version: 66.06
glider: 146
mission: 5
dive: 443
start: 10 18 110 16 42 21
data:
$ID,146
$MISSION,5
$DIVE,443
$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,-258053.7
$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,35
$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
$GPS1,163255,2250.919,-15745.384,38,1.5,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.7
$GPS2,164125,2250.930,-15745.387,11,1.3,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.093
$KALMAN_X,-258810.4,-212.0,-192.7,302623.5,-37.0
$KALMAN_Y,-607287.3,-16.8,98.4,737493.1,-368.7
$MHEAD_RNG_PITCHd_Wd,103.2,6797,-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,-116.8,0.0,0.0,0,103,0.00,0.00,-85.88,0.000,3,0.000,0.000,480,1747,3478,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.6,-9.6,11,126,11.30,2.60,0.00,0.000,4,0.140,0.050,2691,200,3481,0,0,0,0,0,0
$GC,151,-0.72,-116.8,21.8,-37.2,16,161,0.68,2.45,0.00,0.000,6,0.102,0.017,2837,1773,3482,0,0,0,0,0,0
$GC,438,-0.88,-116.8,48.0,-7.9,46,447,0.12,0.00,0.00,0.000,6,0.069,0.000,2796,1774,3483,0,0,0,0,0,0
$GC,705,-1.01,-116.8,70.8,-8.3,71,709,0.00,2.50,0.00,0.000,4,0.000,0.027,2796,3337,3484,0,0,0,0,0,0
$GC,728,-1.17,-116.8,72.9,-8.9,72,733,0.22,2.53,0.00,0.000,6,0.045,0.028,2723,1771,3484,0,0,0,0,0,0
$GC,991,-1.17,-116.8,97.6,-8.3,96,996,0.10,2.65,0.00,0.000,4,0.117,0.059,2744,196,3485,0,0,0,0,0,0
$GC,1039,-1.26,-116.8,101.5,-9.3,99,1043,0.00,2.35,0.00,0.000,6,0.000,0.020,2744,1766,3485,0,0,0,0,0,0
$GC,1306,-1.34,-116.8,126.2,-9.2,123,1311,0.15,2.42,0.00,0.000,4,0.066,0.029,2697,3313,3485,0,0,0,0,0,0
$GC,1348,-1.34,-116.8,130.8,-10.1,126,1352,0.00,2.47,0.00,0.000,6,0.000,0.035,2696,1755,3485,0,0,0,0,0,0
$GC,1611,-1.34,-116.8,156.1,-9.4,150,1615,0.00,2.45,0.00,0.000,4,0.000,0.029,2696,3321,3485,0,0,0,0,0,0
$GC,1631,-1.34,-116.8,157.8,-9.5,151,1636,0.00,2.47,0.00,0.000,6,0.000,0.031,2696,1765,3486,0,0,0,0,0,0
$GC,1900,-1.34,-116.8,184.3,-10.0,175,1904,0.00,2.65,0.00,0.000,4,0.000,0.066,2696,197,3486,0,0,0,0,0,0
$GC,1922,-1.34,-116.8,187.6,-10.8,176,1928,0.00,2.38,0.00,0.000,6,0.000,0.020,2696,1761,3486,0,0,0,0,0,0
$GC,2209,-1.34,-116.8,217.2,-10.3,192,2213,0.00,2.45,0.00,0.000,4,0.000,0.025,2696,3317,3486,0,0,0,0,0,0
$GC,2225,-1.34,-116.8,219.2,-10.4,192,2230,0.00,2.50,0.00,0.000,6,0.000,0.029,2696,1765,3486,0,0,0,0,0,0
