version: 66.06
glider: 146
mission: 5
dive: 453
start: 10 19 110 23 59 23
data:
$ID,146
$MISSION,5
$DIVE,453
$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,-258278.33
$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,64
$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
$GPS1,234928,2257.354,-15742.355,12,99.0,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-69.3
$GPS2,235828,2257.367,-15742.378,10,6.5,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.204,-0.116
$KALMAN_X,-260815.1,-279.4,-88.4,309772.0,53.3
$KALMAN_Y,-608870.8,393.8,-207.5,750894.9,-168.4
$MHEAD_RNG_PITCHd_Wd,230.2,26009,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.15,0.000,2,0.000,0.000,477,1781,3456,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.4,-9.3,11,126,11.65,2.45,-0.35,0.000,4,0.153,0.036,2689,3337,3479,0,0,0,0,0,0
$GC,203,-1.30,-116.8,28.3,-15.2,24,213,0.08,2.60,0.00,0.000,6,0.115,0.038,2707,1752,3480,0,0,0,0,0,0
$GC,481,-1.22,-116.8,72.4,-15.1,50,486,0.12,2.50,0.00,0.000,4,0.130,0.024,2732,3332,3480,0,0,0,0,0,0
$GC,515,-1.22,-116.8,77.3,-12.4,52,520,0.00,2.53,0.00,0.000,6,0.000,0.035,2731,1771,3480,0,0,0,0,0,0
$GC,781,-1.26,-116.8,102.0,-9.3,76,785,0.00,2.47,0.00,0.000,4,0.000,0.024,2731,3336,3481,0,0,0,0,0,0
$GC,802,-1.32,-116.8,103.9,-9.3,77,806,0.00,2.50,0.00,0.000,6,0.000,0.032,2731,1777,3482,0,0,0,0,0,0
$GC,1070,-1.38,-116.8,126.0,-7.8,101,1076,0.15,0.00,0.00,0.000,6,0.064,0.000,2683,1776,3482,0,0,0,0,0,0
$GC,1333,-1.34,-116.8,156.3,-12.1,126,1338,0.12,2.70,0.00,0.000,4,0.111,0.068,2709,197,3483,0,0,0,0,0,0
$GC,1357,-1.34,-116.8,158.5,-11.3,127,1361,0.00,2.47,0.00,0.000,6,0.000,0.022,2709,1822,3483,0,0,0,0,0,0
$GC,1626,-1.34,-116.8,184.0,-8.4,151,1630,0.00,2.38,0.00,0.000,4,0.000,0.031,2709,3332,3483,0,0,0,0,0,0
$GC,1647,-1.34,-116.8,186.6,-8.8,152,1653,0.00,2.45,0.00,0.000,6,0.000,0.028,2709,1804,3483,0,0,0,0,0,0
$GC,1937,-1.34,-116.8,212.2,-9.4,171,1941,0.00,2.75,0.00,0.000,4,0.000,0.066,2709,193,3483,0,0,0,0,0,0
$GC,1963,-1.34,-116.8,215.5,-10.6,171,1968,0.00,2.47,0.00,0.000,6,0.000,0.017,2709,1816,3483,0,0,0,0,0,0
$GC,2221,-1.39,-116.8,240.0,-9.5,178,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1816,3483,0,0,0,0,0,0
$GC,2463,-1.44,-116.8,261.7,-8.7,184,2468,0.10,2.40,0.00,0.000,4,0.090,0.029,2675,3322,3482,0,0,0,0,0,0
$GC,2474,-1.48,-116.8,262.8,-8.5,184,2479,0.00,2.47,0.00,0.000,6,0.000,0.036,2675,1790,3483,0,0,0,0,0,0
$GC,2740,-1.48,-116.8,289.7,-10.2,191,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1790,3482,0,0,0,0,0,0
$GC,2986,-1.48,-116.8,314.0,-9.8,197,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1790,3481,0,0,0,0,0,0
$GC,3228,-1.48,-116.8,338.4,-10.1,203,3232,0.00,2.45,0.00,0.000,4,0.000,0.035,2675,3322,3479,0,0,0,0,0,0
