,1111.496,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,38569,491
$CAP_FILE_SIZE,94400,0
$CFSIZE,260165632,168144896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190910,170502,2241.481,-15745.465,41,1.9,41,10.1