version: 66.06
glider: 146
mission: 5
dive: 250
start: 9 20 110 13 4 2
data:
$ID,146
$MISSION,5
$DIVE,250
$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,-252180.98
$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,27
$R_STBD_OVSHOOT,75
$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
$GPS1,125736,2237.851,-15746.421,13,1.2,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-66.6
$GPS2,130308,2237.768,-15746.424,13,1.2,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.060,0.227
$KALMAN_X,-254500.3,251.8,-145.3,296012.1,-703.0
$KALMAN_Y,-257321.4,-171.8,-354.1,363760.2,-2759.8
$MHEAD_RNG_PITCHd_Wd,4.8,38222,-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,14,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,-85.07,0.000,2,0.000,0.000,477,1760,3423,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.0,-8.2,11,125,11.30,0.00,-0.95,0.000,6,0.140,0.000,2692,1760,3478,0,0,0,0,0,0
$GC,404,-1.21,-116.8,64.8,-17.4,43,409,0.20,2.45,0.00,0.000,4,0.107,0.021,2733,3333,3480,0,0,0,0,0,0
$GC,425,-1.10,-116.8,68.4,-16.7,44,430,0.12,2.50,0.00,0.000,6,0.105,0.034,2761,1763,3480,0,0,0,0,0,0
$GC,689,-1.16,-116.8,99.7,-12.3,68,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1762,3481,0,0,0,0,0,0
$GC,954,-1.24,-116.8,132.8,-12.6,93,959,0.12,2.67,0.00,0.000,4,0.073,0.062,2717,190,3481,0,0,0,0,0,0
$GC,989,-1.24,-116.8,137.1,-14.2,95,993,0.00,2.35,0.00,0.000,6,0.000,0.015,2716,1787,3481,0,0,0,0,0,0
$GC,1251,-1.24,-116.8,169.5,-11.3,119,1255,0.00,2.35,0.00,0.000,4,0.000,0.031,2717,3310,3482,0,0,0,0,0,0
$GC,1274,-1.24,-116.8,172.2,-11.3,120,1284,0.00,2.50,0.00,0.000,6,0.000,0.033,2717,1762,3482,0,0,0,0,0,0
$GC,1541,-1.24,-116.8,200.5,-11.2,145,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1762,3482,0,0,0,0,0,0
$GC,1779,-1.24,-116.8,228.7,-11.6,151,1783,0.00,2.40,0.00,0.000,4,0.000,0.031,2717,3302,3483,0,0,0,0,0,0
$GC,1813,-1.30,-116.8,232.7,-11.8,151,1819,0.00,2.45,0.00,0.000,6,0.000,0.029,2716,1762,3482,0,0,0,0,0,0
$GC,2063,-1.30,-116.8,261.5,-11.6,158,2067,0.00,2.42,0.00,0.000,4,0.000,0.032,2716,3307,3482,0,0,0,0,0,0
$GC,2084,-1.36,-116.8,264.2,-12.2,158,2088,0.00,2.42,0.00,0.000,6,0.000,0.034,2717,1781,3482,0,0,0,0,0,0
$GC,2339,-1.40,-116.8,293.8,-11.5,165,2343,0.00,2.75,0.00,0.000,4,0.000,0.078,2716,193,3482,0,0,0,0,0,0
$GC,2362,-1.44,-116.8,296.2,-10.7,165,2367,0.12,2.38,0.00,0.000,6,0.077,0.023,2677,1735,3482,0,0,0,0,0,0
$GC,2617,-1.44,-116.8,325.7,-11.6,172,2621,0.00,2.55,0.00,0.000,4,0.000,0.035,2677,3341,3482,0,0,0,0,0,0
$GC,2632,-1.44,-116.8,327.3,-10.5,172,2637,0.00,2.53,0.00,0.000,6,0.000,0.043,2677,1781,3482,0,0,0,0,0,0
