version: 66.06
glider: 146
mission: 5
dive: 440
start: 10 18 110 7 34 33
data:
$ID,146
$MISSION,5
$DIVE,440
$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,-258004.12
$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,24
$R_STBD_OVSHOOT,69
$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
$GPS1,072520,2253.639,-15748.592,11,1.9,11,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-67.9
$GPS2,073337,2253.646,-15748.574,10,2.0,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,-0.083
$KALMAN_X,-258503.2,164.1,26.8,296228.9,-79.1
$KALMAN_Y,-605018.2,-152.5,131.1,740360.1,-780.3
$MHEAD_RNG_PITCHd_Wd,100.5,14142,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-78.15,0.000,2,0.000,0.000,480,1794,3205,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.1,-5.1,10,126,11.35,2.45,-5.38,0.000,4,0.143,0.035,2691,3319,3478,0,0,0,0,0,0
$GC,158,-1.21,-116.8,17.4,-17.6,17,168,0.15,2.53,0.00,0.000,6,0.101,0.031,2726,1774,3479,0,0,0,0,0,0
$GC,447,-1.14,-116.8,60.1,-14.5,48,452,0.12,2.47,0.00,0.000,4,0.123,0.024,2750,3329,3480,0,0,0,0,0,0
$GC,469,-1.14,-116.8,63.1,-13.7,49,474,0.00,2.50,0.00,0.000,6,0.000,0.028,2750,1761,3481,0,0,0,0,0,0
$GC,738,-1.21,-116.8,90.9,-8.4,73,742,0.00,2.62,0.00,0.000,4,0.000,0.058,2750,196,3482,0,0,0,0,0,0
$GC,778,-1.33,-116.8,95.2,-9.5,76,784,0.17,2.38,0.00,0.000,6,0.053,0.022,2692,1786,3482,0,0,0,0,0,0
$GC,1043,-1.33,-116.8,121.6,-8.8,100,1047,0.00,2.38,0.00,0.000,4,0.000,0.028,2692,3319,3482,0,0,0,0,0,0
$GC,1100,-1.33,-116.8,127.3,-8.9,104,1109,0.00,2.47,0.00,0.000,6,0.000,0.035,2692,1783,3483,0,0,0,0,0,0
$GC,1364,-1.33,-116.8,151.4,-9.0,129,1368,0.00,2.67,0.00,0.000,4,0.000,0.067,2692,198,3483,0,0,0,0,0,0
$GC,1386,-1.33,-116.8,153.5,-9.8,130,1390,0.00,2.38,0.00,0.000,6,0.000,0.016,2692,1787,3483,0,0,0,0,0,0
$GC,1652,-1.33,-116.8,179.7,-10.5,154,1656,0.00,2.40,0.00,0.000,4,0.000,0.030,2692,3319,3483,0,0,0,0,0,0
$GC,1675,-1.33,-116.8,182.7,-10.2,155,1681,0.00,2.45,0.00,0.000,6,0.000,0.032,2692,1780,3483,0,0,0,0,0,0
$GC,1964,-1.33,-116.8,212.8,-10.4,174,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1780,3483,0,0,0,0,0,0
$GC,2206,-1.33,-116.8,238.6,-10.6,180,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1777,3484,0,0,0,0,0,0
$GC,2452,-1.33,-116.8,262.5,-9.6,186,2456,0.00,2.70,0.00,0.000,4,0.000,0.074,2692,197,3483,0,0,0,0,0,0
$GC,2507,-1.36,-116.8,268.3,-9.9,187,2512,0.00,2.40,0.00,0.000,6,0.000,0.024,2692,1752,3483,0,0,0,0,0,0
$GC,2774,-1.36,-116.8,290.1,-8.3,194,2778,0.00,2.50,0.00,0.000,4,0.000,0.028,2692,3347,3482,0,0,0,0,0,0
$GC,2798,-1.41,-116.8,292.0,-8.3,194,2803,0.00,2.53,0.00,0.000,6,0.000,0.038,2692,1778,3482,0,0,0,0,0,0
$GC,3053,-1.41,-116.8,314.7,-8.9,201,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1778,3481,0,0,0,0,0,0
