version: 66.06
glider: 146
mission: 5
dive: 249
start: 9 20 110 10 17 20
data:
$ID,146
$MISSION,5
$DIVE,249
$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,-252165.61
$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,41
$R_STBD_OVSHOOT,46
$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
$GPS1,101036,2238.574,-15746.347,25,1.0,25,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-68.1
$GPS2,101626,2238.491,-15746.379,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.074,0.223
$KALMAN_X,-253990.7,307.4,100.9,295276.6,-942.2
$KALMAN_Y,-254163.1,63.6,-189.4,361539.9,-3213.9
$MHEAD_RNG_PITCHd_Wd,8.2,36894,-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,-116.8,0.0,0.0,0,105,0.00,0.00,-85.60,0.000,6,0.000,0.000,473,1749,3478,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.6,-10.1,11,126,11.27,2.53,0.00,0.000,4,0.140,0.027,2690,3356,3481,0,0,0,0,0,0
$GC,183,-1.29,-116.8,26.7,-17.0,21,193,0.10,2.58,0.00,0.000,6,0.084,0.039,2716,1792,3481,0,0,0,0,0,0
$GC,460,-1.22,-116.8,72.6,-15.0,47,465,0.00,2.70,0.00,0.000,4,0.000,0.058,2716,190,3483,0,0,0,0,0,0
$GC,507,-1.16,-116.8,80.2,-17.1,50,512,0.12,2.40,0.00,0.000,6,0.110,0.021,2744,1793,3482,0,0,0,0,0,0
$GC,771,-1.20,-116.8,109.6,-9.5,74,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1794,3483,0,0,0,0,0,0
$GC,1025,-1.25,-116.8,133.3,-9.7,98,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1794,3484,0,0,0,0,0,0
$GC,1278,-1.32,-116.8,161.0,-11.4,122,1283,0.12,2.40,0.00,0.000,4,0.074,0.027,2700,3324,3484,0,0,0,0,0,0
$GC,1313,-1.32,-116.8,164.6,-12.9,124,1318,0.00,2.50,0.00,0.000,6,0.000,0.032,2699,1753,3484,0,0,0,0,0,0
$GC,1579,-1.32,-116.8,201.4,-13.4,148,1584,0.00,2.42,0.00,0.000,4,0.000,0.031,2700,3320,3484,0,0,0,0,0,0
$GC,1601,-1.32,-116.8,205.1,-13.0,148,1605,0.00,2.47,0.00,0.000,6,0.000,0.034,2699,1761,3484,0,0,0,0,0,0
$GC,1858,-1.32,-116.8,236.5,-11.9,155,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1761,3484,0,0,0,0,0,0
$GC,2100,-1.32,-116.8,263.9,-11.1,161,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1761,3484,0,0,0,0,0,0
$GC,2344,-1.32,-116.8,292.0,-11.6,167,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1758,3484,0,0,0,0,0,0
$GC,2588,-1.32,-116.8,322.3,-12.7,173,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1758,3484,0,0,0,0,0,0
$GC,2833,-1.32,-116.8,348.7,-10.3,179,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1759,3483,0,0,0,0,0,0
$GC,3076,-1.36,-116.8,371.0,-8.9,185,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1758,3482,0,0,0,0,0,0
$GC,3320,-1.41,-116.8,391.7,-8.6,191,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1758,3482,0,0,0,0,0,0
$GC,3565,-1.46,-116.8,413.0,-8.7,197,3569,0.00,2.58,0.00,0.000,4,0.000,0.054,2700,3313,3480,0,0,0,0,0,0
$GC,3626,-1.56,-116.8,418.6,-8.6,198,3631,0.17,2.60,0.00,0.000,6,0.061,0.054,2646,1769,3480,0,0,0,0,0,0
$GC,3887,-1.52,-116.8,445.4,-10.3,205,3889,0.10,0.00,0.00,0.000,6,0.126,0.000,2666,1769,3478,0,0,0,0,0,0
$GC,4132,-1.52,-116.8,469.8,-10.1,211,4136,0.00,2.55,0.00,0.000,4,0.000,0.048,2666,3305,3477,0,0,0,0,0,0
$GC,4153,-1.52,-116.8,472.3,-10.7,211,4158,0.00,2.65,0.00,0.000,6,0.000,0.063,2666,1753,3477,0,0,0,0,0,0
$STATE,4406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4406,begin apogee
$GC,4412,-0.31,0.0,501.5,11.7,218,4513,1.17,0.00,97.65,0.909,6,0.092,0.000,2930,1753,3001,0,0,0,0,0,0
$STATE,4514,end apogee,CONTROL_FINISHED_OK
$STATE,4514,begin climb
$GC,4518,1.38,116.8,505.1,0.0,220,4630,1.58,3.00,100.72,0.890,4,0.043,0.118,3309,236,2523,0,0,0,0,0,0
$GC,4636,1.34,222.4,507.2,3.9,223,4738,0.00,2.53,91.93,0.877,6,0.000,0.037,3309,1769,2094,0,0,0,0,0,0
$GC,5023,1.25,222.4,460.0,13.9,233,5028,0.17,2.70,0.00,0.000,4,0.120,0.059,3274,3361,2084,0,0,0,0,0,0
