version: 66.06
glider: 146
mission: 5
dive: 248
start: 9 20 110 7 22 39
data:
$ID,146
$MISSION,5
$DIVE,248
$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,-252151.61
$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,58
$R_STBD_OVSHOOT,32
$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
$GPS1,071546,2239.334,-15746.354,7,99.0,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.7
$GPS2,072146,2239.239,-15746.375,16,99.0,35,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.057,0.228
$KALMAN_X,-253472.7,232.7,231.8,294709.7,-831.2
$KALMAN_Y,-251046.0,207.7,203.4,359271.4,-3495.1
$MHEAD_RNG_PITCHd_Wd,3.9,35538,-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,15,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.95,0.000,2,0.000,0.000,474,1724,3253,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.4,-6.5,10,126,11.25,2.65,-4.38,0.000,4,0.140,0.038,2691,3364,3480,0,0,0,0,0,0
$GC,190,-1.29,-116.8,24.7,-15.8,22,200,0.08,2.55,0.00,0.000,6,0.093,0.030,2712,1803,3481,0,0,0,0,0,0
$GC,470,-1.20,-116.8,68.7,-13.8,49,475,0.12,2.75,0.00,0.000,4,0.120,0.066,2737,191,3482,0,0,0,0,0,0
$GC,505,-1.15,-116.8,73.1,-12.4,51,510,0.00,2.45,0.00,0.000,6,0.000,0.015,2737,1817,3482,0,0,0,0,0,0
$GC,772,-1.15,-116.8,101.0,-11.1,75,776,0.00,2.75,0.00,0.000,4,0.000,0.063,2737,193,3483,0,0,0,0,0,0
$GC,808,-1.15,-116.8,105.1,-12.7,77,812,0.00,2.38,0.00,0.000,6,0.000,0.017,2737,1790,3483,0,0,0,0,0,0
$GC,1074,-1.19,-116.8,135.2,-10.9,101,1078,0.00,2.35,0.00,0.000,4,0.000,0.029,2737,3312,3483,0,0,0,0,0,0
$GC,1096,-1.24,-116.8,137.9,-9.5,102,1105,0.00,2.53,0.00,0.000,6,0.000,0.028,2737,1750,3483,0,0,0,0,0,0
$GC,1364,-1.28,-116.8,162.2,-9.5,127,1368,0.00,2.45,0.00,0.000,4,0.000,0.029,2737,3313,3484,0,0,0,0,0,0
$GC,1392,-1.36,-116.8,165.5,-9.1,129,1397,0.15,2.45,0.00,0.000,6,0.061,0.028,2687,1762,3484,0,0,0,0,0,0
$GC,1658,-1.31,-116.8,195.8,-11.7,153,1663,0.12,2.42,0.00,0.000,4,0.110,0.030,2714,3309,3484,0,0,0,0,0,0
$GC,1680,-1.31,-116.8,198.8,-10.7,154,1686,0.00,2.45,0.00,0.000,6,0.000,0.034,2714,1762,3484,0,0,0,0,0,0
$GC,1943,-1.31,-116.8,223.7,-9.3,162,1947,0.00,2.40,0.00,0.000,4,0.000,0.025,2714,3309,3484,0,0,0,0,0,0
$GC,1964,-1.31,-116.8,225.9,-9.4,162,1968,0.00,2.45,0.00,0.000,6,0.000,0.028,2714,1772,3484,0,0,0,0,0,0
$GC,2219,-1.31,-116.8,250.2,-10.1,169,2223,0.00,2.72,0.00,0.000,4,0.000,0.070,2714,196,3484,0,0,0,0,0,0
$GC,2245,-1.31,-116.8,253.3,-11.8,169,2249,0.00,2.35,0.00,0.000,6,0.000,0.015,2714,1744,3484,0,0,0,0,0,0
$GC,2503,-1.35,-116.8,282.4,-11.5,176,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1747,3484,0,0,0,0,0,0
$GC,2745,-1.41,-116.8,308.7,-10.6,182,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1747,3484,0,0,0,0,0,0
