version: 66.06
glider: 146
mission: 5
dive: 245
start: 9 19 110 22 57 13
data:
$ID,146
$MISSION,5
$DIVE,245
$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,-252083.48
$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,46
$R_STBD_OVSHOOT,30
$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
$GPS1,225030,2240.222,-15746.042,35,1.2,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-68.5
$GPS2,225619,2240.130,-15746.084,8,1.0,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,0.228
$KALMAN_X,-251135.8,-301.5,-131.1,293773.9,-653.6
$KALMAN_Y,-241777.6,-33.0,-237.4,352337.8,-2747.7
$MHEAD_RNG_PITCHd_Wd,3.6,33821,-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,-85.00,0.000,2,0.000,0.000,478,1742,3452,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.3,-8.7,11,126,11.25,2.58,-0.45,0.000,4,0.139,0.042,2692,3366,3479,0,0,0,0,0,0
$GC,170,-1.27,-116.8,23.7,-18.7,19,180,0.10,2.60,0.00,0.000,6,0.084,0.033,2719,1792,3480,0,0,0,0,0,0
$GC,447,-1.16,-116.8,71.4,-17.6,46,456,0.12,0.00,0.00,0.000,6,0.115,0.000,2744,1792,3480,0,0,0,0,0,0
$GC,713,-1.16,-116.8,106.9,-11.3,71,718,0.00,2.72,0.00,0.000,4,0.000,0.061,2744,188,3481,0,0,0,0,0,0
$GC,730,-1.16,-116.8,109.5,-11.6,72,734,0.00,2.42,0.00,0.000,6,0.000,0.015,2744,1817,3482,0,0,0,0,0,0
$GC,994,-1.21,-116.8,137.6,-10.3,96,998,0.00,2.30,0.00,0.000,4,0.000,0.031,2744,3309,3482,0,0,0,0,0,0
$GC,1014,-1.28,-116.8,139.7,-10.1,97,1019,0.10,2.47,0.00,0.000,6,0.084,0.033,2706,1750,3482,0,0,0,0,0,0
$GC,1280,-1.28,-116.8,170.7,-12.2,121,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1750,3482,0,0,0,0,0,0
$GC,1550,-1.28,-116.8,205.6,-13.1,144,1554,0.00,2.45,0.00,0.000,4,0.000,0.024,2705,3316,3482,0,0,0,0,0,0
$GC,1576,-1.28,-116.8,209.3,-13.2,144,1581,0.00,2.50,0.00,0.000,6,0.000,0.036,2706,1763,3483,0,0,0,0,0,0
$GC,1828,-1.28,-116.8,239.6,-11.9,150,1832,0.00,2.72,0.00,0.000,4,0.000,0.069,2705,190,3483,0,0,0,0,0,0
$GC,1854,-1.28,-116.8,242.8,-11.7,150,1858,0.00,2.33,0.00,0.000,6,0.000,0.016,2705,1731,3483,0,0,0,0,0,0
$GC,2110,-1.28,-116.8,270.0,-10.5,157,2114,0.00,2.55,0.00,0.000,4,0.000,0.032,2705,3342,3483,0,0,0,0,0,0
$GC,2169,-1.34,-116.8,275.3,-9.4,158,2173,0.00,2.55,0.00,0.000,6,0.000,0.034,2705,1767,3483,0,0,0,0,0,0
$GC,2435,-1.34,-116.8,301.3,-9.9,165,2439,0.00,2.78,0.00,0.000,4,0.000,0.081,2705,186,3482,0,0,0,0,0,0
$GC,2467,-1.34,-116.8,305.1,-11.2,165,2473,0.00,2.40,0.00,0.000,6,0.000,0.021,2706,1752,3482,0,0,0,0,0,0
$GC,2719,-1.38,-116.8,332.3,-11.3,172,2723,0.00,2.55,0.00,0.000,4,0.000,0.036,2705,3347,3481,0,0,0,0,0,0
