version: 66.06
glider: 146
mission: 5
dive: 488
start: 10 24 110 11 3 3
data:
$ID,146
$MISSION,5
$DIVE,488
$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,-259132.06
$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,23
$R_STBD_OVSHOOT,54
$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
$GPS1,105310,2253.383,-15742.115,9,2.5,28,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.7
$GPS2,110208,2253.449,-15742.079,13,1.8,25,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.022,0.229
$KALMAN_X,-260067.3,22.9,105.3,309032.9,-184.9
$KALMAN_Y,-614006.9,-350.1,446.7,748857.5,-226.2
$MHEAD_RNG_PITCHd_Wd,355.4,8430,-20.3,-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,-1.41,-111.6,0.0,0.0,0,96,0.00,0.00,-78.03,0.000,2,0.000,0.000,476,1698,3220,0,0,0,0,0,0
$GC,101,-1.41,-116.8,3.1,-5.1,10,127,11.50,2.65,-4.90,0.000,4,0.150,0.041,2681,3335,3478,0,0,0,0,0,0
$GC,231,-1.37,-116.8,29.5,-14.6,28,240,0.00,2.58,0.00,0.000,6,0.000,0.038,2681,1769,3481,0,0,0,0,0,0
$GC,499,-1.30,-116.8,67.0,-11.1,53,504,0.17,2.50,0.00,0.000,4,0.121,0.024,2715,3350,3481,0,0,0,0,0,0
$GC,521,-1.30,-116.8,69.5,-9.6,54,525,0.00,2.53,0.00,0.000,6,0.000,0.026,2715,1776,3481,0,0,0,0,0,0
$GC,786,-1.30,-116.8,95.3,-9.9,78,790,0.00,2.67,0.00,0.000,4,0.000,0.058,2715,189,3482,0,0,0,0,0,0
$GC,886,-1.36,-116.8,106.4,-11.0,86,890,0.00,2.40,0.00,0.000,6,0.000,0.015,2715,1796,3482,0,0,0,0,0,0
$GC,1151,-1.41,-116.8,130.8,-8.9,110,1155,0.00,2.35,0.00,0.000,4,0.000,0.031,2715,3308,3483,0,0,0,0,0,0
$GC,1172,-1.47,-116.8,132.7,-9.3,111,1177,0.15,2.50,0.00,0.000,6,0.065,0.028,2663,1748,3483,0,0,0,0,0,0
$GC,1433,-1.42,-116.8,160.8,-10.9,135,1438,0.12,2.65,0.00,0.000,4,0.117,0.061,2689,192,3483,0,0,0,0,0,0
$GC,1467,-1.42,-116.8,164.2,-10.0,137,1472,0.00,2.33,0.00,0.000,6,0.000,0.017,2689,1742,3483,0,0,0,0,0,0
$GC,1731,-1.42,-116.8,187.0,-8.8,162,1735,0.00,2.47,0.00,0.000,4,0.000,0.032,2689,3315,3483,0,0,0,0,0,0
$GC,1753,-1.42,-116.8,188.8,-8.7,163,1758,0.00,2.50,0.00,0.000,6,0.000,0.029,2689,1746,3483,0,0,0,0,0,0
$GC,2009,-1.42,-116.8,213.0,-9.9,178,2013,0.00,2.65,0.00,0.000,4,0.000,0.064,2689,190,3483,0,0,0,0,0,0
$GC,2076,-1.42,-116.8,220.4,-11.2,179,2081,0.00,2.35,0.00,0.000,6,0.000,0.021,2689,1728,3483,0,0,0,0,0,0
$GC,2337,-1.42,-116.8,246.9,-10.0,186,2342,0.00,2.53,0.00,0.000,4,0.000,0.034,2689,3333,3483,0,0,0,0,0,0
$GC,2404,-1.49,-116.8,253.8,-10.3,187,2409,0.00,2.55,0.00,0.000,6,0.000,0.031,2689,1753,3483,0,0,0,0,0,0
$GC,2661,-1.49,-116.8,277.1,-9.1,194,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1753,3482,0,0,0,0,0,0
$GC,2903,-1.49,-116.8,297.7,-8.3,200,2907,0.00,2.53,0.00,0.000,4,0.000,0.031,2689,3323,3481,0,0,0,0,0,0
$GC,2943,-1.56,-116.8,301.1,-8.5,201,2948,0.12,2.58,0.00,0.000,6,0.075,0.034,2645,1750,3481,0,0,0,0,0,0
