version: 66.06
glider: 146
mission: 5
dive: 490
start: 10 24 110 17 52 58
data:
$ID,146
$MISSION,5
$DIVE,490
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$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,360
$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,-259180.61
$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,12
$R_STBD_OVSHOOT,34
$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
$GPS1,174306,2256.755,-15741.760,25,1.2,25,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-64.1
$GPS2,175202,2256.798,-15741.727,12,1.6,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.072,0.124
$KALMAN_X,-259691.4,-51.0,-6.2,309446.5,224.4
$KALMAN_Y,-613001.1,268.0,-320.6,754204.8,1051.1
$MHEAD_RNG_PITCHd_Wd,319.6,2275,-32.6,-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,17,-2.09,-44.8,0.0,0.0,0,120,0.00,0.00,-100.75,0.000,2,0.000,0.000,475,1825,3181,0,0,0,0,0,0
$GC,123,-2.13,-75.0,3.2,-5.5,13,142,10.45,2.45,-2.62,0.000,4,0.139,0.042,2527,3368,3308,0,0,0,0,0,0
$GC,300,-2.13,-75.0,42.0,-19.7,35,304,0.00,2.62,0.00,0.000,6,0.000,0.030,2527,1753,3310,0,0,0,0,0,0
$GC,567,-2.17,-75.0,91.2,-14.5,59,571,0.00,2.53,0.00,0.000,4,0.000,0.022,2527,3362,3310,0,0,0,0,0,0
$GC,585,-2.24,-75.0,94.4,-13.6,60,589,0.00,2.55,0.00,0.000,6,0.000,0.025,2527,1771,3310,0,0,0,0,0,0
$GC,849,-2.31,-75.0,131.7,-16.4,84,854,0.12,2.70,0.00,0.000,4,0.074,0.064,2487,188,3311,0,0,0,0,0,0
$GC,872,-2.31,-75.0,136.3,-16.9,85,877,0.00,2.47,0.00,0.000,6,0.000,0.021,2486,1827,3312,0,0,0,0,0,0
$GC,1135,-2.31,-75.0,178.6,-17.1,110,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1828,3312,0,0,0,0,0,0
$GC,1393,-2.31,-75.0,219.2,-15.7,126,1397,0.00,2.40,0.00,0.000,4,0.000,0.029,2487,3363,3312,0,0,0,0,0,0
$GC,1414,-2.31,-75.0,222.4,-14.7,126,1418,0.00,2.53,0.00,0.000,6,0.000,0.028,2487,1792,3312,0,0,0,0,0,0
$GC,1670,-2.31,-75.0,259.3,-14.3,133,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1792,3312,0,0,0,0,0,0
$GC,1912,-2.31,-75.0,293.3,-14.2,139,1917,0.00,2.50,0.00,0.000,4,0.000,0.034,2487,3365,3312,0,0,0,0,0,0
$GC,1940,-2.36,-75.0,297.3,-14.6,139,1944,0.00,2.58,0.00,0.000,6,0.000,0.038,2487,1804,3312,0,0,0,0,0,0
$GC,2192,-2.40,-75.0,332.3,-14.2,145,2196,0.00,2.50,0.00,0.000,4,0.000,0.038,2487,3356,3311,0,0,0,0,0,0
$GC,2258,-2.45,-75.0,342.3,-14.0,146,2263,0.00,2.55,0.00,0.000,6,0.000,0.044,2487,1801,3311,0,0,0,0,0,0
$GC,2513,-2.49,-75.0,380.2,-15.2,153,2518,0.12,2.55,0.00,0.000,4,0.075,0.036,2450,3358,3310,0,0,0,0,0,0
$GC,2536,-2.49,-75.0,383.7,-15.2,153,2541,0.00,2.60,0.00,0.000,6,0.000,0.047,2450,1801,3310,0,0,0,0,0,0
$GC,2792,-2.49,-75.0,424.8,-16.2,160,2796,0.00,2.53,0.00,0.000,4,0.000,0.041,2450,3350,3308,0,0,0,0,0,0
$GC,2846,-2.49,-75.0,433.5,-15.6,161,2851,0.00,2.62,0.00,0.000,6,0.000,0.054,2450,1812,3308,0,0,0,0,0,0
$GC,3114,-2.49,-75.0,474.0,-14.8,168,3119,0.00,2.58,0.00,0.000,4,0.000,0.049,2450,3350,3306,0,0,0,0,0,0
$STATE,3297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3297,begin apogee
$GC,3305,-0.31,0.0,500.3,13.7,172,3376,2.30,0.00,63.67,0.903,6,0.120,0.000,2929,1821,3002,0,0,0,0,0,0
$STATE,3377,end apogee,CONTROL_FINISHED_OK
$STATE,3377,begin climb
$GC,3381,2.13,75.0,501.9,0.0,174,3456,2.20,3.10,65.32,0.882,4,0.045,0.107,3478,236,2693,0,0,0,0,0,0
$GC,3465,2.09,111.3,498.9,4.6,176,3507,0.12,2.62,33.60,0.857,6,0.150,0.038,3457,1814,2546,0,0,0,0,0,0