$GC,3297,-1.41,-116.8,337.5,-9.6,207,3302,0.00,2.50,0.00,0.000,4,0.000,0.031,2692,3341,3480,0,0,0,0,0,0
$GC,3321,-1.46,-116.8,339.8,-9.9,207,3326,0.00,2.55,0.00,0.000,6,0.000,0.038,2692,1784,3481,0,0,0,0,0,0
$GC,3578,-1.50,-116.8,363.4,-9.0,214,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1785,3478,0,0,0,0,0,0
$GC,3821,-1.54,-116.8,384.7,-9.0,220,3823,0.12,0.00,0.00,0.000,6,0.077,0.000,2653,1785,3477,0,0,0,0,0,0
$GC,4066,-1.54,-116.8,411.8,-11.4,226,4070,0.00,2.53,0.00,0.000,4,0.000,0.041,2653,3334,3476,0,0,0,0,0,0
$GC,4105,-1.54,-116.8,416.7,-11.6,227,4109,0.00,2.60,0.00,0.000,6,0.000,0.055,2653,1789,3476,0,0,0,0,0,0
$GC,4387,-1.54,-116.8,450.1,-12.1,234,4392,0.00,2.53,0.00,0.000,4,0.000,0.046,2653,3329,3473,0,0,0,0,0,0
$GC,4416,-1.54,-116.8,453.6,-13.0,234,4420,0.00,2.62,0.00,0.000,6,0.000,0.058,2653,1795,3474,0,0,0,0,0,0
$GC,4665,-1.54,-116.8,483.8,-11.8,240,4670,0.00,2.53,0.00,0.000,4,0.000,0.049,2653,3327,3472,0,0,0,0,0,0
$GC,4738,-1.54,-116.8,491.6,-9.7,241,4742,0.00,2.60,0.00,0.000,6,0.000,0.064,2653,1809,3472,0,0,0,0,0,0
$STATE,4863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4863,begin apogee
$GC,4871,-0.31,0.0,503.7,9.5,244,4972,1.27,0.00,97.35,0.923,6,0.088,0.000,2931,1809,3001,0,0,0,0,0,0
$STATE,4972,end apogee,CONTROL_FINISHED_OK
$STATE,4972,begin climb
$GC,4975,1.38,116.8,505.5,0.0,246,5087,1.52,2.72,101.22,0.899,4,0.049,0.054,3306,3371,2523,0,0,0,0,0,0
$GC,5095,1.34,185.2,504.2,6.1,248,5160,0.00,2.67,59.67,0.882,6,0.000,0.061,3306,1817,2246,0,0,0,0,0,0
$GC,5422,1.24,185.2,468.1,11.1,257,5427,0.17,2.58,0.00,0.000,4,0.193,0.038,3271,3378,2235,0,0,0,0,0,0
$GC,5445,1.20,185.2,465.7,10.5,257,5450,0.00,2.67,0.00,0.000,6,0.000,0.059,3271,1828,2234,0,0,0,0,0,0
$GC,5700,1.21,194.0,441.5,9.5,264,5709,0.00,0.00,7.18,0.724,6,0.000,0.000,3271,1828,2210,0,0,0,0,0,0
$GC,5944,1.21,196.9,417.5,9.9,270,5953,0.00,2.58,3.97,0.552,4,0.000,0.037,3271,3383,2198,0,0,0,0,0,0
$GC,5983,1.21,197.1,413.5,10.0,270,5989,0.00,2.62,0.00,0.000,6,0.000,0.048,3271,1829,2197,0,0,0,0,0,0
$GC,6233,1.22,204.8,389.3,9.6,277,6243,0.00,0.00,8.55,0.749,6,0.000,0.000,3272,1829,2166,0,0,0,0,0,0
$GC,6477,1.25,225.3,367.2,8.9,283,6498,0.00,0.00,19.83,0.816,6,0.000,0.000,3272,1829,2081,0,0,0,0,0,0
$GC,6722,1.26,235.9,344.3,9.4,289,6737,0.00,2.55,10.60,0.754,4,0.000,0.031,3272,3387,2038,0,0,0,0,0,0
$GC,6754,1.27,247.6,341.0,9.4,289,6773,0.00,2.65,12.25,0.759,6,0.000,0.048,3271,1822,1991,0,0,0,0,0,0
$GC,7047,1.27,247.6,311.0,10.4,297,7051,0.00,2.55,0.00,0.000,4,0.000,0.035,3271,3392,1986,0,0,0,0,0,0
$GC,7066,1.31,247.6,309.1,11.0,297,7070,0.00,2.62,0.00,0.000,6,0.000,0.045,3272,1822,1985,0,0,0,0,0,0
$GC,7326,1.31,247.6,282.4,10.1,304,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1822,1984,0,0,0,0,0,0
