version: 66.06
glider: 146
mission: 5
dive: 438
start: 10 18 110 1 28 26
data:
$ID,146
$MISSION,5
$DIVE,438
$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,-257975.25
$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,41
$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
$GPS1,011849,2255.523,-15750.960,7,1.7,12,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-69.3
$GPS2,012731,2255.550,-15750.943,15,1.7,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.196,-0.130
$KALMAN_X,-258429.1,93.2,-33.2,292212.2,48.4
$KALMAN_Y,-603684.2,-65.9,-168.4,742758.9,-282.6
$MHEAD_RNG_PITCHd_Wd,113.4,19500,-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,13,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.07,0.000,2,0.000,0.000,474,1742,3438,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.2,-8.9,11,126,11.50,2.58,-0.70,0.000,4,0.148,0.058,2689,199,3479,0,0,0,0,0,0
$GC,144,-0.45,-116.8,18.1,-36.9,15,154,0.95,2.45,0.00,0.000,6,0.091,0.018,2896,1785,3480,0,0,0,0,0,0
$GC,446,-0.74,-116.8,41.3,-6.3,50,451,0.25,2.42,0.00,0.000,4,0.044,0.024,2814,3335,3481,0,0,0,0,0,0
$GC,481,-0.92,-116.8,44.1,-8.0,52,485,0.00,2.50,0.00,0.000,6,0.000,0.027,2813,1776,3481,0,0,0,0,0,0
$GC,751,-1.07,-116.8,67.5,-8.6,76,756,0.20,2.65,0.00,0.000,4,0.049,0.053,2750,197,3482,0,0,0,0,0,0
$GC,762,-1.18,-116.8,69.5,-8.9,76,771,0.00,2.45,0.00,0.000,6,0.000,0.023,2750,1809,3482,0,0,0,0,0,0
$GC,1030,-1.25,-116.8,96.3,-8.8,101,1034,0.00,2.38,0.00,0.000,4,0.000,0.031,2750,3313,3483,0,0,0,0,0,0
$GC,1095,-1.38,-116.8,101.8,-7.4,106,1101,0.22,2.45,0.00,0.000,6,0.047,0.028,2679,1772,3483,0,0,0,0,0,0
$GC,1357,-1.34,-116.8,130.3,-12.0,130,1358,0.12,0.00,0.00,0.000,6,0.107,0.000,2706,1772,3484,0,0,0,0,0,0
$GC,1619,-1.34,-116.8,155.9,-10.6,154,1623,0.00,2.65,0.00,0.000,4,0.000,0.067,2706,196,3484,0,0,0,0,0,0
$GC,1652,-1.34,-116.8,160.6,-11.6,156,1662,0.00,2.38,0.00,0.000,6,0.000,0.021,2706,1750,3484,0,0,0,0,0,0
$GC,1919,-1.34,-116.8,186.4,-9.4,181,1923,0.00,2.45,0.00,0.000,4,0.000,0.032,2706,3326,3485,0,0,0,0,0,0
$GC,1978,-1.41,-116.8,192.2,-8.8,185,1983,0.00,2.45,0.00,0.000,6,0.000,0.035,2706,1781,3485,0,0,0,0,0,0
$GC,2231,-1.41,-116.8,217.5,-10.3,198,2236,0.00,2.70,0.00,0.000,4,0.000,0.065,2706,190,3485,0,0,0,0,0,0
$GC,2259,-1.41,-116.8,220.6,-11.1,198,2263,0.00,2.38,0.00,0.000,6,0.000,0.018,2706,1764,3485,0,0,0,0,0,0
$GC,2516,-1.41,-116.8,243.7,-8.7,205,2520,0.00,2.45,0.00,0.000,4,0.000,0.028,2706,3323,3485,0,0,0,0,0,0
$GC,2532,-1.41,-116.8,245.4,-8.9,205,2537,0.00,2.50,0.00,0.000,6,0.000,0.031,2706,1768,3484,0,0,0,0,0,0
$GC,2793,-1.45,-116.8,267.7,-8.6,212,2798,0.00,2.47,0.00,0.000,4,0.000,0.028,2706,3331,3484,0,0,0,0,0,0
$GC,2828,-1.55,-116.8,271.2,-10.1,212,2834,0.17,2.53,0.00,0.000,6,0.058,0.038,2650,1768,3484,0,0,0,0,0,0
