version: 66.06
glider: 146
mission: 5
dive: 439
start: 10 18 110 4 29 22
data:
$ID,146
$MISSION,5
$DIVE,439
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$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,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,-257986.61
$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,39
$R_STBD_OVSHOOT,61
$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
$GPS1,041955,2254.647,-15749.881,48,1.2,48,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.0
$GPS2,042826,2254.657,-15749.845,9,1.7,9,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.207,-0.110
$KALMAN_X,-258549.9,198.2,-76.4,294160.2,-37.6
$KALMAN_Y,-604286.2,-150.4,160.8,741465.6,-474.8
$MHEAD_RNG_PITCHd_Wd,107.9,17003,-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,17,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.07,0.000,2,0.000,0.000,475,1747,3441,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.2,-8.7,11,126,11.43,2.58,-0.65,0.000,4,0.145,0.057,2687,199,3478,0,0,0,0,0,0
$GC,144,-0.43,-116.8,18.7,-39.1,15,154,0.98,2.45,0.00,0.000,6,0.092,0.017,2900,1781,3480,0,0,0,0,0,0
$GC,436,-0.73,-116.8,40.9,-5.4,48,441,0.25,2.47,0.00,0.000,4,0.045,0.030,2818,3342,3481,0,0,0,0,0,0
$GC,485,-0.91,-116.8,44.4,-6.9,51,494,0.00,2.53,0.00,0.000,6,0.000,0.028,2818,1783,3480,0,0,0,0,0,0
$GC,753,-1.08,-116.8,66.0,-9.3,76,758,0.22,2.65,0.00,0.000,4,0.049,0.054,2751,196,3481,0,0,0,0,0,0
$GC,814,-1.16,-116.8,73.3,-13.8,80,818,0.00,2.40,0.00,0.000,6,0.000,0.015,2751,1795,3482,0,0,0,0,0,0
$GC,1079,-1.25,-116.8,96.3,-6.0,104,1083,0.10,2.40,0.00,0.000,4,0.080,0.031,2710,3317,3482,0,0,0,0,0,0
$GC,1108,-1.25,-116.8,98.6,-7.6,106,1112,0.00,2.47,0.00,0.000,6,0.000,0.031,2710,1767,3483,0,0,0,0,0,0
$GC,1372,-1.25,-116.8,122.8,-11.1,130,1376,0.00,2.62,0.00,0.000,4,0.000,0.065,2710,197,3483,0,0,0,0,0,0
$GC,1393,-1.25,-116.8,125.0,-11.6,131,1398,0.00,2.38,0.00,0.000,6,0.000,0.023,2710,1772,3483,0,0,0,0,0,0
$GC,1658,-1.25,-116.8,152.5,-9.3,155,1662,0.00,2.65,0.00,0.000,4,0.000,0.059,2710,197,3484,0,0,0,0,0,0
$GC,1690,-1.25,-116.8,155.7,-10.6,157,1694,0.00,2.35,0.00,0.000,6,0.000,0.016,2710,1752,3484,0,0,0,0,0,0
$GC,1956,-1.25,-116.8,182.1,-9.7,181,1961,0.00,2.47,0.00,0.000,4,0.000,0.028,2710,3324,3484,0,0,0,0,0,0
$GC,2022,-1.33,-116.8,188.9,-10.0,186,2026,0.00,2.47,0.00,0.000,6,0.000,0.029,2710,1768,3484,0,0,0,0,0,0
$GC,2297,-1.33,-116.8,215.0,-9.2,200,2301,0.00,2.67,0.00,0.000,4,0.000,0.070,2710,194,3484,0,0,0,0,0,0
$GC,2323,-1.33,-116.8,217.9,-10.7,200,2328,0.00,2.38,0.00,0.000,6,0.000,0.022,2710,1766,3484,0,0,0,0,0,0
$GC,2575,-1.37,-116.8,243.0,-10.4,206,2580,0.00,2.42,0.00,0.000,4,0.000,0.031,2710,3322,3484,0,0,0,0,0,0
$GC,2597,-1.43,-116.8,245.5,-10.4,206,2602,0.00,2.53,0.00,0.000,6,0.000,0.031,2710,1757,3484,0,0,0,0,0,0
$GC,2853,-1.48,-116.8,269.3,-9.1,213,2858,0.15,2.47,0.00,0.000,4,0.065,0.035,2662,3320,3483,0,0,0,0,0,0
$GC,2910,-1.48,-116.8,274.7,-10.1,214,2914,0.00,2.50,0.00,0.000,6,0.000,0.037,2661,1773,3483,0,0,0,0,0,0