$GC,7570,1.37,266.6,260.5,8.9,310,7596,0.12,2.88,17.33,0.746,4,0.084,0.074,3305,236,1913,0,0,0,0,0,0
$GC,7615,1.30,266.6,255.8,11.5,311,7620,0.12,2.55,0.00,0.000,6,0.127,0.028,3281,1832,1912,0,0,0,0,0,0
$GC,7899,1.34,274.9,228.5,9.6,318,7914,0.00,2.88,8.55,0.666,4,0.000,0.070,3281,234,1879,0,0,0,0,0,0
$GC,7971,1.34,274.9,220.9,11.1,319,7976,0.00,2.53,0.00,0.000,6,0.000,0.021,3281,1827,1878,0,0,0,0,0,0
$GC,8227,1.39,274.9,195.8,10.0,326,8231,0.00,2.50,0.00,0.000,4,0.000,0.034,3281,3392,1877,0,0,0,0,0,0
$GC,8244,1.44,274.9,193.8,11.0,327,8249,0.15,2.58,0.00,0.000,6,0.074,0.035,3320,1811,1876,0,0,0,0,0,0
$GC,8505,1.44,274.9,165.7,10.3,351,8509,0.00,2.55,0.00,0.000,4,0.000,0.031,3320,3394,1876,0,0,0,0,0,0
$GC,8538,1.44,274.9,162.3,10.1,353,8546,0.00,2.58,0.00,0.000,6,0.000,0.037,3320,1828,1875,0,0,0,0,0,0
$GC,8802,1.44,274.9,135.2,10.9,378,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1827,1875,0,0,0,0,0,0
$GC,9067,1.46,288.9,109.0,9.2,403,9092,0.00,2.60,13.02,0.611,4,0.000,0.029,3320,3394,1822,0,0,0,0,0,0
$GC,9121,1.51,294.9,104.2,9.7,407,9135,0.00,2.58,7.05,0.545,6,0.000,0.040,3320,1820,1798,0,0,0,0,0,0
$GC,9402,1.51,294.9,72.8,10.4,433,9406,0.00,2.55,0.00,0.000,4,0.000,0.028,3320,3397,1795,0,0,0,0,0,0
$GC,9422,1.57,294.9,70.6,10.8,434,9427,0.00,2.58,0.00,0.000,6,0.000,0.035,3320,1834,1794,0,0,0,0,0,0
$GC,9691,1.69,335.0,50.1,7.7,458,9733,0.20,2.80,35.65,0.579,4,0.065,0.059,3372,232,1634,0,0,0,0,0,0
$GC,9754,1.62,335.0,42.6,12.2,462,9764,0.08,2.58,0.00,0.000,6,0.104,0.020,3354,1851,1632,0,0,0,0,0,0
$GC,10062,1.62,335.0,8.7,10.5,501,10071,0.00,2.45,0.00,0.000,4,0.000,0.025,3354,3379,1630,0,0,0,0,0,0
$STATE,10108,end climb,SURFACE_DEPTH_REACHED
$STATE,10108,begin surface coast
$FINISH,2.0,1.023248
$STATE,10123,end surface coast,CONTROL_FINISHED_OK
$STATE,10123,begin surface
$SM_CCo,10149,76.65,0.465,1,0,1287,420.20
$SM_GC,0.91,0.00,0.00,76.65,0.000,0.000,0.465,473,1763,1287,-11.63,-0.20,420.20
$IRIDIUM_FIX,2244.02,-15754.11,120100,040400
$TT8_MAMPS,0.026078
$HUMID,53.46
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.40
$XPDR_PINGS,65
$24V_AH,23.4,61.162
$10V_AH,10.0,58.416
$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,27.275,128.350,402.225,76.650,0.000,30.066,38.015,279.418,16.250,0.000,16.897,1021.904,6619.340,545.554,1886.420,655.773,33.373,1257.084,0.000,1887.712,0.000,0.534,0.000
$DEVICE_MAMPS,192.517,74.399,922.701,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.245,285.795,393.899,750.846,1135.653,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,41553,509
$CAP_FILE_SIZE,108993,0
$CFSIZE,260165632,156602368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181010,102625,2252.629,-15747.271,40,1.0,40,10.1