version: 66.06
glider: 146
mission: 5
dive: 396
start: 10 12 110 16 58 2
data:
$ID,146
$MISSION,5
$DIVE,396
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,4
$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,-255424.89
$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,40
$R_STBD_OVSHOOT,60
$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
$GPS1,164925,2251.053,-15745.768,39,1.2,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.4
$GPS2,165708,2251.012,-15745.775,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,-0.059
$KALMAN_X,-262743.6,-190.6,-63.6,305734.0,-148.7
$KALMAN_Y,-566339.5,63.6,-553.6,697269.2,-624.7
$MHEAD_RNG_PITCHd_Wd,94.5,7445,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,99,0.00,0.00,-78.72,0.000,2,0.000,0.000,474,1751,3228,0,0,0,0,0,0
$GC,103,-1.38,-116.8,3.1,-5.6,10,129,11.50,2.55,-4.88,0.000,4,0.147,0.035,2690,3331,3480,0,0,0,0,0,0
$GC,141,-0.47,-116.8,15.3,-30.5,14,151,0.93,2.53,0.00,0.000,6,0.097,0.029,2889,1789,3481,0,0,0,0,0,0
$GC,450,-0.74,-116.8,38.4,-7.0,52,455,0.20,2.70,0.00,0.000,4,0.054,0.058,2826,192,3481,0,0,0,0,0,0
$GC,473,-0.95,-116.8,40.5,-7.9,53,478,0.15,2.42,0.00,0.000,6,0.064,0.016,2778,1790,3481,0,0,0,0,0,0
$GC,743,-1.04,-116.8,68.5,-7.4,77,747,0.00,2.38,0.00,0.000,4,0.000,0.024,2778,3321,3482,0,0,0,0,0,0
$GC,778,-1.21,-116.8,71.5,-6.6,79,790,0.15,2.53,0.00,0.000,6,0.032,0.030,2718,1772,3482,0,0,0,0,0,0
$GC,1044,-1.21,-116.8,94.9,-9.5,104,1049,0.00,2.67,0.00,0.000,4,0.000,0.058,2718,194,3483,0,0,0,0,0,0
$GC,1073,-1.21,-116.8,98.6,-11.8,106,1078,0.00,2.38,0.00,0.000,6,0.000,0.016,2718,1788,3483,0,0,0,0,0,0
$GC,1336,-1.21,-116.8,127.1,-9.7,130,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1790,3483,0,0,0,0,0,0
$GC,1592,-1.21,-116.8,150.2,-9.3,154,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1790,3484,0,0,0,0,0,0
$GC,1848,-1.21,-116.8,175.0,-10.0,178,1853,0.00,2.72,0.00,0.000,4,0.000,0.062,2718,189,3484,0,0,0,0,0,0
$GC,1871,-1.21,-116.8,177.8,-10.1,179,1876,0.00,2.40,0.00,0.000,6,0.000,0.021,2718,1771,3484,0,0,0,0,0,0
$GC,2143,-1.25,-116.8,204.3,-9.6,202,2147,0.00,2.70,0.00,0.000,4,0.000,0.067,2718,189,3484,0,0,0,0,0,0
$GC,2169,-1.25,-116.8,207.4,-10.5,202,2174,0.00,2.38,0.00,0.000,6,0.000,0.023,2718,1752,3484,0,0,0,0,0,0
$GC,2427,-1.29,-116.8,231.8,-9.6,209,2432,0.00,2.47,0.00,0.000,4,0.000,0.033,2718,3333,3484,0,0,0,0,0,0
$GC,2461,-1.36,-116.8,235.4,-9.9,209,2467,0.00,2.50,0.00,0.000,6,0.000,0.035,2718,1772,3484,0,0,0,0,0,0
$GC,2713,-1.42,-116.8,261.0,-10.5,216,2718,0.12,2.45,0.00,0.000,4,0.074,0.028,2678,3324,3483,0,0,0,0,0,0
$GC,2734,-1.42,-116.8,263.6,-10.5,216,2738,0.00,2.47,0.00,0.000,6,0.000,0.031,2678,1785,3483,0,0,0,0,0,0
$GC,2990,-1.42,-116.8,289.2,-10.0,223,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1785,3483,0,0,0,0,0,0