$GC,3228,-1.52,-116.8,330.7,-10.7,208,3233,0.10,2.55,0.00,0.000,4,0.130,0.036,2666,3332,3480,0,0,0,0,0,0
$GC,3256,-1.52,-116.8,333.7,-9.7,208,3260,0.00,2.55,0.00,0.000,6,0.000,0.044,2666,1767,3480,0,0,0,0,0,0
$GC,3508,-1.52,-116.8,357.8,-9.7,214,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1766,3478,0,0,0,0,0,0
$GC,3749,-1.52,-116.8,380.2,-9.1,220,3754,0.00,2.85,0.00,0.000,4,0.000,0.092,2666,182,3477,0,0,0,0,0,0
$GC,3771,-1.52,-116.8,382.3,-9.4,220,3775,0.00,2.47,0.00,0.000,6,0.000,0.029,2666,1749,3477,0,0,0,0,0,0
$GC,4026,-1.52,-116.8,406.5,-9.4,227,4030,0.00,2.65,0.00,0.000,4,0.000,0.048,2666,3362,3476,0,0,0,0,0,0
$GC,4072,-1.59,-116.8,410.8,-9.8,228,4076,0.00,2.65,0.00,0.000,6,0.000,0.048,2665,1775,3476,0,0,0,0,0,0
$GC,4349,-1.59,-116.8,436.7,-9.4,235,4354,0.00,2.58,0.00,0.000,4,0.000,0.043,2666,3359,3473,0,0,0,0,0,0
$GC,4379,-1.62,-116.8,439.4,-9.5,235,4384,0.00,2.67,0.00,0.000,6,0.000,0.053,2666,1783,3473,0,0,0,0,0,0
$GC,4629,-1.62,-116.8,464.2,-10.0,241,4633,0.00,2.58,0.00,0.000,4,0.000,0.051,2666,3349,3472,0,0,0,0,0,0
$GC,4650,-1.62,-116.8,466.4,-10.0,241,4654,0.00,2.67,0.00,0.000,6,0.000,0.058,2666,1776,3472,0,0,0,0,0,0
$GC,4906,-1.62,-116.8,491.1,-9.7,248,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1776,3470,0,0,0,0,0,0
$STATE,5025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5025,begin apogee
$GC,5033,-0.31,0.0,502.2,9.3,251,5134,1.23,0.00,97.57,0.930,6,0.091,0.000,2932,1824,3001,0,0,0,0,0,0
$STATE,5135,end apogee,CONTROL_FINISHED_OK
$STATE,5135,begin climb
$GC,5138,1.41,116.8,504.2,0.0,253,5245,1.55,0.00,102.80,0.906,6,0.039,0.000,3313,1824,2524,0,0,0,0,0,0
$GC,5467,1.33,147.2,487.0,8.2,261,5501,0.12,2.75,26.70,0.871,4,0.133,0.050,3290,3386,2399,0,0,0,0,0,0
$GC,5580,1.32,170.3,477.0,8.6,263,5609,0.00,2.70,21.52,0.854,6,0.000,0.062,3290,1827,2306,0,0,0,0,0,0
$GC,5887,1.28,178.2,448.4,9.6,271,5901,0.00,2.67,7.72,0.746,4,0.000,0.041,3290,3395,2273,0,0,0,0,0,0
$GC,5991,1.29,186.1,437.6,9.6,273,6006,0.00,2.65,8.15,0.752,6,0.000,0.052,3290,1841,2243,0,0,0,0,0,0
$GC,6264,1.27,201.3,412.2,9.1,280,6285,0.00,2.60,15.35,0.822,4,0.000,0.038,3290,3397,2178,0,0,0,0,0,0
$GC,6341,1.28,212.8,404.8,9.3,281,6359,0.00,2.62,11.40,0.785,6,0.000,0.054,3290,1859,2132,0,0,0,0,0,0
$GC,6634,1.29,214.2,375.8,10.0,289,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1859,2129,0,0,0,0,0,0
$GC,6876,1.29,215.0,351.4,10.0,295,6881,0.00,2.90,0.00,0.000,4,0.000,0.080,3290,234,2127,0,0,0,0,0,0
$GC,6892,1.25,221.8,349.8,9.6,295,6907,0.00,2.62,8.90,0.742,6,0.000,0.026,3290,1876,2095,0,0,0,0,0,0
$GC,7160,1.25,225.6,323.4,9.8,302,7170,0.00,2.92,4.50,0.581,4,0.000,0.070,3290,228,2081,0,0,0,0,0,0
$GC,7182,1.21,225.6,321.1,10.0,302,7187,0.12,2.60,0.00,0.000,6,0.133,0.028,3267,1865,2080,0,0,0,0,0,0
