version: 66.06
glider: 146
mission: 5
dive: 447
start: 10 19 110 4 59 58
data:
$ID,146
$MISSION,5
$DIVE,447
$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,-258167.27
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,045038,2250.245,-15741.808,12,1.8,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.6
$GPS2,045904,2250.247,-15741.801,14,2.2,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.004,0.224
$KALMAN_X,-259315.4,203.6,-31.7,308717.0,-12.4
$KALMAN_Y,-607389.6,259.6,-127.2,736280.7,-90.6
$MHEAD_RNG_PITCHd_Wd,348.9,14362,-20.9,-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,-1.44,-105.9,0.0,0.0,0,104,0.00,0.00,-84.97,0.000,6,0.000,0.000,481,1766,3434,0,0,0,0,0,0
$GC,109,-1.45,-116.8,4.6,-9.3,11,127,11.38,2.55,-0.75,0.000,4,0.146,0.035,2677,3372,3479,0,0,0,0,0,0
$GC,204,-1.40,-116.8,29.5,-16.0,24,213,0.00,2.65,0.00,0.000,6,0.000,0.038,2677,1765,3481,0,0,0,0,0,0
$GC,471,-1.29,-116.8,70.9,-14.6,49,481,0.20,0.00,0.00,0.000,6,0.123,0.000,2717,1765,3481,0,0,0,0,0,0
$GC,735,-1.34,-116.8,101.8,-10.9,74,739,0.00,2.67,0.00,0.000,4,0.000,0.059,2717,193,3482,0,0,0,0,0,0
$GC,766,-1.40,-116.8,105.3,-10.8,76,770,0.10,2.47,0.00,0.000,6,0.087,0.019,2682,1832,3483,0,0,0,0,0,0
$GC,1028,-1.40,-116.8,135.0,-11.3,100,1032,0.00,2.40,0.00,0.000,4,0.000,0.030,2681,3371,3483,0,0,0,0,0,0
$GC,1073,-1.46,-116.8,139.3,-10.5,103,1078,0.00,2.58,0.00,0.000,6,0.000,0.032,2681,1769,3483,0,0,0,0,0,0
$GC,1341,-1.46,-116.8,167.3,-10.3,127,1346,0.00,2.53,0.00,0.000,4,0.000,0.031,2681,3377,3483,0,0,0,0,0,0
$GC,1370,-1.46,-116.8,171.0,-10.2,129,1374,0.00,2.58,0.00,0.000,6,0.000,0.033,2681,1778,3483,0,0,0,0,0,0
$GC,1632,-1.46,-116.8,197.9,-10.6,153,1637,0.00,2.72,0.00,0.000,4,0.000,0.067,2681,192,3483,0,0,0,0,0,0
$GC,1654,-1.46,-116.8,200.8,-12.1,154,1659,0.00,2.47,0.00,0.000,6,0.000,0.017,2681,1828,3483,0,0,0,0,0,0
$GC,1910,-1.46,-116.8,230.9,-12.1,161,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1830,3484,0,0,0,0,0,0
$GC,2155,-1.46,-116.8,258.5,-11.0,167,2159,0.00,2.83,0.00,0.000,4,0.000,0.069,2681,196,3484,0,0,0,0,0,0
$GC,2181,-1.46,-116.8,261.6,-10.9,167,2186,0.00,2.47,0.00,0.000,6,0.000,0.018,2681,1807,3483,0,0,0,0,0,0
$GC,2432,-1.46,-116.8,285.3,-9.1,173,2436,0.00,2.42,0.00,0.000,4,0.000,0.035,2681,3337,3483,0,0,0,0,0,0
$GC,2478,-1.55,-116.8,289.1,-8.2,174,2483,0.00,2.55,0.00,0.000,6,0.000,0.038,2681,1775,3483,0,0,0,0,0,0
$GC,2756,-1.55,-116.8,313.3,-9.0,181,2760,0.00,2.83,0.00,0.000,4,0.000,0.085,2681,185,3482,0,0,0,0,0,0
$GC,2788,-1.55,-116.8,317.0,-10.5,181,2794,0.00,2.47,0.00,0.000,6,0.000,0.028,2681,1765,3481,0,0,0,0,0,0
