version: 66.06
glider: 146
mission: 5
dive: 473
start: 10 22 110 12 23 4
data:
$ID,146
$MISSION,5
$DIVE,473
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$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,-258740.2
$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,56
$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
$GPS1,121407,2257.552,-15755.295,37,1.0,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.6
$GPS2,122208,2257.529,-15755.308,12,1.0,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.219,-0.086
$KALMAN_X,-258779.5,-17.0,72.3,285056.5,-349.7
$KALMAN_Y,-612993.6,-133.1,-166.1,755798.4,-405.8
$MHEAD_RNG_PITCHd_Wd,101.3,27670,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-86.35,0.000,6,0.000,0.000,477,1755,3478,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.4,-8.8,11,127,11.57,2.62,0.00,0.000,4,0.150,0.051,2688,201,3481,0,0,0,0,0,0
$GC,145,-0.44,-116.8,19.0,-38.6,15,153,0.95,2.45,0.00,0.000,6,0.090,0.016,2896,1779,3481,0,0,0,0,0,0
$GC,441,-0.74,-116.8,39.7,-5.6,50,446,0.25,2.45,0.00,0.000,4,0.046,0.029,2815,3330,3482,0,0,0,0,0,0
$GC,464,-0.98,-116.8,41.4,-6.5,51,469,0.12,2.47,0.00,0.000,6,0.071,0.027,2768,1779,3482,0,0,0,0,0,0
$GC,734,-1.05,-116.8,67.2,-9.1,75,738,0.00,2.67,0.00,0.000,4,0.000,0.054,2768,193,3483,0,0,0,0,0,0
$GC,755,-1.15,-116.8,69.8,-10.0,76,760,0.00,2.40,0.00,0.000,6,0.000,0.015,2768,1776,3483,0,0,0,0,0,0
$GC,1020,-1.26,-116.8,91.7,-6.2,100,1025,0.17,2.42,0.00,0.000,4,0.055,0.025,2708,3313,3484,0,0,0,0,0,0
$GC,1041,-1.34,-116.8,93.3,-7.0,101,1046,0.00,2.53,0.00,0.000,6,0.000,0.028,2708,1745,3484,0,0,0,0,0,0
$GC,1310,-1.34,-116.8,118.8,-9.6,125,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1744,3485,0,0,0,0,0,0
$GC,1571,-1.34,-116.8,141.5,-8.7,150,1575,0.00,2.47,0.00,0.000,4,0.000,0.024,2708,3319,3485,0,0,0,0,0,0
$GC,1624,-1.41,-116.8,146.6,-9.9,154,1628,0.00,2.53,0.00,0.000,6,0.000,0.029,2708,1738,3485,0,0,0,0,0,0
$GC,1892,-1.41,-116.8,173.7,-10.6,178,1896,0.00,2.62,0.00,0.000,4,0.000,0.063,2708,190,3485,0,0,0,0,0,0
$GC,1924,-1.41,-116.8,178.5,-11.8,180,1934,0.00,2.35,0.00,0.000,6,0.000,0.017,2708,1725,3485,0,0,0,0,0,0
$GC,2208,-1.41,-116.8,204.2,-8.3,204,2212,0.00,2.53,0.00,0.000,4,0.000,0.032,2708,3318,3486,0,0,0,0,0,0
$GC,2247,-1.50,-116.8,207.7,-8.4,205,2252,0.15,2.53,0.00,0.000,6,0.064,0.029,2659,1738,3486,0,0,0,0,0,0
$GC,2533,-1.44,-116.8,235.0,-9.4,212,2538,0.12,2.55,0.00,0.000,4,0.112,0.032,2686,3325,3486,0,0,0,0,0,0
$GC,2555,-1.44,-116.8,237.3,-9.3,212,2559,0.00,2.53,0.00,0.000,6,0.000,0.030,2686,1751,3485,0,0,0,0,0,0
$GC,2810,-1.44,-116.8,260.5,-9.3,219,2815,0.00,2.70,0.00,0.000,4,0.000,0.075,2686,189,3485,0,0,0,0,0,0
$GC,2855,-1.44,-116.8,265.5,-11.7,220,2859,0.00,2.35,0.00,0.000,6,0.000,0.025,2686,1717,3484,0,0,0,0,0,0
