version: 66.06
glider: 146
mission: 5
dive: 485
start: 10 24 110 1 50 32
data:
$ID,146
$MISSION,5
$DIVE,485
$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,-259045.8
$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,56
$R_STBD_OVSHOOT,58
$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
$GPS1,014055,2249.078,-15742.440,8,1.4,25,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-69.5
$GPS2,014937,2249.087,-15742.372,39,1.0,39,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.022,0.236
$KALMAN_X,-260041.4,109.8,-10.2,308533.1,-147.8
$KALMAN_Y,-614883.5,306.7,-286.4,741740.8,-442.5
$MHEAD_RNG_PITCHd_Wd,355.3,16518,-19.6,-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,15,-1.37,-116.8,0.0,0.0,0,104,0.00,0.00,-86.05,0.000,2,0.000,0.000,473,1733,3466,0,0,0,0,0,0
$GC,108,-1.37,-116.8,4.3,-8.8,11,126,11.65,2.55,-0.17,0.000,4,0.152,0.037,2691,3337,3478,0,0,0,0,0,0
$GC,216,-1.32,-116.8,30.4,-14.0,26,226,0.05,2.53,0.00,0.000,6,0.118,0.031,2705,1799,3480,0,0,0,0,0,0
$GC,484,-1.22,-116.8,67.8,-13.9,51,493,0.12,0.00,0.00,0.000,6,0.126,0.000,2731,1799,3480,0,0,0,0,0,0
$GC,749,-1.25,-116.8,95.2,-9.7,76,754,0.00,2.72,0.00,0.000,4,0.000,0.059,2730,189,3481,0,0,0,0,0,0
$GC,805,-1.34,-116.8,100.4,-8.8,80,809,0.00,2.45,0.00,0.000,6,0.000,0.018,2730,1804,3481,0,0,0,0,0,0
$GC,1068,-1.39,-116.8,119.4,-7.5,104,1073,0.15,2.38,0.00,0.000,4,0.065,0.030,2683,3315,3482,0,0,0,0,0,0
$GC,1114,-1.39,-116.8,123.3,-9.6,107,1119,0.00,2.45,0.00,0.000,6,0.000,0.028,2683,1785,3483,0,0,0,0,0,0
$GC,1380,-1.39,-116.8,148.8,-10.2,131,1385,0.00,2.70,0.00,0.000,4,0.000,0.061,2683,196,3483,0,0,0,0,0,0
$GC,1433,-1.39,-116.8,155.1,-11.1,135,1438,0.00,2.38,0.00,0.000,6,0.000,0.022,2683,1768,3483,0,0,0,0,0,0
$GC,1696,-1.39,-116.8,182.5,-10.2,159,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1769,3483,0,0,0,0,0,0
$GC,1957,-1.39,-116.8,209.4,-10.6,178,1962,0.00,2.45,0.00,0.000,4,0.000,0.032,2683,3331,3483,0,0,0,0,0,0
$GC,2014,-1.43,-116.8,215.4,-9.7,179,2018,0.00,2.53,0.00,0.000,6,0.000,0.031,2683,1771,3483,0,0,0,0,0,0
$GC,2280,-1.43,-116.8,241.4,-9.7,186,2284,0.00,2.47,0.00,0.000,4,0.000,0.030,2683,3325,3483,0,0,0,0,0,0
$GC,2308,-1.43,-116.8,244.1,-9.7,186,2313,0.00,2.47,0.00,0.000,6,0.000,0.030,2683,1778,3483,0,0,0,0,0,0
$GC,2558,-1.43,-116.8,269.7,-10.6,192,2563,0.00,2.75,0.00,0.000,4,0.000,0.071,2683,195,3483,0,0,0,0,0,0
$GC,2590,-1.43,-116.8,273.7,-12.2,192,2596,0.00,2.40,0.00,0.000,6,0.000,0.019,2683,1753,3482,0,0,0,0,0,0
$GC,2842,-1.43,-116.8,300.2,-10.5,199,2846,0.00,2.55,0.00,0.000,4,0.000,0.033,2682,3348,3481,0,0,0,0,0,0
$GC,2892,-1.50,-116.8,305.4,-9.8,200,2896,0.00,2.58,0.00,0.000,6,0.000,0.041,2683,1775,3481,0,0,0,0,0,0
$GC,3164,-1.50,-116.8,329.9,-8.9,207,3168,0.00,2.53,0.00,0.000,4,0.000,0.034,2683,3339,3480,0,0,0,0,0,0
