version: 66.06
glider: 146
mission: 5
dive: 474
start: 10 22 110 15 28 58
data:
$ID,146
$MISSION,5
$DIVE,474
$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,-258772.02
$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,22
$R_STBD_OVSHOOT,55
$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
$GPS1,151922,2256.848,-15754.121,12,2.2,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-69.0
$GPS2,152804,2256.884,-15754.142,9,99.0,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.163,-0.169
$KALMAN_X,-258714.8,-43.3,-145.7,287238.8,36.3
$KALMAN_Y,-613177.6,-9.5,-446.7,754945.8,521.5
$MHEAD_RNG_PITCHd_Wd,125.9,25353,-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,-116.8,0.0,0.0,0,105,0.00,0.00,-86.43,0.000,2,0.000,0.000,471,1778,3425,0,0,0,0,0,0
$GC,109,-1.38,-116.8,3.9,-6.8,11,127,11.40,2.70,-0.98,0.000,4,0.143,0.064,2689,189,3480,0,0,0,0,0,0
$GC,139,-0.16,-116.8,16.7,-35.6,14,149,1.27,2.47,0.00,0.000,6,0.102,0.021,2959,1793,3482,0,0,0,0,0,0
$GC,457,-0.83,-116.8,40.0,-8.2,53,463,0.57,2.72,0.00,0.000,4,0.059,0.054,2813,186,3483,0,0,0,0,0,0
$GC,569,-1.00,-116.8,51.1,-9.4,61,578,0.10,2.33,0.00,0.000,6,0.037,0.017,2768,1719,3483,0,0,0,0,0,0
$GC,836,-1.11,-116.8,76.5,-10.0,86,841,0.00,2.50,0.00,0.000,4,0.000,0.025,2768,3310,3484,0,0,0,0,0,0
$GC,884,-1.27,-116.8,81.1,-9.3,89,889,0.20,2.55,0.00,0.000,6,0.048,0.027,2699,1717,3484,0,0,0,0,0,0
$GC,1152,-1.27,-116.8,108.0,-9.9,113,1157,0.10,2.60,0.00,0.000,4,0.119,0.063,2721,189,3485,0,0,0,0,0,0
$GC,1169,-1.27,-116.8,110.4,-9.7,114,1173,0.00,2.33,0.00,0.000,6,0.000,0.015,2720,1735,3485,0,0,0,0,0,0
$GC,1434,-1.31,-116.8,134.7,-8.8,138,1438,0.00,2.47,0.00,0.000,4,0.000,0.027,2720,3303,3486,0,0,0,0,0,0
$GC,1487,-1.40,-116.8,139.6,-8.9,142,1492,0.12,2.53,0.00,0.000,6,0.069,0.028,2677,1736,3486,0,0,0,0,0,0
$GC,1752,-1.37,-116.8,165.7,-9.8,166,1757,0.10,2.62,0.00,0.000,4,0.123,0.067,2699,195,3487,0,0,0,0,0,0
$GC,1780,-1.37,-116.8,169.0,-10.2,168,1784,0.00,2.33,0.00,0.000,6,0.000,0.017,2699,1727,3487,0,0,0,0,0,0
$GC,2045,-1.37,-116.8,193.5,-9.6,192,2049,0.00,2.53,0.00,0.000,4,0.000,0.026,2699,3316,3487,0,0,0,0,0,0
$GC,2100,-1.43,-116.8,198.3,-8.9,196,2105,0.00,2.53,0.00,0.000,6,0.000,0.035,2699,1752,3487,0,0,0,0,0,0
$GC,2363,-1.43,-116.8,223.8,-9.7,203,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1749,3487,0,0,0,0,0,0
$GC,2605,-1.43,-116.8,247.5,-9.7,209,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1749,3486,0,0,0,0,0,0
$GC,2848,-1.43,-116.8,272.0,-10.2,215,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1749,3486,0,0,0,0,0,0
$GC,3093,-1.47,-116.8,295.4,-9.4,221,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1749,3485,0,0,0,0,0,0
