version: 66.06
glider: 146
mission: 5
dive: 444
start: 10 18 110 19 49 22
data:
$ID,146
$MISSION,5
$DIVE,444
$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,-258078.31
$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,40
$R_STBD_OVSHOOT,57
$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
$GPS1,193436,2250.424,-15744.259,29,2.0,33,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.8
$GPS2,194827,2250.492,-15744.248,9,2.0,22,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.099
$KALMAN_X,-259035.6,-246.6,-119.4,304766.2,198.9
$KALMAN_Y,-607524.2,76.4,337.8,736581.8,-670.7
$MHEAD_RNG_PITCHd_Wd,104.8,4730,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.45,0.000,2,0.000,0.000,477,1748,3244,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.2,-5.5,10,126,11.45,2.65,-4.53,0.000,4,0.146,0.065,2690,207,3479,0,0,0,0,0,0
$GC,138,-0.46,-116.8,15.1,-29.8,14,148,0.95,2.45,0.00,0.000,6,0.098,0.022,2894,1790,3480,0,0,0,0,0,0
$GC,456,-0.74,-116.8,37.7,-6.3,53,461,0.22,2.42,0.00,0.000,4,0.048,0.025,2822,3320,3481,0,0,0,0,0,0
$GC,478,-0.97,-116.8,39.5,-6.8,54,484,0.15,2.45,0.00,0.000,6,0.058,0.028,2768,1782,3481,0,0,0,0,0,0
$GC,749,-1.01,-116.8,68.8,-9.8,78,753,0.00,2.67,0.00,0.000,4,0.000,0.058,2768,191,3481,0,0,0,0,0,0
$GC,796,-1.11,-116.8,74.4,-10.1,81,800,0.00,2.42,0.00,0.000,6,0.000,0.015,2768,1790,3481,0,0,0,0,0,0
$GC,1065,-1.22,-116.8,96.3,-8.0,105,1070,0.15,2.40,0.00,0.000,4,0.060,0.031,2711,3320,3482,0,0,0,0,0,0
$GC,1099,-1.28,-116.8,99.5,-9.6,107,1103,0.00,2.47,0.00,0.000,6,0.000,0.028,2711,1765,3482,0,0,0,0,0,0
$GC,1367,-1.28,-116.8,123.2,-8.5,131,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1765,3483,0,0,0,0,0,0
$GC,1628,-1.28,-116.8,148.7,-9.9,156,1632,0.00,2.42,0.00,0.000,4,0.000,0.025,2711,3313,3483,0,0,0,0,0,0
$GC,1649,-1.28,-116.8,150.3,-9.2,157,1653,0.00,2.47,0.00,0.000,6,0.000,0.033,2711,1753,3483,0,0,0,0,0,0
$GC,1917,-1.28,-116.8,174.6,-8.6,181,1921,0.00,2.62,0.00,0.000,4,0.000,0.069,2711,198,3483,0,0,0,0,0,0
$GC,1938,-1.28,-116.8,177.3,-8.7,182,1944,0.00,2.38,0.00,0.000,6,0.000,0.018,2711,1769,3483,0,0,0,0,0,0
$GC,2233,-1.28,-116.8,205.1,-10.2,207,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1770,3483,0,0,0,0,0,0
$GC,2474,-1.32,-116.8,228.1,-9.1,213,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1772,3483,0,0,0,0,0,0
$GC,2717,-1.37,-116.8,248.3,-8.3,219,2722,0.00,2.45,0.00,0.000,4,0.000,0.034,2711,3314,3482,0,0,0,0,0,0
$GC,2740,-1.42,-116.8,250.1,-7.8,219,2744,0.00,2.50,0.00,0.000,6,0.000,0.031,2711,1755,3482,0,0,0,0,0,0
$GC,2997,-1.48,-116.8,272.9,-9.7,226,3002,0.15,2.47,0.00,0.000,4,0.064,0.031,2662,3311,3481,0,0,0,0,0,0