$GC,2758,-1.46,-116.8,336.9,-10.7,173,2763,0.10,2.60,0.00,0.000,6,0.081,0.042,2664,1760,3481,0,0,0,0,0,0
$GC,3041,-1.46,-116.8,371.5,-12.2,180,3046,0.00,2.58,0.00,0.000,4,0.000,0.036,2664,3349,3481,0,0,0,0,0,0
$GC,3092,-1.46,-116.8,377.5,-12.2,181,3097,0.00,2.62,0.00,0.000,6,0.000,0.055,2663,1776,3480,0,0,0,0,0,0
$GC,3364,-1.46,-116.8,409.3,-11.6,188,3368,0.00,2.90,0.00,0.000,4,0.000,0.098,2663,185,3479,0,0,0,0,0,0
$GC,3385,-1.42,-116.8,412.3,-13.4,188,3390,0.12,2.50,0.00,0.000,6,0.116,0.026,2689,1763,3479,0,0,0,0,0,0
$GC,3642,-1.46,-116.8,441.3,-11.2,195,3646,0.00,2.65,0.00,0.000,4,0.000,0.058,2689,3354,3478,0,0,0,0,0,0
$GC,3682,-1.54,-116.8,446.0,-11.2,196,3687,0.10,2.65,0.00,0.000,6,0.087,0.054,2653,1783,3477,0,0,0,0,0,0
$GC,3965,-1.54,-116.8,479.4,-11.6,203,3969,0.00,2.60,0.00,0.000,4,0.000,0.049,2653,3349,3475,0,0,0,0,0,0
$GC,4015,-1.54,-116.8,485.3,-12.3,204,4020,0.00,2.67,0.00,0.000,6,0.000,0.063,2653,1792,3475,0,0,0,0,0,0
$STATE,4162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4163,begin apogee
$GC,4168,-0.31,0.0,501.6,10.8,208,4269,1.23,0.00,97.65,0.903,6,0.077,0.000,2929,1792,3001,0,0,0,0,0,0
$STATE,4270,end apogee,CONTROL_FINISHED_OK
$STATE,4270,begin climb
$GC,4273,1.38,116.8,503.8,0.0,210,4386,1.55,3.05,101.05,0.885,4,0.044,0.114,3307,236,2523,0,0,0,0,0,0
$GC,4409,1.18,136.4,499.9,8.9,213,4434,0.25,2.60,17.92,0.818,6,0.117,0.036,3257,1813,2444,0,0,0,0,0,0
$GC,4687,1.21,164.1,476.5,8.4,220,4717,0.00,2.80,24.62,0.842,4,0.000,0.070,3257,3406,2331,0,0,0,0,0,0
$GC,4807,1.22,171.2,465.2,9.6,222,4822,0.00,2.70,7.40,0.713,6,0.000,0.057,3257,1814,2303,0,0,0,0,0,0
$GC,5102,1.23,180.5,437.3,9.5,230,5116,0.00,2.67,9.30,0.757,4,0.000,0.046,3257,3411,2265,0,0,0,0,0,0
$GC,5155,1.24,189.1,431.9,9.5,231,5170,0.00,2.65,9.35,0.750,6,0.000,0.049,3257,1827,2229,0,0,0,0,0,0
$GC,5428,1.26,204.5,407.1,9.2,238,5448,0.00,2.65,14.62,0.798,4,0.000,0.043,3258,3422,2166,0,0,0,0,0,0
$GC,5517,1.32,211.7,398.7,9.6,240,5532,0.12,2.70,7.40,0.704,6,0.091,0.047,3288,1823,2139,0,0,0,0,0,0
$GC,5800,1.32,211.7,369.7,10.1,247,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1823,2135,0,0,0,0,0,0
$GC,6042,1.32,211.7,344.7,10.4,253,6047,0.00,2.58,0.00,0.000,4,0.000,0.037,3288,3423,2133,0,0,0,0,0,0
$GC,6142,1.32,211.7,334.3,10.3,255,6147,0.00,2.62,0.00,0.000,6,0.000,0.039,3288,1825,2132,0,0,0,0,0,0
$GC,6411,1.32,214.4,308.3,9.9,262,6415,0.00,2.58,0.00,0.000,4,0.000,0.031,3288,3423,2131,0,0,0,0,0,0
$GC,6437,1.34,229.4,305.5,9.2,262,6459,0.00,2.58,16.25,0.754,6,0.000,0.036,3288,1839,2065,0,0,0,0,0,0
$GC,6732,1.35,232.2,276.5,9.9,270,6736,0.00,2.53,0.00,0.000,4,0.000,0.037,3288,3419,2061,0,0,0,0,0,0