$GC,3267,-1.53,-116.8,342.4,-10.6,204,3271,0.00,2.50,0.00,0.000,6,0.000,0.046,2675,1810,3479,0,0,0,0,0,0
$GC,3551,-1.53,-116.8,371.8,-10.6,211,3556,0.00,2.95,0.00,0.000,4,0.000,0.096,2675,186,3478,0,0,0,0,0,0
$GC,3567,-1.53,-116.8,373.9,-11.0,211,3571,0.00,2.50,0.00,0.000,6,0.000,0.021,2675,1773,3478,0,0,0,0,0,0
$GC,3828,-1.53,-116.8,403.1,-11.2,218,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1773,3476,0,0,0,0,0,0
$GC,4073,-1.53,-116.8,429.5,-10.6,224,4078,0.00,2.58,0.00,0.000,4,0.000,0.052,2675,3349,3475,0,0,0,0,0,0
$GC,4130,-1.59,-116.8,435.1,-9.0,225,4134,0.00,2.60,0.00,0.000,6,0.000,0.054,2675,1805,3474,0,0,0,0,0,0
$GC,4396,-1.59,-116.8,459.3,-9.2,232,4401,0.00,3.03,0.00,0.000,4,0.000,0.109,2675,179,3473,0,0,0,0,0,0
$GC,4419,-1.59,-116.8,461.6,-9.9,232,4424,0.00,2.60,0.00,0.000,6,0.000,0.035,2675,1788,3473,0,0,0,0,0,0
$GC,4675,-1.59,-116.8,486.5,-10.0,239,4680,0.00,2.65,0.00,0.000,4,0.000,0.054,2675,3361,3471,0,0,0,0,0,0
$GC,4702,-1.59,-116.8,489.4,-9.9,239,4707,0.00,2.67,0.00,0.000,6,0.000,0.060,2675,1796,3470,0,0,0,0,0,0
$STATE,4828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4828,begin apogee
$GC,4835,-0.31,0.0,503.2,10.8,242,4936,1.17,0.00,97.80,0.924,6,0.089,0.000,2932,1796,3001,0,0,0,0,0,0
$STATE,4937,end apogee,CONTROL_FINISHED_OK
$STATE,4937,begin climb
$GC,4940,1.38,116.8,506.7,0.0,244,5052,1.52,3.03,101.82,0.900,4,0.041,0.114,3305,236,2523,0,0,0,0,0,0
$GC,5116,1.19,137.2,504.3,8.9,248,5141,0.22,2.62,18.33,0.846,6,0.121,0.031,3262,1825,2440,0,0,0,0,0,0
$GC,5398,1.23,172.4,482.6,8.0,255,5439,0.00,2.83,31.48,0.872,4,0.000,0.058,3262,3413,2296,0,0,0,0,0,0
$GC,5498,1.24,179.2,473.2,9.7,257,5512,0.00,2.72,7.25,0.727,6,0.000,0.058,3262,1834,2269,0,0,0,0,0,0
$GC,5775,1.29,218.5,449.6,7.8,264,5817,0.00,3.10,35.85,0.868,4,0.000,0.106,3262,233,2109,0,0,0,0,0,0
$GC,5841,1.26,240.8,444.7,8.8,265,5867,0.00,2.62,20.88,0.838,6,0.000,0.031,3262,1832,2019,0,0,0,0,0,0
$GC,6148,1.28,254.8,417.4,9.2,273,6167,0.00,2.67,13.12,0.803,4,0.000,0.044,3262,3404,1961,0,0,0,0,0,0
$GC,6202,1.35,254.8,411.8,10.4,274,6208,0.12,2.70,0.00,0.000,6,0.092,0.054,3294,1828,1959,0,0,0,0,0,0
$GC,6475,1.35,254.8,378.8,12.3,281,6479,0.00,2.90,0.00,0.000,4,0.000,0.088,3294,234,1957,0,0,0,0,0,0
$GC,6496,1.27,254.8,375.9,12.6,281,6500,0.00,2.58,0.00,0.000,6,0.000,0.021,3295,1843,1955,0,0,0,0,0,0
$GC,6752,1.27,254.8,346.9,11.1,288,6757,0.00,2.85,0.00,0.000,4,0.000,0.072,3294,233,1954,0,0,0,0,0,0
$GC,6768,1.21,254.8,344.7,11.1,288,6773,0.15,2.55,0.00,0.000,6,0.128,0.024,3266,1827,1954,0,0,0,0,0,0
$GC,7031,1.23,269.8,320.0,9.2,295,7047,0.00,0.00,13.73,0.770,6,0.000,0.000,3265,1828,1900,0,0,0,0,0,0
$GC,7277,1.28,275.0,296.5,9.7,301,7290,0.00,2.83,6.03,0.647,4,0.000,0.073,3265,230,1879,0,0,0,0,0,0