$GC,3132,-1.44,-116.8,294.5,-10.4,227,3137,0.00,2.58,0.00,0.000,4,0.000,0.035,2686,3326,3484,0,0,0,0,0,0
$GC,3190,-1.50,-116.8,300.4,-10.2,228,3194,0.00,2.58,0.00,0.000,6,0.000,0.035,2686,1751,3484,0,0,0,0,0,0
$GC,3456,-1.50,-116.8,327.5,-10.3,235,3460,0.00,2.50,0.00,0.000,4,0.000,0.035,2685,3321,3482,0,0,0,0,0,0
$GC,3488,-1.56,-116.8,331.0,-10.1,235,3495,0.10,2.55,0.00,0.000,6,0.084,0.037,2650,1771,3482,0,0,0,0,0,0
$GC,3739,-1.51,-116.8,357.5,-10.7,242,3740,0.10,0.00,0.00,0.000,6,0.123,0.000,2671,1771,3481,0,0,0,0,0,0
$GC,3983,-1.51,-116.8,382.2,-10.2,248,3988,0.00,2.53,0.00,0.000,4,0.000,0.037,2671,3320,3480,0,0,0,0,0,0
$GC,4005,-1.51,-116.8,384.9,-11.0,248,4009,0.00,2.60,0.00,0.000,6,0.000,0.050,2671,1770,3480,0,0,0,0,0,0
$GC,4261,-1.51,-116.8,412.7,-11.0,255,4265,0.00,2.53,0.00,0.000,4,0.000,0.038,2671,3311,3477,0,0,0,0,0,0
$GC,4301,-1.56,-116.8,417.0,-10.6,256,4306,0.00,2.58,0.00,0.000,6,0.000,0.054,2671,1786,3477,0,0,0,0,0,0
$GC,4584,-1.56,-116.8,447.7,-10.7,263,4589,0.00,2.95,0.00,0.000,4,0.000,0.104,2671,182,3477,0,0,0,0,0,0
$GC,4600,-1.56,-116.8,449.6,-10.5,263,4604,0.00,2.47,0.00,0.000,6,0.000,0.032,2672,1745,3476,0,0,0,0,0,0
$GC,4863,-1.56,-116.8,477.9,-10.8,270,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1745,3474,0,0,0,0,0,0
$STATE,5105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5105,begin apogee
$GC,5111,-0.31,0.0,504.2,10.6,276,5212,1.17,0.00,97.28,0.931,6,0.079,0.000,2932,1824,3001,0,0,0,0,0,0
$STATE,5213,end apogee,CONTROL_FINISHED_OK
$STATE,5213,begin climb
$GC,5215,1.38,116.8,506.9,0.0,278,5321,1.52,0.00,101.12,0.906,6,0.046,0.000,3305,1824,2523,0,0,0,0,0,0
$GC,5544,1.30,150.3,490.6,8.1,286,5579,0.10,2.78,28.70,0.875,4,0.137,0.061,3287,3396,2388,0,0,0,0,0,0
$GC,5639,1.25,150.3,481.7,10.4,288,5643,0.00,2.72,0.00,0.000,6,0.000,0.058,3287,1822,2384,0,0,0,0,0,0
$GC,5918,1.21,173.3,456.1,8.7,295,5945,0.12,2.67,20.85,0.858,4,0.131,0.042,3264,3401,2293,0,0,0,0,0,0
$GC,5967,1.26,210.9,451.9,7.9,296,6007,0.00,2.72,34.40,0.864,6,0.000,0.051,3263,1824,2141,0,0,0,0,0,0
$GC,6283,1.28,224.6,423.7,9.2,304,6303,0.00,3.08,12.50,0.800,4,0.000,0.103,3263,230,2084,0,0,0,0,0,0
$GC,6332,1.22,224.6,418.2,11.0,305,6336,0.00,2.55,0.00,0.000,6,0.000,0.028,3263,1814,2082,0,0,0,0,0,0
$GC,6610,1.22,224.6,390.1,10.5,312,6615,0.00,2.60,0.00,0.000,4,0.000,0.042,3263,3404,2080,0,0,0,0,0,0
$GC,6633,1.26,224.6,387.4,10.7,312,6637,0.00,2.70,0.00,0.000,6,0.000,0.051,3263,1815,2078,0,0,0,0,0,0
$GC,6887,1.26,224.6,361.4,10.1,319,6892,0.00,2.85,0.00,0.000,4,0.000,0.082,3263,230,2078,0,0,0,0,0,0
$GC,6917,1.26,224.6,358.1,11.2,319,6922,0.00,2.55,0.00,0.000,6,0.000,0.026,3263,1826,2076,0,0,0,0,0,0
$GC,7167,1.27,230.9,333.7,9.7,325,7175,0.00,0.00,5.82,0.657,6,0.000,0.000,3263,1827,2059,0,0,0,0,0,0
