version: 66.06
glider: 146
mission: 5
dive: 244
start: 9 19 110 20 4 20
data:
$ID,146
$MISSION,5
$DIVE,244
$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,-252067.97
$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,31
$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
$GPS1,195736,2240.894,-15745.864,33,0.8,49,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-68.0
$GPS2,200326,2240.775,-15745.912,12,1.1,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.075,0.223
$KALMAN_X,-250329.2,-335.2,140.2,293030.6,-874.7
$KALMAN_Y,-238295.5,-263.5,-84.4,350130.6,-2826.9
$MHEAD_RNG_PITCHd_Wd,8.5,32590,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.7,0.0,0.0,0,105,0.00,0.00,-85.57,0.000,6,0.000,0.000,474,1745,3478,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.5,-9.6,11,126,11.30,2.55,0.00,0.000,4,0.140,0.027,2690,3367,3480,0,0,0,0,0,0
$GC,183,-1.29,-116.8,27.3,-18.3,21,193,0.08,2.60,0.00,0.000,6,0.092,0.032,2712,1790,3480,0,0,0,0,0,0
$GC,460,-1.20,-116.8,74.7,-15.5,47,470,0.12,0.00,0.00,0.000,6,0.119,0.000,2737,1790,3481,0,0,0,0,0,0
$GC,723,-1.20,-116.8,106.5,-10.0,72,728,0.00,2.72,0.00,0.000,4,0.000,0.064,2737,185,3482,0,0,0,0,0,0
$GC,744,-1.20,-116.8,108.3,-9.7,73,748,0.00,2.47,0.00,0.000,6,0.000,0.021,2736,1836,3482,0,0,0,0,0,0
$GC,1012,-1.24,-116.8,133.8,-9.9,97,1016,0.00,2.38,0.00,0.000,4,0.000,0.031,2737,3365,3483,0,0,0,0,0,0
$GC,1045,-1.30,-116.8,137.3,-10.3,99,1050,0.00,2.55,0.00,0.000,6,0.000,0.028,2737,1765,3483,0,0,0,0,0,0
$GC,1310,-1.35,-116.8,165.9,-11.0,123,1319,0.12,0.00,0.00,0.000,6,0.074,0.000,2695,1765,3483,0,0,0,0,0,0
$GC,1575,-1.35,-116.8,198.4,-12.2,148,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1765,3483,0,0,0,0,0,0
$GC,1835,-1.35,-116.8,228.2,-10.8,156,1839,0.00,2.70,0.00,0.000,4,0.000,0.068,2695,197,3483,0,0,0,0,0,0
$GC,1857,-1.35,-116.8,230.6,-10.6,156,1862,0.00,2.45,0.00,0.000,6,0.000,0.016,2695,1812,3483,0,0,0,0,0,0
$GC,2112,-1.35,-116.8,256.4,-10.2,163,2116,0.00,2.38,0.00,0.000,4,0.000,0.030,2695,3335,3483,0,0,0,0,0,0
$GC,2144,-1.35,-116.8,259.6,-9.6,163,2150,0.00,2.47,0.00,0.000,6,0.000,0.035,2695,1789,3483,0,0,0,0,0,0
$GC,2396,-1.35,-116.8,286.1,-11.0,170,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1786,3483,0,0,0,0,0,0
$GC,2638,-1.35,-116.8,314.6,-12.0,176,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1786,3483,0,0,0,0,0,0
$GC,2881,-1.35,-116.8,343.9,-12.0,182,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1786,3482,0,0,0,0,0,0
