version: 66.06
glider: 146
mission: 5
dive: 445
start: 10 18 110 23 0 49
data:
$ID,146
$MISSION,5
$DIVE,445
$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,-258093.94
$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,35
$R_STBD_OVSHOOT,43
$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
$GPS1,224730,2250.051,-15743.101,35,1.3,40,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.8
$GPS2,225955,2250.121,-15743.072,13,1.5,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,-0.154
$KALMAN_X,-259381.6,-201.2,94.9,306878.5,-41.6
$KALMAN_Y,-607246.4,234.3,162.6,735628.1,-397.6
$MHEAD_RNG_PITCHd_Wd,120.9,2767,-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,-78.75,0.000,2,0.000,0.000,473,1746,3231,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.1,-5.1,10,127,11.48,0.00,-4.80,0.000,6,0.146,0.000,2690,1746,3479,0,0,0,0,0,0
$GC,410,-1.25,-116.8,59.2,-14.0,45,415,0.17,2.58,0.00,0.000,4,0.132,0.025,2723,3359,3481,0,0,0,0,0,0
$GC,433,-1.16,-116.8,62.3,-13.1,46,438,0.10,2.53,0.00,0.000,6,0.128,0.028,2743,1778,3481,0,0,0,0,0,0
$GC,696,-1.23,-116.8,88.3,-9.2,70,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1778,3481,0,0,0,0,0,0
$GC,951,-1.31,-116.8,111.4,-8.1,94,952,0.12,0.00,0.00,0.000,6,0.073,0.000,2700,1778,3483,0,0,0,0,0,0
$GC,1205,-1.31,-116.8,134.9,-9.5,118,1209,0.00,2.50,0.00,0.000,4,0.000,0.026,2700,3357,3483,0,0,0,0,0,0
$GC,1227,-1.31,-116.8,136.7,-10.0,119,1231,0.00,2.55,0.00,0.000,6,0.000,0.031,2700,1760,3483,0,0,0,0,0,0
$GC,1489,-1.31,-116.8,165.8,-11.0,143,1494,0.00,2.65,0.00,0.000,4,0.000,0.065,2700,197,3483,0,0,0,0,0,0
$GC,1507,-1.31,-116.8,167.8,-10.8,144,1512,0.00,2.40,0.00,0.000,6,0.000,0.017,2700,1799,3483,0,0,0,0,0,0
$GC,1771,-1.31,-116.8,195.2,-10.3,168,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1800,3483,0,0,0,0,0,0
$GC,2023,-1.31,-116.8,218.9,-9.0,178,2028,0.00,2.75,0.00,0.000,4,0.000,0.071,2700,193,3482,0,0,0,0,0,0
$GC,2041,-1.31,-116.8,220.3,-8.5,178,2045,0.00,2.38,0.00,0.000,6,0.000,0.018,2700,1764,3482,0,0,0,0,0,0
$GC,2301,-1.31,-116.8,244.4,-9.8,185,2306,0.00,2.42,0.00,0.000,4,0.000,0.029,2700,3313,3482,0,0,0,0,0,0
$GC,2357,-1.38,-116.8,250.5,-10.9,186,2362,0.00,2.50,0.00,0.000,6,0.000,0.036,2700,1768,3482,0,0,0,0,0,0
$GC,2625,-1.38,-116.8,275.3,-8.7,193,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1768,3481,0,0,0,0,0,0
$GC,2868,-1.41,-116.8,296.1,-8.8,199,2872,0.00,2.75,0.00,0.000,4,0.000,0.084,2700,196,3480,0,0,0,0,0,0
$GC,2895,-1.45,-116.8,298.8,-9.2,199,2899,0.00,2.38,0.00,0.000,6,0.000,0.021,2700,1727,3480,0,0,0,0,0,0
$GC,3147,-1.49,-116.8,323.1,-10.0,205,3152,0.12,2.62,0.00,0.000,4,0.076,0.041,2659,3349,3479,0,0,0,0,0,0
