version: 66.06
glider: 146
mission: 5
dive: 243
start: 9 19 110 17 12 9
data:
$ID,146
$MISSION,5
$DIVE,243
$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,-252053.83
$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,44
$R_STBD_OVSHOOT,69
$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
$GPS1,170502,2241.481,-15745.465,41,1.9,41,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.4
$GPS2,171113,2241.383,-15745.493,9,1.4,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.031,0.233
$KALMAN_X,-249343.9,-221.1,54.9,292732.8,-393.3
$KALMAN_Y,-234824.3,-433.0,38.1,347828.6,-2733.6
$MHEAD_RNG_PITCHd_Wd,357.6,31346,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-86.07,0.000,2,0.000,0.000,474,1743,3458,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.1,-8.1,11,125,11.30,2.50,-0.35,0.000,4,0.140,0.041,2691,3327,3479,0,0,0,0,0,0
$GC,195,-1.28,-116.8,28.6,-17.0,23,204,0.10,2.53,0.00,0.000,6,0.085,0.032,2717,1793,3481,0,0,0,0,0,0
$GC,465,-1.20,-116.8,70.0,-14.0,48,474,0.10,0.00,0.00,0.000,6,0.127,0.000,2737,1793,3481,0,0,0,0,0,0
$GC,730,-1.20,-116.8,101.2,-11.0,73,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1793,3481,0,0,0,0,0,0
$GC,991,-1.20,-116.8,131.6,-11.3,98,995,0.00,2.40,0.00,0.000,4,0.000,0.028,2737,3328,3482,0,0,0,0,0,0
$GC,1012,-1.24,-116.8,133.7,-11.9,99,1017,0.00,2.47,0.00,0.000,6,0.000,0.033,2737,1768,3482,0,0,0,0,0,0
$GC,1275,-1.28,-116.8,163.5,-10.8,123,1280,0.00,2.67,0.00,0.000,4,0.000,0.071,2737,197,3482,0,0,0,0,0,0
$GC,1305,-1.28,-116.8,167.0,-11.5,125,1309,0.00,2.38,0.00,0.000,6,0.000,0.021,2737,1797,3482,0,0,0,0,0,0
$GC,1568,-1.34,-116.8,192.6,-9.1,149,1573,0.12,2.35,0.00,0.000,4,0.074,0.025,2695,3310,3482,0,0,0,0,0,0
$GC,1591,-1.34,-116.8,195.0,-10.1,150,1600,0.00,2.47,0.00,0.000,6,0.000,0.028,2695,1780,3483,0,0,0,0,0,0
$GC,1843,-1.34,-116.8,222.4,-10.9,160,1848,0.00,2.75,0.00,0.000,4,0.000,0.069,2695,193,3483,0,0,0,0,0,0
$GC,1877,-1.28,-116.8,226.2,-11.8,160,1883,0.12,2.38,0.00,0.000,6,0.114,0.019,2721,1757,3482,0,0,0,0,0,0
$GC,2128,-1.32,-116.8,246.1,-7.5,167,2133,0.00,2.47,0.00,0.000,4,0.000,0.026,2721,3338,3482,0,0,0,0,0,0
$GC,2170,-1.41,-116.8,249.5,-7.8,168,2175,0.12,2.50,0.00,0.000,6,0.069,0.033,2678,1785,3482,0,0,0,0,0,0
$GC,2453,-1.41,-116.8,281.1,-11.6,175,2458,0.00,2.45,0.00,0.000,4,0.000,0.030,2678,3339,3482,0,0,0,0,0,0
$GC,2488,-1.41,-116.8,285.1,-12.2,175,2493,0.00,2.50,0.00,0.000,6,0.000,0.035,2678,1790,3482,0,0,0,0,0,0
$GC,2737,-1.41,-116.8,315.4,-12.3,182,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1787,3482,0,0,0,0,0,0
