version: 66.06
glider: 146
mission: 5
dive: 252
start: 9 20 110 18 49 31
data:
$ID,146
$MISSION,5
$DIVE,252
$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,-252229.91
$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,62
$R_STBD_OVSHOOT,47
$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
$GPS1,184236,2236.515,-15746.409,33,1.4,33,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.7
$GPS2,184837,2236.393,-15746.431,9,1.4,14,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.044,0.231
$KALMAN_X,-255416.7,-87.3,143.3,296968.2,-643.4
$KALMAN_Y,-264587.0,-489.0,122.1,368329.7,-3376.6
$MHEAD_RNG_PITCHd_Wd,0.8,40723,-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,-116.8,0.0,0.0,0,106,0.00,0.00,-86.07,0.000,2,0.000,0.000,475,1726,3478,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.3,-9.1,11,126,11.40,2.58,0.00,0.000,4,0.144,0.026,2692,3357,3480,0,0,0,0,0,0
$GC,190,-1.30,-116.8,27.9,-16.9,22,199,0.08,2.53,0.00,0.000,6,0.093,0.031,2713,1810,3481,0,0,0,0,0,0
$GC,467,-1.19,-116.8,73.7,-16.6,48,472,0.12,2.80,0.00,0.000,4,0.120,0.060,2738,189,3482,0,0,0,0,0,0
$GC,492,-1.13,-116.8,78.6,-15.3,49,501,0.00,2.45,0.00,0.000,6,0.000,0.015,2738,1800,3481,0,0,0,0,0,0
$GC,753,-1.13,-116.8,114.3,-13.9,74,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1802,3482,0,0,0,0,0,0
$GC,1010,-1.17,-116.8,144.7,-9.0,98,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1802,3483,0,0,0,0,0,0
$GC,1266,-1.23,-116.8,167.0,-8.8,122,1270,0.00,2.78,0.00,0.000,4,0.000,0.063,2738,189,3483,0,0,0,0,0,0
$GC,1299,-1.23,-116.8,170.0,-9.9,124,1303,0.00,2.35,0.00,0.000,6,0.000,0.016,2738,1762,3483,0,0,0,0,0,0
$GC,1566,-1.29,-116.8,198.1,-11.2,148,1570,0.00,2.42,0.00,0.000,4,0.000,0.026,2738,3321,3484,0,0,0,0,0,0
$GC,1587,-1.37,-116.8,201.3,-11.6,149,1592,0.15,2.50,0.00,0.000,6,0.061,0.035,2687,1760,3483,0,0,0,0,0,0
$GC,1842,-1.37,-116.8,234.1,-12.8,156,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1757,3484,0,0,0,0,0,0
$GC,2086,-1.37,-116.8,261.1,-10.8,162,2090,0.00,2.47,0.00,0.000,4,0.000,0.027,2687,3323,3483,0,0,0,0,0,0
$GC,2129,-1.37,-116.8,265.8,-10.1,163,2133,0.00,2.53,0.00,0.000,6,0.000,0.041,2687,1770,3483,0,0,0,0,0,0
$GC,2409,-1.37,-116.8,293.4,-9.9,170,2413,0.00,2.47,0.00,0.000,4,0.000,0.037,2687,3313,3483,0,0,0,0,0,0
$GC,2430,-1.37,-116.8,295.8,-9.8,170,2435,0.00,2.50,0.00,0.000,6,0.000,0.038,2687,1769,3483,0,0,0,0,0,0
$GC,2686,-1.37,-116.8,319.0,-9.0,177,2690,0.00,2.47,0.00,0.000,4,0.000,0.038,2687,3310,3482,0,0,0,0,0,0
$GC,2703,-1.37,-116.8,320.5,-9.1,177,2708,0.00,2.50,0.00,0.000,6,0.000,0.043,2687,1788,3482,0,0,0,0,0,0
