version: 66.06
glider: 146
mission: 5
dive: 449
start: 10 19 110 11 41 33
data:
$ID,146
$MISSION,5
$DIVE,449
$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,-258200.22
$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,13
$R_STBD_OVSHOOT,59
$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
$GPS1,112731,2252.308,-15742.102,36,2.0,36,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-64.4
$GPS2,114037,2252.309,-15742.091,9,1.0,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.025,0.232
$KALMAN_X,-259786.7,225.8,-76.3,308716.2,-220.6
$KALMAN_Y,-608545.4,-316.3,-19.9,741731.3,-668.1
$MHEAD_RNG_PITCHd_Wd,355.9,10541,-20.0,-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,-1.39,-114.9,0.0,0.0,0,134,0.00,0.00,-116.00,0.000,6,0.000,0.000,477,1807,3471,0,0,0,0,0,0
$GC,139,-1.39,-116.8,4.6,-9.4,15,157,11.32,2.42,0.00,0.000,4,0.142,0.025,2683,3345,3474,0,0,0,0,0,0
$GC,207,-1.31,-116.8,25.2,-17.6,24,217,0.10,2.60,0.00,0.000,6,0.173,0.031,2706,1760,3474,0,0,0,0,0,0
$GC,485,-1.24,-116.8,66.4,-13.8,51,490,0.10,2.67,0.00,0.000,4,0.138,0.063,2725,191,3474,0,0,0,0,0,0
$GC,520,-1.20,-116.8,71.0,-12.9,53,524,0.00,2.42,0.00,0.000,6,0.000,0.015,2726,1801,3474,0,0,0,0,0,0
$GC,788,-1.20,-116.8,99.5,-10.0,77,792,0.00,2.33,0.00,0.000,4,0.000,0.024,2726,3305,3475,0,0,0,0,0,0
$GC,811,-1.25,-116.8,102.4,-9.5,78,820,0.00,2.53,0.00,0.000,6,0.000,0.027,2726,1748,3475,0,0,0,0,0,0
$GC,1079,-1.31,-116.8,127.2,-10.1,103,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1747,3475,0,0,0,0,0,0
$GC,1342,-1.36,-116.8,154.4,-9.4,128,1346,0.00,2.45,0.00,0.000,4,0.000,0.024,2726,3314,3475,0,0,0,0,0,0
$GC,1399,-1.48,-116.8,159.7,-8.8,132,1409,0.17,2.53,0.00,0.000,6,0.034,0.035,2661,1761,3475,0,0,0,0,0,0
$GC,1667,-1.42,-116.8,186.3,-10.6,157,1672,0.12,2.70,0.00,0.000,4,0.111,0.072,2688,189,3476,0,0,0,0,0,0
$GC,1719,-1.42,-116.8,193.1,-11.1,161,1723,0.00,2.33,0.00,0.000,6,0.000,0.021,2688,1737,3476,0,0,0,0,0,0
$GC,1993,-1.42,-116.8,222.3,-10.8,172,1998,0.00,2.47,0.00,0.000,4,0.000,0.026,2688,3321,3476,0,0,0,0,0,0
$GC,2015,-1.42,-116.8,224.8,-10.5,172,2019,0.00,2.53,0.00,0.000,6,0.000,0.030,2688,1744,3476,0,0,0,0,0,0
$GC,2271,-1.42,-116.8,250.9,-10.1,179,2275,0.00,2.47,0.00,0.000,4,0.000,0.032,2688,3313,3475,0,0,0,0,0,0
$GC,2299,-1.42,-116.8,253.6,-9.8,179,2304,0.00,2.53,0.00,0.000,6,0.000,0.038,2688,1750,3475,0,0,0,0,0,0
$GC,2549,-1.42,-116.8,275.5,-8.8,185,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1750,3474,0,0,0,0,0,0
$GC,2793,-1.42,-116.8,296.7,-8.7,191,2797,0.00,2.50,0.00,0.000,4,0.000,0.032,2688,3314,3473,0,0,0,0,0,0
$GC,2828,-1.49,-116.8,299.7,-8.7,191,2833,0.00,2.55,0.00,0.000,6,0.000,0.043,2688,1765,3473,0,0,0,0,0,0