$GC,3198,-1.50,-116.8,332.8,-8.6,207,3204,0.00,2.55,0.00,0.000,6,0.000,0.042,2683,1780,3480,0,0,0,0,0,0
$GC,3448,-1.50,-116.8,355.0,-9.1,214,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1780,3479,0,0,0,0,0,0
$GC,3692,-1.50,-116.8,378.1,-9.6,220,3696,0.00,2.53,0.00,0.000,4,0.000,0.038,2683,3345,3477,0,0,0,0,0,0
$GC,3727,-1.54,-116.8,381.5,-9.9,220,3732,0.00,2.58,0.00,0.000,6,0.000,0.048,2683,1790,3477,0,0,0,0,0,0
$GC,3977,-1.54,-116.8,405.4,-9.5,227,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1790,3476,0,0,0,0,0,0
$GC,4220,-1.54,-116.8,427.1,-8.7,233,4225,0.00,2.55,0.00,0.000,4,0.000,0.045,2683,3344,3474,0,0,0,0,0,0
$GC,4248,-1.59,-116.8,429.7,-9.6,233,4254,0.12,2.60,0.00,0.000,6,0.075,0.057,2642,1798,3474,0,0,0,0,0,0
$GC,4500,-1.53,-116.8,455.4,-10.4,239,4505,0.12,2.55,0.00,0.000,4,0.118,0.044,2668,3332,3473,0,0,0,0,0,0
$GC,4540,-1.53,-116.8,459.4,-9.7,240,4544,0.00,2.58,0.00,0.000,6,0.000,0.058,2668,1807,3472,0,0,0,0,0,0
$GC,4825,-1.53,-116.8,486.6,-9.7,247,4829,0.00,3.03,0.00,0.000,4,0.000,0.113,2668,185,3470,0,0,0,0,0,0
$GC,4846,-1.53,-116.8,489.2,-10.3,247,4850,0.00,2.60,0.00,0.000,6,0.000,0.031,2668,1785,3470,0,0,0,0,0,0
$STATE,4976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4976,begin apogee
$GC,4983,-0.31,0.0,501.8,9.5,251,5084,1.20,0.00,98.00,0.929,6,0.090,0.000,2930,1830,3001,0,0,0,0,0,0
$STATE,5085,end apogee,CONTROL_FINISHED_OK
$STATE,5085,begin climb
$GC,5089,1.37,116.8,503.8,0.0,253,5201,1.55,2.72,101.95,0.908,4,0.041,0.065,3305,3392,2522,0,0,0,0,0,0
$GC,5207,1.36,204.9,504.0,5.0,256,5292,0.00,2.75,77.43,0.892,6,0.000,0.054,3304,1813,2165,0,0,0,0,0,0
$GC,5546,1.27,204.9,468.4,11.4,265,5551,0.15,3.00,0.00,0.000,4,0.195,0.109,3276,232,2155,0,0,0,0,0,0
$GC,5563,1.17,204.9,466.2,11.8,265,5567,0.00,2.55,0.00,0.000,6,0.000,0.031,3275,1810,2154,0,0,0,0,0,0
$GC,5825,1.17,204.9,438.2,10.6,272,5829,0.00,2.70,0.00,0.000,4,0.000,0.049,3275,3416,2152,0,0,0,0,0,0
$GC,5857,1.17,204.9,434.5,10.7,272,5865,0.00,2.70,0.00,0.000,6,0.000,0.054,3276,1829,2151,0,0,0,0,0,0
$GC,6107,1.19,219.6,411.4,9.2,279,6121,0.00,0.00,12.10,0.798,6,0.000,0.000,3276,1829,2105,0,0,0,0,0,0
$GC,6353,1.22,243.1,389.9,8.7,285,6382,0.00,3.03,22.33,0.832,4,0.000,0.092,3275,234,2009,0,0,0,0,0,0
$GC,6399,1.17,243.1,385.3,10.2,286,6404,0.00,2.60,0.00,0.000,6,0.000,0.021,3275,1847,2007,0,0,0,0,0,0
$GC,6678,1.19,263.5,360.2,8.9,293,6703,0.00,2.95,19.50,0.809,4,0.000,0.072,3276,226,1925,0,0,0,0,0,0
$GC,6727,1.13,263.5,355.4,10.6,294,6732,0.15,2.58,0.00,0.000,6,0.127,0.025,3246,1818,1924,0,0,0,0,0,0
$GC,7001,1.23,280.5,330.7,9.1,301,7025,0.00,2.88,16.35,0.782,4,0.000,0.075,3246,227,1855,0,0,0,0,0,0
$GC,7044,1.23,280.5,326.3,11.5,302,7049,0.00,2.58,0.00,0.000,6,0.000,0.025,3246,1823,1854,0,0,0,0,0,0