$GC,2964,-1.37,-116.8,344.5,-9.3,184,2969,0.00,2.85,0.00,0.000,4,0.000,0.090,2687,186,3482,0,0,0,0,0,0
$GC,3003,-1.37,-116.8,348.9,-11.7,185,3008,0.00,2.45,0.00,0.000,6,0.000,0.021,2687,1755,3482,0,0,0,0,0,0
$GC,3288,-1.37,-116.8,377.5,-10.1,192,3293,0.00,2.58,0.00,0.000,4,0.000,0.047,2687,3347,3481,0,0,0,0,0,0
$GC,3346,-1.45,-116.8,383.5,-10.0,193,3351,0.00,2.62,0.00,0.000,6,0.000,0.054,2687,1789,3481,0,0,0,0,0,0
$GC,3612,-1.45,-116.8,412.5,-10.9,200,3617,0.00,2.92,0.00,0.000,4,0.000,0.097,2687,185,3478,0,0,0,0,0,0
$GC,3652,-1.45,-116.8,416.9,-12.2,201,3657,0.00,2.55,0.00,0.000,6,0.000,0.033,2687,1791,3478,0,0,0,0,0,0
$GC,3936,-1.48,-116.8,444.3,-9.3,208,3940,0.00,2.58,0.00,0.000,4,0.000,0.055,2687,3353,3477,0,0,0,0,0,0
$GC,3970,-1.54,-116.8,447.0,-7.5,208,3977,0.10,2.65,0.00,0.000,6,0.084,0.054,2651,1791,3477,0,0,0,0,0,0
$GC,4221,-1.54,-116.8,470.6,-9.5,215,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1791,3475,0,0,0,0,0,0
$GC,4464,-1.54,-116.8,494.0,-9.6,221,4469,0.00,2.60,0.00,0.000,4,0.000,0.057,2651,3355,3473,0,0,0,0,0,0
$GC,4480,-1.54,-116.8,495.7,-9.8,221,4484,0.00,2.65,0.00,0.000,6,0.000,0.064,2651,1795,3473,0,0,0,0,0,0
$STATE,4535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4535,begin apogee
$GC,4542,-0.31,0.0,501.5,10.3,223,4643,1.25,0.00,97.30,0.916,6,0.084,0.000,2929,1795,3001,0,0,0,0,0,0
$STATE,4644,end apogee,CONTROL_FINISHED_OK
$STATE,4644,begin climb
$GC,4646,1.38,116.8,503.6,0.0,225,4760,1.55,2.80,101.12,0.894,4,0.048,0.058,3304,3389,2523,0,0,0,0,0,0
$GC,4782,1.34,184.3,500.6,6.1,228,4847,0.00,2.70,59.33,0.875,6,0.000,0.058,3303,1820,2249,0,0,0,0,0,0
$GC,5094,1.25,184.3,467.2,11.3,235,5099,0.15,2.67,0.00,0.000,4,0.153,0.042,3275,3409,2240,0,0,0,0,0,0
$GC,5207,1.26,193.0,455.8,9.5,237,5223,0.00,2.70,7.30,0.713,6,0.000,0.053,3275,1839,2214,0,0,0,0,0,0
$GC,5467,1.27,200.0,431.0,9.6,244,5481,0.00,2.65,7.45,0.722,4,0.000,0.040,3275,3405,2184,0,0,0,0,0,0
$GC,5516,1.27,202.3,426.1,9.9,245,5521,0.00,2.67,0.00,0.000,6,0.000,0.054,3274,1841,2184,0,0,0,0,0,0
$GC,5794,1.27,202.3,395.9,11.1,252,5798,0.00,2.55,0.00,0.000,4,0.000,0.039,3275,3406,2181,0,0,0,0,0,0
$GC,5832,1.27,202.3,391.4,11.3,253,5837,0.00,2.60,0.00,0.000,6,0.000,0.050,3274,1848,2181,0,0,0,0,0,0
$GC,6117,1.27,202.3,362.2,10.0,260,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1848,2179,0,0,0,0,0,0
$GC,6359,1.27,203.4,337.9,10.0,266,6363,0.00,2.53,0.00,0.000,4,0.000,0.037,3275,3408,2178,0,0,0,0,0,0
$GC,6484,1.27,203.4,324.5,10.8,268,6490,0.00,2.58,0.00,0.000,6,0.000,0.038,3275,1851,2177,0,0,0,0,0,0
$GC,6734,1.27,203.4,296.7,11.3,275,6738,0.00,2.53,0.00,0.000,4,0.000,0.032,3275,3413,2177,0,0,0,0,0,0