$GC,3176,-1.48,-116.8,301.4,-10.5,221,3180,0.00,2.75,0.00,0.000,4,0.000,0.081,2661,195,3482,0,0,0,0,0,0
$GC,3193,-1.43,-116.8,303.3,-10.9,221,3198,0.12,2.42,0.00,0.000,6,0.115,0.027,2687,1753,3482,0,0,0,0,0,0
$GC,3456,-1.43,-116.8,328.9,-9.6,228,3460,0.00,2.53,0.00,0.000,4,0.000,0.040,2688,3344,3481,0,0,0,0,0,0
$GC,3483,-1.48,-116.8,331.7,-9.5,228,3487,0.00,2.55,0.00,0.000,6,0.000,0.041,2688,1775,3481,0,0,0,0,0,0
$GC,3733,-1.48,-116.8,355.0,-9.5,234,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1775,3479,0,0,0,0,0,0
$GC,3976,-1.48,-116.8,379.6,-10.2,240,3981,0.00,2.53,0.00,0.000,4,0.000,0.036,2688,3341,3478,0,0,0,0,0,0
$GC,4009,-1.54,-116.8,383.1,-10.1,240,4016,0.10,2.60,0.00,0.000,6,0.081,0.050,2647,1779,3478,0,0,0,0,0,0
$GC,4261,-1.49,-116.8,411.1,-11.3,247,4266,0.12,2.55,0.00,0.000,4,0.116,0.040,2672,3338,3477,0,0,0,0,0,0
$GC,4283,-1.49,-116.8,413.8,-10.7,247,4287,0.00,2.58,0.00,0.000,6,0.000,0.051,2672,1787,3477,0,0,0,0,0,0
$GC,4538,-1.49,-116.8,438.3,-9.7,254,4542,0.00,2.53,0.00,0.000,4,0.000,0.040,2672,3344,3475,0,0,0,0,0,0
$GC,4554,-1.49,-116.8,439.8,-9.2,254,4559,0.00,2.60,0.00,0.000,6,0.000,0.054,2672,1794,3474,0,0,0,0,0,0
$GC,4817,-1.49,-116.8,464.8,-9.9,261,4821,0.00,2.55,0.00,0.000,4,0.000,0.044,2672,3346,3473,0,0,0,0,0,0
$GC,4851,-1.53,-116.8,468.3,-9.7,261,4857,0.00,2.62,0.00,0.000,6,0.000,0.056,2672,1803,3473,0,0,0,0,0,0
$GC,5101,-1.53,-116.8,491.9,-9.2,268,5106,0.00,2.53,0.00,0.000,4,0.000,0.049,2673,3335,3471,0,0,0,0,0,0
$GC,5124,-1.53,-116.8,494.1,-10.0,268,5129,0.00,2.62,0.00,0.000,6,0.000,0.064,2673,1805,3471,0,0,0,0,0,0
$STATE,5214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5214,begin apogee
$GC,5220,-0.31,0.0,502.4,9.0,271,5321,1.17,0.00,97.32,0.923,6,0.099,0.000,2931,1805,3000,0,0,0,0,0,0
$STATE,5322,end apogee,CONTROL_FINISHED_OK
$STATE,5322,begin climb
$GC,5324,1.38,116.8,503.9,0.0,273,5437,1.55,2.70,101.22,0.899,4,0.048,0.050,3307,3385,2523,0,0,0,0,0,0
$GC,5449,1.34,190.8,502.8,5.8,276,5519,0.00,2.72,64.88,0.881,6,0.000,0.059,3307,1816,2222,0,0,0,0,0,0
$GC,5781,1.26,200.9,471.4,9.5,285,5796,0.15,2.67,8.60,0.753,4,0.125,0.041,3277,3381,2182,0,0,0,0,0,0
$GC,5841,1.30,229.2,466.3,8.4,286,5875,0.00,2.70,26.75,0.851,6,0.000,0.057,3276,1823,2065,0,0,0,0,0,0
$GC,6157,1.30,231.3,436.5,9.9,294,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1823,2059,0,0,0,0,0,0
$GC,6398,1.30,231.3,410.4,10.9,300,6402,0.00,2.55,0.00,0.000,4,0.000,0.041,3276,3393,2057,0,0,0,0,0,0
$GC,6425,1.30,231.3,407.1,11.0,300,6430,0.00,2.65,0.00,0.000,6,0.000,0.053,3276,1828,2056,0,0,0,0,0,0
$GC,6683,1.30,231.3,379.2,11.1,307,6687,0.00,2.90,0.00,0.000,4,0.000,0.094,3276,234,2055,0,0,0,0,0,0
$GC,6710,1.24,231.3,375.9,11.8,307,6714,0.00,2.53,0.00,0.000,6,0.000,0.021,3276,1825,2054,0,0,0,0,0,0
$GC,6960,1.24,235.9,350.7,9.8,313,6967,0.00,0.00,5.28,0.634,6,0.000,0.000,3276,1826,2039,0,0,0,0,0,0
