version: 66.06
glider: 146
mission: 5
dive: 451
start: 10 19 110 17 46 58
data:
$ID,146
$MISSION,5
$DIVE,451
$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,-258233.73
$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,47
$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
$GPS1,173813,2255.031,-15742.158,23,1.3,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-69.4
$GPS2,174602,2255.069,-15742.157,14,1.6,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.042,0.230
$KALMAN_X,-260248.7,-314.8,16.6,309508.6,-284.9
$KALMAN_Y,-608321.4,-242.3,165.4,746344.9,372.1
$MHEAD_RNG_PITCHd_Wd,0.2,5435,-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,16,-1.39,-115.2,0.0,0.0,0,97,0.00,0.00,-78.93,0.000,2,0.000,0.000,475,1738,3215,0,0,0,0,0,0
$GC,101,-1.39,-116.8,3.0,-5.0,10,127,11.38,2.58,-5.12,0.000,4,0.142,0.035,2687,3332,3479,0,0,0,0,0,0
$GC,178,-1.32,-116.8,21.5,-15.6,20,188,0.08,2.53,0.00,0.000,6,0.113,0.031,2705,1795,3481,0,0,0,0,0,0
$GC,455,-1.21,-116.8,64.6,-15.3,48,460,0.15,2.75,0.00,0.000,4,0.124,0.060,2734,190,3482,0,0,0,0,0,0
$GC,489,-1.21,-116.8,69.5,-13.5,50,494,0.00,2.42,0.00,0.000,6,0.000,0.015,2734,1779,3482,0,0,0,0,0,0
$GC,754,-1.27,-116.8,95.5,-9.4,74,758,0.00,2.42,0.00,0.000,4,0.000,0.024,2734,3318,3483,0,0,0,0,0,0
$GC,824,-1.39,-116.8,102.0,-9.6,79,830,0.15,2.50,0.00,0.000,6,0.063,0.028,2683,1763,3483,0,0,0,0,0,0
$GC,1092,-1.39,-116.8,130.3,-10.0,103,1097,0.00,2.65,0.00,0.000,4,0.000,0.061,2683,197,3484,0,0,0,0,0,0
$GC,1114,-1.34,-116.8,133.4,-10.7,104,1123,0.08,2.40,0.00,0.000,6,0.088,0.017,2704,1767,3483,0,0,0,0,0,0
$GC,1374,-1.34,-116.8,159.4,-10.1,129,1379,0.00,2.42,0.00,0.000,4,0.000,0.029,2704,3321,3485,0,0,0,0,0,0
$GC,1417,-1.41,-116.8,163.5,-10.1,132,1421,0.00,2.50,0.00,0.000,6,0.000,0.030,2704,1765,3485,0,0,0,0,0,0
$GC,1679,-1.41,-116.8,191.6,-10.8,156,1684,0.00,2.67,0.00,0.000,4,0.000,0.064,2704,190,3485,0,0,0,0,0,0
$GC,1703,-1.41,-116.8,193.5,-10.5,157,1707,0.00,2.38,0.00,0.000,6,0.000,0.023,2704,1767,3485,0,0,0,0,0,0
$GC,1965,-1.41,-116.8,220.0,-9.9,167,1969,0.00,2.47,0.00,0.000,4,0.000,0.026,2705,3324,3485,0,0,0,0,0,0
$GC,1999,-1.49,-116.8,223.4,-9.8,167,2005,0.12,2.50,0.00,0.000,6,0.071,0.035,2660,1772,3485,0,0,0,0,0,0
$GC,2250,-1.44,-116.8,251.6,-11.5,174,2256,0.12,2.75,0.00,0.000,4,0.114,0.071,2686,190,3485,0,0,0,0,0,0
$GC,2290,-1.44,-116.8,255.9,-10.7,175,2294,0.00,2.42,0.00,0.000,6,0.000,0.018,2686,1767,3485,0,0,0,0,0,0
$GC,2573,-1.44,-116.8,281.8,-9.0,182,2577,0.00,2.50,0.00,0.000,4,0.000,0.030,2686,3338,3484,0,0,0,0,0,0
$GC,2625,-1.52,-116.8,286.4,-8.9,183,2630,0.00,2.55,0.00,0.000,6,0.000,0.041,2685,1777,3484,0,0,0,0,0,0
$GC,2898,-1.52,-116.8,311.2,-9.3,190,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1776,3483,0,0,0,0,0,0