$GC,3046,-1.48,-116.8,279.5,-12.9,227,3051,0.00,2.47,0.00,0.000,6,0.000,0.040,2662,1779,3481,0,0,0,0,0,0
$GC,3319,-1.48,-116.8,311.7,-11.6,234,3323,0.00,2.80,0.00,0.000,4,0.000,0.085,2662,190,3480,0,0,0,0,0,0
$GC,3368,-1.48,-116.8,317.4,-10.9,235,3372,0.00,2.40,0.00,0.000,6,0.000,0.025,2662,1723,3480,0,0,0,0,0,0
$GC,3640,-1.48,-116.8,342.6,-9.2,242,3644,0.00,2.60,0.00,0.000,4,0.000,0.041,2662,3350,3479,0,0,0,0,0,0
$GC,3686,-1.51,-116.8,346.7,-8.7,243,3690,0.00,2.60,0.00,0.000,6,0.000,0.044,2662,1768,3478,0,0,0,0,0,0
$GC,3963,-1.51,-116.8,372.9,-9.6,250,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1768,3476,0,0,0,0,0,0
$GC,4207,-1.51,-116.8,399.6,-11.0,256,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1768,3475,0,0,0,0,0,0
$GC,4452,-1.51,-116.8,427.7,-11.6,262,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1767,3473,0,0,0,0,0,0
$GC,4694,-1.51,-116.8,452.9,-10.2,268,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1768,3472,0,0,0,0,0,0
$GC,4938,-1.51,-116.8,477.1,-9.9,274,4943,0.00,2.65,0.00,0.000,4,0.000,0.052,2662,3339,3470,0,0,0,0,0,0
$GC,4983,-1.51,-116.8,481.9,-10.0,275,4987,0.00,2.67,0.00,0.000,6,0.000,0.065,2662,1782,3469,0,0,0,0,0,0
$STATE,5176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5176,begin apogee
$GC,5184,-0.31,0.0,501.4,9.9,280,5285,1.20,0.00,97.50,0.923,6,0.085,0.000,2928,1782,3001,0,0,0,0,0,0
$STATE,5285,end apogee,CONTROL_FINISHED_OK
$STATE,5286,begin climb
$GC,5288,1.38,116.8,504.2,0.0,282,5402,1.55,3.05,101.75,0.900,4,0.045,0.117,3307,233,2523,0,0,0,0,0,0
$GC,5453,1.20,156.4,502.2,7.7,285,5494,0.22,2.60,35.05,0.874,6,0.120,0.031,3263,1810,2363,0,0,0,0,0,0
$GC,5741,1.28,221.2,483.5,6.3,292,5805,0.00,2.83,57.47,0.885,4,0.000,0.058,3263,3404,2098,0,0,0,0,0,0
$GC,5863,1.33,227.3,473.4,9.7,294,5877,0.10,2.75,6.53,0.700,6,0.100,0.064,3288,1833,2073,0,0,0,0,0,0
$GC,6159,1.29,227.3,442.7,10.9,302,6164,0.00,3.05,0.00,0.000,4,0.000,0.114,3289,227,2068,0,0,0,0,0,0
$GC,6200,1.17,227.3,437.1,14.0,303,6205,0.17,2.60,0.00,0.000,6,0.119,0.032,3254,1837,2067,0,0,0,0,0,0
$GC,6485,1.17,227.3,406.9,10.3,310,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1837,2064,0,0,0,0,0,0
$GC,6728,1.23,243.9,384.0,9.1,316,6748,0.00,2.92,14.98,0.811,4,0.000,0.083,3253,232,2005,0,0,0,0,0,0
$GC,6787,1.23,243.9,377.7,11.6,317,6791,0.00,2.60,0.00,0.000,6,0.000,0.028,3254,1828,2003,0,0,0,0,0,0
$GC,7050,1.28,244.8,351.7,10.0,324,7051,0.10,0.00,0.00,0.000,6,0.094,0.000,3280,1829,2002,0,0,0,0,0,0
$GC,7291,1.28,244.8,325.3,10.8,330,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1829,2001,0,0,0,0,0,0
$GC,7535,1.29,248.5,300.8,9.8,336,7545,0.00,2.60,4.82,0.586,4,0.000,0.035,3280,3414,1987,0,0,0,0,0,0