$GC,2895,-1.44,-116.8,353.7,-10.0,179,2900,0.00,2.85,0.00,0.000,4,0.000,0.088,2676,188,3480,0,0,0,0,0,0
$GC,2922,-1.40,-116.8,356.7,-10.5,179,2926,0.00,2.47,0.00,0.000,6,0.000,0.025,2676,1779,3480,0,0,0,0,0,0
$GC,3172,-1.40,-116.8,380.4,-9.7,185,3176,0.00,2.55,0.00,0.000,4,0.000,0.047,2676,3353,3480,0,0,0,0,0,0
$GC,3212,-1.40,-116.8,384.6,-10.9,186,3217,0.00,2.62,0.00,0.000,6,0.000,0.050,2676,1788,3480,0,0,0,0,0,0
$GC,3495,-1.40,-116.8,418.6,-12.2,193,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1788,3478,0,0,0,0,0,0
$GC,3739,-1.40,-116.8,447.1,-11.6,199,3743,0.00,2.58,0.00,0.000,4,0.000,0.051,2676,3348,3476,0,0,0,0,0,0
$GC,3781,-1.45,-116.8,451.3,-11.7,200,3786,0.00,2.65,0.00,0.000,6,0.000,0.057,2676,1785,3476,0,0,0,0,0,0
$GC,4064,-1.45,-116.8,482.9,-11.2,207,4069,0.00,3.00,0.00,0.000,4,0.000,0.120,2676,183,3475,0,0,0,0,0,0
$GC,4103,-1.45,-116.8,487.7,-13.1,208,4107,0.00,2.58,0.00,0.000,6,0.000,0.041,2677,1774,3474,0,0,0,0,0,0
$STATE,4221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4221,begin apogee
$GC,4228,-0.31,0.0,501.3,11.2,211,4330,1.12,0.00,97.70,0.906,6,0.080,0.000,2929,1830,3000,0,0,0,0,0,0
$STATE,4330,end apogee,CONTROL_FINISHED_OK
$STATE,4331,begin climb
$GC,4333,1.38,116.8,504.8,0.0,213,4443,1.58,2.80,101.35,0.887,4,0.054,0.072,3306,3396,2524,0,0,0,0,0,0
$GC,4463,1.35,197.2,504.3,5.4,216,4539,0.00,2.70,70.53,0.871,6,0.000,0.053,3306,1816,2196,0,0,0,0,0,0
$GC,4790,1.26,197.2,468.2,11.8,225,4795,0.15,2.65,0.00,0.000,4,0.123,0.044,3277,3407,2187,0,0,0,0,0,0
$GC,4808,1.19,197.2,466.1,11.8,225,4812,0.00,2.70,0.00,0.000,6,0.000,0.056,3277,1821,2186,0,0,0,0,0,0
$GC,5068,1.19,197.2,436.8,11.3,232,5072,0.00,2.62,0.00,0.000,4,0.000,0.045,3277,3408,2184,0,0,0,0,0,0
$GC,5134,1.19,197.2,429.1,11.8,233,5138,0.00,2.67,0.00,0.000,6,0.000,0.054,3277,1837,2182,0,0,0,0,0,0
$GC,5397,1.19,197.2,400.3,10.9,240,5401,0.00,2.58,0.00,0.000,4,0.000,0.036,3277,3415,2181,0,0,0,0,0,0
$GC,5429,1.19,197.2,396.7,10.3,240,5435,0.00,2.62,0.00,0.000,6,0.000,0.051,3277,1840,2181,0,0,0,0,0,0
$GC,5679,1.20,206.9,372.8,9.5,247,5693,0.00,2.62,7.03,0.694,4,0.000,0.034,3277,3411,2156,0,0,0,0,0,0
$GC,5809,1.23,225.9,361.7,8.9,249,5833,0.00,2.60,18.35,0.792,6,0.000,0.042,3277,1856,2079,0,0,0,0,0,0
$GC,6101,1.24,238.4,335.1,9.3,257,6114,0.00,0.00,12.02,0.748,6,0.000,0.000,3277,1856,2029,0,0,0,0,0,0
$GC,6346,1.25,246.0,311.6,9.6,263,6360,0.00,2.95,7.95,0.686,4,0.000,0.083,3277,233,1997,0,0,0,0,0,0
$GC,6371,1.26,255.2,308.9,9.5,263,6388,0.00,2.60,10.18,0.708,6,0.000,0.021,3277,1896,1960,0,0,0,0,0,0
$GC,6631,1.26,255.2,282.5,10.3,270,6636,0.00,2.42,0.00,0.000,4,0.000,0.031,3277,3406,1956,0,0,0,0,0,0
