version: 66.06
glider: 146
mission: 5
dive: 498
start: 10 25 110 18 27 31
data:
$ID,146
$MISSION,5
$DIVE,498
$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,-259442.84
$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,21
$R_STBD_OVSHOOT,53
$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
$GPS1,181721,2254.885,-15748.715,35,3.7,54,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.4
$GPS2,182636,2254.978,-15748.729,36,1.4,52,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.120,-0.202
$KALMAN_X,-259436.6,172.7,-317.0,297228.9,400.8
$KALMAN_Y,-606584.4,292.5,-254.4,744322.3,1266.8
$MHEAD_RNG_PITCHd_Wd,200.6,14748,-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,-85.07,0.000,2,0.000,0.000,476,1794,3421,0,0,0,0,0,0
$GC,107,-1.38,-116.8,3.7,-7.1,11,126,11.48,2.45,-1.05,0.000,4,0.146,0.039,2690,3348,3478,0,0,0,0,0,0
$GC,196,-1.35,-116.8,24.0,-12.7,23,205,0.00,2.60,0.00,0.000,6,0.000,0.033,2690,1773,3480,0,0,0,0,0,0
$GC,480,-1.28,-116.8,63.9,-12.2,51,485,0.15,2.70,0.00,0.000,4,0.126,0.059,2720,189,3481,0,0,0,0,0,0
$GC,514,-1.28,-116.8,68.0,-10.6,53,519,0.00,2.45,0.00,0.000,6,0.000,0.015,2720,1801,3481,0,0,0,0,0,0
$GC,784,-1.32,-116.8,96.1,-9.4,77,788,0.00,2.35,0.00,0.000,4,0.000,0.025,2720,3309,3482,0,0,0,0,0,0
$GC,840,-1.41,-116.8,101.4,-8.6,81,845,0.12,2.45,0.00,0.000,6,0.069,0.029,2677,1772,3482,0,0,0,0,0,0
$GC,1108,-1.36,-116.8,126.7,-10.7,105,1113,0.12,2.70,0.00,0.000,4,0.114,0.060,2703,197,3483,0,0,0,0,0,0
$GC,1125,-1.36,-116.8,129.4,-10.8,106,1129,0.00,2.40,0.00,0.000,6,0.000,0.023,2703,1783,3483,0,0,0,0,0,0
$GC,1395,-1.36,-116.8,156.6,-10.4,130,1399,0.00,2.40,0.00,0.000,4,0.000,0.025,2703,3317,3483,0,0,0,0,0,0
$GC,1412,-1.36,-116.8,159.2,-10.3,131,1416,0.00,2.45,0.00,0.000,6,0.000,0.032,2703,1792,3483,0,0,0,0,0,0
$GC,1674,-1.36,-116.8,186.9,-10.2,155,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1791,3483,0,0,0,0,0,0
$GC,1934,-1.36,-116.8,211.7,-9.3,171,1939,0.00,2.42,0.00,0.000,4,0.000,0.026,2703,3313,3483,0,0,0,0,0,0
$GC,1951,-1.36,-116.8,213.4,-8.7,171,1955,0.00,2.45,0.00,0.000,6,0.000,0.034,2703,1794,3483,0,0,0,0,0,0
$GC,2211,-1.36,-116.8,233.8,-7.6,178,2216,0.00,2.75,0.00,0.000,4,0.000,0.067,2703,191,3483,0,0,0,0,0,0
$GC,2240,-1.36,-116.8,236.3,-9.6,178,2245,0.00,2.42,0.00,0.000,6,0.000,0.020,2703,1771,3483,0,0,0,0,0,0
$GC,2490,-1.36,-116.8,257.0,-8.2,184,2495,0.00,2.50,0.00,0.000,4,0.000,0.035,2703,3336,3482,0,0,0,0,0,0
$GC,2541,-1.44,-116.8,261.4,-8.9,185,2545,0.00,2.50,0.00,0.000,6,0.000,0.035,2703,1793,3482,0,0,0,0,0,0
$GC,2815,-1.48,-116.8,284.3,-8.9,192,2820,0.12,2.80,0.00,0.000,4,0.073,0.080,2662,193,3481,0,0,0,0,0,0
$GC,2855,-1.43,-116.8,289.1,-11.6,193,2860,0.12,2.47,0.00,0.000,6,0.117,0.019,2688,1770,3481,0,0,0,0,0,0