$GC,3141,-1.52,-116.8,336.0,-10.4,196,3145,0.00,2.50,0.00,0.000,4,0.000,0.040,2686,3328,3482,0,0,0,0,0,0
$GC,3182,-1.58,-116.8,340.0,-10.3,197,3187,0.12,2.55,0.00,0.000,6,0.072,0.040,2643,1786,3482,0,0,0,0,0,0
$GC,3466,-1.53,-116.8,372.6,-11.5,204,3471,0.10,2.50,0.00,0.000,4,0.127,0.036,2663,3325,3480,0,0,0,0,0,0
$GC,3489,-1.53,-116.8,375.1,-11.0,204,3493,0.00,2.53,0.00,0.000,6,0.000,0.044,2663,1794,3481,0,0,0,0,0,0
$GC,3744,-1.53,-116.8,403.0,-11.0,211,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1794,3479,0,0,0,0,0,0
$GC,3987,-1.53,-116.8,430.1,-10.9,217,3992,0.00,2.92,0.00,0.000,4,0.000,0.097,2664,182,3478,0,0,0,0,0,0
$GC,4008,-1.53,-116.8,432.6,-11.2,217,4013,0.00,2.53,0.00,0.000,6,0.000,0.031,2663,1763,3477,0,0,0,0,0,0
$GC,4272,-1.53,-116.8,457.9,-9.5,224,4276,0.00,2.62,0.00,0.000,4,0.000,0.056,2664,3355,3476,0,0,0,0,0,0
$GC,4299,-1.53,-116.8,460.7,-9.1,224,4303,0.00,2.67,0.00,0.000,6,0.000,0.054,2664,1783,3475,0,0,0,0,0,0
$GC,4548,-1.53,-116.8,486.1,-10.7,230,4553,0.00,2.97,0.00,0.000,4,0.000,0.109,2664,185,3474,0,0,0,0,0,0
$GC,4571,-1.53,-116.8,488.7,-11.4,230,4576,0.00,2.58,0.00,0.000,6,0.000,0.035,2663,1782,3473,0,0,0,0,0,0
$STATE,4703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4703,begin apogee
$GC,4710,-0.31,0.0,503.2,10.9,234,4811,1.23,0.00,98.00,0.922,6,0.087,0.000,2932,1830,3001,0,0,0,0,0,0
$STATE,4812,end apogee,CONTROL_FINISHED_OK
$STATE,4812,begin climb
$GC,4815,1.39,116.8,506.4,0.0,236,4921,1.55,0.00,101.68,0.900,6,0.041,0.000,3309,1830,2524,0,0,0,0,0,0
$GC,5144,1.31,156.9,492.1,7.7,244,5186,0.12,2.75,35.03,0.877,4,0.136,0.061,3286,3400,2359,0,0,0,0,0,0
$GC,5283,1.26,158.0,478.4,10.0,247,5288,0.00,2.70,0.00,0.000,6,0.000,0.056,3286,1838,2355,0,0,0,0,0,0
$GC,5561,1.20,158.3,450.3,10.0,254,5566,0.12,3.05,0.00,0.000,4,0.264,0.104,3263,229,2351,0,0,0,0,0,0
$GC,5583,1.12,158.3,447.9,10.1,254,5588,0.00,2.60,0.00,0.000,6,0.000,0.028,3263,1832,2350,0,0,0,0,0,0
$GC,5841,1.17,196.8,426.9,7.8,261,5882,0.00,2.67,35.03,0.860,4,0.000,0.042,3263,3411,2197,0,0,0,0,0,0
$GC,5893,1.21,226.3,422.6,8.3,262,5927,0.00,2.70,27.60,0.841,6,0.000,0.052,3263,1827,2077,0,0,0,0,0,0
$GC,6216,1.21,230.8,391.8,9.8,270,6220,0.00,2.92,0.00,0.000,4,0.000,0.094,3263,236,2068,0,0,0,0,0,0
$GC,6243,1.18,230.8,388.5,11.3,270,6247,0.00,2.55,0.00,0.000,6,0.000,0.026,3263,1842,2067,0,0,0,0,0,0
$GC,6493,1.19,241.1,364.7,9.4,276,6512,0.00,2.60,12.70,0.781,4,0.000,0.040,3263,3391,2018,0,0,0,0,0,0
$GC,6542,1.29,259.8,360.2,8.9,277,6567,0.00,2.62,18.67,0.799,6,0.000,0.048,3263,1833,1940,0,0,0,0,0,0
$GC,6825,1.34,268.3,333.3,9.5,284,6839,0.12,2.90,8.05,0.713,4,0.085,0.076,3296,240,1907,0,0,0,0,0,0