$GC,2981,-1.41,-116.8,344.6,-11.9,188,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1787,3481,0,0,0,0,0,0
$GC,3224,-1.41,-116.8,372.0,-11.1,194,3229,0.00,2.47,0.00,0.000,4,0.000,0.038,2678,3323,3480,0,0,0,0,0,0
$GC,3253,-1.41,-116.8,375.0,-10.4,194,3257,0.00,2.55,0.00,0.000,6,0.000,0.051,2678,1798,3480,0,0,0,0,0,0
$GC,3503,-1.41,-116.8,400.8,-10.2,200,3507,0.00,2.92,0.00,0.000,4,0.000,0.096,2678,179,3479,0,0,0,0,0,0
$GC,3542,-1.41,-116.8,404.9,-10.8,201,3546,0.00,2.50,0.00,0.000,6,0.000,0.032,2678,1755,3479,0,0,0,0,0,0
$GC,3826,-1.41,-116.8,430.8,-8.8,208,3831,0.00,2.65,0.00,0.000,4,0.000,0.054,2678,3361,3477,0,0,0,0,0,0
$GC,3876,-1.46,-116.8,435.3,-8.7,209,3881,0.00,2.62,0.00,0.000,6,0.000,0.057,2678,1796,3477,0,0,0,0,0,0
$GC,4148,-1.46,-116.8,458.3,-8.6,216,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1796,3476,0,0,0,0,0,0
$GC,4393,-1.50,-116.8,478.9,-8.5,222,4398,0.00,2.60,0.00,0.000,4,0.000,0.050,2678,3356,3473,0,0,0,0,0,0
$GC,4410,-1.54,-116.8,480.6,-8.3,222,4414,0.00,2.67,0.00,0.000,6,0.000,0.058,2678,1792,3473,0,0,0,0,0,0
$STATE,4668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4668,begin apogee
$GC,4674,-0.31,0.0,502.0,8.2,229,4775,1.12,0.00,97.38,0.914,6,0.077,0.000,2931,1792,3001,0,0,0,0,0,0
$STATE,4776,end apogee,CONTROL_FINISHED_OK
$STATE,4776,begin climb
$GC,4779,1.38,116.8,502.9,0.0,231,4885,1.52,0.00,101.03,0.889,6,0.053,0.000,3301,1792,2523,0,0,0,0,0,0
$GC,5105,1.28,131.3,481.3,9.2,239,5125,0.12,2.80,12.35,0.802,4,0.130,0.054,3278,3394,2465,0,0,0,0,0,0
$GC,5226,1.27,166.1,471.0,8.0,241,5265,0.00,2.72,31.80,0.857,6,0.000,0.054,3278,1816,2323,0,0,0,0,0,0
$GC,5525,1.24,177.5,444.2,9.4,249,5541,0.00,2.65,10.70,0.779,4,0.000,0.039,3278,3400,2276,0,0,0,0,0,0
$GC,5686,1.24,177.5,427.1,10.3,252,5690,0.00,2.67,0.00,0.000,6,0.000,0.054,3278,1838,2273,0,0,0,0,0,0
$GC,5937,1.24,177.8,401.7,10.0,258,5942,0.00,2.58,0.00,0.000,4,0.000,0.035,3278,3409,2271,0,0,0,0,0,0
$GC,6043,1.26,194.4,391.7,9.1,260,6064,0.00,2.60,15.38,0.803,6,0.000,0.045,3278,1853,2208,0,0,0,0,0,0
$GC,6308,1.27,207.7,366.8,9.3,267,6323,0.00,0.00,12.68,0.776,6,0.000,0.000,3278,1853,2154,0,0,0,0,0,0
$GC,6592,1.27,207.7,337.0,10.9,274,6596,0.00,2.53,0.00,0.000,4,0.000,0.031,3278,3407,2150,0,0,0,0,0,0
$GC,6652,1.27,207.7,329.9,11.5,275,6657,0.00,2.58,0.00,0.000,6,0.000,0.039,3278,1843,2149,0,0,0,0,0,0
$GC,6915,1.27,207.7,301.7,10.6,282,6919,0.00,2.55,0.00,0.000,4,0.000,0.032,3278,3415,2147,0,0,0,0,0,0
$GC,6992,1.28,216.0,294.1,9.6,283,7007,0.00,2.55,7.85,0.685,6,0.000,0.042,3278,1856,2120,0,0,0,0,0,0
