version: 66.06
glider: 146
mission: 5
dive: 484
start: 10 23 110 22 41 44
data:
$ID,146
$MISSION,5
$DIVE,484
$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,-259003.72
$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,49
$R_STBD_OVSHOOT,63
$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
$GPS1,223206,2250.050,-15743.534,30,1.2,30,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-66.8
$GPS2,224049,2250.114,-15743.557,11,1.6,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.099
$KALMAN_X,-259958.2,8.6,92.9,306412.2,-119.3
$KALMAN_Y,-614680.1,484.2,228.3,742743.7,-552.4
$MHEAD_RNG_PITCHd_Wd,104.9,3364,-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,12,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.07,0.000,2,0.000,0.000,476,1735,3460,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.4,-8.6,11,126,11.45,2.55,-0.30,0.000,4,0.146,0.040,2692,3343,3479,0,0,0,0,0,0
$GC,144,-0.53,-116.8,17.9,-36.7,15,154,0.85,2.55,0.00,0.000,6,0.091,0.031,2877,1794,3481,0,0,0,0,0,0
$GC,448,-0.79,-116.8,39.7,-6.3,51,458,0.20,0.00,0.00,0.000,6,0.049,0.000,2806,1794,3481,0,0,0,0,0,0
$GC,718,-0.93,-116.8,63.8,-8.5,76,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1794,3482,0,0,0,0,0,0
$GC,983,-1.12,-116.8,83.9,-7.0,101,988,0.20,2.42,0.00,0.000,4,0.052,0.024,2742,3332,3483,0,0,0,0,0,0
$GC,1073,-1.22,-116.8,91.9,-8.9,108,1077,0.00,2.47,0.00,0.000,6,0.000,0.031,2742,1776,3483,0,0,0,0,0,0
$GC,1336,-1.30,-116.8,115.2,-8.3,132,1341,0.12,2.67,0.00,0.000,4,0.071,0.060,2697,196,3484,0,0,0,0,0,0
$GC,1366,-1.30,-116.8,118.2,-10.5,134,1370,0.00,2.42,0.00,0.000,6,0.000,0.022,2696,1799,3484,0,0,0,0,0,0
$GC,1630,-1.30,-116.8,144.0,-10.6,158,1634,0.00,2.40,0.00,0.000,4,0.000,0.028,2697,3321,3484,0,0,0,0,0,0
$GC,1678,-1.34,-116.8,149.3,-10.4,162,1682,0.00,2.42,0.00,0.000,6,0.000,0.032,2697,1796,3484,0,0,0,0,0,0
$GC,1942,-1.34,-116.8,174.9,-9.2,186,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1796,3484,0,0,0,0,0,0
$GC,2207,-1.34,-116.8,198.5,-9.1,211,2211,0.00,2.40,0.00,0.000,4,0.000,0.027,2697,3323,3484,0,0,0,0,0,0
$GC,2231,-1.34,-116.8,200.9,-9.0,212,2235,0.00,2.45,0.00,0.000,6,0.000,0.030,2697,1791,3485,0,0,0,0,0,0
$GC,2486,-1.34,-116.8,224.3,-9.4,219,2490,0.00,2.42,0.00,0.000,4,0.000,0.031,2697,3317,3485,0,0,0,0,0,0
$GC,2503,-1.34,-116.8,226.1,-10.2,219,2507,0.00,2.45,0.00,0.000,6,0.000,0.032,2697,1794,3485,0,0,0,0,0,0
$GC,2765,-1.34,-116.8,253.7,-10.9,226,2769,0.00,2.78,0.00,0.000,4,0.000,0.069,2697,191,3484,0,0,0,0,0,0
$GC,2786,-1.34,-116.8,256.4,-11.3,226,2790,0.00,2.45,0.00,0.000,6,0.000,0.018,2697,1787,3484,0,0,0,0,0,0
$GC,3041,-1.38,-116.8,280.5,-8.9,233,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1787,3484,0,0,0,0,0,0
$GC,3287,-1.42,-116.8,298.7,-7.4,239,3291,0.00,2.47,0.00,0.000,4,0.000,0.038,2697,3328,3483,0,0,0,0,0,0