$GC,3753,2.09,111.3,465.2,12.3,183,3758,0.00,2.72,0.00,0.000,4,0.000,0.058,3457,3407,2537,0,0,0,0,0,0
$GC,3853,2.10,117.2,454.6,9.1,185,3863,0.00,2.70,4.57,0.592,6,0.000,0.055,3457,1829,2523,0,0,0,0,0,0
$GC,4121,2.11,131.0,432.4,8.0,192,4141,0.00,2.70,13.35,0.803,4,0.000,0.038,3457,3413,2466,0,0,0,0,0,0
$GC,4174,2.11,131.0,427.3,10.0,193,4179,0.00,2.67,0.00,0.000,6,0.000,0.048,3457,1846,2465,0,0,0,0,0,0
$GC,4448,2.11,131.0,398.4,10.9,200,4452,0.00,2.58,0.00,0.000,4,0.000,0.035,3457,3417,2462,0,0,0,0,0,0
$GC,4579,2.15,131.0,384.4,11.1,203,4583,0.00,2.65,0.00,0.000,6,0.000,0.044,3457,1845,2460,0,0,0,0,0,0
$GC,4862,2.15,131.0,354.6,10.1,210,4866,0.00,2.55,0.00,0.000,4,0.000,0.035,3457,3414,2458,0,0,0,0,0,0
$GC,5119,2.20,134.9,330.8,9.4,215,5125,0.00,2.60,0.00,0.000,6,0.000,0.045,3457,1858,2457,0,0,0,0,0,0
$GC,5371,2.25,144.9,309.7,8.5,222,5391,0.12,2.62,12.07,0.752,4,0.093,0.035,3489,3417,2409,0,0,0,0,0,0
$GC,5565,2.25,144.9,288.2,10.9,226,5569,0.00,2.58,0.00,0.000,6,0.000,0.039,3488,1866,2407,0,0,0,0,0,0
$GC,5838,2.25,144.9,258.2,11.3,233,5843,0.00,2.53,0.00,0.000,4,0.000,0.032,3488,3421,2404,0,0,0,0,0,0
$GC,5990,2.25,144.9,241.8,10.2,236,5994,0.00,2.55,0.00,0.000,6,0.000,0.041,3488,1877,2404,0,0,0,0,0,0
$GC,6252,2.25,147.6,216.7,9.6,243,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,3488,1877,2403,0,0,0,0,0,0
$GC,6496,2.27,158.6,195.6,8.4,252,6514,0.00,2.55,12.68,0.682,4,0.000,0.034,3488,3415,2353,0,0,0,0,0,0
$GC,6642,2.27,162.7,181.3,9.4,264,6656,0.00,2.53,4.78,0.524,6,0.000,0.042,3488,1888,2339,0,0,0,0,0,0
$GC,6911,2.27,162.7,153.8,10.5,289,6915,0.00,2.47,0.00,0.000,4,0.000,0.029,3488,3415,2337,0,0,0,0,0,0
$GC,7132,2.34,178.9,133.6,7.6,307,7159,0.00,2.50,16.02,0.640,6,0.000,0.037,3488,1894,2270,0,0,0,0,0,0
$GC,7414,2.40,187.1,109.8,8.8,333,7429,0.15,2.92,8.05,0.565,4,0.077,0.066,3525,237,2237,0,0,0,0,0,0
$GC,7539,2.31,187.1,95.6,12.3,343,7547,0.08,2.62,0.00,0.000,6,0.133,0.021,3509,1898,2234,0,0,0,0,0,0
$GC,7807,2.37,199.1,71.8,8.2,368,7825,0.00,2.92,11.82,0.566,4,0.000,0.054,3509,230,2187,0,0,0,0,0,0
$GC,7875,2.29,199.1,65.2,10.5,373,7879,0.00,2.62,0.00,0.000,6,0.000,0.021,3509,1883,2185,0,0,0,0,0,0
$GC,8143,2.38,211.1,42.5,8.2,397,8161,0.00,2.53,11.40,0.535,4,0.000,0.030,3509,3420,2138,0,0,0,0,0,0
$GC,8455,2.49,217.5,13.5,9.1,434,8474,0.10,2.60,6.80,0.462,6,0.058,0.033,3540,1848,2114,0,0,0,0,0,0
$STATE,8548,end climb,SURFACE_DEPTH_REACHED
$STATE,8548,begin surface coast
$FINISH,0.5,1.020591
$STATE,8601,end surface coast,CONTROL_FINISHED_OK
$STATE,8601,begin surface
$SM_CCo,8624,164.85,0.525,0,0,1288,420.20
$SM_GC,0.95,0.00,0.00,164.85,0.000,0.000,0.525,474,1722,1288,-11.62,-1.36,420.20
$IRIDIUM_FIX,2246.36,-15743.68,180100,141428
$TT8_MAMPS,0.026078
$HUMID,51.53
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,20.10
$XPDR_PINGS,102
$24V_AH,23.3,67.770
$10V_AH,9.9,64.416
$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,28.400,109.500,264.150,164.850,0.000,30.596,32.463,314.130,25.500,0.000,14.344,951.357,5247.371,489.019,1959.015,676.861,33.368,1221.333,0.000,1955.338,0.000,0.533,0.000
$DEVICE_MAMPS,149.565,106.613,902.759,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,306.805,275.674,362.367,718.816,1087.255,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,35305,454
$CAP_FILE_SIZE,98981,0
$CFSIZE,260165632,153780224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,202037,2257.825,-15742.069,28,1.5,28,10.1