$GC,7438,1.29,255.5,299.8,8.2,309,7468,0.00,0.00,28.92,0.792,6,0.000,0.000,3267,1866,1959,0,0,0,0,0,0
$GC,7683,1.36,258.8,276.9,9.8,315,7685,0.12,0.00,0.00,0.000,6,0.087,0.000,3299,1867,1954,0,0,0,0,0,0
$GC,7924,1.36,258.8,249.0,11.5,321,7929,0.00,2.88,0.00,0.000,4,0.000,0.067,3299,233,1952,0,0,0,0,0,0
$GC,7951,1.32,258.8,245.6,12.2,321,7956,0.00,2.60,0.00,0.000,6,0.000,0.027,3299,1860,1950,0,0,0,0,0,0
$GC,8203,1.33,265.9,220.9,9.6,327,8214,0.00,0.00,9.52,0.678,6,0.000,0.000,3299,1862,1916,0,0,0,0,0,0
$GC,8445,1.37,265.9,196.1,10.3,333,8450,0.00,2.85,0.00,0.000,4,0.000,0.071,3299,232,1914,0,0,0,0,0,0
$GC,8489,1.37,265.9,190.6,12.2,336,8499,0.00,2.60,0.00,0.000,6,0.000,0.026,3298,1850,1913,0,0,0,0,0,0
$GC,8758,1.38,277.5,163.3,9.3,361,8773,0.00,0.00,11.55,0.647,6,0.000,0.000,3299,1852,1868,0,0,0,0,0,0
$GC,9034,1.42,277.5,135.1,10.5,387,9039,0.00,2.80,0.00,0.000,4,0.000,0.067,3299,232,1867,0,0,0,0,0,0
$GC,9052,1.42,277.5,132.7,10.6,388,9057,0.00,2.53,0.00,0.000,6,0.000,0.021,3299,1844,1865,0,0,0,0,0,0
$GC,9315,1.48,288.1,106.5,9.4,412,9333,0.10,2.55,10.35,0.594,4,0.090,0.029,3327,3387,1826,0,0,0,0,0,0
$GC,9358,1.53,288.1,101.7,11.1,415,9364,0.00,2.58,0.00,0.000,6,0.000,0.035,3327,1831,1824,0,0,0,0,0,0
$GC,9625,1.53,288.1,75.3,10.1,440,9629,0.00,2.75,0.00,0.000,4,0.000,0.069,3327,238,1824,0,0,0,0,0,0
$GC,9672,1.53,288.1,70.2,10.7,443,9676,0.00,2.47,0.00,0.000,6,0.000,0.020,3326,1834,1823,0,0,0,0,0,0
$GC,9939,1.67,340.5,51.0,6.9,467,9989,0.15,0.00,46.30,0.584,6,0.071,0.000,3369,1836,1611,0,0,0,0,0,0
$GC,10269,1.67,344.1,19.4,9.8,504,10278,0.00,2.75,3.60,0.348,4,0.000,0.063,3368,234,1598,0,0,0,0,0,0
$GC,10335,1.60,344.1,12.5,11.5,513,10345,0.00,2.53,0.00,0.000,6,0.000,0.019,3369,1833,1597,0,0,0,0,0,0
$STATE,10413,end climb,SURFACE_DEPTH_REACHED
$STATE,10413,begin surface coast
$FINISH,0.4,0.998025
$STATE,10456,end surface coast,CONTROL_FINISHED_OK
$STATE,10459,begin surface
$SM_CCo,10481,63.47,0.532,0,0,1288,420.20
$SM_GC,1.03,0.00,0.00,63.47,0.000,0.000,0.532,476,1721,1288,-11.61,-1.39,420.20
$IRIDIUM_FIX,2241.69,-15741.52,180100,080857
$TT8_MAMPS,0.026078
$HUMID,55.23
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.20
$XPDR_PINGS,96
$24V_AH,23.3,67.477
$10V_AH,9.9,64.163
$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,27.400,130.600,414.875,63.475,0.000,28.758,47.123,305.174,24.000,0.000,26.812,1076.485,6778.777,543.543,1988.270,697.031,33.369,1269.944,0.000,1978.853,0.000,0.534,0.000
$DEVICE_MAMPS,149.565,155.701,930.371,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.785,313.514,413.381,801.969,1211.564,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,41447,530
$CAP_FILE_SIZE,113694,0
$CFSIZE,260165632,153886720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,140007,2254.659,-15742.138,38,1.2,38,10.1