version: 66.06
glider: 146
mission: 5
dive: 492
start: 10 24 110 23 38 18
data:
$ID,146
$MISSION,5
$DIVE,492
$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,-259253.86
$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,64
$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
$GPS1,232522,2257.418,-15742.855,11,99.0,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.4
$GPS2,233722,2257.503,-15742.938,36,99.0,55,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.211,-0.103
$KALMAN_X,-259434.0,93.4,54.4,306901.7,110.5
$KALMAN_Y,-612357.5,441.2,395.2,753974.9,-398.6
$MHEAD_RNG_PITCHd_Wd,233.9,25369,-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,15,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-79.00,0.000,2,0.000,0.000,477,1802,3238,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.0,-5.0,10,126,11.40,2.80,-4.75,0.000,4,0.144,0.064,2688,191,3480,0,0,0,0,0,0
$GC,219,-1.26,-116.8,27.4,-16.5,26,229,0.12,2.45,0.00,0.000,6,0.105,0.015,2717,1766,3481,0,0,0,0,0,0
$GC,496,-1.19,-116.8,67.8,-14.6,52,501,0.10,2.50,0.00,0.000,4,0.138,0.026,2737,3329,3482,0,0,0,0,0,0
$GC,544,-1.26,-116.8,73.8,-11.0,55,549,0.00,2.53,0.00,0.000,6,0.000,0.028,2737,1764,3482,0,0,0,0,0,0
$GC,812,-1.33,-116.8,95.2,-7.3,79,817,0.12,2.65,0.00,0.000,4,0.073,0.063,2696,197,3482,0,0,0,0,0,0
$GC,882,-1.33,-116.8,103.1,-10.9,84,891,0.00,2.40,0.00,0.000,6,0.000,0.015,2696,1767,3483,0,0,0,0,0,0
$GC,1148,-1.33,-116.8,130.6,-11.0,109,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1767,3484,0,0,0,0,0,0
$GC,1411,-1.33,-116.8,155.9,-9.5,134,1415,0.00,2.42,0.00,0.000,4,0.000,0.032,2696,3316,3484,0,0,0,0,0,0
$GC,1452,-1.38,-116.8,159.7,-9.0,137,1456,0.00,2.55,0.00,0.000,6,0.000,0.035,2696,1732,3484,0,0,0,0,0,0
$GC,1716,-1.38,-116.8,185.4,-10.3,161,1720,0.00,2.62,0.00,0.000,4,0.000,0.064,2696,197,3485,0,0,0,0,0,0
$GC,1737,-1.38,-116.8,188.2,-10.8,162,1747,0.00,2.35,0.00,0.000,6,0.000,0.016,2696,1734,3484,0,0,0,0,0,0
$GC,2023,-1.38,-116.8,216.2,-9.7,178,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1736,3484,0,0,0,0,0,0
$GC,2268,-1.38,-116.8,239.2,-9.2,184,2272,0.00,2.50,0.00,0.000,4,0.000,0.027,2696,3320,3484,0,0,0,0,0,0
$GC,2308,-1.44,-116.8,242.7,-8.3,185,2313,0.00,2.60,0.00,0.000,6,0.000,0.031,2696,1720,3483,0,0,0,0,0,0
$GC,2592,-1.44,-116.8,269.2,-9.9,192,2596,0.00,2.55,0.00,0.000,4,0.000,0.033,2696,3316,3483,0,0,0,0,0,0
$GC,2621,-1.50,-116.8,271.9,-9.7,192,2625,0.00,2.60,0.00,0.000,6,0.000,0.039,2696,1724,3482,0,0,0,0,0,0
$GC,2871,-1.50,-116.8,294.8,-9.1,198,2875,0.00,2.58,0.00,0.000,4,0.000,0.037,2696,3322,3482,0,0,0,0,0,0
$GC,2893,-1.54,-116.8,296.8,-9.2,198,2898,0.12,2.60,0.00,0.000,6,0.070,0.036,2649,1737,3482,0,0,0,0,0,0
$GC,3150,-1.48,-116.8,323.1,-10.4,205,3155,0.12,2.55,0.00,0.000,4,0.118,0.037,2675,3321,3480,0,0,0,0,0,0
