version: 66.06
glider: 146
mission: 5
dive: 251
start: 9 20 110 15 49 59
data:
$ID,146
$MISSION,5
$DIVE,251
$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,-252213.06
$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,50
$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
$GPS1,154322,2237.413,-15746.305,13,2.7,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.8
$GPS2,154906,2237.326,-15746.321,13,1.9,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.036,0.232
$KALMAN_X,-254858.3,116.9,-79.4,296614.1,-453.7
$KALMAN_Y,-260561.0,-371.1,5.7,366020.8,-2824.4
$MHEAD_RNG_PITCHd_Wd,358.6,38991,-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,16,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.80,0.000,6,0.000,0.000,474,1729,3479,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.8,-10.1,11,123,11.38,2.60,0.00,0.000,4,0.143,0.029,2692,3376,3481,0,0,0,0,0,0
$GC,135,-0.14,-116.8,17.8,-41.0,14,145,1.23,2.60,0.00,0.000,6,0.081,0.034,2965,1787,3482,0,0,0,0,0,0
$GC,450,-0.80,-116.8,35.8,-6.9,54,456,0.57,2.70,0.00,0.000,4,0.049,0.056,2816,182,3483,0,0,0,0,0,0
$GC,501,-0.95,-116.8,40.3,-8.6,57,510,0.08,2.47,0.00,0.000,6,0.047,0.016,2778,1806,3482,0,0,0,0,0,0
$GC,767,-1.00,-116.8,72.2,-11.4,82,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1808,3483,0,0,0,0,0,0
$GC,1033,-1.10,-116.8,98.4,-9.2,107,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1808,3483,0,0,0,0,0,0
$GC,1296,-1.22,-116.8,119.6,-8.2,132,1302,0.17,2.75,0.00,0.000,4,0.057,0.065,2720,190,3484,0,0,0,0,0,0
$GC,1342,-1.22,-116.8,124.0,-11.3,135,1346,0.00,2.33,0.00,0.000,6,0.000,0.022,2720,1766,3484,0,0,0,0,0,0
$GC,1606,-1.22,-116.8,152.5,-10.5,159,1610,0.00,2.38,0.00,0.000,4,0.000,0.025,2720,3302,3485,0,0,0,0,0,0
$GC,1628,-1.22,-116.8,154.6,-11.0,160,1632,0.00,2.47,0.00,0.000,6,0.000,0.027,2720,1738,3485,0,0,0,0,0,0
$GC,1894,-1.22,-116.8,183.0,-10.6,184,1898,0.00,2.60,0.00,0.000,4,0.000,0.066,2720,197,3485,0,0,0,0,0,0
$GC,1926,-1.22,-116.8,187.4,-11.7,186,1936,0.00,2.33,0.00,0.000,6,0.000,0.018,2720,1738,3485,0,0,0,0,0,0
$GC,2184,-1.22,-116.8,212.6,-9.7,202,2188,0.00,2.45,0.00,0.000,4,0.000,0.032,2720,3321,3486,0,0,0,0,0,0
$GC,2217,-1.28,-116.8,215.9,-9.7,202,2223,0.00,2.50,0.00,0.000,6,0.000,0.034,2720,1760,3485,0,0,0,0,0,0
$GC,2467,-1.28,-116.8,240.0,-9.8,209,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1760,3485,0,0,0,0,0,0
$GC,2712,-1.32,-116.8,267.1,-11.2,215,2717,0.00,2.45,0.00,0.000,4,0.000,0.029,2720,3323,3485,0,0,0,0,0,0
$GC,2745,-1.41,-116.8,271.1,-11.3,215,2752,0.12,2.53,0.00,0.000,6,0.071,0.033,2677,1763,3485,0,0,0,0,0,0
$GC,2995,-1.41,-116.8,302.8,-12.7,222,2999,0.00,2.45,0.00,0.000,4,0.000,0.028,2677,3311,3484,0,0,0,0,0,0