$GC,3233,-1.42,-116.8,313.4,-10.1,229,3238,0.00,2.47,0.00,0.000,4,0.000,0.033,2678,3328,3482,0,0,0,0,0,0
$GC,3291,-1.47,-116.8,319.9,-12.1,230,3295,0.00,2.53,0.00,0.000,6,0.000,0.037,2678,1792,3482,0,0,0,0,0,0
$GC,3557,-1.47,-116.8,346.1,-9.1,237,3562,0.00,2.85,0.00,0.000,4,0.000,0.085,2678,182,3481,0,0,0,0,0,0
$GC,3584,-1.47,-116.8,348.7,-9.5,237,3588,0.00,2.47,0.00,0.000,6,0.000,0.024,2678,1765,3481,0,0,0,0,0,0
$GC,3836,-1.47,-116.8,369.4,-8.2,243,3840,0.00,2.55,0.00,0.000,4,0.000,0.042,2678,3349,3480,0,0,0,0,0,0
$GC,3851,-1.47,-116.8,371.1,-8.7,243,3856,0.00,2.58,0.00,0.000,6,0.000,0.048,2678,1794,3480,0,0,0,0,0,0
$GC,4112,-1.47,-116.8,397.8,-10.5,250,4116,0.00,2.50,0.00,0.000,4,0.000,0.043,2678,3342,3478,0,0,0,0,0,0
$GC,4146,-1.51,-116.8,401.7,-11.5,250,4152,0.00,2.58,0.00,0.000,6,0.000,0.054,2678,1802,3478,0,0,0,0,0,0
$GC,4396,-1.51,-116.8,428.5,-10.4,257,4400,0.00,2.53,0.00,0.000,4,0.000,0.046,2678,3344,3476,0,0,0,0,0,0
$GC,4428,-1.56,-116.8,432.0,-10.2,257,4434,0.00,2.60,0.00,0.000,6,0.000,0.054,2678,1809,3476,0,0,0,0,0,0
$GC,4680,-1.56,-116.8,454.4,-9.1,264,4685,0.00,3.03,0.00,0.000,4,0.000,0.106,2678,181,3474,0,0,0,0,0,0
$GC,4713,-1.56,-116.8,457.8,-9.9,264,4718,0.00,2.60,0.00,0.000,6,0.000,0.029,2678,1795,3474,0,0,0,0,0,0
$GC,4963,-1.56,-116.8,479.7,-8.9,271,4967,0.00,2.60,0.00,0.000,4,0.000,0.056,2678,3355,3472,0,0,0,0,0,0
$GC,4986,-1.60,-116.8,481.7,-8.7,271,4991,0.12,2.62,0.00,0.000,6,0.074,0.054,2638,1810,3472,0,0,0,0,0,0
$STATE,5159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5159,begin apogee
$GC,5165,-0.31,0.0,500.3,10.7,276,5266,1.33,0.00,97.12,0.923,6,0.087,0.000,2929,1810,3001,0,0,0,0,0,0
$STATE,5267,end apogee,CONTROL_FINISHED_OK
$STATE,5267,begin climb
$GC,5269,1.38,116.8,502.6,0.0,278,5383,1.55,2.78,100.85,0.900,4,0.043,0.051,3305,3403,2523,0,0,0,0,0,0
$GC,5440,1.30,144.7,496.0,8.4,282,5471,0.10,2.72,24.38,0.858,6,0.143,0.054,3287,1821,2411,0,0,0,0,0,0
$GC,5725,1.24,158.0,470.1,9.3,289,5739,0.00,0.00,12.35,0.808,6,0.000,0.000,3287,1821,2356,0,0,0,0,0,0
$GC,5965,1.19,174.7,447.7,9.1,295,5987,0.12,2.67,15.98,0.828,4,0.130,0.039,3263,3417,2287,0,0,0,0,0,0
$GC,6017,1.22,198.1,443.3,8.7,296,6048,0.00,2.75,22.10,0.840,6,0.000,0.051,3263,1825,2192,0,0,0,0,0,0
$GC,6292,1.26,228.3,419.9,8.3,303,6326,0.00,3.05,27.12,0.845,4,0.000,0.100,3263,236,2069,0,0,0,0,0,0
$GC,6355,1.21,228.3,413.7,11.2,304,6360,0.00,2.58,0.00,0.000,6,0.000,0.025,3263,1827,2066,0,0,0,0,0,0
$GC,6618,1.21,233.4,388.3,9.7,311,6628,0.00,2.60,5.47,0.652,4,0.000,0.042,3263,3415,2048,0,0,0,0,0,0
$GC,6659,1.28,233.4,384.1,10.2,312,6663,0.00,2.70,0.00,0.000,6,0.000,0.046,3263,1813,2046,0,0,0,0,0,0
$GC,6943,1.29,245.1,357.1,9.4,319,6957,0.00,0.00,11.70,0.773,6,0.000,0.000,3263,1813,2001,0,0,0,0,0,0
$GC,7185,1.31,255.9,334.1,9.4,325,7198,0.00,0.00,11.18,0.757,6,0.000,0.000,3263,1813,1957,0,0,0,0,0,0