$GC,3166,-1.48,-116.8,325.0,-10.3,205,3170,0.00,2.60,0.00,0.000,6,0.000,0.043,2674,1743,3480,0,0,0,0,0,0
$GC,3429,-1.48,-116.8,349.4,-9.5,212,3433,0.00,2.55,0.00,0.000,4,0.000,0.034,2674,3316,3479,0,0,0,0,0,0
$GC,3468,-1.48,-116.8,353.6,-9.8,213,3472,0.00,2.60,0.00,0.000,6,0.000,0.042,2675,1751,3479,0,0,0,0,0,0
$GC,3751,-1.48,-116.8,383.5,-10.8,220,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1751,3478,0,0,0,0,0,0
$GC,3995,-1.48,-116.8,406.2,-9.0,226,3999,0.00,2.55,0.00,0.000,4,0.000,0.038,2674,3310,3476,0,0,0,0,0,0
$GC,4058,-1.54,-116.8,411.5,-8.6,227,4062,0.00,2.60,0.00,0.000,6,0.000,0.051,2675,1772,3475,0,0,0,0,0,0
$GC,4318,-1.54,-116.8,434.6,-9.1,234,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1772,3473,0,0,0,0,0,0
$GC,4562,-1.54,-116.8,459.6,-10.2,240,4566,0.00,2.55,0.00,0.000,4,0.000,0.048,2674,3306,3472,0,0,0,0,0,0
$GC,4590,-1.58,-116.8,462.7,-11.2,240,4595,0.00,2.62,0.00,0.000,6,0.000,0.058,2675,1772,3472,0,0,0,0,0,0
$GC,4840,-1.58,-116.8,488.5,-10.2,246,4845,0.00,3.00,0.00,0.000,4,0.000,0.117,2675,185,3470,0,0,0,0,0,0
$GC,4872,-1.58,-116.8,491.8,-10.8,246,4878,0.00,2.47,0.00,0.000,6,0.000,0.031,2675,1713,3470,0,0,0,0,0,0
$STATE,4998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4998,begin apogee
$GC,5006,-0.31,0.0,502.9,8.8,250,5108,1.17,0.00,97.80,0.930,6,0.087,0.000,2932,1785,3001,0,0,0,0,0,0
$STATE,5108,end apogee,CONTROL_FINISHED_OK
$STATE,5109,begin climb
$GC,5111,1.38,116.8,504.3,0.0,252,5225,1.52,2.92,102.57,0.906,4,0.048,0.087,3306,228,2523,0,0,0,0,0,0
$GC,5232,1.30,177.3,502.5,6.5,255,5292,0.12,2.65,53.90,0.887,6,0.136,0.037,3284,1814,2278,0,0,0,0,0,0
$GC,5562,1.25,177.3,469.5,10.2,263,5566,0.00,2.75,0.00,0.000,4,0.000,0.061,3284,3408,2268,0,0,0,0,0,0
$GC,5578,1.21,183.6,467.7,9.7,263,5588,0.00,2.78,5.43,0.660,6,0.000,0.058,3284,1807,2252,0,0,0,0,0,0
$GC,5839,1.17,183.6,441.8,10.0,270,5844,0.15,2.67,0.00,0.000,4,0.235,0.038,3255,3419,2248,0,0,0,0,0,0
$GC,5913,1.19,201.3,435.0,9.0,271,5935,0.00,2.72,16.92,0.838,6,0.000,0.051,3254,1822,2181,0,0,0,0,0,0
$GC,6208,1.20,212.7,407.2,9.4,279,6226,0.00,3.00,11.32,0.795,4,0.000,0.099,3254,232,2133,0,0,0,0,0,0
$GC,6240,1.21,218.0,404.1,9.7,279,6252,0.00,2.62,6.32,0.688,6,0.000,0.027,3254,1850,2112,0,0,0,0,0,0
$GC,6496,1.27,237.5,380.9,8.9,286,6521,0.10,2.62,18.83,0.825,4,0.095,0.042,3279,3397,2031,0,0,0,0,0,0
$GC,6538,1.27,237.5,376.6,10.4,287,6543,0.00,2.70,0.00,0.000,6,0.000,0.048,3280,1822,2030,0,0,0,0,0,0
$GC,6823,1.27,237.5,347.3,10.4,294,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1822,2026,0,0,0,0,0,0
$GC,7065,1.29,251.7,324.5,9.2,300,7080,0.00,0.00,13.50,0.776,6,0.000,0.000,3280,1822,1975,0,0,0,0,0,0
$GC,7309,1.31,266.0,302.1,9.2,306,7328,0.00,2.88,14.07,0.765,4,0.000,0.079,3279,236,1916,0,0,0,0,0,0