$GC,3018,-1.41,-116.8,305.5,-11.9,222,3022,0.00,2.50,0.00,0.000,6,0.000,0.038,2677,1778,3484,0,0,0,0,0,0
$GC,3272,-1.41,-116.8,332.9,-10.3,229,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1778,3484,0,0,0,0,0,0
$GC,3516,-1.41,-116.8,356.8,-9.8,235,3521,0.00,2.85,0.00,0.000,4,0.000,0.094,2676,188,3483,0,0,0,0,0,0
$GC,3583,-1.41,-116.8,363.7,-10.5,236,3588,0.00,2.45,0.00,0.000,6,0.000,0.028,2676,1744,3483,0,0,0,0,0,0
$GC,3838,-1.41,-116.8,389.8,-10.4,243,3842,0.00,2.65,0.00,0.000,4,0.000,0.051,2676,3357,3482,0,0,0,0,0,0
$GC,3887,-1.47,-116.8,395.3,-10.5,244,3892,0.00,2.62,0.00,0.000,6,0.000,0.058,2676,1801,3482,0,0,0,0,0,0
$GC,4160,-1.47,-116.8,425.1,-10.9,251,4165,0.00,2.97,0.00,0.000,4,0.000,0.100,2676,178,3480,0,0,0,0,0,0
$GC,4193,-1.47,-116.8,429.1,-11.7,251,4199,0.00,2.55,0.00,0.000,6,0.000,0.033,2676,1784,3479,0,0,0,0,0,0
$GC,4443,-1.47,-116.8,455.7,-10.6,258,4447,0.00,2.62,0.00,0.000,4,0.000,0.054,2676,3357,3478,0,0,0,0,0,0
$GC,4465,-1.47,-116.8,458.0,-9.9,258,4470,0.00,2.65,0.00,0.000,6,0.000,0.060,2676,1796,3478,0,0,0,0,0,0
$GC,4720,-1.47,-116.8,481.5,-8.9,265,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1796,3477,0,0,0,0,0,0
$STATE,4962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4962,begin apogee
$GC,4967,-0.31,0.0,501.4,8.0,271,5069,1.12,0.00,98.03,0.914,6,0.081,0.000,2929,1796,3001,0,0,0,0,0,0
$STATE,5070,end apogee,CONTROL_FINISHED_OK
$STATE,5070,begin climb
$GC,5072,1.38,116.8,502.4,0.0,273,5178,1.58,0.00,101.97,0.887,6,0.051,0.000,3307,1796,2523,0,0,0,0,0,0
$GC,5410,1.26,118.4,478.2,9.9,282,5415,0.17,2.75,0.00,0.000,4,0.148,0.048,3274,3405,2514,0,0,0,0,0,0
$GC,5518,1.23,141.4,468.3,8.7,284,5544,0.00,2.72,20.83,0.836,6,0.000,0.054,3273,1818,2424,0,0,0,0,0,0
$GC,5826,1.21,157.4,440.5,9.1,292,5846,0.00,2.70,14.85,0.807,4,0.000,0.042,3274,3412,2358,0,0,0,0,0,0
$GC,5921,1.21,159.5,431.1,9.9,294,5925,0.00,2.72,0.00,0.000,6,0.000,0.054,3273,1819,2356,0,0,0,0,0,0
$GC,6193,1.22,172.3,405.3,9.3,301,6212,0.00,2.67,14.05,0.800,4,0.000,0.038,3273,3415,2298,0,0,0,0,0,0
$GC,6251,1.25,190.8,399.9,9.0,302,6278,0.00,2.67,17.83,0.807,6,0.000,0.046,3274,1828,2222,0,0,0,0,0,0
$GC,6523,1.27,211.2,375.3,8.9,309,6547,0.00,2.65,18.52,0.799,4,0.000,0.037,3274,3405,2139,0,0,0,0,0,0
$GC,6604,1.28,217.2,367.5,9.7,310,6617,0.00,2.65,6.78,0.677,6,0.000,0.048,3273,1834,2115,0,0,0,0,0,0
$GC,6898,1.28,217.2,335.2,11.6,318,6902,0.00,2.83,0.00,0.000,4,0.000,0.082,3273,233,2110,0,0,0,0,0,0
$GC,6925,1.23,217.2,331.2,13.7,318,6929,0.00,2.58,0.00,0.000,6,0.000,0.025,3273,1859,2109,0,0,0,0,0,0
$GC,7174,1.23,217.2,299.2,12.5,324,7179,0.00,2.45,0.00,0.000,4,0.000,0.036,3273,3391,2108,0,0,0,0,0,0