$GC,6852,1.30,268.3,330.3,11.5,284,6857,0.00,2.58,0.00,0.000,6,0.000,0.022,3296,1841,1905,0,0,0,0,0,0
$GC,7108,1.30,268.3,300.5,11.6,291,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1843,1904,0,0,0,0,0,0
$GC,7351,1.30,268.3,272.5,11.4,297,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1843,1902,0,0,0,0,0,0
$GC,7595,1.30,268.3,244.4,11.5,303,7600,0.00,2.80,0.00,0.000,4,0.000,0.073,3296,233,1902,0,0,0,0,0,0
$GC,7612,1.30,268.3,242.5,12.1,303,7616,0.00,2.55,0.00,0.000,6,0.000,0.024,3296,1838,1901,0,0,0,0,0,0
$GC,7872,1.30,268.3,213.5,11.1,310,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1839,1901,0,0,0,0,0,0
$GC,8123,1.30,268.3,186.0,11.1,322,8128,0.00,2.53,0.00,0.000,4,0.000,0.038,3296,3394,1900,0,0,0,0,0,0
$GC,8170,1.37,268.3,181.3,11.0,325,8174,0.00,2.60,0.00,0.000,6,0.000,0.042,3296,1812,1899,0,0,0,0,0,0
$GC,8437,1.37,268.4,153.1,10.0,349,8441,0.00,2.72,0.00,0.000,4,0.000,0.067,3296,242,1899,0,0,0,0,0,0
$GC,8475,1.37,268.4,148.3,11.1,352,8479,0.00,2.47,0.00,0.000,6,0.000,0.025,3295,1826,1898,0,0,0,0,0,0
$GC,8738,1.39,281.0,123.6,9.3,376,8755,0.00,0.00,11.35,0.617,6,0.000,0.000,3296,1828,1854,0,0,0,0,0,0
$GC,9014,1.46,291.8,97.5,9.4,402,9031,0.00,2.83,10.98,0.589,4,0.000,0.061,3296,243,1810,0,0,0,0,0,0
$GC,9038,1.46,293.4,94.7,9.9,404,9043,0.00,2.47,0.00,0.000,6,0.000,0.026,3296,1825,1809,0,0,0,0,0,0
$GC,9307,1.59,333.3,70.8,7.7,428,9352,0.20,0.00,36.78,0.599,6,0.099,0.000,3348,1826,1641,0,0,0,0,0,0
$GC,9608,1.65,351.8,42.0,9.0,456,9637,0.00,2.58,16.58,0.549,4,0.000,0.029,3348,3383,1564,0,0,0,0,0,0
$GC,9656,1.71,352.5,37.6,10.0,459,9661,0.10,2.60,0.00,0.000,6,0.099,0.036,3375,1805,1563,0,0,0,0,0,0
$STATE,9947,end climb,SURFACE_DEPTH_REACHED
$STATE,9947,begin surface coast
$FINISH,0.4,1.010521
$STATE,9991,end surface coast,CONTROL_FINISHED_OK
$STATE,9991,begin surface
$SM_CCo,10015,62.80,0.447,1,0,1288,420.20
$SM_GC,1.12,0.00,0.00,62.80,0.000,0.000,0.447,475,1747,1288,-11.62,-0.65,420.20
$IRIDIUM_FIX,2246.36,-15743.68,130100,141425
$TT8_MAMPS,0.026845
$HUMID,55.31
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.30
$XPDR_PINGS,84
$24V_AH,23.4,62.635
$10V_AH,10.0,59.744
$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,27.600,130.700,412.425,62.800,0.000,24.249,33.356,271.692,21.000,0.000,15.987,1022.736,6490.799,536.178,1866.189,638.758,33.379,1246.867,0.000,1875.039,0.000,0.533,0.000
$DEVICE_MAMPS,263.848,170.274,921.934,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.301,291.093,390.843,743.487,1124.817,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,41529,503
$CAP_FILE_SIZE,108410,0
$CFSIZE,260165632,155987968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191010,203606,2256.333,-15741.949,24,1.3,24,10.1