version: 66.06
glider: 146
mission: 5
dive: 247
start: 9 20 110 4 32 32
data:
$ID,146
$MISSION,5
$DIVE,247
$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,-252113.36
$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,39
$R_STBD_OVSHOOT,21
$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
$GPS1,042600,2239.825,-15746.361,37,1.2,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-67.1
$GPS2,043138,2239.751,-15746.374,11,1.5,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.025,0.234
$KALMAN_X,-252803.2,29.6,22.9,294456.8,-400.9
$KALMAN_Y,-247849.9,263.7,216.8,356948.3,-2997.2
$MHEAD_RNG_PITCHd_Wd,356.1,34611,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.68,0.000,2,0.000,0.000,475,1747,3230,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.1,-5.5,10,126,11.27,2.60,-4.80,0.000,4,0.140,0.036,2690,3370,3479,0,0,0,0,0,0
$GC,157,-1.20,-116.8,19.2,-21.3,17,167,0.17,2.60,0.00,0.000,6,0.080,0.032,2733,1782,3480,0,0,0,0,0,0
$GC,437,-1.12,-116.8,64.4,-17.1,46,443,0.10,2.72,0.00,0.000,4,0.125,0.060,2754,193,3481,0,0,0,0,0,0
$GC,461,-1.04,-116.8,68.5,-17.8,47,465,0.00,2.45,0.00,0.000,6,0.000,0.015,2755,1827,3481,0,0,0,0,0,0
$GC,728,-1.09,-116.8,103.2,-12.1,71,732,0.00,2.78,0.00,0.000,4,0.000,0.063,2755,186,3482,0,0,0,0,0,0
$GC,762,-1.09,-116.8,107.4,-13.4,73,767,0.00,2.45,0.00,0.000,6,0.000,0.023,2754,1819,3482,0,0,0,0,0,0
$GC,1028,-1.16,-116.8,140.6,-12.1,97,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1821,3482,0,0,0,0,0,0
$GC,1293,-1.24,-116.8,168.8,-9.2,122,1298,0.10,2.80,0.00,0.000,4,0.087,0.061,2717,186,3483,0,0,0,0,0,0
$GC,1315,-1.24,-116.8,171.5,-10.4,123,1324,0.00,2.40,0.00,0.000,6,0.000,0.020,2718,1769,3482,0,0,0,0,0,0
$GC,1581,-1.24,-116.8,199.0,-9.9,148,1585,0.00,2.42,0.00,0.000,4,0.000,0.025,2717,3322,3482,0,0,0,0,0,0
$GC,1605,-1.28,-116.8,202.0,-10.3,148,1609,0.00,2.50,0.00,0.000,6,0.000,0.035,2717,1761,3482,0,0,0,0,0,0
$GC,1859,-1.28,-116.8,228.2,-10.2,155,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1761,3483,0,0,0,0,0,0
$GC,2103,-1.28,-116.8,253.4,-10.4,161,2107,0.00,2.67,0.00,0.000,4,0.000,0.071,2717,196,3483,0,0,0,0,0,0
$GC,2125,-1.28,-116.8,255.9,-11.4,161,2130,0.00,2.35,0.00,0.000,6,0.000,0.024,2717,1749,3483,0,0,0,0,0,0
$GC,2381,-1.32,-116.8,283.8,-10.9,168,2385,0.00,2.50,0.00,0.000,4,0.000,0.035,2717,3342,3483,0,0,0,0,0,0
$GC,2420,-1.41,-116.8,288.2,-10.9,169,2425,0.10,2.50,0.00,0.000,6,0.086,0.038,2679,1774,3483,0,0,0,0,0,0
$GC,2705,-1.41,-116.8,321.0,-11.5,176,2710,0.00,2.78,0.00,0.000,4,0.000,0.086,2679,186,3482,0,0,0,0,0,0
$GC,2726,-1.41,-116.8,323.9,-12.8,176,2730,0.00,2.42,0.00,0.000,6,0.000,0.025,2679,1762,3482,0,0,0,0,0,0