$GC,3125,-1.35,-116.8,372.0,-11.4,188,3129,0.00,2.53,0.00,0.000,4,0.000,0.041,2695,3332,3481,0,0,0,0,0,0
$GC,3170,-1.43,-116.8,377.0,-11.5,189,3175,0.00,2.58,0.00,0.000,6,0.000,0.051,2695,1792,3481,0,0,0,0,0,0
$GC,3449,-1.48,-116.8,403.4,-9.0,196,3453,0.00,2.92,0.00,0.000,4,0.000,0.101,2695,186,3480,0,0,0,0,0,0
$GC,3476,-1.48,-116.8,406.2,-10.0,196,3480,0.00,2.47,0.00,0.000,6,0.000,0.030,2695,1763,3480,0,0,0,0,0,0
$GC,3728,-1.53,-116.8,427.3,-8.2,202,3733,0.12,2.62,0.00,0.000,4,0.074,0.055,2653,3355,3478,0,0,0,0,0,0
$GC,3767,-1.53,-116.8,431.3,-10.2,203,3771,0.00,2.62,0.00,0.000,6,0.000,0.055,2654,1803,3477,0,0,0,0,0,0
$GC,4050,-1.53,-116.8,460.3,-10.5,210,4054,0.00,2.58,0.00,0.000,4,0.000,0.051,2653,3361,3476,0,0,0,0,0,0
$GC,4090,-1.53,-116.8,464.6,-10.4,211,4095,0.00,2.65,0.00,0.000,6,0.000,0.062,2654,1811,3476,0,0,0,0,0,0
$GC,4373,-1.53,-116.8,495.3,-10.8,218,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1811,3474,0,0,0,0,0,0
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4457,-0.31,0.0,504.6,11.2,220,4559,1.25,0.00,97.60,0.915,6,0.081,0.000,2932,1811,3001,0,0,0,0,0,0
$STATE,4559,end apogee,CONTROL_FINISHED_OK
$STATE,4559,begin climb
$GC,4563,1.38,116.8,507.7,0.0,222,4669,1.55,0.00,101.90,0.894,6,0.044,0.000,3309,1811,2524,0,0,0,0,0,0
$GC,4899,1.29,154.3,492.0,7.9,231,4940,0.12,2.78,32.12,0.865,4,0.133,0.052,3285,3388,2371,0,0,0,0,0,0
$GC,5024,1.25,154.3,480.3,10.1,233,5030,0.00,2.70,0.00,0.000,6,0.000,0.059,3285,1822,2367,0,0,0,0,0,0
$GC,5275,1.20,165.5,456.7,9.4,240,5291,0.12,2.67,10.27,0.781,4,0.132,0.043,3261,3401,2326,0,0,0,0,0,0
$GC,5385,1.20,170.9,446.4,9.7,242,5397,0.00,2.67,6.20,0.690,6,0.000,0.054,3260,1836,2303,0,0,0,0,0,0
$GC,5641,1.24,204.7,425.0,8.1,248,5681,0.00,2.62,31.17,0.846,4,0.000,0.043,3261,3408,2164,0,0,0,0,0,0
$GC,5753,1.31,223.6,415.8,8.9,250,5778,0.10,2.65,17.60,0.811,6,0.097,0.052,3287,1842,2089,0,0,0,0,0,0
$GC,6064,1.31,223.6,384.2,10.4,258,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1842,2082,0,0,0,0,0,0
$GC,6307,1.31,223.6,358.4,11.0,264,6311,0.00,2.55,0.00,0.000,4,0.000,0.035,3287,3408,2080,0,0,0,0,0,0
$GC,6346,1.31,223.6,353.7,12.2,265,6351,0.00,2.60,0.00,0.000,6,0.000,0.041,3287,1838,2079,0,0,0,0,0,0
$GC,6630,1.31,223.6,321.3,11.4,272,6634,0.00,2.55,0.00,0.000,4,0.000,0.031,3287,3413,2078,0,0,0,0,0,0
$GC,6680,1.31,223.6,315.9,11.6,273,6685,0.00,2.60,0.00,0.000,6,0.000,0.038,3287,1841,2077,0,0,0,0,0,0
$GC,6952,1.31,223.6,285.4,11.0,280,6957,0.00,2.50,0.00,0.000,4,0.000,0.037,3287,3406,2076,0,0,0,0,0,0