$GC,7286,1.33,250.0,269.0,8.1,291,7327,0.00,2.62,31.50,0.759,4,0.000,0.035,3278,3410,1980,0,0,0,0,0,0
$GC,7351,1.41,268.5,263.6,9.0,292,7375,0.12,2.55,17.73,0.721,6,0.090,0.038,3311,1876,1905,0,0,0,0,0,0
$GC,7662,1.41,268.5,226.7,12.2,300,7667,0.00,2.47,0.00,0.000,4,0.000,0.030,3311,3405,1899,0,0,0,0,0,0
$GC,7713,1.41,268.5,220.1,12.3,301,7718,0.00,2.53,0.00,0.000,6,0.000,0.038,3311,1879,1897,0,0,0,0,0,0
$GC,7968,1.41,268.5,189.2,12.8,312,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1879,1897,0,0,0,0,0,0
$GC,8224,1.41,268.5,155.4,13.5,336,8229,0.00,2.47,0.00,0.000,4,0.000,0.033,3311,3415,1896,0,0,0,0,0,0
$GC,8291,1.41,268.5,146.4,14.0,341,8295,0.00,2.47,0.00,0.000,6,0.000,0.035,3311,1889,1895,0,0,0,0,0,0
$GC,8557,1.41,268.5,114.1,11.7,365,8561,0.00,2.42,0.00,0.000,4,0.000,0.028,3311,3409,1895,0,0,0,0,0,0
$GC,8576,1.41,268.5,111.5,12.0,366,8580,0.00,2.45,0.00,0.000,6,0.000,0.031,3311,1900,1895,0,0,0,0,0,0
$GC,8839,1.47,280.1,85.5,9.4,390,8854,0.00,2.42,9.80,0.553,4,0.000,0.026,3311,3411,1858,0,0,0,0,0,0
$GC,8883,1.54,291.3,81.6,9.4,393,8907,0.10,2.45,11.27,0.553,6,0.094,0.032,3339,1895,1811,0,0,0,0,0,0
$GC,9163,1.54,291.3,51.9,10.2,419,9167,0.00,2.42,0.00,0.000,4,0.000,0.028,3338,3412,1810,0,0,0,0,0,0
$GC,9222,1.60,291.3,45.8,10.4,423,9227,0.00,2.45,0.00,0.000,6,0.000,0.032,3339,1906,1809,0,0,0,0,0,0
$GC,9519,1.60,291.3,15.5,10.3,457,9528,0.00,2.42,0.00,0.000,4,0.000,0.031,3339,3411,1809,0,0,0,0,0,0
$GC,9554,1.65,291.3,12.1,10.6,461,9563,0.00,2.45,0.00,0.000,6,0.000,0.032,3339,1913,1809,0,0,0,0,0,0
$STATE,9633,end climb,SURFACE_DEPTH_REACHED
$STATE,9633,begin surface coast
$FINISH,0.2,0.998964
$STATE,9691,end surface coast,CONTROL_FINISHED_OK
$STATE,9691,begin surface
$SM_CCo,9713,117.32,0.477,1,0,1288,420.20
$SM_GC,1.10,0.00,0.00,117.32,0.000,0.000,0.477,474,1745,1288,-11.62,-0.68,420.20
$IRIDIUM_FIX,2234.68,-15735.03,141299,141433
$TT8_MAMPS,0.025311
$HUMID,46.45
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.50
$XPDR_PINGS,41
$24V_AH,23.5,34.073
$10V_AH,10.3,35.050
$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,26.500,116.900,359.450,117.325,0.000,22.108,35.222,183.918,10.250,0.000,15.825,984.834,6281.434,554.245,1872.809,519.668,33.362,1261.714,0.000,1879.319,0.000,0.536,0.000
$DEVICE_MAMPS,140.361,95.875,914.264,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.244,284.184,369.530,708.521,1071.591,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,38458,480
$CAP_FILE_SIZE,103160,0
$CFSIZE,260165632,168087552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190910,195736,2240.894,-15745.864,33,0.8,49,10.1