$GC,3314,-1.50,-116.8,301.1,-7.6,239,3319,0.10,2.45,0.00,0.000,6,0.084,0.040,2660,1820,3483,0,0,0,0,0,0
$GC,3564,-1.50,-116.8,326.5,-10.6,245,3569,0.00,2.88,0.00,0.000,4,0.000,0.081,2659,190,3482,0,0,0,0,0,0
$GC,3598,-1.44,-116.8,330.7,-12.9,245,3605,0.12,2.53,0.00,0.000,6,0.117,0.026,2685,1791,3481,0,0,0,0,0,0
$GC,3848,-1.44,-116.8,358.7,-11.0,252,3852,0.00,2.53,0.00,0.000,4,0.000,0.039,2684,3354,3480,0,0,0,0,0,0
$GC,3875,-1.49,-116.8,361.5,-10.4,252,3879,0.00,2.55,0.00,0.000,6,0.000,0.041,2685,1815,3480,0,0,0,0,0,0
$GC,4127,-1.49,-116.8,385.2,-9.3,258,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1815,3478,0,0,0,0,0,0
$GC,4369,-1.49,-116.8,407.4,-9.2,264,4373,0.00,2.53,0.00,0.000,4,0.000,0.045,2685,3356,3477,0,0,0,0,0,0
$GC,4396,-1.54,-116.8,410.0,-9.3,264,4400,0.00,2.58,0.00,0.000,6,0.000,0.051,2685,1817,3477,0,0,0,0,0,0
$GC,4646,-1.54,-116.8,433.6,-9.4,270,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1817,3475,0,0,0,0,0,0
$GC,4892,-1.58,-116.8,456.1,-9.2,276,4894,0.12,0.00,0.00,0.000,6,0.075,0.000,2644,1817,3473,0,0,0,0,0,0
$GC,5133,-1.55,-116.8,483.3,-11.2,282,5138,0.00,2.58,0.00,0.000,4,0.000,0.054,2644,3349,3472,0,0,0,0,0,0
$GC,5194,-1.55,-116.8,490.3,-11.3,283,5198,0.00,2.62,0.00,0.000,6,0.000,0.065,2644,1826,3471,0,0,0,0,0,0
$STATE,5289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5290,begin apogee
$GC,5297,-0.31,0.0,501.4,11.6,286,5399,1.30,0.00,98.07,0.929,6,0.100,0.000,2929,1826,3001,0,0,0,0,0,0
$STATE,5399,end apogee,CONTROL_FINISHED_OK
$STATE,5400,begin climb
$GC,5402,1.38,116.8,504.8,0.0,288,5509,1.55,0.00,102.35,0.907,6,0.043,0.000,3306,1826,2524,0,0,0,0,0,0
$GC,5731,1.32,168.4,492.4,7.1,296,5781,0.00,2.70,45.05,0.889,4,0.000,0.049,3306,3396,2313,0,0,0,0,0,0
$GC,5905,1.26,185.0,476.7,9.1,300,5927,0.15,2.70,15.55,0.834,6,0.127,0.058,3277,1842,2246,0,0,0,0,0,0
$GC,6185,1.27,196.7,451.2,9.4,307,6203,0.00,2.60,11.25,0.802,4,0.000,0.042,3277,3397,2196,0,0,0,0,0,0
$GC,6214,1.29,210.0,448.2,9.3,307,6234,0.00,2.70,13.05,0.810,6,0.000,0.059,3277,1840,2145,0,0,0,0,0,0
$GC,6515,1.31,227.5,420.3,9.0,315,6533,0.00,0.00,16.77,0.832,6,0.000,0.000,3277,1840,2072,0,0,0,0,0,0
$GC,6757,1.33,241.3,398.5,9.2,321,6772,0.00,0.00,13.57,0.808,6,0.000,0.000,3277,1840,2017,0,0,0,0,0,0
$GC,7000,1.33,241.3,372.9,10.8,327,7005,0.00,2.95,0.00,0.000,4,0.000,0.097,3277,232,2012,0,0,0,0,0,0
$GC,7031,1.27,241.3,369.6,13.0,327,7035,0.00,2.60,0.00,0.000,6,0.000,0.025,3277,1855,2011,0,0,0,0,0,0
$GC,7280,1.27,241.3,343.2,10.3,333,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1856,2010,0,0,0,0,0,0
$GC,7524,1.28,249.7,319.7,9.6,339,7538,0.00,2.95,7.90,0.716,4,0.000,0.072,3277,228,1983,0,0,0,0,0,0
$GC,7575,1.23,249.7,314.4,11.1,340,7579,0.00,2.60,0.00,0.000,6,0.000,0.026,3277,1849,1981,0,0,0,0,0,0