$GC,2989,-1.48,-116.8,333.2,-9.9,188,2994,0.15,2.58,0.00,0.000,4,0.064,0.038,2662,3338,3483,0,0,0,0,0,0
$GC,3023,-1.48,-116.8,336.8,-11.1,188,3029,0.00,2.58,0.00,0.000,6,0.000,0.042,2661,1774,3482,0,0,0,0,0,0
$GC,3273,-1.48,-116.8,363.6,-10.3,195,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1774,3481,0,0,0,0,0,0
$GC,3516,-1.48,-116.8,388.4,-10.4,201,3521,0.00,2.50,0.00,0.000,4,0.000,0.037,2662,3326,3481,0,0,0,0,0,0
$GC,3545,-1.48,-116.8,391.5,-11.0,201,3550,0.00,2.62,0.00,0.000,6,0.000,0.048,2661,1762,3481,0,0,0,0,0,0
$GC,3796,-1.48,-116.8,418.7,-10.9,207,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1762,3479,0,0,0,0,0,0
$GC,4038,-1.48,-116.8,445.1,-10.9,213,4043,0.00,2.58,0.00,0.000,4,0.000,0.051,2662,3332,3477,0,0,0,0,0,0
$GC,4077,-1.48,-116.8,449.2,-10.5,214,4082,0.00,2.67,0.00,0.000,6,0.000,0.058,2662,1765,3477,0,0,0,0,0,0
$GC,4361,-1.48,-116.8,480.0,-10.8,221,4365,0.00,2.58,0.00,0.000,4,0.000,0.048,2662,3328,3475,0,0,0,0,0,0
$GC,4388,-1.48,-116.8,483.3,-11.5,221,4392,0.00,2.70,0.00,0.000,6,0.000,0.062,2661,1756,3475,0,0,0,0,0,0
$STATE,4554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4554,begin apogee
$GC,4560,-0.31,0.0,502.5,11.4,225,4660,1.20,0.00,97.10,0.909,6,0.093,0.000,2930,1756,3001,0,0,0,0,0,0
$STATE,4661,end apogee,CONTROL_FINISHED_OK
$STATE,4661,begin climb
$GC,4665,1.38,116.8,505.3,0.0,227,4771,1.55,0.00,101.50,0.888,6,0.049,0.000,3307,1756,2523,0,0,0,0,0,0
$GC,5001,1.27,130.8,485.5,9.2,236,5021,0.15,2.83,12.00,0.798,4,0.216,0.053,3279,3371,2466,0,0,0,0,0,0
$GC,5034,1.24,161.2,482.6,8.3,236,5069,0.00,2.67,28.15,0.851,6,0.000,0.055,3279,1822,2343,0,0,0,0,0,0
$GC,5333,1.19,164.9,453.1,9.8,244,5337,0.00,2.58,0.00,0.000,4,0.000,0.041,3279,3375,2336,0,0,0,0,0,0
$GC,5440,1.21,176.9,443.2,9.3,246,5461,0.00,2.62,14.18,0.809,6,0.000,0.053,3279,1832,2278,0,0,0,0,0,0
$GC,5705,1.22,183.9,418.4,9.6,253,5719,0.00,2.60,7.03,0.712,4,0.000,0.042,3278,3374,2250,0,0,0,0,0,0
$GC,5769,1.22,183.9,411.4,10.7,254,5774,0.00,2.58,0.00,0.000,6,0.000,0.052,3279,1844,2249,0,0,0,0,0,0
$GC,6032,1.22,189.9,385.8,9.7,261,6045,0.00,2.58,6.55,0.694,4,0.000,0.033,3279,3380,2225,0,0,0,0,0,0
$GC,6159,1.23,193.6,372.7,9.8,263,6169,0.00,2.55,4.72,0.601,6,0.000,0.048,3279,1865,2211,0,0,0,0,0,0
$GC,6449,1.26,222.1,347.6,8.4,271,6478,0.00,0.00,26.70,0.808,6,0.000,0.000,3279,1864,2094,0,0,0,0,0,0
$GC,6693,1.28,234.3,325.4,9.3,277,6712,0.00,2.55,11.65,0.746,4,0.000,0.030,3279,3384,2045,0,0,0,0,0,0
$GC,6752,1.28,234.3,319.3,10.2,278,6756,0.00,2.53,0.00,0.000,6,0.000,0.038,3279,1867,2043,0,0,0,0,0,0
$GC,7019,1.28,234.3,290.3,11.1,285,7024,0.00,2.85,0.00,0.000,4,0.000,0.074,3278,232,2041,0,0,0,0,0,0