$GC,6997,1.31,223.6,280.7,10.4,281,7001,0.00,2.55,0.00,0.000,6,0.000,0.041,3287,1850,2076,0,0,0,0,0,0
$GC,7276,1.33,237.3,254.0,9.2,288,7292,0.00,2.53,11.25,0.698,4,0.000,0.036,3287,3406,2032,0,0,0,0,0,0
$GC,7309,1.34,250.8,250.8,9.3,288,7328,0.00,2.55,13.55,0.700,6,0.000,0.039,3288,1857,1978,0,0,0,0,0,0
$GC,7602,1.36,264.8,223.5,9.2,296,7618,0.00,0.00,13.57,0.682,6,0.000,0.000,3287,1857,1921,0,0,0,0,0,0
$GC,7847,1.36,264.8,198.9,10.2,302,7852,0.00,2.78,0.00,0.000,4,0.000,0.066,3287,242,1917,0,0,0,0,0,0
$GC,7857,1.36,264.8,197.5,10.6,302,7863,0.00,2.58,0.00,0.000,6,0.000,0.021,3287,1890,1916,0,0,0,0,0,0
$GC,8120,1.36,264.8,168.5,11.2,327,8125,0.00,2.42,0.00,0.000,4,0.000,0.034,3287,3408,1916,0,0,0,0,0,0
$GC,8178,1.44,264.8,162.4,11.2,331,8183,0.10,2.50,0.00,0.000,6,0.092,0.033,3316,1863,1915,0,0,0,0,0,0
$GC,8442,1.44,264.8,132.0,10.8,355,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1863,1915,0,0,0,0,0,0
$GC,8705,1.48,295.5,107.5,8.3,380,8743,0.00,2.55,27.08,0.609,4,0.000,0.028,3316,3402,1795,0,0,0,0,0,0
$GC,8794,1.57,304.3,99.9,9.5,387,8809,0.10,2.53,8.90,0.540,6,0.090,0.034,3342,1855,1759,0,0,0,0,0,0
$GC,9074,1.58,314.0,72.2,9.5,413,9089,0.00,2.50,9.60,0.528,4,0.000,0.026,3342,3410,1720,0,0,0,0,0,0
$GC,9143,1.64,314.0,65.8,10.1,418,9147,0.00,2.47,0.00,0.000,6,0.000,0.031,3342,1879,1719,0,0,0,0,0,0
$GC,9409,1.64,314.0,38.8,10.8,442,9418,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1879,1717,0,0,0,0,0,0
$STATE,9719,end climb,SURFACE_DEPTH_REACHED
$STATE,9719,begin surface coast
$FINISH,0.3,1.010244
$STATE,9768,end surface coast,CONTROL_FINISHED_OK
$STATE,9768,begin surface
$SM_CCo,9791,92.70,0.463,1,0,1287,420.20
$SM_GC,1.00,0.00,0.00,92.70,0.000,0.000,0.463,479,1743,1287,-11.60,-0.79,420.20
$IRIDIUM_FIX,2232.34,-15748.50,141299,171746
$TT8_MAMPS,0.025311
$HUMID,46.61
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.60
$XPDR_PINGS,39
$24V_AH,23.5,34.187
$10V_AH,10.3,35.159
$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,26.750,103.275,380.825,92.700,0.000,29.344,29.376,162.531,9.750,0.000,13.508,973.952,6378.510,563.440,1832.226,493.411,33.359,1232.208,0.000,1846.911,0.000,0.535,0.000
$DEVICE_MAMPS,140.361,101.244,915.031,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.718,276.111,377.587,712.482,1077.704,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38276,490
$CAP_FILE_SIZE,97315,0
$CFSIZE,260165632,168042496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190910,225030,2240.222,-15746.042,35,1.2,40,10.1