$GC,3141,-1.43,-116.8,316.2,-9.3,200,3145,0.00,2.55,0.00,0.000,4,0.000,0.039,2688,3348,3480,0,0,0,0,0,0
$GC,3180,-1.50,-116.8,320.1,-8.5,201,3185,0.00,2.53,0.00,0.000,6,0.000,0.035,2688,1796,3480,0,0,0,0,0,0
$GC,3466,-1.50,-116.8,346.4,-9.2,208,3470,0.00,2.50,0.00,0.000,4,0.000,0.034,2688,3356,3478,0,0,0,0,0,0
$GC,3488,-1.54,-116.8,348.5,-8.9,208,3493,0.10,2.55,0.00,0.000,6,0.084,0.039,2652,1803,3478,0,0,0,0,0,0
$GC,3744,-1.49,-116.8,373.1,-9.7,215,3746,0.10,0.00,0.00,0.000,6,0.123,0.000,2672,1803,3477,0,0,0,0,0,0
$GC,3988,-1.49,-116.8,397.3,-10.2,221,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1802,3476,0,0,0,0,0,0
$GC,4230,-1.49,-116.8,423.4,-10.6,227,4234,0.00,2.53,0.00,0.000,4,0.000,0.046,2672,3346,3474,0,0,0,0,0,0
$GC,4270,-1.55,-116.8,427.6,-10.4,228,4275,0.00,2.58,0.00,0.000,6,0.000,0.051,2672,1815,3474,0,0,0,0,0,0
$GC,4553,-1.55,-116.8,456.0,-9.7,235,4558,0.00,2.53,0.00,0.000,4,0.000,0.043,2672,3349,3472,0,0,0,0,0,0
$GC,4581,-1.55,-116.8,458.7,-9.7,235,4585,0.00,2.62,0.00,0.000,6,0.000,0.057,2672,1816,3472,0,0,0,0,0,0
$GC,4831,-1.55,-116.8,481.6,-9.3,241,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1816,3470,0,0,0,0,0,0
$STATE,5031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5031,begin apogee
$GC,5039,-0.31,0.0,500.5,9.2,246,5140,1.17,0.00,98.18,0.921,6,0.087,0.000,2930,1816,3000,0,0,0,0,0,0
$STATE,5141,end apogee,CONTROL_FINISHED_OK
$STATE,5141,begin climb
$GC,5144,1.38,116.8,502.7,0.0,248,5256,1.52,2.75,102.38,0.899,4,0.040,0.054,3305,3383,2522,0,0,0,0,0,0
$GC,5326,1.29,129.0,497.3,9.3,252,5345,0.12,2.75,11.15,0.795,6,0.137,0.066,3282,1815,2474,0,0,0,0,0,0
$GC,5597,1.25,147.9,473.2,8.9,259,5621,0.00,3.12,17.35,0.840,4,0.000,0.112,3282,233,2396,0,0,0,0,0,0
$GC,5658,1.11,147.9,466.7,11.4,260,5663,0.20,2.55,0.00,0.000,6,0.120,0.029,3242,1801,2394,0,0,0,0,0,0
$GC,5925,1.19,208.6,447.5,6.5,267,5985,0.00,2.75,54.83,0.875,4,0.000,0.051,3242,3407,2149,0,0,0,0,0,0
$GC,6011,1.30,250.4,441.9,7.6,269,6057,0.17,2.75,38.50,0.854,6,0.071,0.052,3287,1815,1979,0,0,0,0,0,0
$GC,6335,1.30,250.4,408.3,10.9,277,6339,0.00,2.62,0.00,0.000,4,0.000,0.036,3287,3419,1971,0,0,0,0,0,0
$GC,6375,1.30,250.4,403.7,11.8,278,6380,0.00,2.75,0.00,0.000,6,0.000,0.056,3287,1817,1969,0,0,0,0,0,0
$GC,6658,1.30,250.4,371.0,11.6,285,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1816,1968,0,0,0,0,0,0
$GC,6902,1.30,250.4,342.8,11.7,291,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1816,1966,0,0,0,0,0,0
$GC,7146,1.30,250.4,316.3,10.6,297,7150,0.00,2.60,0.00,0.000,4,0.000,0.032,3287,3415,1965,0,0,0,0,0,0
$GC,7215,1.35,250.4,309.3,10.7,298,7219,0.00,2.67,0.00,0.000,6,0.000,0.044,3287,1819,1965,0,0,0,0,0,0
$GC,7470,1.36,259.6,284.8,9.5,305,7484,0.00,2.88,7.00,0.672,4,0.000,0.076,3287,239,1942,0,0,0,0,0,0