$GC,3191,-1.49,-116.8,328.4,-11.2,206,3195,0.00,2.58,0.00,0.000,6,0.000,0.040,2659,1782,3479,0,0,0,0,0,0
$GC,3475,-1.49,-116.8,357.0,-9.8,213,3480,0.00,2.85,0.00,0.000,4,0.000,0.089,2659,188,3477,0,0,0,0,0,0
$GC,3493,-1.45,-116.8,358.7,-9.5,213,3498,0.10,2.47,0.00,0.000,6,0.132,0.028,2681,1770,3477,0,0,0,0,0,0
$GC,3754,-1.45,-116.8,382.7,-9.4,220,3758,0.00,2.58,0.00,0.000,4,0.000,0.042,2681,3351,3475,0,0,0,0,0,0
$GC,3783,-1.49,-116.8,385.8,-11.1,220,3787,0.00,2.62,0.00,0.000,6,0.000,0.051,2681,1773,3475,0,0,0,0,0,0
$GC,4034,-1.49,-116.8,410.9,-9.9,226,4039,0.00,2.88,0.00,0.000,4,0.000,0.099,2681,188,3473,0,0,0,0,0,0
$GC,4067,-1.49,-116.8,414.6,-10.8,226,4073,0.00,2.53,0.00,0.000,6,0.000,0.029,2681,1766,3473,0,0,0,0,0,0
$GC,4317,-1.49,-116.8,438.2,-9.5,233,4321,0.00,2.62,0.00,0.000,4,0.000,0.048,2681,3354,3472,0,0,0,0,0,0
$GC,4346,-1.54,-116.8,441.0,-9.8,233,4351,0.00,2.65,0.00,0.000,6,0.000,0.053,2681,1791,3472,0,0,0,0,0,0
$GC,4596,-1.54,-116.8,465.3,-9.8,239,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1791,3470,0,0,0,0,0,0
$GC,4840,-1.54,-116.8,488.6,-9.3,245,4845,0.00,3.03,0.00,0.000,4,0.000,0.117,2681,185,3469,0,0,0,0,0,0
$GC,4858,-1.54,-116.8,490.2,-9.2,245,4862,0.00,2.60,0.00,0.000,6,0.000,0.035,2681,1786,3468,0,0,0,0,0,0
$STATE,4994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4994,begin apogee
$GC,5000,-0.31,0.0,501.8,8.2,249,5100,1.12,0.00,96.90,0.923,6,0.089,0.000,2929,1832,3000,0,0,0,0,0,0
$STATE,5101,end apogee,CONTROL_FINISHED_OK
$STATE,5101,begin climb
$GC,5104,1.38,116.8,502.8,0.0,251,5211,1.55,0.00,101.95,0.899,6,0.051,0.000,3306,1832,2524,0,0,0,0,0,0
$GC,5430,1.31,153.3,484.3,7.9,259,5471,0.10,2.75,31.70,0.871,4,0.137,0.054,3287,3393,2374,0,0,0,0,0,0
$GC,5525,1.30,182.8,477.4,8.3,261,5562,0.00,2.70,27.58,0.858,6,0.000,0.054,3287,1832,2254,0,0,0,0,0,0
$GC,5806,1.28,210.9,454.3,8.4,268,5837,0.00,3.12,25.00,0.852,4,0.000,0.113,3287,234,2140,0,0,0,0,0,0
$GC,5849,1.20,210.9,450.3,10.2,269,5855,0.12,2.62,0.00,0.000,6,0.131,0.031,3264,1831,2139,0,0,0,0,0,0
$GC,6128,1.21,216.4,423.4,9.7,276,6138,0.00,2.62,5.62,0.668,4,0.000,0.043,3264,3413,2119,0,0,0,0,0,0
$GC,6169,1.21,216.4,419.3,10.1,277,6174,0.00,2.70,0.00,0.000,6,0.000,0.048,3263,1835,2117,0,0,0,0,0,0
$GC,6454,1.22,224.9,391.3,9.5,284,6468,0.00,3.00,8.73,0.752,4,0.000,0.094,3263,240,2083,0,0,0,0,0,0
$GC,6502,1.17,224.9,386.2,10.7,285,6507,0.00,2.60,0.00,0.000,6,0.000,0.028,3263,1856,2082,0,0,0,0,0,0
$GC,6781,1.19,246.1,361.6,8.8,292,6804,0.00,0.00,20.58,0.814,6,0.000,0.000,3263,1855,1997,0,0,0,0,0,0
$GC,7023,1.20,249.5,337.6,9.8,298,7029,0.00,0.00,4.05,0.539,6,0.000,0.000,3264,1857,1983,0,0,0,0,0,0
$GC,7267,1.25,264.6,314.9,9.2,304,7284,0.00,0.00,15.27,0.771,6,0.000,0.000,3263,1857,1922,0,0,0,0,0,0