$GC,7031,1.28,234.3,288.8,11.0,285,7035,0.00,2.58,0.00,0.000,6,0.000,0.025,3278,1873,2040,0,0,0,0,0,0
$GC,7297,1.29,245.3,262.4,9.4,292,7313,0.00,2.88,10.70,0.700,4,0.000,0.066,3279,235,1999,0,0,0,0,0,0
$GC,7343,1.25,245.3,258.0,10.5,293,7347,0.00,2.58,0.00,0.000,6,0.000,0.023,3278,1860,1997,0,0,0,0,0,0
$GC,7620,1.28,268.8,233.6,8.7,300,7644,0.00,0.00,21.88,0.718,6,0.000,0.000,3279,1862,1905,0,0,0,0,0,0
$GC,7866,1.33,278.1,210.4,9.5,306,7877,0.00,0.00,9.38,0.643,6,0.000,0.000,3279,1862,1867,0,0,0,0,0,0
$GC,8114,1.39,283.0,186.6,9.8,321,8129,0.10,2.50,5.60,0.548,4,0.092,0.031,3307,3391,1846,0,0,0,0,0,0
$GC,8187,1.43,283.0,178.4,11.4,327,8192,0.00,2.50,0.00,0.000,6,0.000,0.037,3307,1864,1845,0,0,0,0,0,0
$GC,8455,1.43,283.0,147.3,12.2,351,8459,0.00,2.45,0.00,0.000,4,0.000,0.034,3306,3396,1844,0,0,0,0,0,0
$GC,8496,1.43,283.0,141.1,13.0,354,8501,0.00,2.47,0.00,0.000,6,0.000,0.034,3307,1866,1844,0,0,0,0,0,0
$GC,8760,1.43,283.2,111.8,10.0,378,8765,0.00,2.45,0.00,0.000,4,0.000,0.028,3306,3400,1843,0,0,0,0,0,0
$GC,8818,1.49,283.2,105.5,10.5,382,8827,0.00,2.50,0.00,0.000,6,0.000,0.032,3306,1875,1843,0,0,0,0,0,0
$GC,9086,1.54,290.1,79.8,9.6,407,9101,0.12,2.47,7.32,0.518,4,0.078,0.027,3342,3397,1818,0,0,0,0,0,0
$GC,9130,1.54,290.1,74.7,11.6,410,9135,0.00,2.45,0.00,0.000,6,0.000,0.031,3342,1876,1817,0,0,0,0,0,0
$GC,9398,1.55,301.1,47.7,9.4,434,9417,0.00,0.00,11.25,0.529,6,0.000,0.000,3342,1877,1772,0,0,0,0,0,0
$GC,9699,1.55,301.1,16.6,10.2,469,9708,0.00,2.45,0.00,0.000,4,0.000,0.028,3342,3393,1770,0,0,0,0,0,0
$GC,9725,1.55,301.1,13.3,12.0,472,9734,0.00,2.47,0.00,0.000,6,0.000,0.033,3341,1885,1769,0,0,0,0,0,0
$STATE,9816,end climb,SURFACE_DEPTH_REACHED
$STATE,9816,begin surface coast
$FINISH,0.3,1.021364
$STATE,9876,end surface coast,CONTROL_FINISHED_OK
$STATE,9876,begin surface
$SM_CCo,9897,106.55,0.476,1,0,1288,420.20
$SM_GC,0.90,0.00,0.00,106.55,0.000,0.000,0.476,474,1750,1288,-11.62,-0.59,420.20
$IRIDIUM_FIX,2232.34,-15755.87,151299,040454
$TT8_MAMPS,0.026078
$HUMID,46.96
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.20
$XPDR_PINGS,47
$24V_AH,23.5,34.645
$10V_AH,10.2,35.596
$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,26.525,122.750,375.700,106.550,0.000,25.287,33.250,147.959,11.750,0.000,37.622,1001.251,6454.019,588.848,1844.715,483.034,33.365,1261.509,0.000,1828.070,0.000,0.535,0.000
$DEVICE_MAMPS,215.527,73.632,908.895,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.227,287.025,378.439,728.458,1101.889,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,38343,493
$CAP_FILE_SIZE,102620,0
$CFSIZE,260165632,167821312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200910,101036,2238.574,-15746.347,25,1.0,25,10.1