$GC,6789,1.31,203.4,290.6,10.9,276,6793,0.00,2.53,0.00,0.000,6,0.000,0.041,3275,1876,2175,0,0,0,0,0,0
$GC,7058,1.35,234.1,267.5,8.3,283,7093,0.00,2.55,29.88,0.759,4,0.000,0.032,3275,3411,2045,0,0,0,0,0,0
$GC,7173,1.43,241.8,257.3,9.6,284,7188,0.15,2.47,8.15,0.657,6,0.081,0.041,3314,1896,2014,0,0,0,0,0,0
$GC,7475,1.43,241.8,225.7,10.5,292,7479,0.00,2.45,0.00,0.000,4,0.000,0.032,3314,3415,2010,0,0,0,0,0,0
$GC,7548,1.43,241.8,217.7,10.9,293,7552,0.00,2.47,0.00,0.000,6,0.000,0.041,3314,1906,2009,0,0,0,0,0,0
$GC,7801,1.43,241.8,189.5,11.6,305,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1906,2008,0,0,0,0,0,0
$GC,8058,1.43,241.8,160.0,11.2,329,8062,0.00,2.40,0.00,0.000,4,0.000,0.036,3314,3409,2008,0,0,0,0,0,0
$GC,8074,1.43,241.8,158.0,11.4,330,8078,0.00,2.42,0.00,0.000,6,0.000,0.033,3314,1900,2007,0,0,0,0,0,0
$GC,8338,1.43,241.8,130.9,10.2,354,8342,0.00,2.42,0.00,0.000,4,0.000,0.030,3314,3420,2007,0,0,0,0,0,0
$GC,8395,1.48,241.8,124.3,11.0,358,8404,0.00,2.47,0.00,0.000,6,0.000,0.038,3314,1914,2007,0,0,0,0,0,0
$GC,8662,1.49,256.2,98.7,9.2,383,8681,0.00,0.00,13.07,0.584,6,0.000,0.000,3314,1914,1955,0,0,0,0,0,0
$GC,8939,1.59,288.2,73.4,8.2,409,8981,0.12,2.50,28.58,0.581,4,0.084,0.029,3348,3410,1824,0,0,0,0,0,0
$GC,9024,1.63,288.2,65.5,10.3,415,9029,0.00,2.42,0.00,0.000,6,0.000,0.031,3348,1911,1823,0,0,0,0,0,0
$GC,9289,1.63,288.2,38.9,10.1,439,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1911,1822,0,0,0,0,0,0
$GC,9606,1.63,288.2,5.3,10.7,480,9615,0.00,2.42,0.00,0.000,4,0.000,0.029,3348,3411,1822,0,0,0,0,0,0
$STATE,9623,end climb,SURFACE_DEPTH_REACHED
$STATE,9623,begin surface coast
$FINISH,0.4,1.023263
$STATE,9666,end surface coast,CONTROL_FINISHED_OK
$STATE,9666,begin surface
$SM_CCo,9690,119.82,0.478,1,0,1287,420.20
$SM_GC,1.06,0.00,0.00,119.82,0.000,0.000,0.478,474,1747,1287,-11.62,-0.65,420.20
$IRIDIUM_FIX,2230.01,-15748.50,151299,151506
$TT8_MAMPS,0.025311
$HUMID,46.69
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.50
$XPDR_PINGS,46
$24V_AH,23.5,35.097
$10V_AH,10.2,36.045
$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,26.725,123.025,352.175,119.825,0.000,30.825,29.037,161.623,11.500,0.000,16.225,997.811,6236.740,538.982,1898.457,506.051,33.368,1264.874,0.000,1900.395,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,97.409,915.798,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.820,283.144,378.499,714.947,1081.367,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38346,488
$CAP_FILE_SIZE,103365,0
$CFSIZE,260165632,167608320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200910,213416,2235.690,-15746.840,8,99.0,27,10.0