$GC,3078,-1.49,-116.8,322.5,-9.2,198,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1764,3471,0,0,0,0,0,0
$GC,3321,-1.49,-116.8,347.0,-10.2,204,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1764,3470,0,0,0,0,0,0
$GC,3565,-1.49,-116.8,371.3,-10.0,210,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1764,3468,0,0,0,0,0,0
$GC,3811,-1.52,-116.8,395.3,-9.8,216,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1764,3467,0,0,0,0,0,0
$GC,4053,-1.56,-116.8,420.7,-10.5,222,4058,0.12,2.55,0.00,0.000,4,0.071,0.043,2641,3307,3465,0,0,0,0,0,0
$GC,4113,-1.56,-116.8,428.7,-13.1,223,4118,0.00,2.60,0.00,0.000,6,0.000,0.059,2642,1776,3464,0,0,0,0,0,0
$GC,4376,-1.52,-116.8,461.8,-12.7,230,4381,0.12,2.55,0.00,0.000,4,0.113,0.048,2668,3310,3462,0,0,0,0,0,0
$GC,4392,-1.52,-116.8,464.1,-12.5,230,4396,0.00,2.62,0.00,0.000,6,0.000,0.055,2668,1769,3463,0,0,0,0,0,0
$GC,4653,-1.52,-116.8,492.8,-10.8,237,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1769,3460,0,0,0,0,0,0
$STATE,4732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4732,begin apogee
$GC,4739,-0.31,0.0,501.0,10.4,239,4838,1.20,0.00,95.28,0.918,6,0.092,0.000,2930,1769,3001,0,0,0,0,0,0
$STATE,4839,end apogee,CONTROL_FINISHED_OK
$STATE,4839,begin climb
$GC,4841,1.39,116.8,503.5,0.0,241,4955,1.55,3.00,101.72,0.896,4,0.048,0.113,3307,233,2523,0,0,0,0,0,0
$GC,5000,1.20,132.4,499.7,9.1,244,5020,0.22,2.50,13.90,0.817,6,0.123,0.030,3264,1766,2461,0,0,0,0,0,0
$GC,5300,1.26,184.9,477.8,7.0,252,5354,0.00,2.83,46.55,0.876,4,0.000,0.061,3264,3358,2246,0,0,0,0,0,0
$GC,5433,1.30,213.4,466.8,8.4,255,5465,0.00,2.62,25.75,0.849,6,0.000,0.058,3264,1833,2131,0,0,0,0,0,0
$GC,5709,1.31,218.9,440.6,9.7,261,5716,0.00,0.00,5.32,0.649,6,0.000,0.000,3264,1834,2108,0,0,0,0,0,0
$GC,5954,1.31,219.7,416.3,10.0,267,5959,0.00,2.95,0.00,0.000,4,0.000,0.098,3264,234,2104,0,0,0,0,0,0
$GC,5969,1.31,219.7,414.3,10.4,267,5974,0.00,2.53,0.00,0.000,6,0.000,0.026,3263,1805,2103,0,0,0,0,0,0
$GC,6236,1.31,219.7,386.0,10.5,274,6240,0.00,2.60,0.00,0.000,4,0.000,0.036,3264,3410,2102,0,0,0,0,0,0
$GC,6253,1.31,219.7,384.3,10.3,274,6258,0.00,2.62,0.00,0.000,6,0.000,0.046,3264,1839,2101,0,0,0,0,0,0
$GC,6513,1.31,219.7,357.8,10.1,281,6518,0.00,2.88,0.00,0.000,4,0.000,0.086,3264,236,2100,0,0,0,0,0,0
$GC,6542,1.31,219.7,354.9,11.2,281,6546,0.00,2.55,0.00,0.000,6,0.000,0.021,3264,1847,2099,0,0,0,0,0,0
$GC,6793,1.33,239.7,331.7,8.9,287,6814,0.10,0.00,18.85,0.796,6,0.100,0.000,3290,1847,2023,0,0,0,0,0,0
$GC,7035,1.33,239.7,306.3,10.8,293,7039,0.00,2.50,0.00,0.000,4,0.000,0.035,3290,3402,2019,0,0,0,0,0,0
$GC,7062,1.33,239.7,303.1,11.2,293,7066,0.00,2.58,0.00,0.000,6,0.000,0.044,3290,1839,2018,0,0,0,0,0,0