$GC,3040,-1.58,-116.8,342.1,-10.1,188,3042,0.12,0.00,0.00,0.000,6,0.077,0.000,2641,1765,3480,0,0,0,0,0,0
$GC,3282,-1.58,-116.8,371.1,-12.0,194,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1765,3479,0,0,0,0,0,0
$GC,3525,-1.58,-116.8,400.3,-11.9,200,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1765,3478,0,0,0,0,0,0
$GC,3769,-1.58,-116.8,427.0,-10.8,206,3774,0.00,2.60,0.00,0.000,4,0.000,0.051,2641,3347,3476,0,0,0,0,0,0
$GC,3804,-1.58,-116.8,430.7,-11.1,206,3809,0.00,2.65,0.00,0.000,6,0.000,0.053,2641,1779,3476,0,0,0,0,0,0
$GC,4053,-1.58,-116.8,458.0,-11.1,213,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1779,3475,0,0,0,0,0,0
$GC,4297,-1.58,-116.8,485.3,-11.3,219,4301,0.00,2.62,0.00,0.000,4,0.000,0.049,2641,3344,3473,0,0,0,0,0,0
$GC,4329,-1.58,-116.8,489.0,-11.7,219,4335,0.00,2.70,0.00,0.000,6,0.000,0.062,2641,1778,3473,0,0,0,0,0,0
$STATE,4455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4455,begin apogee
$GC,4462,-0.31,0.0,502.9,11.0,223,4563,1.33,0.00,97.32,0.918,6,0.105,0.000,2928,1778,3001,0,0,0,0,0,0
$STATE,4564,end apogee,CONTROL_FINISHED_OK
$STATE,4564,begin climb
$GC,4566,1.45,116.8,505.4,0.0,225,4672,1.65,0.00,101.62,0.895,6,0.047,0.000,3326,1777,2523,0,0,0,0,0,0
$GC,4903,1.33,124.6,484.9,9.5,234,4913,0.17,0.00,6.62,0.709,6,0.125,0.000,3292,1777,2492,0,0,0,0,0,0
$GC,5145,1.30,152.4,464.3,8.3,240,5176,0.00,2.78,25.55,0.859,4,0.000,0.041,3292,3398,2378,0,0,0,0,0,0
$GC,5228,1.31,163.9,456.9,9.3,242,5246,0.00,2.72,11.32,0.795,6,0.000,0.059,3292,1818,2331,0,0,0,0,0,0
$GC,5517,1.29,174.5,430.2,9.4,249,5532,0.00,2.65,10.43,0.785,4,0.000,0.039,3292,3400,2288,0,0,0,0,0,0
$GC,5560,1.29,174.5,425.9,10.1,250,5564,0.00,2.67,0.00,0.000,6,0.000,0.048,3292,1822,2286,0,0,0,0,0,0
$GC,5839,1.30,183.4,399.6,9.5,257,5854,0.00,2.65,8.80,0.757,4,0.000,0.040,3292,3396,2253,0,0,0,0,0,0
$GC,5938,1.30,183.4,389.7,10.6,259,5942,0.00,2.62,0.00,0.000,6,0.000,0.045,3292,1839,2251,0,0,0,0,0,0
$GC,6212,1.31,189.5,363.4,9.7,266,6225,0.00,2.97,6.55,0.693,4,0.000,0.087,3292,233,2227,0,0,0,0,0,0
$GC,6243,1.23,189.5,359.7,10.6,266,6249,0.12,2.58,0.00,0.000,6,0.135,0.021,3269,1842,2226,0,0,0,0,0,0
$GC,6494,1.31,225.0,339.5,7.8,272,6535,0.00,2.62,32.78,0.817,4,0.000,0.041,3268,3396,2081,0,0,0,0,0,0
$GC,6559,1.43,256.8,334.5,8.0,273,6595,0.17,2.62,29.45,0.795,6,0.074,0.047,3313,1842,1954,0,0,0,0,0,0
$GC,6862,1.43,256.8,301.6,11.2,281,6866,0.00,2.85,0.00,0.000,4,0.000,0.080,3313,230,1947,0,0,0,0,0,0
$GC,6879,1.38,256.8,299.5,11.7,281,6884,0.00,2.60,0.00,0.000,6,0.000,0.025,3313,1855,1946,0,0,0,0,0,0
$GC,7140,1.38,256.8,268.6,11.5,288,7144,0.00,2.47,0.00,0.000,4,0.000,0.031,3313,3393,1944,0,0,0,0,0,0
