version: 66.06
glider: 146
mission: 5
dive: 448
start: 10 19 110 7 53 22
data:
$ID,146
$MISSION,5
$DIVE,448
$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,-258183.59
$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,38
$R_STBD_OVSHOOT,45
$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
$GPS1,074504,2251.248,-15741.948,7,2.2,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.8
$GPS2,075226,2251.259,-15741.961,14,1.2,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.005,0.326
$KALMAN_X,-259525.2,280.0,-126.4,308672.9,-63.7
$KALMAN_Y,-607685.6,43.0,33.3,738507.9,-364.9
$MHEAD_RNG_PITCHd_Wd,350.7,12485,-13.1,-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,-0.96,-116.8,0.0,0.0,0,104,0.00,0.00,-85.80,0.000,2,0.000,0.000,474,1753,3453,0,0,0,0,0,0
$GC,108,-0.96,-116.8,4.3,-9.0,11,126,12.05,2.55,-0.40,0.000,4,0.149,0.034,2781,3357,3478,0,0,0,0,0,0
$GC,190,-0.87,-116.8,24.7,-11.1,22,200,0.10,2.58,0.00,0.000,6,0.088,0.030,2806,1786,3479,0,0,0,0,0,0
$GC,467,-0.77,-116.8,52.9,-9.9,50,473,0.10,2.72,0.00,0.000,4,0.120,0.059,2829,196,3480,0,0,0,0,0,0
$GC,528,-0.77,-116.8,59.6,-9.7,54,537,0.00,2.42,0.00,0.000,6,0.000,0.016,2829,1781,3480,0,0,0,0,0,0
$GC,796,-0.77,-116.8,77.6,-5.1,79,800,0.00,2.67,0.00,0.000,4,0.000,0.054,2829,192,3482,0,0,0,0,0,0
$GC,818,-0.81,-116.8,79.0,-5.6,80,822,0.00,2.33,0.00,0.000,6,0.000,0.016,2829,1748,3482,0,0,0,0,0,0
$GC,1083,-0.87,-116.8,93.4,-5.7,104,1087,0.00,2.42,0.00,0.000,4,0.000,0.031,2829,3306,3482,0,0,0,0,0,0
$GC,1129,-0.97,-116.8,96.0,-6.2,107,1134,0.17,2.53,0.00,0.000,6,0.055,0.030,2769,1731,3482,0,0,0,0,0,0
$GC,1396,-0.91,-116.8,117.2,-8.3,131,1401,0.15,0.00,0.00,0.000,6,0.092,0.000,2804,1729,3483,0,0,0,0,0,0
$GC,1658,-0.91,-116.8,135.4,-6.7,156,1663,0.00,2.47,0.00,0.000,4,0.000,0.031,2803,3308,3483,0,0,0,0,0,0
$GC,1688,-0.91,-116.8,137.4,-6.7,158,1692,0.00,2.50,0.00,0.000,6,0.000,0.030,2803,1746,3483,0,0,0,0,0,0
$GC,1952,-0.91,-116.8,153.0,-6.1,182,1957,0.00,2.47,0.00,0.000,4,0.000,0.027,2803,3309,3484,0,0,0,0,0,0
$GC,1994,-0.96,-116.8,155.8,-6.5,185,1998,0.00,2.47,0.00,0.000,6,0.000,0.027,2804,1758,3484,0,0,0,0,0,0
$GC,2258,-0.96,-116.8,172.7,-6.8,209,2263,0.00,2.65,0.00,0.000,4,0.000,0.067,2803,193,3484,0,0,0,0,0,0
$GC,2325,-0.96,-116.8,177.8,-8.0,214,2330,0.00,2.33,0.00,0.000,6,0.000,0.021,2803,1748,3484,0,0,0,0,0,0
$GC,2594,-0.96,-116.8,196.4,-6.6,238,2598,0.00,2.47,0.00,0.000,4,0.000,0.034,2804,3313,3483,0,0,0,0,0,0