$GC,7312,1.33,239.7,277.4,10.2,299,7316,0.00,2.53,0.00,0.000,4,0.000,0.035,3290,3397,2016,0,0,0,0,0,0
$GC,7340,1.33,239.7,274.5,10.7,299,7344,0.00,2.55,0.00,0.000,6,0.000,0.044,3290,1849,2016,0,0,0,0,0,0
$GC,7589,1.33,239.7,249.1,10.2,305,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1849,2016,0,0,0,0,0,0
$GC,7834,1.34,243.3,225.2,9.8,311,7838,0.00,2.50,0.00,0.000,4,0.000,0.035,3290,3397,2015,0,0,0,0,0,0
$GC,7885,1.41,257.1,220.3,9.2,312,7906,0.00,2.53,15.70,0.713,6,0.000,0.036,3290,1854,1952,0,0,0,0,0,0
$GC,8162,1.42,267.7,194.6,9.4,322,8178,0.00,2.88,10.55,0.663,4,0.000,0.070,3290,236,1909,0,0,0,0,0,0
$GC,8226,1.42,267.7,187.6,11.2,327,8231,0.00,2.58,0.00,0.000,6,0.000,0.021,3290,1865,1906,0,0,0,0,0,0
$GC,8489,1.45,290.1,164.2,8.7,351,8516,0.10,2.90,20.75,0.675,4,0.092,0.067,3317,234,1816,0,0,0,0,0,0
$GC,8554,1.36,290.1,157.5,11.6,356,8559,0.10,2.58,0.00,0.000,6,0.137,0.021,3298,1850,1814,0,0,0,0,0,0
$GC,8815,1.36,290.1,132.5,10.5,380,8819,0.00,2.47,0.00,0.000,4,0.000,0.030,3298,3393,1812,0,0,0,0,0,0
$GC,8849,1.45,290.1,128.8,10.8,382,8858,0.00,2.55,0.00,0.000,6,0.000,0.037,3297,1865,1810,0,0,0,0,0,0
$GC,9117,1.49,290.1,101.5,10.1,407,9122,0.12,0.00,0.00,0.000,6,0.081,0.000,3333,1865,1810,0,0,0,0,0,0
$GC,9383,1.49,290.1,73.2,10.1,432,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1865,1810,0,0,0,0,0,0
$GC,9648,1.60,325.1,51.2,8.0,457,9687,0.00,0.00,30.23,0.578,6,0.000,0.000,3333,1865,1674,0,0,0,0,0,0
$GC,9957,1.66,330.4,24.3,9.7,489,9976,0.12,2.88,5.40,0.436,4,0.085,0.059,3368,240,1652,0,0,0,0,0,0
$GC,9994,1.63,330.4,20.0,11.8,493,10004,0.00,2.58,0.00,0.000,6,0.000,0.020,3368,1868,1651,0,0,0,0,0,0
$STATE,10129,end climb,SURFACE_DEPTH_REACHED
$STATE,10129,begin surface coast
$FINISH,0.3,1.016347
$STATE,10175,end surface coast,CONTROL_FINISHED_OK
$STATE,10175,begin surface
$SM_CCo,10197,79.80,0.465,1,0,1287,420.20
$SM_GC,0.94,0.00,0.00,79.80,0.000,0.000,0.465,480,1746,1287,-11.59,-0.68,420.20
$IRIDIUM_FIX,2241.69,-15811.92,130100,111145
$TT8_MAMPS,0.026078
$HUMID,54.33
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.60
$XPDR_PINGS,70
$24V_AH,23.4,62.381
$10V_AH,9.9,59.513
$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,27.450,114.175,390.000,79.800,0.000,60.679,68.997,437.030,17.500,0.000,16.004,1013.827,6749.468,536.197,1886.199,878.432,33.399,1269.770,0.000,1893.693,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,112.749,918.099,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.597,303.501,406.218,778.879,1179.147,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355748
$DATA_FILE_SIZE,41733,518
$CAP_FILE_SIZE,109220,0
$CFSIZE,260165632,156098560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191010,143423,2253.490,-15742.255,31,2.0,47,10.1