$GC,3078,-1.50,-116.8,301.6,-12.3,219,3083,0.10,2.75,0.00,0.000,4,0.125,0.084,2671,193,3483,0,0,0,0,0,0
$GC,3094,-1.44,-116.8,303.9,-12.3,219,3099,0.00,2.42,0.00,0.000,6,0.000,0.023,2671,1751,3482,0,0,0,0,0,0
$GC,3356,-1.44,-116.8,332.1,-10.5,226,3361,0.00,2.55,0.00,0.000,4,0.000,0.041,2671,3345,3482,0,0,0,0,0,0
$GC,3389,-1.44,-116.8,335.7,-10.5,226,3395,0.00,2.58,0.00,0.000,6,0.000,0.045,2671,1780,3482,0,0,0,0,0,0
$GC,3639,-1.44,-116.8,362.0,-10.6,233,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1780,3480,0,0,0,0,0,0
$GC,3882,-1.44,-116.8,387.8,-10.6,239,3887,0.00,2.53,0.00,0.000,4,0.000,0.040,2671,3339,3479,0,0,0,0,0,0
$GC,3911,-1.44,-116.8,390.6,-10.2,239,3916,0.00,2.60,0.00,0.000,6,0.000,0.046,2671,1785,3479,0,0,0,0,0,0
$GC,4161,-1.44,-116.8,414.6,-9.8,245,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1785,3477,0,0,0,0,0,0
$GC,4405,-1.44,-116.8,439.3,-10.5,251,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1785,3476,0,0,0,0,0,0
$GC,4650,-1.44,-116.8,467.1,-11.3,257,4654,0.00,2.62,0.00,0.000,4,0.000,0.051,2671,3341,3474,0,0,0,0,0,0
$GC,4699,-1.50,-116.8,472.1,-9.2,258,4704,0.00,2.62,0.00,0.000,6,0.000,0.055,2671,1789,3474,0,0,0,0,0,0
$GC,4971,-1.50,-116.8,494.4,-8.2,265,4976,0.00,3.03,0.00,0.000,4,0.000,0.114,2671,179,3472,0,0,0,0,0,0
$GC,4989,-1.50,-116.8,496.1,-8.6,265,4993,0.00,2.58,0.00,0.000,6,0.000,0.034,2671,1769,3472,0,0,0,0,0,0
$STATE,5045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5045,begin apogee
$GC,5052,-0.31,0.0,501.5,9.4,267,5153,1.17,0.00,97.32,0.924,6,0.095,0.000,2930,1829,3001,0,0,0,0,0,0
$STATE,5153,end apogee,CONTROL_FINISHED_OK
$STATE,5154,begin climb
$GC,5156,1.38,116.8,504.0,0.0,269,5266,1.58,2.75,101.55,0.898,4,0.046,0.062,3312,3401,2523,0,0,0,0,0,0
$GC,5275,1.36,207.8,503.8,4.8,272,5360,0.00,2.75,79.10,0.885,6,0.000,0.053,3312,1815,2153,0,0,0,0,0,0
$GC,5614,1.26,207.8,467.2,12.0,281,5616,0.20,0.00,0.00,0.000,6,0.143,0.000,3274,1815,2143,0,0,0,0,0,0
$GC,5855,1.26,207.8,438.8,11.6,287,5860,0.00,2.62,0.00,0.000,4,0.000,0.038,3274,3404,2141,0,0,0,0,0,0
$GC,5905,1.26,207.8,432.9,11.6,288,5910,0.00,2.70,0.00,0.000,6,0.000,0.056,3273,1819,2139,0,0,0,0,0,0
$GC,6180,1.29,229.4,407.5,8.8,295,6204,0.00,3.03,18.10,0.825,4,0.000,0.097,3273,232,2065,0,0,0,0,0,0
$GC,6216,1.26,251.8,404.2,8.7,295,6245,0.00,2.55,21.98,0.822,6,0.000,0.027,3273,1815,1974,0,0,0,0,0,0
$GC,6507,1.26,251.8,375.0,10.5,303,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1816,1967,0,0,0,0,0,0
$GC,6752,1.26,251.8,348.1,11.2,309,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1816,1966,0,0,0,0,0,0
$GC,6994,1.26,251.8,319.6,11.9,315,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1816,1964,0,0,0,0,0,0
$GC,7238,1.26,251.8,294.0,10.2,321,7243,0.00,2.78,0.00,0.000,4,0.000,0.069,3273,230,1964,0,0,0,0,0,0