$GC,7511,1.31,277.9,292.3,9.3,310,7527,0.10,0.00,13.18,0.746,6,0.096,0.000,3289,1857,1868,0,0,0,0,0,0
$GC,7756,1.31,277.9,266.9,10.7,316,7760,0.00,2.88,0.00,0.000,4,0.000,0.070,3289,230,1864,0,0,0,0,0,0
$GC,7784,1.26,277.9,263.4,12.5,316,7789,0.00,2.60,0.00,0.000,6,0.000,0.028,3289,1861,1863,0,0,0,0,0,0
$GC,8034,1.26,279.3,237.4,10.0,322,8039,0.00,2.47,0.00,0.000,4,0.000,0.032,3289,3400,1863,0,0,0,0,0,0
$GC,8058,1.31,279.3,235.0,10.1,322,8063,0.00,2.60,0.00,0.000,6,0.000,0.041,3289,1830,1861,0,0,0,0,0,0
$GC,8313,1.31,279.3,207.3,11.0,329,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1830,1861,0,0,0,0,0,0
$GC,8566,1.38,301.1,183.1,8.8,347,8594,0.00,2.88,20.80,0.697,4,0.000,0.074,3289,243,1772,0,0,0,0,0,0
$GC,8627,1.34,301.1,177.5,10.1,352,8631,0.00,2.58,0.00,0.000,6,0.000,0.023,3289,1853,1771,0,0,0,0,0,0
$GC,8895,1.39,301.1,149.8,10.9,376,8900,0.00,2.47,0.00,0.000,4,0.000,0.035,3289,3400,1770,0,0,0,0,0,0
$GC,8918,1.47,301.1,146.4,11.2,377,8924,0.12,2.58,0.00,0.000,6,0.081,0.044,3324,1845,1768,0,0,0,0,0,0
$GC,9181,1.47,301.1,116.3,11.7,402,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1844,1767,0,0,0,0,0,0
$GC,9436,1.47,301.1,87.6,12.0,426,9440,0.00,2.80,0.00,0.000,4,0.000,0.065,3323,233,1768,0,0,0,0,0,0
$GC,9469,1.40,301.1,82.9,13.7,428,9479,0.00,2.55,0.00,0.000,6,0.000,0.021,3323,1838,1766,0,0,0,0,0,0
$GC,9737,1.48,314.0,54.3,9.3,453,9755,0.00,2.55,12.07,0.563,4,0.000,0.030,3324,3390,1719,0,0,0,0,0,0
$GC,9816,1.63,334.7,47.3,8.8,459,9843,0.12,2.55,18.92,0.571,6,0.084,0.035,3358,1841,1637,0,0,0,0,0,0
$GC,10121,1.63,334.7,17.4,10.6,494,10130,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1841,1634,0,0,0,0,0,0
$STATE,10248,end climb,SURFACE_DEPTH_REACHED
$STATE,10248,begin surface coast
$FINISH,0.4,1.022267
$STATE,10292,end surface coast,CONTROL_FINISHED_OK
$STATE,10292,begin surface
$SM_CCo,10316,77.15,0.470,1,0,1287,420.20
$SM_GC,1.08,0.00,0.00,77.15,0.000,0.000,0.470,479,1754,1287,-11.60,-0.45,420.20
$IRIDIUM_FIX,2239.35,-15742.40,120100,222237
$TT8_MAMPS,0.025311
$HUMID,53.78
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.40
$XPDR_PINGS,70
$24V_AH,23.4,61.818
$10V_AH,9.9,59.031
$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,27.100,116.200,402.350,77.150,0.000,61.299,78.924,382.464,17.500,0.000,15.007,1045.751,6811.709,551.676,1877.757,854.151,33.376,1240.657,0.000,1890.929,0.000,0.534,0.000
$DEVICE_MAMPS,145.730,161.070,923.468,470.171,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.063,306.533,402.438,766.786,1158.468,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,41531,518
$CAP_FILE_SIZE,112612,0
$CFSIZE,260165632,156319744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191010,015456,2249.164,-15741.907,8,1.7,8,10.1