$GC,7328,1.31,280.5,295.6,10.9,309,7333,0.17,2.80,0.00,0.000,4,0.157,0.070,3290,233,1851,0,0,0,0,0,0
$GC,7356,1.26,280.5,291.7,14.3,309,7360,0.00,2.53,0.00,0.000,6,0.000,0.022,3290,1810,1850,0,0,0,0,0,0
$GC,7605,1.26,280.5,261.1,12.0,315,7610,0.00,2.75,0.00,0.000,4,0.000,0.073,3290,232,1850,0,0,0,0,0,0
$GC,7638,1.19,280.5,256.7,13.6,315,7644,0.15,2.47,0.00,0.000,6,0.216,0.021,3261,1799,1849,0,0,0,0,0,0
$GC,7890,1.27,286.5,231.3,9.7,322,7901,0.00,2.58,5.55,0.596,4,0.000,0.035,3261,3394,1833,0,0,0,0,0,0
$GC,7918,1.38,289.1,228.2,9.9,322,7929,0.17,2.67,4.03,0.496,6,0.067,0.043,3306,1784,1822,0,0,0,0,0,0
$GC,8172,1.38,289.1,201.3,10.6,329,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1784,1821,0,0,0,0,0,0
$GC,8427,1.38,289.1,174.8,10.7,350,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1785,1820,0,0,0,0,0,0
$GC,8680,1.38,289.1,147.9,10.6,374,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1785,1820,0,0,0,0,0,0
$GC,8937,1.38,290.0,122.4,10.0,398,8942,0.00,2.67,0.00,0.000,4,0.000,0.072,3307,237,1819,0,0,0,0,0,0
$GC,8982,1.38,290.0,117.8,11.2,401,8987,0.00,2.42,0.00,0.000,6,0.000,0.025,3307,1802,1818,0,0,0,0,0,0
$GC,9251,1.40,309.3,92.0,8.9,425,9275,0.00,2.58,19.08,0.615,4,0.000,0.029,3306,3385,1738,0,0,0,0,0,0
$GC,9316,1.50,334.1,85.5,8.6,430,9349,0.00,2.62,23.02,0.610,6,0.000,0.035,3306,1812,1636,0,0,0,0,0,0
$GC,9606,1.62,357.6,60.6,8.7,457,9637,0.20,2.78,20.60,0.582,4,0.088,0.062,3360,229,1543,0,0,0,0,0,0
$GC,9704,1.58,357.6,48.6,13.9,464,9709,0.00,2.50,0.00,0.000,6,0.000,0.020,3360,1822,1541,0,0,0,0,0,0
$GC,10002,1.58,357.6,14.1,11.0,498,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1824,1540,0,0,0,0,0,0
$STATE,10095,end climb,SURFACE_DEPTH_REACHED
$STATE,10095,begin surface coast
$FINISH,0.6,1.023260
$STATE,10137,end surface coast,CONTROL_FINISHED_OK
$STATE,10138,begin surface
$SM_CCo,10159,52.05,0.538,0,0,1287,420.20
$SM_GC,1.03,0.00,0.00,52.05,0.000,0.000,0.538,482,1723,1287,-11.58,-1.33,420.20
$IRIDIUM_FIX,2239.35,-15744.57,170100,222217
$TT8_MAMPS,0.026078
$HUMID,55.90
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,20.10
$XPDR_PINGS,100
$24V_AH,23.3,67.073
$10V_AH,9.8,63.801
$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,27.775,130.975,419.925,52.050,0.000,29.886,36.240,283.184,25.000,0.000,41.460,1038.353,6546.755,524.389,1968.462,657.915,33.396,1262.955,0.000,1944.687,0.000,0.534,0.000
$DEVICE_MAMPS,215.527,162.604,928.837,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.562,288.946,402.023,763.194,1153.966,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,41460,517
$CAP_FILE_SIZE,111584,0
$CFSIZE,260165632,154058752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,044206,2250.210,-15742.280,35,1.2,40,10.1