$GC,7259,1.26,251.8,291.5,11.5,321,7264,0.00,2.55,0.00,0.000,6,0.000,0.028,3273,1838,1962,0,0,0,0,0,0
$GC,7516,1.26,251.8,265.8,10.2,328,7521,0.00,2.80,0.00,0.000,4,0.000,0.073,3273,227,1962,0,0,0,0,0,0
$GC,7543,1.26,251.8,262.3,11.9,328,7547,0.00,2.50,0.00,0.000,6,0.000,0.027,3273,1816,1961,0,0,0,0,0,0
$GC,7793,1.28,268.4,238.6,9.1,334,7813,0.00,2.58,14.10,0.721,4,0.000,0.038,3273,3390,1906,0,0,0,0,0,0
$GC,7832,1.38,290.5,235.3,8.8,334,7861,0.10,2.65,21.15,0.728,6,0.102,0.040,3300,1794,1816,0,0,0,0,0,0
$GC,8124,1.38,290.5,205.7,10.6,342,8129,0.00,2.72,0.00,0.000,4,0.000,0.070,3300,234,1811,0,0,0,0,0,0
$GC,8181,1.38,290.5,198.5,13.2,343,8185,0.00,2.47,0.00,0.000,6,0.000,0.027,3300,1803,1809,0,0,0,0,0,0
$GC,8453,1.38,290.5,169.5,10.6,367,8457,0.00,2.55,0.00,0.000,4,0.000,0.035,3300,3398,1808,0,0,0,0,0,0
$GC,8510,1.45,290.5,162.6,11.4,371,8516,0.00,2.62,0.00,0.000,6,0.000,0.043,3300,1802,1808,0,0,0,0,0,0
$GC,8771,1.45,290.5,134.2,10.3,396,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1802,1808,0,0,0,0,0,0
$GC,9028,1.45,290.5,106.4,12.3,420,9032,0.00,2.67,0.00,0.000,4,0.000,0.064,3300,241,1807,0,0,0,0,0,0
$GC,9048,1.45,290.5,104.0,12.5,421,9052,0.00,2.47,0.00,0.000,6,0.000,0.022,3300,1832,1807,0,0,0,0,0,0
$GC,9315,1.53,309.9,74.9,8.9,445,9344,0.15,2.53,17.02,0.594,4,0.074,0.028,3340,3376,1736,0,0,0,0,0,0
$GC,9351,1.54,317.8,71.1,9.6,447,9365,0.00,2.62,8.62,0.538,6,0.000,0.043,3340,1807,1705,0,0,0,0,0,0
$GC,9626,1.57,343.7,48.2,8.5,472,9655,0.00,0.00,23.25,0.573,6,0.000,0.000,3340,1807,1599,0,0,0,0,0,0
$GC,9936,1.63,351.6,18.5,9.6,507,9954,0.00,2.58,7.88,0.486,4,0.000,0.030,3340,3375,1565,0,0,0,0,0,0
$GC,10005,1.74,351.6,11.3,10.3,516,10015,0.12,2.60,0.00,0.000,6,0.051,0.043,3380,1814,1564,0,0,0,0,0,0
$STATE,10064,end climb,SURFACE_DEPTH_REACHED
$STATE,10064,begin surface coast
$FINISH,0.4,1.023293
$STATE,10110,end surface coast,CONTROL_FINISHED_OK
$STATE,10110,begin surface
$SM_CCo,10132,63.22,0.452,1,0,1288,420.20
$SM_GC,0.88,0.00,0.00,63.22,0.000,0.000,0.452,476,1748,1288,-11.61,-0.62,420.20
$IRIDIUM_FIX,2246.36,-15751.06,110100,222204
$TT8_MAMPS,0.026078
$HUMID,53.85
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.20
$XPDR_PINGS,74
$24V_AH,23.4,60.908
$10V_AH,10.0,58.177
$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,28.700,129.350,410.075,63.225,0.000,30.722,33.242,293.741,18.500,0.000,34.302,1052.248,6465.581,530.526,1995.649,679.832,33.399,1261.037,0.000,1990.099,0.000,0.534,0.000
$DEVICE_MAMPS,148.031,123.487,924.235,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.204,324.949,421.468,840.318,1270.992,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,41597,530
$CAP_FILE_SIZE,110388,0
$CFSIZE,260165632,156721152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181010,041955,2254.647,-15749.881,48,1.2,48,10.1