$GC,2639,-1.03,-116.8,200.0,-6.8,241,2645,0.12,2.47,0.00,0.000,6,0.069,0.029,2759,1755,3483,0,0,0,0,0,0
$GC,2891,-0.96,-116.8,218.7,-7.5,248,2896,0.15,2.70,0.00,0.000,4,0.092,0.071,2793,194,3483,0,0,0,0,0,0
$GC,2919,-0.96,-116.8,220.9,-6.9,248,2923,0.00,2.35,0.00,0.000,6,0.000,0.024,2793,1751,3483,0,0,0,0,0,0
$GC,3169,-0.96,-116.8,236.5,-6.1,254,3173,0.00,2.47,0.00,0.000,4,0.000,0.028,2793,3326,3482,0,0,0,0,0,0
$GC,3198,-1.00,-116.8,238.0,-5.6,254,3202,0.00,2.55,0.00,0.000,6,0.000,0.030,2793,1744,3482,0,0,0,0,0,0
$GC,3448,-1.00,-116.8,252.3,-5.7,260,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1744,3482,0,0,0,0,0,0
$GC,3692,-1.00,-116.8,268.2,-6.5,266,3696,0.00,2.50,0.00,0.000,4,0.000,0.035,2793,3318,3481,0,0,0,0,0,0
$GC,3719,-1.06,-116.8,270.0,-7.1,266,3724,0.10,2.50,0.00,0.000,6,0.081,0.030,2754,1764,3481,0,0,0,0,0,0
$GC,3969,-1.01,-116.8,290.6,-8.6,272,3975,0.12,2.72,0.00,0.000,4,0.100,0.077,2782,194,3480,0,0,0,0,0,0
$GC,4010,-1.04,-116.8,293.8,-7.9,273,4014,0.00,2.38,0.00,0.000,6,0.000,0.023,2782,1741,3480,0,0,0,0,0,0
$GC,4294,-1.04,-116.8,312.5,-6.5,280,4299,0.00,2.55,0.00,0.000,4,0.000,0.033,2782,3345,3479,0,0,0,0,0,0
$GC,4350,-1.09,-116.8,316.6,-7.2,281,4355,0.00,2.58,0.00,0.000,6,0.000,0.031,2782,1760,3479,0,0,0,0,0,0
$GC,4617,-1.09,-116.8,331.3,-5.3,288,4621,0.00,2.78,0.00,0.000,4,0.000,0.084,2782,189,3477,0,0,0,0,0,0
$GC,4645,-1.09,-116.8,332.8,-5.5,288,4650,0.00,2.42,0.00,0.000,6,0.000,0.021,2782,1747,3477,0,0,0,0,0,0
$GC,4895,-1.09,-116.8,344.0,-4.5,294,4900,0.00,2.58,0.00,0.000,4,0.000,0.040,2781,3353,3476,0,0,0,0,0,0
$GC,4954,-1.15,-116.8,346.6,-5.0,295,4959,0.15,2.60,0.00,0.000,6,0.064,0.042,2734,1768,3476,0,0,0,0,0,0
$GC,5221,-1.07,-116.8,364.6,-7.1,302,5227,0.15,2.83,0.00,0.000,4,0.095,0.088,2767,189,3474,0,0,0,0,0,0
$GC,5255,-1.07,-116.8,367.2,-7.5,302,5261,0.00,2.47,0.00,0.000,6,0.000,0.022,2767,1769,3474,0,0,0,0,0,0
$GC,5507,-1.07,-116.8,384.1,-6.8,309,5511,0.00,2.55,0.00,0.000,4,0.000,0.042,2767,3357,3473,0,0,0,0,0,0
$GC,5528,-1.07,-116.8,385.7,-6.8,309,5533,0.00,2.62,0.00,0.000,6,0.000,0.048,2767,1765,3473,0,0,0,0,0,0
$GC,5783,-1.07,-116.8,404.5,-7.5,316,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1765,3472,0,0,0,0,0,0
$GC,6028,-1.07,-116.8,422.6,-7.4,322,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1766,3470,0,0,0,0,0,0
$GC,6270,-1.07,-116.8,438.3,-6.1,328,6275,0.00,2.60,0.00,0.000,4,0.000,0.046,2767,3348,3469,0,0,0,0,0,0