$GC,7205,1.24,235.9,325.8,10.2,319,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1826,2037,0,0,0,0,0,0
$GC,7447,1.26,245.3,302.5,9.5,325,7462,0.00,2.58,9.85,0.729,4,0.000,0.034,3276,3399,2000,0,0,0,0,0,0
$GC,7485,1.26,251.0,298.8,9.7,326,7500,0.00,2.62,7.15,0.673,6,0.000,0.041,3276,1818,1977,0,0,0,0,0,0
$GC,7775,1.26,251.0,269.9,10.2,333,7779,0.00,2.75,0.00,0.000,4,0.000,0.073,3276,236,1973,0,0,0,0,0,0
$GC,7824,1.26,251.0,264.3,10.7,334,7828,0.00,2.53,0.00,0.000,6,0.000,0.025,3276,1831,1972,0,0,0,0,0,0
$GC,8097,1.34,279.2,240.7,8.4,341,8131,0.00,2.85,26.23,0.744,4,0.000,0.067,3276,236,1861,0,0,0,0,0,0
$GC,8150,1.34,279.2,235.8,10.4,342,8154,0.00,2.53,0.00,0.000,6,0.000,0.025,3276,1824,1859,0,0,0,0,0,0
$GC,8422,1.39,279.2,207.4,10.6,349,8427,0.12,2.78,0.00,0.000,4,0.087,0.066,3308,240,1856,0,0,0,0,0,0
$GC,8445,1.35,279.2,204.5,12.5,349,8450,0.00,2.45,0.00,0.000,6,0.000,0.026,3308,1804,1855,0,0,0,0,0,0
$GC,8712,1.35,279.2,174.6,10.1,371,8716,0.00,2.53,0.00,0.000,4,0.000,0.030,3308,3385,1855,0,0,0,0,0,0
$GC,8768,1.40,279.2,168.4,11.0,375,8777,0.00,2.62,0.00,0.000,6,0.000,0.043,3309,1806,1853,0,0,0,0,0,0
$GC,9032,1.40,279.2,139.8,11.3,400,9036,0.00,2.70,0.00,0.000,4,0.000,0.071,3309,238,1853,0,0,0,0,0,0
$GC,9076,1.34,279.2,134.6,12.1,403,9080,0.00,2.42,0.00,0.000,6,0.000,0.027,3308,1798,1852,0,0,0,0,0,0
$GC,9344,1.35,287.5,109.0,9.6,427,9357,0.00,2.53,7.18,0.556,4,0.000,0.028,3308,3381,1829,0,0,0,0,0,0
$GC,9420,1.42,287.5,101.0,10.4,433,9425,0.00,2.60,0.00,0.000,6,0.000,0.035,3308,1795,1828,0,0,0,0,0,0
$GC,9689,1.52,306.0,73.6,9.0,457,9717,0.00,2.72,17.67,0.590,4,0.000,0.061,3308,245,1751,0,0,0,0,0,0
$GC,9746,1.55,334.2,68.9,8.4,461,9779,0.12,2.40,25.90,0.591,6,0.078,0.020,3342,1805,1637,0,0,0,0,0,0
$GC,10046,1.60,344.5,42.9,9.4,488,10061,0.00,2.53,9.52,0.521,4,0.000,0.026,3342,3382,1595,0,0,0,0,0,0
$GC,10115,1.70,345.8,36.1,10.0,493,10120,0.12,2.60,0.00,0.000,6,0.081,0.035,3378,1798,1594,0,0,0,0,0,0
$STATE,10374,end climb,SURFACE_DEPTH_REACHED
$STATE,10374,begin surface coast
$FINISH,0.4,1.010886
$STATE,10410,end surface coast,CONTROL_FINISHED_OK
$STATE,10410,begin surface
$SM_CCo,10431,68.28,0.457,1,0,1287,420.20
$SM_GC,1.09,0.00,0.00,68.28,0.000,0.000,0.457,480,1795,1287,-11.59,0.71,420.20
$IRIDIUM_FIX,2246.36,-15753.23,120100,010154
$TT8_MAMPS,0.026078
$HUMID,54.21
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.70
$XPDR_PINGS,82
$24V_AH,23.4,61.036
$10V_AH,9.9,58.301
$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,28.575,153.975,407.550,68.275,0.000,28.107,33.046,305.849,20.500,0.000,10.739,1099.700,6636.887,533.625,2048.538,699.258,33.370,1306.391,0.000,2057.662,0.000,0.534,0.000
$DEVICE_MAMPS,144.963,94.341,922.701,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.350,306.342,417.535,827.600,1251.305,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,41503,532
$CAP_FILE_SIZE,119686,0
$CFSIZE,260165632,156651520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181010,072520,2253.639,-15748.592,11,1.9,11,10.1