$GC,6694,1.34,255.2,276.1,10.4,271,6698,0.00,2.50,0.00,0.000,6,0.000,0.038,3277,1874,1955,0,0,0,0,0,0
$GC,6955,1.34,255.2,249.3,10.3,278,6960,0.00,2.47,0.00,0.000,4,0.000,0.035,3277,3407,1954,0,0,0,0,0,0
$GC,6995,1.41,255.2,245.1,10.7,279,7000,0.12,2.47,0.00,0.000,6,0.088,0.035,3310,1889,1953,0,0,0,0,0,0
$GC,7280,1.41,255.2,212.0,11.6,286,7284,0.00,2.45,0.00,0.000,4,0.000,0.036,3310,3415,1953,0,0,0,0,0,0
$GC,7312,1.41,255.2,208.1,11.1,286,7318,0.00,2.45,0.00,0.000,6,0.000,0.038,3310,1894,1953,0,0,0,0,0,0
$GC,7571,1.41,255.2,181.5,10.2,305,7575,0.00,2.40,0.00,0.000,4,0.000,0.037,3310,3408,1952,0,0,0,0,0,0
$GC,7604,1.41,255.2,178.5,10.9,307,7608,0.00,2.42,0.00,0.000,6,0.000,0.039,3310,1901,1952,0,0,0,0,0,0
$GC,7870,1.41,255.2,151.0,11.0,331,7875,0.00,2.85,0.00,0.000,4,0.000,0.068,3310,232,1952,0,0,0,0,0,0
$GC,7893,1.36,255.2,147.7,11.5,332,7902,0.00,2.65,0.00,0.000,6,0.000,0.020,3310,1919,1952,0,0,0,0,0,0
$GC,8159,1.36,255.2,117.0,10.8,357,8163,0.00,2.38,0.00,0.000,4,0.000,0.029,3310,3415,1951,0,0,0,0,0,0
$GC,8192,1.36,255.2,112.6,11.5,359,8198,0.00,2.45,0.00,0.000,6,0.000,0.038,3310,1888,1951,0,0,0,0,0,0
$GC,8456,1.38,274.2,86.2,8.9,384,8475,0.00,0.00,16.65,0.581,6,0.000,0.000,3310,1888,1883,0,0,0,0,0,0
$GC,8735,1.48,304.1,63.8,8.3,410,8767,0.00,2.47,26.85,0.570,4,0.000,0.026,3310,3411,1759,0,0,0,0,0,0
$GC,8847,1.61,304.1,53.3,10.6,418,8852,0.17,2.45,0.00,0.000,6,0.069,0.032,3354,1893,1756,0,0,0,0,0,0
$GC,9130,1.61,304.1,21.7,11.3,447,9139,0.00,2.45,0.00,0.000,4,0.000,0.028,3354,3410,1756,0,0,0,0,0,0
$GC,9156,1.61,304.1,18.4,12.3,450,9165,0.00,2.47,0.00,0.000,6,0.000,0.033,3354,1904,1756,0,0,0,0,0,0
$STATE,9297,end climb,SURFACE_DEPTH_REACHED
$STATE,9297,begin surface coast
$FINISH,0.4,1.023308
$STATE,9354,end surface coast,CONTROL_FINISHED_OK
$STATE,9355,begin surface
$SM_CCo,9378,102.93,0.469,1,0,1287,420.20
$SM_GC,1.05,0.00,0.00,102.93,0.000,0.000,0.469,475,1731,1287,-11.62,-1.10,420.20
$IRIDIUM_FIX,2232.34,-15746.34,151299,101023
$TT8_MAMPS,0.026078
$HUMID,47.12
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.50
$XPDR_PINGS,48
$24V_AH,23.5,34.872
$10V_AH,10.3,35.810
$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,26.675,128.225,368.600,102.925,0.000,31.162,26.497,143.921,12.000,0.000,14.746,970.658,5997.809,549.040,1823.953,480.158,33.365,1239.219,0.000,1830.897,0.000,0.535,0.000
$DEVICE_MAMPS,140.361,128.089,905.827,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.571,277.936,371.231,712.536,1077.717,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38298,478
$CAP_FILE_SIZE,100826,0
$CFSIZE,260165632,167723008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200910,154322,2237.413,-15746.305,13,2.7,32,10.1