$GC,6297,-1.07,-116.8,439.9,-6.0,328,6302,0.00,2.62,0.00,0.000,6,0.000,0.048,2767,1774,3469,0,0,0,0,0,0
$GC,6547,-1.07,-116.8,452.3,-4.8,334,6552,0.00,2.92,0.00,0.000,4,0.000,0.100,2767,185,3467,0,0,0,0,0,0
$GC,6593,-1.07,-116.8,454.8,-5.9,335,6597,0.00,2.50,0.00,0.000,6,0.000,0.031,2767,1759,3467,0,0,0,0,0,0
$GC,6870,-1.07,-116.8,469.7,-5.5,342,6875,0.00,2.65,0.00,0.000,4,0.000,0.050,2767,3357,3466,0,0,0,0,0,0
$GC,6913,-1.11,-116.8,472.1,-6.2,343,6917,0.00,2.67,0.00,0.000,6,0.000,0.051,2767,1769,3465,0,0,0,0,0,0
$GC,7196,-1.11,-116.8,488.4,-5.8,350,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1769,3464,0,0,0,0,0,0
$STATE,7439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7439,begin apogee
$GC,7445,-0.31,0.0,501.8,5.4,356,7545,0.70,0.00,95.93,0.941,6,0.068,0.000,2931,1862,3001,0,0,0,0,0,0
$STATE,7545,end apogee,CONTROL_FINISHED_OK
$STATE,7545,begin climb
$GC,7549,0.96,116.8,503.4,0.0,358,7661,1.17,2.62,101.43,0.917,4,0.044,0.054,3215,3368,2523,0,0,0,0,0,0
$GC,7717,1.01,274.7,500.5,5.7,362,7863,0.00,2.67,137.15,0.904,6,0.000,0.056,3215,1817,1880,0,0,0,0,0,0
$GC,8137,0.95,306.0,463.6,9.2,373,8171,0.00,3.15,28.02,0.864,4,0.000,0.114,3215,233,1751,0,0,0,0,0,0
$GC,8239,0.82,306.0,454.1,10.4,375,8244,0.17,2.53,0.00,0.000,6,0.108,0.033,3180,1774,1749,0,0,0,0,0,0
$GC,8511,0.93,397.8,433.1,7.5,382,8605,0.10,2.90,82.40,0.876,4,0.088,0.090,3208,236,1378,0,0,0,0,0,0
$GC,8679,0.88,398.2,416.6,10.0,385,8684,0.00,2.53,0.00,0.000,6,0.000,0.030,3208,1782,1376,0,0,0,0,0,0
$GC,8930,0.92,433.6,393.7,9.1,392,8971,0.00,2.90,32.45,0.840,4,0.000,0.084,3208,231,1232,0,0,0,0,0,0
$GC,9029,0.87,433.6,383.7,10.4,394,9033,0.00,2.47,0.00,0.000,6,0.000,0.024,3208,1758,1230,0,0,0,0,0,0
$GC,9301,0.88,439.7,357.2,9.9,401,9312,0.00,2.75,6.03,0.668,4,0.000,0.083,3208,231,1208,0,0,0,0,0,0
$GC,9383,0.84,439.7,348.2,11.1,402,9389,0.12,2.40,0.00,0.000,6,0.117,0.024,3183,1733,1207,0,0,0,0,0,0
$GC,9633,0.90,452.0,323.7,9.7,409,9652,0.00,2.75,12.65,0.762,4,0.000,0.078,3182,233,1157,0,0,0,0,0,0
$GC,9723,0.90,452.0,314.4,10.4,411,9727,0.00,2.33,0.00,0.000,6,0.000,0.023,3182,1702,1156,0,0,0,0,0,0
$GC,10006,0.96,452.0,285.0,10.4,418,10011,0.10,2.60,0.00,0.000,4,0.090,0.074,3212,233,1156,0,0,0,0,0,0
$GC,10069,0.96,452.0,277.5,12.5,419,10073,0.00,2.28,0.00,0.000,6,0.000,0.020,3212,1686,1155,0,0,0,0,0,0
$GC,10329,0.96,452.0,250.0,10.3,426,10334,0.00,2.58,0.00,0.000,4,0.000,0.075,3212,230,1155,0,0,0,0,0,0
$GC,10390,0.96,452.0,243.3,10.9,427,10394,0.00,2.22,0.00,0.000,6,0.000,0.021,3212,1664,1154,0,0,0,0,0,0