$GC,7162,1.38,256.8,266.0,11.2,288,7166,0.00,2.58,0.00,0.000,6,0.000,0.038,3313,1842,1943,0,0,0,0,0,0
$GC,7419,1.39,264.3,240.7,9.6,295,7432,0.00,2.55,6.38,0.625,4,0.000,0.035,3313,3396,1922,0,0,0,0,0,0
$GC,7443,1.40,269.6,238.2,9.7,295,7458,0.00,2.55,6.50,0.623,6,0.000,0.036,3313,1860,1901,0,0,0,0,0,0
$GC,7702,1.40,269.6,212.1,10.5,302,7707,0.00,2.85,0.00,0.000,4,0.000,0.074,3313,233,1898,0,0,0,0,0,0
$GC,7725,1.40,269.6,209.4,12.1,302,7729,0.00,2.58,0.00,0.000,6,0.000,0.021,3313,1859,1897,0,0,0,0,0,0
$GC,7987,1.40,269.6,180.3,10.7,321,7991,0.00,2.47,0.00,0.000,4,0.000,0.035,3313,3396,1896,0,0,0,0,0,0
$GC,8027,1.47,269.6,176.0,10.9,324,8032,0.00,2.55,0.00,0.000,6,0.000,0.038,3313,1851,1896,0,0,0,0,0,0
$GC,8291,1.47,269.6,150.0,10.3,348,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1851,1896,0,0,0,0,0,0
$GC,8556,1.47,269.6,120.3,11.1,373,8561,0.00,2.50,0.00,0.000,4,0.000,0.031,3313,3402,1896,0,0,0,0,0,0
$GC,8603,1.55,269.6,114.5,11.4,376,8613,0.08,2.53,0.00,0.000,6,0.059,0.036,3339,1878,1895,0,0,0,0,0,0
$GC,8870,1.55,269.6,83.0,11.8,401,8874,0.00,2.42,0.00,0.000,4,0.000,0.031,3339,3396,1895,0,0,0,0,0,0
$GC,8915,1.61,269.6,77.7,11.9,404,8920,0.00,2.47,0.00,0.000,6,0.000,0.034,3340,1879,1895,0,0,0,0,0,0
$GC,9184,1.72,317.0,55.2,7.0,428,9229,0.15,0.00,41.08,0.587,6,0.182,0.000,3378,1879,1707,0,0,0,0,0,0
$GC,9493,1.72,317.0,23.1,10.9,460,9503,0.00,2.45,0.00,0.000,4,0.000,0.033,3379,3390,1703,0,0,0,0,0,0
$GC,9549,1.77,317.0,16.9,11.3,467,9558,0.00,2.47,0.00,0.000,6,0.000,0.035,3378,1896,1702,0,0,0,0,0,0
$STATE,9668,end climb,SURFACE_DEPTH_REACHED
$STATE,9668,begin surface coast
$FINISH,0.4,0.999859
$STATE,9720,end surface coast,CONTROL_FINISHED_OK
$STATE,9720,begin surface
$SM_CCo,9742,90.50,0.474,1,0,1287,420.20
$SM_GC,1.08,0.00,0.00,90.50,0.000,0.000,0.474,474,1752,1287,-11.62,-0.51,420.20
$IRIDIUM_FIX,2239.35,-15747.62,130100,020217
$TT8_MAMPS,0.026078
$HUMID,54.09
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.60
$XPDR_PINGS,63
$24V_AH,23.4,62.076
$10V_AH,9.9,59.256
$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,27.350,119.775,384.400,90.500,0.000,27.008,34.679,285.868,15.750,0.000,35.405,978.385,6357.306,561.365,1813.415,634.753,33.371,1233.622,0.000,1799.897,0.000,0.534,0.000
$DEVICE_MAMPS,181.779,87.438,918.099,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.869,288.638,378.598,730.102,1099.527,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,38363,491
$CAP_FILE_SIZE,101295,0
$CFSIZE,260165632,156229632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191010,074504,2251.248,-15741.948,7,2.2,26,10.1