$GC,5098,1.25,222.4,450.8,12.6,234,5102,0.00,2.62,0.00,0.000,6,0.000,0.051,3274,1818,2083,0,0,0,0,0,0
$GC,5347,1.25,222.4,421.3,11.3,240,5352,0.00,2.55,0.00,0.000,4,0.000,0.038,3274,3367,2081,0,0,0,0,0,0
$GC,5368,1.25,222.4,419.0,10.7,240,5373,0.00,2.60,0.00,0.000,6,0.000,0.050,3274,1837,2081,0,0,0,0,0,0
$GC,5626,1.26,226.4,393.5,9.8,247,5630,0.00,2.47,0.00,0.000,4,0.000,0.034,3274,3368,2079,0,0,0,0,0,0
$GC,5669,1.28,241.2,389.0,9.2,248,5690,0.00,2.58,15.80,0.793,6,0.000,0.051,3274,1838,2016,0,0,0,0,0,0
$GC,5946,1.28,241.2,359.5,10.8,255,5950,0.00,2.47,0.00,0.000,4,0.000,0.035,3274,3370,2013,0,0,0,0,0,0
$GC,6019,1.32,241.2,351.4,11.4,256,6024,0.00,2.53,0.00,0.000,6,0.000,0.042,3274,1849,2012,0,0,0,0,0,0
$GC,6269,1.32,241.2,324.8,10.5,262,6273,0.00,2.42,0.00,0.000,4,0.000,0.037,3274,3366,2011,0,0,0,0,0,0
$GC,6290,1.32,241.2,322.3,11.5,262,6294,0.00,2.47,0.00,0.000,6,0.000,0.042,3274,1864,2010,0,0,0,0,0,0
$GC,6547,1.34,252.4,297.2,9.4,269,6563,0.00,2.45,10.55,0.719,4,0.000,0.035,3274,3364,1970,0,0,0,0,0,0
$GC,6596,1.40,252.4,292.2,10.1,270,6601,0.12,2.45,0.00,0.000,6,0.090,0.038,3306,1866,1968,0,0,0,0,0,0
$GC,6870,1.40,252.4,263.7,10.5,277,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1866,1968,0,0,0,0,0,0
$GC,7113,1.40,252.4,236.6,11.2,283,7117,0.00,2.40,0.00,0.000,4,0.000,0.035,3306,3369,1967,0,0,0,0,0,0
$GC,7152,1.40,252.4,231.8,11.9,283,7158,0.00,2.42,0.00,0.000,6,0.000,0.040,3306,1873,1966,0,0,0,0,0,0
$GC,7402,1.40,252.4,203.5,11.3,290,7406,0.00,2.40,0.00,0.000,4,0.000,0.033,3306,3372,1966,0,0,0,0,0,0
$GC,7466,1.40,252.4,196.5,11.1,293,7470,0.00,2.42,0.00,0.000,6,0.000,0.040,3306,1885,1966,0,0,0,0,0,0
$GC,7728,1.40,252.4,168.7,10.1,317,7732,0.00,2.35,0.00,0.000,4,0.000,0.028,3306,3368,1965,0,0,0,0,0,0
$GC,7761,1.40,252.4,165.6,11.1,319,7765,0.00,2.40,0.00,0.000,6,0.000,0.035,3306,1889,1965,0,0,0,0,0,0
$GC,8029,1.40,256.1,138.5,9.8,343,8033,0.00,2.33,0.00,0.000,4,0.000,0.028,3306,3367,1966,0,0,0,0,0,0
$GC,8070,1.44,256.1,133.6,10.7,346,8074,0.00,2.40,0.00,0.000,6,0.000,0.034,3306,1888,1965,0,0,0,0,0,0
$GC,8334,1.45,262.5,107.8,9.7,370,8349,0.00,2.83,9.45,0.561,4,0.000,0.059,3306,240,1931,0,0,0,0,0,0
$GC,8355,1.45,265.6,105.3,9.9,371,8364,0.00,2.55,4.53,0.439,6,0.000,0.018,3306,1894,1918,0,0,0,0,0,0
$GC,8621,1.54,300.4,79.5,8.0,396,8663,0.12,2.40,31.55,0.586,4,0.081,0.031,3341,3365,1774,0,0,0,0,0,0
$GC,8743,1.59,303.3,68.3,9.9,405,8747,0.00,2.38,0.00,0.000,6,0.000,0.033,3342,1893,1772,0,0,0,0,0,0
$GC,9011,1.59,304.9,44.2,9.9,429,9026,0.00,2.88,4.55,0.404,4,0.000,0.060,3341,239,1757,0,0,0,0,0,0
$GC,9043,1.59,304.9,40.6,10.6,431,9047,0.00,2.58,0.00,0.000,6,0.000,0.018,3341,1901,1757,0,0,0,0,0,0
$GC,9353,1.59,304.9,8.3,10.4,469,9363,0.00,2.35,0.00,0.000,4,0.000,0.035,3341,3366,1757,0,0,0,0,0,0
$STATE,9404,end climb,SURFACE_DEPTH_REACHED
$STATE,9404,begin surface coast
$FINISH,2.6,1.023276
$STATE,9413,end surface coast,CONTROL_FINISHED_OK
$STATE,9413,begin surface
$SM_CCo,9437,103.00,0.469,1,0,1287,420.20
$SM_GC,0.88,0.00,0.00,103.00,0.000,0.000,0.469,478,1761,1287,-11.61,-0.25,420.20
$IRIDIUM_FIX,2230.01,-15746.34,151299,070736
$TT8_MAMPS,0.026078
$HUMID,46.33
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.50
$XPDR_PINGS,42
$24V_AH,23.5,34.759
$10V_AH,10.3,35.702
$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,26.700,105.925,366.725,103.000,0.000,22.692,32.456,166.896,10.500,0.000,13.376,949.471,6189.198,515.266,1758.646,486.297,33.368,1170.034,0.000,1762.831,0.000,0.534,0.000
$DEVICE_MAMPS,139.594,118.118,908.895,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.452,273.083,371.250,703.789,1060.843,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,38394,477
$CAP_FILE_SIZE,95387,0
$CFSIZE,260165632,167776256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200910,125736,2237.851,-15746.421,13,1.2,29,10.1