$GC,10659,0.96,452.0,215.9,10.7,434,10663,0.00,2.53,0.00,0.000,4,0.000,0.077,3212,230,1154,0,0,0,0,0,0
$GC,10719,0.96,452.0,208.3,12.8,435,10723,0.00,2.17,0.00,0.000,6,0.000,0.021,3212,1635,1154,0,0,0,0,0,0
$GC,10983,0.96,452.0,179.4,10.4,453,10987,0.00,2.42,0.00,0.000,4,0.000,0.074,3212,233,1154,0,0,0,0,0,0
$GC,11029,0.96,452.0,174.3,11.3,456,11038,0.00,2.15,0.00,0.000,6,0.000,0.021,3212,1614,1154,0,0,0,0,0,0
$GC,11295,1.00,484.7,148.9,9.1,481,11332,0.00,2.53,29.45,0.674,4,0.000,0.074,3212,227,1023,0,0,0,0,0,0
$GC,11367,1.00,484.7,141.4,11.4,487,11371,0.00,2.10,0.00,0.000,6,0.000,0.021,3212,1594,1022,0,0,0,0,0,0
$GC,11634,1.05,496.6,115.1,9.7,511,11651,0.00,2.38,11.43,0.602,4,0.000,0.069,3212,231,975,0,0,0,0,0,0
$GC,11670,1.05,496.6,110.6,10.6,513,11675,0.00,2.08,0.00,0.000,6,0.000,0.021,3212,1592,974,0,0,0,0,0,0
$GC,11933,1.13,500.0,83.2,9.9,538,11948,0.15,2.40,4.32,0.439,4,0.070,0.072,3253,232,961,0,0,0,0,0,0
$GC,11966,1.13,500.0,79.0,12.0,540,11975,0.00,2.05,0.00,0.000,6,0.000,0.021,3253,1561,961,0,0,0,0,0,0
$GC,12232,1.27,577.3,52.8,7.9,565,12303,0.10,3.08,62.85,0.585,4,0.086,0.027,3285,3409,646,0,0,0,0,0,0
$GC,12318,1.31,609.8,45.5,9.1,571,12359,0.00,3.22,27.00,0.557,6,0.000,0.038,3285,1493,514,0,0,0,0,0,0
$GC,12651,1.31,609.8,8.0,12.1,612,12660,0.00,2.20,0.00,0.000,4,0.000,0.068,3285,231,508,0,0,0,0,0,0
$STATE,12681,end climb,SURFACE_DEPTH_REACHED
$STATE,12682,begin surface coast
$FINISH,2.7,1.023262
$STATE,12690,end surface coast,CONTROL_FINISHED_OK
$STATE,12690,begin surface
$SM_CCo,12774,0.00,0.000,0,0,507,611.78
$SM_GC,0.98,11.73,0.00,0.00,0.039,0.000,0.000,477,1806,507,-11.52,1.02,611.78
$IRIDIUM_FIX,2239.35,-15742.40,130100,050532
$TT8_MAMPS,0.025311
$HUMID,55.04
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,20.20
$XPDR_PINGS,99
$24V_AH,23.4,62.245
$10V_AH,9.9,59.392
$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,27.725,177.775,631.100,0.000,0.000,24.074,32.638,248.798,24.750,0.000,15.708,1268.534,8249.882,632.179,2405.770,659.980,33.364,1621.812,0.000,2399.706,0.000,0.534,0.000
$DEVICE_MAMPS,148.798,113.516,941.109,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,416.331,349.285,470.551,865.131,1309.297,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,47923,617
$CAP_FILE_SIZE,142023,0
$CFSIZE,260165632,156123136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191010,112731,2252.308,-15742.102,36,2.0,36,10.1