$GC,6766,1.35,233.5,273.3,10.0,270,6775,0.00,2.55,4.38,0.532,6,0.000,0.035,3288,1850,2049,0,0,0,0,0,0
$GC,7055,1.35,233.5,243.8,10.3,278,7059,0.00,2.53,0.00,0.000,4,0.000,0.036,3288,3418,2047,0,0,0,0,0,0
$GC,7100,1.39,233.5,239.0,10.8,279,7104,0.00,2.55,0.00,0.000,6,0.000,0.038,3288,1853,2046,0,0,0,0,0,0
$GC,7377,1.39,233.5,208.8,11.0,286,7382,0.00,2.80,0.00,0.000,4,0.000,0.073,3288,233,2046,0,0,0,0,0,0
$GC,7421,1.36,233.5,203.6,12.0,287,7425,0.00,2.58,0.00,0.000,6,0.000,0.026,3288,1895,2045,0,0,0,0,0,0
$GC,7694,1.38,254.7,177.7,8.8,307,7723,0.00,0.00,20.10,0.663,6,0.000,0.000,3288,1897,1961,0,0,0,0,0,0
$GC,7980,1.44,304.1,155.4,7.2,334,8030,0.10,2.47,43.50,0.650,4,0.173,0.030,3316,3420,1760,0,0,0,0,0,0
$GC,8071,1.48,304.1,147.6,10.1,341,8076,0.00,2.58,0.00,0.000,6,0.000,0.038,3316,1855,1758,0,0,0,0,0,0
$GC,8337,1.48,304.1,119.8,11.3,365,8342,0.00,2.47,0.00,0.000,4,0.000,0.031,3316,3422,1755,0,0,0,0,0,0
$GC,8356,1.48,304.1,117.2,11.4,366,8360,0.00,2.53,0.00,0.000,6,0.000,0.036,3316,1856,1754,0,0,0,0,0,0
$GC,8618,1.48,304.1,84.3,12.4,390,8622,0.00,2.50,0.00,0.000,4,0.000,0.027,3316,3427,1754,0,0,0,0,0,0
$GC,8640,1.52,304.1,82.1,12.0,391,8645,0.00,2.53,0.00,0.000,6,0.000,0.032,3315,1859,1754,0,0,0,0,0,0
$GC,8907,1.61,316.5,54.7,9.3,415,8925,0.15,2.55,11.30,0.525,4,0.071,0.028,3356,3423,1710,0,0,0,0,0,0
$GC,8963,1.61,316.5,48.2,10.9,419,8972,0.00,2.55,0.00,0.000,6,0.000,0.033,3357,1874,1708,0,0,0,0,0,0
$GC,9259,1.61,316.5,12.2,12.2,454,9268,0.00,2.47,0.00,0.000,4,0.000,0.033,3357,3419,1707,0,0,0,0,0,0
$STATE,9323,end climb,SURFACE_DEPTH_REACHED
$STATE,9323,begin surface coast
$FINISH,0.3,1.023234
$STATE,9367,end surface coast,CONTROL_FINISHED_OK
$STATE,9367,begin surface
$SM_CCo,9392,92.32,0.464,1,0,1288,420.20
$SM_GC,1.03,0.00,0.00,92.32,0.000,0.000,0.464,475,1759,1288,-11.62,-0.34,420.20
$IRIDIUM_FIX,2232.34,-15748.50,141299,202027
$TT8_MAMPS,0.026078
$HUMID,47.40
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.40
$XPDR_PINGS,51
$24V_AH,23.5,34.302
$10V_AH,10.3,35.265
$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,26.950,134.775,384.850,92.325,0.000,25.817,32.180,161.709,12.750,0.000,14.886,969.925,5985.197,540.602,1842.090,503.858,33.367,1268.281,0.000,1846.186,0.000,0.535,0.000
$DEVICE_MAMPS,173.342,114.283,902.759,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.467,262.330,360.254,674.191,1019.823,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,38307,469
$CAP_FILE_SIZE,104869,0
$CFSIZE,260165632,167981056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200910,013634,2239.869,-15746.188,10,3.0,29,10.1