$GC,7411,1.27,234.0,309.6,9.9,331,7417,0.00,0.00,4.12,0.548,6,0.000,0.000,3263,1827,2047,0,0,0,0,0,0
$GC,7655,1.34,254.3,287.1,8.9,337,7681,0.12,2.60,20.15,0.772,4,0.083,0.031,3296,3397,1963,0,0,0,0,0,0
$GC,7695,1.34,254.3,283.3,10.4,338,7699,0.00,2.65,0.00,0.000,6,0.000,0.043,3296,1810,1961,0,0,0,0,0,0
$GC,7978,1.34,254.3,254.0,10.5,345,7982,0.00,2.78,0.00,0.000,4,0.000,0.072,3296,237,1959,0,0,0,0,0,0
$GC,8019,1.26,254.3,249.3,12.3,346,8024,0.10,2.50,0.00,0.000,6,0.133,0.021,3276,1818,1958,0,0,0,0,0,0
$GC,8303,1.31,262.0,221.2,9.6,353,8312,0.00,0.00,7.43,0.644,6,0.000,0.000,3276,1820,1932,0,0,0,0,0,0
$GC,8546,1.37,278.6,198.8,9.1,359,8572,0.10,2.85,15.93,0.700,4,0.097,0.067,3303,236,1865,0,0,0,0,0,0
$GC,8597,1.30,278.6,193.7,11.1,363,8601,0.00,2.50,0.00,0.000,6,0.000,0.025,3303,1814,1864,0,0,0,0,0,0
$GC,8859,1.30,278.6,166.6,10.8,387,8864,0.00,2.53,0.00,0.000,4,0.000,0.032,3303,3394,1862,0,0,0,0,0,0
$GC,8891,1.36,278.6,163.5,10.6,389,8895,0.00,2.62,0.00,0.000,6,0.000,0.042,3303,1812,1861,0,0,0,0,0,0
$GC,9157,1.36,278.6,135.5,11.0,413,9162,0.00,2.72,0.00,0.000,4,0.000,0.070,3303,240,1860,0,0,0,0,0,0
$GC,9222,1.36,278.6,127.3,12.2,418,9227,0.00,2.45,0.00,0.000,6,0.000,0.021,3304,1811,1859,0,0,0,0,0,0
$GC,9485,1.37,291.0,100.9,9.3,442,9502,0.00,0.00,11.80,0.607,6,0.000,0.000,3303,1813,1813,0,0,0,0,0,0
$GC,9766,1.47,331.4,77.0,7.7,468,9815,0.00,2.62,36.20,0.612,4,0.000,0.035,3303,3384,1647,0,0,0,0,0,0
$GC,9821,1.58,362.8,71.9,8.2,472,9858,0.12,2.67,27.60,0.592,6,0.051,0.035,3342,1794,1521,0,0,0,0,0,0
$GC,10115,1.63,368.4,39.1,9.7,499,10130,0.00,2.62,5.53,0.457,4,0.000,0.026,3342,3389,1499,0,0,0,0,0,0
$GC,10174,1.75,368.4,32.4,10.3,503,10183,0.12,2.70,0.00,0.000,6,0.049,0.037,3382,1781,1499,0,0,0,0,0,0
$STATE,10395,end climb,SURFACE_DEPTH_REACHED
$STATE,10395,begin surface coast
$FINISH,0.3,1.023393
$STATE,10438,end surface coast,CONTROL_FINISHED_OK
$STATE,10438,begin surface
$SM_CCo,10459,43.25,0.540,0,0,1287,420.20
$SM_GC,0.87,0.00,0.00,43.25,0.000,0.000,0.540,472,1780,1287,-11.63,0.28,420.20
$IRIDIUM_FIX,2251.04,-15820.61,160100,090915
$TT8_MAMPS,0.026078
$HUMID,56.89
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,19.60
$XPDR_PINGS,93
$24V_AH,23.3,65.484
$10V_AH,9.9,62.315
$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,28.950,135.175,429.425,43.250,0.000,30.086,32.435,279.451,23.250,0.000,14.273,1091.350,6690.938,529.187,2015.212,659.719,33.373,1286.329,0.000,2023.426,0.000,0.533,0.000
$DEVICE_MAMPS,149.565,103.545,931.138,539.968,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.621,327.623,424.960,819.556,1240.730,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,41463,540
$CAP_FILE_SIZE,114820,0
$CFSIZE,260165632,154767360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221010,151922,2256.848,-15754.121,12,2.2,31,10.1