$GC,7852,1.25,261.8,287.7,9.3,347,7871,0.00,2.95,12.60,0.751,4,0.000,0.071,3277,228,1932,0,0,0,0,0,0
$GC,7889,1.21,261.8,284.0,10.1,347,7895,0.00,2.60,0.00,0.000,6,0.000,0.026,3277,1850,1931,0,0,0,0,0,0
$GC,8141,1.28,283.2,261.5,8.8,354,8167,0.00,2.92,20.52,0.758,4,0.000,0.067,3277,226,1844,0,0,0,0,0,0
$GC,8195,1.28,283.2,255.5,11.7,355,8199,0.00,2.58,0.00,0.000,6,0.000,0.021,3277,1833,1842,0,0,0,0,0,0
$GC,8464,1.33,283.2,227.0,10.8,362,8469,0.00,2.80,0.00,0.000,4,0.000,0.071,3277,229,1841,0,0,0,0,0,0
$GC,8524,1.33,283.2,219.4,11.9,363,8529,0.00,2.53,0.00,0.000,6,0.000,0.022,3277,1820,1840,0,0,0,0,0,0
$GC,8778,1.44,322.9,197.3,7.7,372,8821,0.15,0.00,35.47,0.723,6,0.077,0.000,3316,1821,1684,0,0,0,0,0,0
$GC,9077,1.44,322.9,165.2,12.8,400,9081,0.00,2.80,0.00,0.000,4,0.000,0.071,3316,225,1680,0,0,0,0,0,0
$GC,9097,1.44,322.9,161.4,13.5,401,9103,0.00,2.50,0.00,0.000,6,0.000,0.021,3315,1807,1679,0,0,0,0,0,0
$GC,9362,1.44,322.9,129.7,11.8,426,9366,0.00,2.53,0.00,0.000,4,0.000,0.029,3315,3387,1679,0,0,0,0,0,0
$GC,9382,1.44,322.9,127.3,11.6,427,9387,0.00,2.65,0.00,0.000,6,0.000,0.040,3315,1784,1678,0,0,0,0,0,0
$GC,9648,1.44,322.9,96.6,11.5,451,9653,0.00,2.67,0.00,0.000,4,0.000,0.069,3316,234,1677,0,0,0,0,0,0
$GC,9714,1.44,322.9,88.0,12.4,456,9718,0.00,2.42,0.00,0.000,6,0.000,0.021,3315,1786,1677,0,0,0,0,0,0
$GC,9980,1.56,352.3,64.2,8.3,480,10012,0.10,2.62,25.65,0.595,4,0.237,0.028,3344,3390,1563,0,0,0,0,0,0
$GC,10069,1.67,352.3,55.5,10.2,486,10074,0.00,2.62,0.00,0.000,6,0.000,0.036,3344,1803,1561,0,0,0,0,0,0
$GC,10339,1.67,352.3,27.6,10.4,511,10348,0.00,2.70,0.00,0.000,4,0.000,0.059,3344,239,1559,0,0,0,0,0,0
$GC,10366,1.67,352.3,24.4,11.3,514,10376,0.00,2.47,0.00,0.000,6,0.000,0.020,3344,1809,1559,0,0,0,0,0,0
$STATE,10555,end climb,SURFACE_DEPTH_REACHED
$STATE,10555,begin surface coast
$FINISH,0.4,1.014445
$STATE,10604,end surface coast,CONTROL_FINISHED_OK
$STATE,10604,begin surface
$SM_CCo,10628,56.40,0.536,0,0,1288,420.20
$SM_GC,1.06,0.00,0.00,56.40,0.000,0.000,0.536,473,1733,1288,-11.62,-1.05,420.20
$IRIDIUM_FIX,2239.35,-15744.57,170100,191915
$TT8_MAMPS,0.026078
$HUMID,56.18
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.50
$XPDR_PINGS,107
$24V_AH,23.3,66.942
$10V_AH,9.9,63.684
$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,28.075,124.825,417.825,56.400,0.000,31.289,36.831,292.496,26.750,0.000,29.971,1090.855,6790.768,548.262,2096.546,681.003,33.369,1283.746,0.000,2089.143,0.000,0.534,0.000
$DEVICE_MAMPS,237.003,111.215,928.837,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.056,308.521,431.661,869.093,1314.515,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,44838,548
$CAP_FILE_SIZE,112145,0
$CFSIZE,260165632,154116096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,014055,2249.078,-15742.440,8,1.4,25,10.1