$GC,7192,1.23,217.2,297.1,11.7,324,7197,0.00,2.60,0.00,0.000,6,0.000,0.043,3273,1819,2107,0,0,0,0,0,0
$GC,7453,1.24,224.0,270.1,9.6,331,7466,0.00,2.55,6.45,0.634,4,0.000,0.031,3273,3394,2086,0,0,0,0,0,0
$GC,7598,1.29,224.3,256.4,10.0,334,7602,0.00,2.58,0.00,0.000,6,0.000,0.035,3273,1828,2085,0,0,0,0,0,0
$GC,7870,1.34,228.8,229.7,9.8,341,7880,0.00,2.55,5.38,0.572,4,0.000,0.035,3273,3397,2067,0,0,0,0,0,0
$GC,7985,1.43,245.0,219.2,9.1,343,8006,0.15,2.55,15.85,0.693,6,0.083,0.037,3313,1848,2002,0,0,0,0,0,0
$GC,8260,1.43,245.0,191.3,10.5,354,8264,0.00,2.50,0.00,0.000,4,0.000,0.030,3313,3399,1999,0,0,0,0,0,0
$GC,8301,1.43,245.0,186.6,10.4,357,8306,0.00,2.53,0.00,0.000,6,0.000,0.039,3313,1854,1997,0,0,0,0,0,0
$GC,8565,1.43,245.0,157.6,11.3,381,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1854,1997,0,0,0,0,0,0
$GC,8826,1.43,245.0,129.6,10.5,406,8831,0.00,2.47,0.00,0.000,4,0.000,0.031,3313,3396,1997,0,0,0,0,0,0
$GC,8904,1.43,246.7,122.0,9.9,412,8909,0.00,2.50,0.00,0.000,6,0.000,0.038,3312,1850,1997,0,0,0,0,0,0
$GC,9167,1.44,251.5,96.7,9.8,436,9182,0.00,2.53,6.90,0.519,4,0.000,0.028,3313,3396,1974,0,0,0,0,0,0
$GC,9212,1.44,251.5,92.0,10.1,439,9218,0.00,2.50,0.00,0.000,6,0.000,0.036,3313,1849,1973,0,0,0,0,0,0
$GC,9479,1.48,256.7,66.3,9.7,464,9495,0.00,2.50,5.88,0.475,4,0.000,0.034,3313,3390,1954,0,0,0,0,0,0
$GC,9527,1.58,269.4,62.0,9.3,467,9545,0.12,2.47,12.82,0.544,6,0.085,0.031,3346,1851,1902,0,0,0,0,0,0
$GC,9806,1.61,289.4,35.1,8.9,492,9834,0.00,2.53,18.33,0.535,4,0.000,0.028,3346,3387,1820,0,0,0,0,0,0
$GC,9853,1.63,312.2,31.2,8.7,495,9884,0.00,2.47,20.55,0.529,6,0.000,0.032,3346,1862,1727,0,0,0,0,0,0
$STATE,10118,end climb,SURFACE_DEPTH_REACHED
$STATE,10118,begin surface coast
$FINISH,0.3,1.020015
$STATE,10160,end surface coast,CONTROL_FINISHED_OK
$STATE,10160,begin surface
$SM_CCo,10183,93.90,0.465,1,0,1287,420.20
$SM_GC,1.07,0.00,0.00,93.90,0.000,0.000,0.465,475,1727,1287,-11.62,-1.22,420.20
$IRIDIUM_FIX,2230.01,-15744.17,151299,131326
$TT8_MAMPS,0.026078
$HUMID,46.53
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.60
$XPDR_PINGS,48
$24V_AH,23.5,34.983
$10V_AH,10.3,35.935
$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,28.400,128.850,385.000,93.900,0.000,24.007,30.728,143.193,12.000,0.000,31.449,1082.174,6379.412,569.258,2105.498,492.293,33.370,1329.422,0.000,2101.748,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,100.477,914.264,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.691,330.837,430.122,862.696,1303.283,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,41529,539
$CAP_FILE_SIZE,108728,0
$CFSIZE,260165632,167657472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200910,184236,2236.515,-15746.409,33,1.4,33,10.0