$GC,7348,1.31,269.9,298.5,9.8,307,7358,0.00,2.60,5.03,0.593,6,0.000,0.024,3280,1854,1900,0,0,0,0,0,0
$GC,7631,1.31,269.9,269.9,10.3,314,7635,0.00,2.85,0.00,0.000,4,0.000,0.069,3280,235,1897,0,0,0,0,0,0
$GC,7663,1.26,269.9,266.1,11.7,314,7669,0.00,2.55,0.00,0.000,6,0.000,0.025,3280,1833,1896,0,0,0,0,0,0
$GC,7915,1.26,270.0,240.5,10.0,321,7919,0.00,2.50,0.00,0.000,4,0.000,0.038,3280,3392,1895,0,0,0,0,0,0
$GC,7964,1.35,270.0,235.1,10.3,322,7969,0.00,2.58,0.00,0.000,6,0.000,0.044,3280,1831,1894,0,0,0,0,0,0
$GC,8238,1.41,280.1,208.8,9.5,329,8254,0.12,2.85,9.75,0.674,4,0.084,0.071,3314,236,1858,0,0,0,0,0,0
$GC,8299,1.34,280.1,201.7,11.9,330,8304,0.12,2.53,0.00,0.000,6,0.127,0.027,3290,1821,1857,0,0,0,0,0,0
$GC,8561,1.42,310.4,179.4,8.3,354,8591,0.00,0.00,28.33,0.703,6,0.000,0.000,3290,1822,1734,0,0,0,0,0,0
$GC,8846,1.46,310.4,149.7,10.3,381,8851,0.12,2.80,0.00,0.000,4,0.081,0.071,3324,237,1730,0,0,0,0,0,0
$GC,8880,1.40,310.4,146.3,12.2,383,8884,0.00,2.53,0.00,0.000,6,0.000,0.023,3324,1824,1728,0,0,0,0,0,0
$GC,9146,1.40,310.4,116.1,12.0,407,9150,0.00,2.55,0.00,0.000,4,0.000,0.032,3324,3398,1728,0,0,0,0,0,0
$GC,9240,1.46,310.4,105.0,11.7,414,9249,0.00,2.62,0.00,0.000,6,0.000,0.038,3324,1831,1727,0,0,0,0,0,0
$GC,9506,1.46,314.2,76.7,9.8,439,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1831,1727,0,0,0,0,0,0
$GC,9773,1.54,326.0,49.7,9.4,464,9800,0.00,2.78,14.27,0.567,4,0.000,0.061,3324,234,1669,0,0,0,0,0,0
$GC,9842,1.58,326.0,42.4,10.3,469,9852,0.00,2.58,0.00,0.000,6,0.000,0.021,3324,1849,1668,0,0,0,0,0,0
$GC,10142,1.69,354.0,17.3,8.4,504,10177,0.17,0.00,24.95,0.548,6,0.074,0.000,3372,1850,1555,0,0,0,0,0,0
$STATE,10264,end climb,SURFACE_DEPTH_REACHED
$STATE,10264,begin surface coast
$FINISH,0.4,1.023411
$STATE,10308,end surface coast,CONTROL_FINISHED_OK
$STATE,10308,begin surface
$SM_CCo,10332,54.70,0.535,0,0,1288,420.20
$SM_GC,0.93,0.00,0.00,54.70,0.000,0.000,0.535,475,1749,1288,-11.62,-0.59,420.20
$IRIDIUM_FIX,2248.70,-15740.63,180100,232328
$TT8_MAMPS,0.026078
$HUMID,55.71
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.10
$XPDR_PINGS,106
$24V_AH,23.3,68.036
$10V_AH,9.9,64.655
$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,27.525,131.675,423.000,54.700,0.000,51.432,73.320,338.098,26.500,0.000,57.596,1060.191,6701.917,525.115,2034.041,787.386,33.376,1292.452,0.000,1989.273,0.000,0.534,0.000
$DEVICE_MAMPS,234.702,162.604,929.604,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.230,304.239,411.539,781.166,1176.843,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,41535,527
$CAP_FILE_SIZE,116251,0
$CFSIZE,260165632,153645056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251010,023321,2256.808,-15744.413,55,3.2,74,10.1