$GC,2486,-1.34,-116.8,246.8,-10.9,199,2491,0.00,2.67,0.00,0.000,4,0.000,0.074,2696,196,3486,0,0,0,0,0,0
$GC,2502,-1.34,-116.8,248.6,-10.9,199,2506,0.00,2.38,0.00,0.000,6,0.000,0.019,2696,1759,3486,0,0,0,0,0,0
$GC,2770,-1.34,-116.8,274.0,-9.4,206,2774,0.00,2.47,0.00,0.000,4,0.000,0.035,2696,3324,3486,0,0,0,0,0,0
$GC,2810,-1.41,-116.8,278.2,-10.3,207,2815,0.00,2.53,0.00,0.000,6,0.000,0.035,2696,1761,3485,0,0,0,0,0,0
$GC,3095,-1.41,-116.8,305.6,-9.6,214,3099,0.00,2.75,0.00,0.000,4,0.000,0.084,2696,185,3485,0,0,0,0,0,0
$GC,3116,-1.41,-116.8,308.0,-9.8,214,3121,0.00,2.45,0.00,0.000,6,0.000,0.025,2696,1745,3484,0,0,0,0,0,0
$GC,3372,-1.45,-116.8,330.3,-8.7,221,3376,0.00,2.58,0.00,0.000,4,0.000,0.034,2696,3353,3483,0,0,0,0,0,0
$GC,3418,-1.54,-116.8,334.4,-8.5,222,3423,0.15,2.60,0.00,0.000,6,0.061,0.042,2644,1772,3483,0,0,0,0,0,0
$GC,3696,-1.49,-116.8,367.8,-12.4,229,3698,0.15,0.00,0.00,0.000,6,0.106,0.000,2676,1772,3482,0,0,0,0,0,0
$GC,3939,-1.49,-116.8,393.4,-10.2,235,3943,0.00,2.58,0.00,0.000,4,0.000,0.041,2676,3352,3480,0,0,0,0,0,0
$GC,3956,-1.49,-116.8,395.1,-10.1,235,3961,0.00,2.62,0.00,0.000,6,0.000,0.048,2676,1772,3480,0,0,0,0,0,0
$GC,4216,-1.49,-116.8,421.5,-10.3,242,4221,0.00,2.55,0.00,0.000,4,0.000,0.039,2676,3347,3478,0,0,0,0,0,0
$GC,4233,-1.49,-116.8,423.4,-10.6,242,4237,0.00,2.62,0.00,0.000,6,0.000,0.048,2676,1783,3478,0,0,0,0,0,0
$GC,4495,-1.49,-116.8,451.3,-10.6,249,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1783,3477,0,0,0,0,0,0
$GC,4737,-1.49,-116.8,474.4,-9.1,255,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1783,3475,0,0,0,0,0,0
$GC,4981,-1.49,-116.8,494.9,-8.2,261,4985,0.00,2.62,0.00,0.000,4,0.000,0.056,2676,3343,3473,0,0,0,0,0,0
$GC,5025,-1.55,-116.8,498.3,-8.0,262,5030,0.00,2.70,0.00,0.000,6,0.000,0.065,2676,1779,3473,0,0,0,0,0,0
$STATE,5049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5049,begin apogee
$GC,5057,-0.31,0.0,500.4,7.4,262,5158,1.10,0.00,97.95,0.923,6,0.082,0.000,2924,1779,3001,0,0,0,0,0,0
$STATE,5159,end apogee,CONTROL_FINISHED_OK
$STATE,5159,begin climb
$GC,5161,1.38,116.8,501.9,0.0,265,5272,1.60,2.80,101.65,0.900,4,0.043,0.049,3308,3378,2523,0,0,0,0,0,0
$GC,5286,1.33,186.5,500.3,6.0,268,5355,0.00,2.72,61.12,0.882,6,0.000,0.057,3308,1820,2239,0,0,0,0,0,0
$GC,5634,1.22,186.5,461.0,11.3,277,5639,0.20,2.62,0.00,0.000,4,0.117,0.037,3269,3394,2230,0,0,0,0,0,0