$GC,2982,-1.41,-116.8,351.2,-10.5,183,2986,0.00,2.55,0.00,0.000,4,0.000,0.048,2679,3349,3482,0,0,0,0,0,0
$GC,3050,-1.45,-116.8,358.0,-10.0,184,3054,0.00,2.62,0.00,0.000,6,0.000,0.051,2679,1777,3482,0,0,0,0,0,0
$GC,3305,-1.45,-116.8,385.3,-10.8,191,3309,0.00,2.90,0.00,0.000,4,0.000,0.096,2679,179,3481,0,0,0,0,0,0
$GC,3337,-1.45,-116.8,389.0,-11.6,191,3343,0.00,2.47,0.00,0.000,6,0.000,0.029,2679,1761,3480,0,0,0,0,0,0
$GC,3588,-1.45,-116.8,415.6,-10.7,198,3593,0.00,2.60,0.00,0.000,4,0.000,0.048,2679,3353,3479,0,0,0,0,0,0
$GC,3628,-1.50,-116.8,420.0,-11.0,199,3633,0.00,2.62,0.00,0.000,6,0.000,0.053,2679,1781,3479,0,0,0,0,0,0
$GC,3911,-1.50,-116.8,447.7,-9.5,206,3916,0.00,2.58,0.00,0.000,4,0.000,0.050,2679,3360,3477,0,0,0,0,0,0
$GC,3929,-1.50,-116.8,449.3,-9.3,206,3933,0.00,2.70,0.00,0.000,6,0.000,0.061,2679,1775,3477,0,0,0,0,0,0
$GC,4189,-1.50,-116.8,474.1,-9.6,213,4194,0.00,2.60,0.00,0.000,4,0.000,0.053,2679,3349,3475,0,0,0,0,0,0
$GC,4223,-1.56,-116.8,477.5,-9.7,213,4228,0.00,2.65,0.00,0.000,6,0.000,0.058,2679,1796,3475,0,0,0,0,0,0
$STATE,4470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4470,begin apogee
$GC,4477,-0.31,0.0,500.7,9.3,220,4578,1.12,0.00,97.55,0.908,6,0.088,0.000,2931,1796,3000,0,0,0,0,0,0
$STATE,4579,end apogee,CONTROL_FINISHED_OK
$STATE,4579,begin climb
$GC,4582,1.38,116.8,502.0,0.0,222,4688,1.58,0.00,101.88,0.886,6,0.043,0.000,3311,1796,2524,0,0,0,0,0,0
$GC,4917,1.26,124.2,478.1,9.6,231,4931,0.17,2.78,6.38,0.689,4,0.128,0.051,3277,3395,2493,0,0,0,0,0,0
$GC,4983,1.24,154.4,472.2,8.3,232,5018,0.00,2.70,27.67,0.848,6,0.000,0.060,3277,1825,2371,0,0,0,0,0,0
$GC,5295,1.21,164.2,442.9,9.5,240,5309,0.00,2.65,9.23,0.756,4,0.000,0.041,3277,3401,2331,0,0,0,0,0,0
$GC,5439,1.23,178.4,428.4,9.2,243,5458,0.00,2.65,13.98,0.797,6,0.000,0.051,3277,1833,2273,0,0,0,0,0,0
$GC,5716,1.25,199.0,403.3,8.8,250,5741,0.00,2.62,18.98,0.812,4,0.000,0.038,3277,3402,2188,0,0,0,0,0,0
$GC,5809,1.26,208.2,394.9,9.5,252,5824,0.00,2.65,9.50,0.743,6,0.000,0.047,3277,1835,2152,0,0,0,0,0,0
$GC,6087,1.26,208.2,366.8,10.3,259,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1835,2147,0,0,0,0,0,0
$GC,6329,1.26,208.2,340.6,10.8,265,6333,0.00,2.53,0.00,0.000,4,0.000,0.032,3277,3404,2145,0,0,0,0,0,0
$GC,6395,1.26,208.2,333.1,11.0,266,6399,0.00,2.60,0.00,0.000,6,0.000,0.038,3277,1833,2144,0,0,0,0,0,0
$GC,6650,1.28,220.0,308.4,9.4,273,6666,0.00,2.55,10.55,0.723,4,0.000,0.037,3277,3404,2103,0,0,0,0,0,0
$GC,6695,1.29,229.3,304.2,9.5,274,6710,0.00,2.58,9.73,0.706,6,0.000,0.040,3276,1834,2066,0,0,0,0,0,0
$GC,6971,1.31,247.7,279.2,9.0,281,6996,0.00,2.62,17.45,0.741,4,0.000,0.033,3276,3405,1990,0,0,0,0,0,0