$GC,7324,1.28,275.0,290.7,12.0,302,7328,0.00,2.58,0.00,0.000,6,0.000,0.026,3265,1841,1878,0,0,0,0,0,0
$GC,7603,1.33,275.0,260.0,11.0,309,7609,0.10,2.85,0.00,0.000,4,0.101,0.069,3291,232,1876,0,0,0,0,0,0
$GC,7637,1.26,275.0,255.7,12.7,309,7642,0.00,2.53,0.00,0.000,6,0.000,0.028,3292,1816,1876,0,0,0,0,0,0
$GC,7887,1.28,290.3,231.5,9.2,316,7906,0.00,2.60,14.57,0.717,4,0.000,0.039,3291,3393,1816,0,0,0,0,0,0
$GC,7926,1.33,300.3,227.9,9.5,317,7942,0.00,2.65,10.65,0.681,6,0.000,0.043,3292,1805,1776,0,0,0,0,0,0
$GC,8209,1.33,300.3,198.4,10.8,324,8214,0.00,2.75,0.00,0.000,4,0.000,0.074,3292,240,1771,0,0,0,0,0,0
$GC,8250,1.33,300.3,192.8,13.6,327,8254,0.00,2.50,0.00,0.000,6,0.000,0.025,3291,1820,1770,0,0,0,0,0,0
$GC,8514,1.38,300.3,163.2,10.5,351,8519,0.00,2.78,0.00,0.000,4,0.000,0.073,3292,235,1770,0,0,0,0,0,0
$GC,8545,1.38,300.3,159.4,11.6,353,8549,0.00,2.47,0.00,0.000,6,0.000,0.028,3292,1805,1769,0,0,0,0,0,0
$GC,8814,1.42,300.3,130.5,12.1,377,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1807,1769,0,0,0,0,0,0
$GC,9075,1.47,300.3,101.4,10.2,402,9080,0.12,2.72,0.00,0.000,4,0.084,0.062,3324,239,1769,0,0,0,0,0,0
$GC,9106,1.42,300.3,97.9,12.1,404,9110,0.00,2.45,0.00,0.000,6,0.000,0.026,3324,1809,1769,0,0,0,0,0,0
$GC,9373,1.48,313.2,68.5,9.3,428,9390,0.00,2.58,11.55,0.574,4,0.000,0.029,3325,3381,1724,0,0,0,0,0,0
$GC,9453,1.62,335.0,61.2,8.8,434,9480,0.08,2.62,20.42,0.586,6,0.057,0.036,3352,1806,1635,0,0,0,0,0,0
$GC,9748,1.62,338.4,34.7,9.8,461,9763,0.00,2.72,3.90,0.384,4,0.000,0.060,3352,244,1620,0,0,0,0,0,0
$GC,9794,1.62,338.4,29.6,11.9,464,9804,0.00,2.45,0.00,0.000,6,0.000,0.020,3352,1806,1619,0,0,0,0,0,0
$STATE,10038,end climb,SURFACE_DEPTH_REACHED
$STATE,10038,begin surface coast
$FINISH,0.3,1.000614
$STATE,10089,end surface coast,CONTROL_FINISHED_OK
$STATE,10089,begin surface
$SM_CCo,10112,74.53,0.464,1,0,1287,420.20
$SM_GC,1.10,0.00,0.00,74.53,0.000,0.000,0.464,475,1744,1287,-11.62,-0.71,420.20
$IRIDIUM_FIX,2248.70,-15742.79,130100,202011
$TT8_MAMPS,0.026078
$HUMID,53.85
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.40
$XPDR_PINGS,87
$24V_AH,23.4,62.907
$10V_AH,10.0,59.987
$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,27.475,137.000,407.375,74.525,0.000,32.758,45.864,288.388,21.750,0.000,31.515,1037.383,6539.743,541.190,1914.567,699.664,33.372,1269.924,0.000,1903.774,0.000,0.534,0.000
$DEVICE_MAMPS,153.400,121.186,924.235,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.722,293.119,391.121,741.292,1121.262,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,41499,506
$CAP_FILE_SIZE,112907,0
$CFSIZE,260165632,155869184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201010,025036,2256.833,-15743.869,35,1.1,40,10.1