$GC,7498,1.32,260.9,282.1,10.0,305,7502,0.00,2.55,0.00,0.000,6,0.000,0.019,3287,1842,1941,0,0,0,0,0,0
$GC,7753,1.34,277.7,258.1,9.1,312,7777,0.00,2.90,17.77,0.744,4,0.000,0.074,3287,241,1867,0,0,0,0,0,0
$GC,7811,1.30,282.2,252.3,9.8,313,7822,0.00,2.50,5.43,0.588,6,0.000,0.025,3287,1818,1850,0,0,0,0,0,0
$GC,8079,1.30,282.2,226.3,10.0,320,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1819,1847,0,0,0,0,0,0
$GC,8321,1.34,282.2,200.8,10.4,326,8326,0.00,2.78,0.00,0.000,4,0.000,0.071,3287,230,1846,0,0,0,0,0,0
$GC,8377,1.34,282.2,195.0,11.9,328,8381,0.00,2.50,0.00,0.000,6,0.000,0.022,3287,1807,1845,0,0,0,0,0,0
$GC,8646,1.43,314.2,170.4,8.2,352,8682,0.10,2.60,28.77,0.690,4,0.094,0.032,3315,3393,1720,0,0,0,0,0,0
$GC,8699,1.43,314.2,164.6,10.1,356,8705,0.00,2.67,0.00,0.000,6,0.000,0.043,3315,1793,1718,0,0,0,0,0,0
$GC,8967,1.43,314.2,138.4,11.9,381,8972,0.00,2.72,0.00,0.000,4,0.000,0.069,3315,231,1716,0,0,0,0,0,0
$GC,9012,1.38,314.2,131.3,14.4,384,9022,0.00,2.50,0.00,0.000,6,0.000,0.021,3315,1801,1714,0,0,0,0,0,0
$GC,9280,1.38,314.2,101.6,11.3,409,9284,0.00,2.55,0.00,0.000,4,0.000,0.029,3315,3389,1714,0,0,0,0,0,0
$GC,9296,1.42,314.2,98.9,11.5,410,9301,0.00,2.65,0.00,0.000,6,0.000,0.037,3315,1784,1713,0,0,0,0,0,0
$GC,9565,1.49,337.1,72.8,8.7,434,9593,0.00,2.72,20.83,0.594,4,0.000,0.064,3315,236,1625,0,0,0,0,0,0
$GC,9635,1.49,337.1,64.5,12.5,439,9639,0.00,2.42,0.00,0.000,6,0.000,0.020,3315,1788,1623,0,0,0,0,0,0
$GC,9903,1.62,359.4,42.2,8.7,463,9932,0.15,2.62,20.15,0.561,4,0.172,0.028,3356,3375,1534,0,0,0,0,0,0
$GC,9963,1.73,366.4,35.5,9.6,467,9975,0.00,2.65,7.60,0.489,6,0.000,0.037,3356,1797,1507,0,0,0,0,0,0
$STATE,10235,end climb,SURFACE_DEPTH_REACHED
$STATE,10235,begin surface coast
$FINISH,0.4,1.022225
$STATE,10298,end surface coast,CONTROL_FINISHED_OK
$STATE,10298,begin surface
$SM_CCo,10319,45.00,0.532,0,0,1287,420.20
$SM_GC,0.89,0.00,0.00,45.00,0.000,0.000,0.532,474,1792,1287,-11.62,0.65,420.20
$IRIDIUM_FIX,2244.02,-15746.73,190100,151516
$TT8_MAMPS,0.026078
$HUMID,56.10
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.50
$XPDR_PINGS,108
$24V_AH,23.3,68.873
$10V_AH,9.9,65.392
$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,27.600,135.200,429.925,45.000,0.000,27.722,30.888,307.445,27.000,0.000,53.850,1053.635,6681.114,506.413,1991.489,685.860,33.401,1259.121,0.000,1952.760,0.000,0.534,0.000
$DEVICE_MAMPS,171.808,111.982,921.167,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.498,299.806,395.039,752.983,1140.472,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,41467,513
$CAP_FILE_SIZE,114460,0
$CFSIZE,260165632,153280512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251010,212143,2254.750,-15748.993,35,1.7,46,10.1