$GC,7430,1.35,255.9,308.7,10.8,331,7435,0.12,2.83,0.00,0.000,4,0.084,0.080,3296,236,1953,0,0,0,0,0,0
$GC,7498,1.27,255.9,299.7,12.8,332,7503,0.00,2.53,0.00,0.000,6,0.000,0.028,3296,1824,1952,0,0,0,0,0,0
$GC,7753,1.27,255.9,271.2,10.8,339,7757,0.00,2.53,0.00,0.000,4,0.000,0.038,3296,3393,1951,0,0,0,0,0,0
$GC,7792,1.31,258.1,267.3,9.9,340,7797,0.00,2.62,0.00,0.000,6,0.000,0.043,3296,1809,1951,0,0,0,0,0,0
$GC,8077,1.33,274.6,241.2,9.1,347,8101,0.00,2.85,17.15,0.735,4,0.000,0.075,3296,238,1880,0,0,0,0,0,0
$GC,8120,1.29,274.6,236.5,11.9,348,8125,0.00,2.50,0.00,0.000,6,0.000,0.025,3296,1813,1879,0,0,0,0,0,0
$GC,8406,1.29,277.6,207.2,9.9,355,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1814,1877,0,0,0,0,0,0
$GC,8659,1.30,279.8,183.3,9.9,373,8670,0.00,2.78,5.55,0.568,4,0.000,0.069,3296,237,1859,0,0,0,0,0,0
$GC,8698,1.25,279.8,178.9,11.8,376,8703,0.12,2.45,0.00,0.000,6,0.124,0.028,3271,1805,1858,0,0,0,0,0,0
$GC,8963,1.31,281.2,152.0,10.0,400,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1807,1857,0,0,0,0,0,0
$GC,9228,1.41,301.9,127.4,8.8,425,9256,0.15,2.62,20.52,0.643,4,0.074,0.033,3313,3387,1769,0,0,0,0,0,0
$GC,9305,1.46,301.9,119.1,12.0,431,9309,0.00,2.65,0.00,0.000,6,0.000,0.036,3313,1789,1767,0,0,0,0,0,0
$GC,9571,1.46,301.9,87.5,12.1,455,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1788,1766,0,0,0,0,0,0
$GC,9838,1.58,345.9,63.4,7.5,480,9882,0.12,2.62,38.60,0.592,4,0.217,0.035,3347,3387,1589,0,0,0,0,0,0
$GC,9916,1.66,350.5,56.7,9.8,485,9930,0.00,2.65,5.15,0.446,6,0.000,0.037,3346,1793,1570,0,0,0,0,0,0
$GC,10186,1.66,350.5,30.0,11.0,510,10191,0.00,2.58,0.00,0.000,4,0.000,0.031,3346,3388,1567,0,0,0,0,0,0
$GC,10222,1.73,350.5,26.1,11.3,514,10232,0.10,2.65,0.00,0.000,6,0.054,0.036,3379,1797,1567,0,0,0,0,0,0
$STATE,10399,end climb,SURFACE_DEPTH_REACHED
$STATE,10399,begin surface coast
$FINISH,0.6,1.023376
$STATE,10435,end surface coast,CONTROL_FINISHED_OK
$STATE,10435,begin surface
$SM_CCo,10457,63.28,0.449,1,0,1288,420.20
$SM_GC,1.06,0.00,0.00,63.28,0.000,0.000,0.449,480,1794,1288,-11.59,0.68,420.20
$IRIDIUM_FIX,2241.69,-15748.90,060100,141423
$TT8_MAMPS,0.026078
$HUMID,52.28
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.10
$XPDR_PINGS,53
$24V_AH,23.5,55.372
$10V_AH,10.0,53.184
$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,28.825,135.450,415.225,63.275,0.000,30.936,35.930,253.576,13.250,0.000,13.850,1094.147,6663.367,547.120,2053.736,631.424,33.368,1297.230,0.000,2063.558,0.000,0.534,0.000
$DEVICE_MAMPS,217.061,105.846,923.468,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.946,320.921,428.652,840.339,1271.036,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,44544,544
$CAP_FILE_SIZE,114934,0
$CFSIZE,260165632,159055872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121010,195442,2250.854,-15744.341,12,6.0,31,10.1