$GC,7558,1.29,250.3,298.5,9.9,336,7562,0.00,2.65,0.00,0.000,6,0.000,0.043,3280,1818,1986,0,0,0,0,0,0
$GC,7814,1.31,263.2,274.9,9.3,343,7835,0.00,2.85,14.95,0.749,4,0.000,0.080,3280,238,1926,0,0,0,0,0,0
$GC,7885,1.31,263.2,266.4,13.0,344,7889,0.00,2.53,0.00,0.000,6,0.000,0.024,3280,1828,1924,0,0,0,0,0,0
$GC,8137,1.34,263.2,238.8,10.8,350,8141,0.00,2.53,0.00,0.000,4,0.000,0.031,3280,3397,1923,0,0,0,0,0,0
$GC,8181,1.44,263.2,233.7,11.1,351,8186,0.15,2.62,0.00,0.000,6,0.077,0.039,3318,1815,1921,0,0,0,0,0,0
$GC,8459,1.44,263.2,203.1,10.8,358,8463,0.00,2.55,0.00,0.000,4,0.000,0.035,3318,3395,1921,0,0,0,0,0,0
$GC,8499,1.44,263.2,199.1,10.7,359,8504,0.00,2.60,0.00,0.000,6,0.000,0.042,3318,1822,1920,0,0,0,0,0,0
$GC,8762,1.44,263.2,171.6,11.1,383,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1822,1921,0,0,0,0,0,0
$GC,9021,1.45,265.0,144.5,9.9,407,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1822,1920,0,0,0,0,0,0
$GC,9281,1.45,265.0,116.5,10.7,432,9286,0.00,2.53,0.00,0.000,4,0.000,0.029,3318,3397,1920,0,0,0,0,0,0
$GC,9315,1.49,265.0,112.5,11.5,434,9324,0.00,2.62,0.00,0.000,6,0.000,0.044,3318,1822,1919,0,0,0,0,0,0
$GC,9583,1.52,287.4,86.4,8.7,459,9608,0.00,0.00,21.52,0.611,6,0.000,0.000,3318,1822,1828,0,0,0,0,0,0
$GC,9871,1.61,314.6,59.5,8.5,486,9903,0.12,2.60,24.52,0.585,4,0.206,0.028,3352,3393,1717,0,0,0,0,0,0
$GC,9965,1.68,314.6,50.9,10.2,493,9969,0.00,2.58,0.00,0.000,6,0.000,0.035,3351,1824,1715,0,0,0,0,0,0
$GC,10249,1.68,318.0,22.6,9.8,522,10258,0.00,0.00,3.67,0.360,6,0.000,0.000,3352,1824,1705,0,0,0,0,0,0
$STATE,10438,end climb,SURFACE_DEPTH_REACHED
$STATE,10438,begin surface coast
$FINISH,0.4,1.022909
$STATE,10487,end surface coast,CONTROL_FINISHED_OK
$STATE,10487,begin surface
$SM_CCo,10510,91.40,0.476,1,0,1288,420.20
$SM_GC,0.96,0.00,0.00,91.40,0.000,0.000,0.476,473,1748,1288,-11.62,-0.62,420.20
$IRIDIUM_FIX,2244.02,-15741.52,120100,191932
$TT8_MAMPS,0.026078
$HUMID,53.74
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.60
$XPDR_PINGS,68
$24V_AH,23.4,61.681
$10V_AH,9.9,58.912
$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,28.375,109.225,382.775,91.400,0.000,90.711,107.026,344.353,17.000,0.000,23.988,1098.654,6817.629,521.652,2126.565,874.794,33.395,1254.520,0.000,2129.072,0.000,0.534,0.000
$DEVICE_MAMPS,205.556,116.584,923.468,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.503,332.983,445.194,878.617,1328.967,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,44754,557
$CAP_FILE_SIZE,112220,0
$CFSIZE,260165632,156377088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181010,224730,2250.051,-15743.101,35,1.3,40,10.1