$GC,3338,-1.51,-116.8,316.9,-8.8,227,3343,0.12,2.55,0.00,0.000,4,0.078,0.035,2659,3320,3484,0,0,0,0,0,0
$GC,3388,-1.51,-116.8,321.9,-9.9,228,3392,0.00,2.55,0.00,0.000,6,0.000,0.042,2659,1765,3484,0,0,0,0,0,0
$GC,3659,-1.51,-116.8,349.7,-10.4,235,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1765,3482,0,0,0,0,0,0
$GC,3905,-1.51,-116.8,374.7,-10.3,241,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1764,3481,0,0,0,0,0,0
$GC,4147,-1.51,-116.8,399.2,-10.0,247,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1764,3480,0,0,0,0,0,0
$GC,4391,-1.51,-116.8,423.6,-10.0,253,4395,0.00,2.55,0.00,0.000,4,0.000,0.047,2659,3305,3478,0,0,0,0,0,0
$GC,4435,-1.51,-116.8,428.1,-9.6,254,4439,0.00,2.65,0.00,0.000,6,0.000,0.056,2659,1755,3479,0,0,0,0,0,0
$GC,4713,-1.51,-116.8,456.3,-10.4,261,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1755,3477,0,0,0,0,0,0
$GC,4955,-1.51,-116.8,481.9,-10.4,267,4960,0.00,2.95,0.00,0.000,4,0.000,0.109,2659,180,3475,0,0,0,0,0,0
$GC,4977,-1.51,-116.8,484.4,-11.6,267,4981,0.00,2.45,0.00,0.000,6,0.000,0.037,2659,1703,3475,0,0,0,0,0,0
$STATE,5148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5149,begin apogee
$GC,5156,-0.31,0.0,503.1,10.7,272,5258,1.25,0.00,97.70,0.927,6,0.088,0.000,2932,1785,3001,0,0,0,0,0,0
$STATE,5259,end apogee,CONTROL_FINISHED_OK
$STATE,5259,begin climb
$GC,5261,1.38,116.8,506.2,0.0,274,5376,1.52,2.95,100.85,0.905,4,0.041,0.086,3306,230,2522,0,0,0,0,0,0
$GC,5393,1.26,182.2,506.6,6.3,277,5458,0.15,2.60,57.00,0.888,6,0.127,0.036,3278,1800,2258,0,0,0,0,0,0
$GC,5714,1.23,182.2,475.7,10.3,285,5719,0.00,2.78,0.00,0.000,4,0.000,0.058,3278,3414,2249,0,0,0,0,0,0
$GC,5765,1.23,182.2,470.3,10.6,286,5769,0.00,2.72,0.00,0.000,6,0.000,0.054,3278,1820,2247,0,0,0,0,0,0
$GC,6037,1.26,210.7,446.2,8.4,293,6067,0.00,3.05,24.35,0.855,4,0.000,0.100,3278,227,2141,0,0,0,0,0,0
$GC,6143,1.18,210.7,435.9,11.3,295,6148,0.10,2.60,0.00,0.000,6,0.141,0.031,3259,1823,2139,0,0,0,0,0,0
$GC,6404,1.20,233.3,412.8,8.7,302,6432,0.00,2.67,21.23,0.838,4,0.000,0.044,3259,3407,2047,0,0,0,0,0,0
$GC,6448,1.25,239.1,408.9,9.7,303,6461,0.00,2.75,6.45,0.686,6,0.000,0.048,3259,1809,2026,0,0,0,0,0,0
$GC,6734,1.25,239.1,379.6,10.1,310,6739,0.00,2.88,0.00,0.000,4,0.000,0.089,3258,233,2021,0,0,0,0,0,0
$GC,6755,1.25,239.1,377.3,10.6,310,6759,0.00,2.55,0.00,0.000,6,0.000,0.023,3259,1827,2021,0,0,0,0,0,0
$GC,7012,1.30,240.0,352.1,10.0,317,7017,0.10,2.83,0.00,0.000,4,0.098,0.077,3285,232,2020,0,0,0,0,0,0
$GC,7056,1.21,240.0,346.6,12.7,318,7061,0.10,2.53,0.00,0.000,6,0.141,0.023,3267,1805,2019,0,0,0,0,0,0
$GC,7334,1.23,252.6,319.8,9.3,325,7348,0.00,0.00,12.57,0.765,6,0.000,0.000,3267,1806,1971,0,0,0,0,0,0