$GC,7049,1.38,247.7,271.7,10.1,282,7054,0.10,2.58,0.00,0.000,6,0.099,0.035,3304,1833,1988,0,0,0,0,0,0
$GC,7299,1.38,247.7,244.9,10.7,288,7303,0.00,2.53,0.00,0.000,4,0.000,0.030,3304,3414,1986,0,0,0,0,0,0
$GC,7314,1.38,247.7,243.2,10.6,288,7318,0.00,2.58,0.00,0.000,6,0.000,0.040,3304,1842,1985,0,0,0,0,0,0
$GC,7577,1.38,247.7,214.3,11.1,295,7581,0.00,2.53,0.00,0.000,4,0.000,0.031,3304,3410,1985,0,0,0,0,0,0
$GC,7643,1.38,247.7,206.4,11.7,296,7647,0.00,2.55,0.00,0.000,6,0.000,0.035,3304,1852,1984,0,0,0,0,0,0
$GC,7907,1.38,247.7,175.7,11.5,315,7911,0.00,2.50,0.00,0.000,4,0.000,0.032,3304,3414,1984,0,0,0,0,0,0
$GC,7947,1.41,247.7,170.7,12.4,318,7952,0.00,2.53,0.00,0.000,6,0.000,0.040,3304,1860,1983,0,0,0,0,0,0
$GC,8210,1.42,255.6,143.4,9.6,342,8225,0.00,2.47,7.60,0.571,4,0.000,0.028,3304,3411,1957,0,0,0,0,0,0
$GC,8301,1.50,272.4,135.2,9.1,349,8328,0.00,2.47,16.23,0.619,6,0.000,0.035,3304,1875,1887,0,0,0,0,0,0
$GC,8584,1.50,274.1,107.5,9.9,375,8589,0.10,0.00,0.00,0.000,6,0.095,0.000,3332,1875,1885,0,0,0,0,0,0
$GC,8849,1.50,274.1,77.1,11.4,400,8853,0.00,2.42,0.00,0.000,4,0.000,0.028,3332,3408,1885,0,0,0,0,0,0
$GC,8869,1.50,274.1,74.8,10.8,401,8874,0.00,2.47,0.00,0.000,6,0.000,0.033,3333,1871,1884,0,0,0,0,0,0
$GC,9138,1.57,298.9,50.6,8.6,425,9167,0.00,2.50,23.42,0.555,4,0.000,0.026,3332,3412,1781,0,0,0,0,0,0
$GC,9196,1.64,308.6,45.1,9.5,429,9212,0.10,2.50,9.77,0.504,6,0.101,0.032,3357,1881,1741,0,0,0,0,0,0
$GC,9502,1.66,328.1,13.4,8.9,466,9526,0.00,2.47,17.60,0.511,4,0.000,0.030,3358,3404,1663,0,0,0,0,0,0
$GC,9564,1.66,328.1,6.2,13.6,474,9573,0.00,2.47,0.00,0.000,6,0.000,0.034,3358,1900,1661,0,0,0,0,0,0
$STATE,9581,end climb,SURFACE_DEPTH_REACHED
$STATE,9581,begin surface coast
$FINISH,0.6,1.023263
$STATE,9617,end surface coast,CONTROL_FINISHED_OK
$STATE,9617,begin surface
$SM_CCo,9640,81.20,0.456,1,0,1288,420.20
$SM_GC,0.96,0.00,0.00,81.20,0.000,0.000,0.456,474,1724,1288,-11.62,-1.30,420.20
$IRIDIUM_FIX,2232.34,-15748.50,151299,010122
$TT8_MAMPS,0.025311
$HUMID,47.79
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.40
$XPDR_PINGS,52
$24V_AH,23.5,34.530
$10V_AH,10.3,35.485
$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,26.650,133.975,397.500,81.200,0.000,22.055,40.202,147.843,13.000,0.000,12.763,994.287,6201.093,552.061,1827.565,491.643,33.362,1264.776,0.000,1839.723,0.000,0.535,0.000
$DEVICE_MAMPS,140.361,95.875,908.128,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.550,282.937,369.629,703.508,1066.884,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,38371,481
$CAP_FILE_SIZE,105591,0
$CFSIZE,260165632,167874560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200910,071546,2239.334,-15746.354,7,99.0,26,10.1