$GC,7580,1.27,262.8,297.0,9.4,331,7596,0.00,2.62,10.70,0.733,4,0.000,0.031,3267,3400,1928,0,0,0,0,0,0
$GC,7624,1.36,262.8,292.5,10.1,332,7629,0.12,2.67,0.00,0.000,6,0.089,0.041,3298,1798,1927,0,0,0,0,0,0
$GC,7904,1.37,268.2,264.8,9.7,339,7917,0.00,2.78,6.18,0.633,4,0.000,0.073,3298,234,1906,0,0,0,0,0,0
$GC,7957,1.30,268.2,258.8,10.9,340,7961,0.00,2.53,0.00,0.000,6,0.000,0.021,3298,1814,1905,0,0,0,0,0,0
$GC,8229,1.31,273.9,232.1,9.7,347,8237,0.00,0.00,6.57,0.631,6,0.000,0.000,3298,1815,1884,0,0,0,0,0,0
$GC,8474,1.31,273.9,206.7,10.4,353,8478,0.00,2.75,0.00,0.000,4,0.000,0.067,3298,237,1882,0,0,0,0,0,0
$GC,8489,1.31,273.9,204.5,11.3,353,8493,0.00,2.47,0.00,0.000,6,0.000,0.027,3298,1803,1880,0,0,0,0,0,0
$GC,8751,1.31,273.9,174.8,10.9,374,8755,0.00,2.55,0.00,0.000,4,0.000,0.036,3298,3389,1880,0,0,0,0,0,0
$GC,8792,1.38,273.9,170.5,10.3,377,8797,0.00,2.62,0.00,0.000,6,0.000,0.039,3298,1800,1879,0,0,0,0,0,0
$GC,9059,1.38,279.1,144.0,9.7,401,9070,0.00,2.72,5.62,0.545,4,0.000,0.068,3298,240,1862,0,0,0,0,0,0
$GC,9135,1.38,279.1,135.7,11.3,407,9139,0.00,2.45,0.00,0.000,6,0.000,0.021,3298,1796,1862,0,0,0,0,0,0
$GC,9401,1.40,291.7,109.0,9.3,431,9420,0.00,0.00,12.75,0.613,6,0.000,0.000,3298,1797,1810,0,0,0,0,0,0
$GC,9680,1.48,311.8,85.6,8.9,457,9705,0.10,2.72,19.08,0.607,4,0.089,0.061,3326,240,1728,0,0,0,0,0,0
$GC,9745,1.48,311.8,77.9,12.2,462,9749,0.00,2.40,0.00,0.000,6,0.000,0.020,3326,1775,1726,0,0,0,0,0,0
$GC,10014,1.58,340.2,52.5,8.4,486,10044,0.00,2.62,25.25,0.579,4,0.000,0.029,3326,3387,1614,0,0,0,0,0,0
$GC,10120,1.73,354.9,43.3,9.2,494,10140,0.20,2.67,13.75,0.544,6,0.063,0.035,3379,1773,1554,0,0,0,0,0,0
$STATE,10436,end climb,SURFACE_DEPTH_REACHED
$STATE,10436,begin surface coast
$FINISH,0.6,1.018810
$STATE,10480,end surface coast,CONTROL_FINISHED_OK
$STATE,10480,begin surface
$SM_CCo,10503,54.33,0.535,0,0,1288,420.20
$SM_GC,1.01,0.00,0.00,54.33,0.000,0.000,0.535,473,1770,1288,-11.62,0.00,420.20
$IRIDIUM_FIX,2248.70,-15753.23,160100,121207
$TT8_MAMPS,0.026078
$HUMID,55.74
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.20
$XPDR_PINGS,96
$24V_AH,23.3,65.614
$10V_AH,10.0,62.440
$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,29.475,120.500,420.050,54.325,0.000,22.223,46.408,289.562,24.000,0.000,31.181,1086.880,6740.978,512.111,2060.158,678.733,33.399,1252.982,0.000,2045.873,0.000,0.534,0.000
$DEVICE_MAMPS,142.662,214.760,926.536,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.342,315.432,422.553,830.663,1255.870,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,41522,540
$CAP_FILE_SIZE,112266,0
$CFSIZE,260165632,154710016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221010,182627,2256.231,-15753.153,30,99.0,49,10.1