$GC,5708,1.22,186.5,453.1,11.2,278,5712,0.00,2.72,0.00,0.000,6,0.000,0.061,3269,1818,2228,0,0,0,0,0,0
$GC,5958,1.23,194.5,428.8,9.6,284,5971,0.00,3.03,6.30,0.698,4,0.000,0.108,3269,232,2207,0,0,0,0,0,0
$GC,5996,1.15,194.5,425.2,10.2,284,6001,0.00,2.53,0.00,0.000,6,0.000,0.031,3268,1800,2205,0,0,0,0,0,0
$GC,6245,1.18,218.0,403.1,8.7,291,6270,0.00,0.00,22.40,0.838,6,0.000,0.000,3268,1800,2112,0,0,0,0,0,0
$GC,6489,1.21,247.0,382.2,8.4,297,6523,0.00,2.75,26.85,0.830,4,0.000,0.037,3269,3416,1994,0,0,0,0,0,0
$GC,6549,1.28,260.4,377.0,9.3,298,6569,0.00,2.75,13.60,0.782,6,0.000,0.048,3268,1810,1939,0,0,0,0,0,0
$GC,6820,1.28,260.4,349.8,10.2,305,6825,0.00,2.85,0.00,0.000,4,0.000,0.084,3268,229,1933,0,0,0,0,0,0
$GC,6842,1.28,260.4,347.2,12.0,305,6846,0.00,2.55,0.00,0.000,6,0.000,0.028,3269,1823,1933,0,0,0,0,0,0
$GC,7098,1.28,260.4,321.0,10.1,312,7102,0.00,2.58,0.00,0.000,4,0.000,0.038,3268,3405,1931,0,0,0,0,0,0
$GC,7159,1.35,260.4,314.8,10.2,313,7164,0.10,2.65,0.00,0.000,6,0.104,0.047,3296,1819,1930,0,0,0,0,0,0
$GC,7420,1.35,260.4,285.3,11.7,320,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1818,1929,0,0,0,0,0,0
$GC,7665,1.35,260.4,255.1,12.4,326,7669,0.00,2.55,0.00,0.000,4,0.000,0.035,3296,3404,1929,0,0,0,0,0,0
$GC,7749,1.40,260.4,245.6,10.4,328,7754,0.00,2.62,0.00,0.000,6,0.000,0.039,3295,1819,1928,0,0,0,0,0,0
$GC,8032,1.42,282.2,219.6,8.8,335,8053,0.00,0.00,19.17,0.719,6,0.000,0.000,3296,1818,1850,0,0,0,0,0,0
$GC,8278,1.43,287.7,196.4,9.7,341,8286,0.00,0.00,5.68,0.573,6,0.000,0.000,3296,1818,1828,0,0,0,0,0,0
$GC,8541,1.43,287.7,168.0,10.1,366,8545,0.00,2.78,0.00,0.000,4,0.000,0.068,3295,232,1826,0,0,0,0,0,0
$GC,8575,1.43,287.7,164.1,11.4,368,8581,0.00,2.50,0.00,0.000,6,0.000,0.024,3296,1825,1825,0,0,0,0,0,0
$GC,8842,1.43,290.0,138.2,9.9,393,8846,0.00,2.50,0.00,0.000,4,0.000,0.035,3296,3390,1825,0,0,0,0,0,0
$GC,8874,1.51,290.0,134.6,10.6,395,8880,0.15,2.60,0.00,0.000,6,0.078,0.041,3334,1815,1824,0,0,0,0,0,0
$GC,9139,1.51,290.0,104.8,11.0,419,9143,0.00,2.53,0.00,0.000,4,0.000,0.033,3334,3390,1824,0,0,0,0,0,0
$GC,9155,1.51,290.0,102.5,11.4,420,9160,0.00,2.55,0.00,0.000,6,0.000,0.036,3334,1824,1824,0,0,0,0,0,0
$GC,9424,1.54,314.6,75.2,8.6,444,9454,0.00,2.60,24.75,0.598,4,0.000,0.028,3334,3389,1717,0,0,0,0,0,0
$GC,9517,1.61,321.2,66.0,9.7,451,9529,0.00,2.58,7.22,0.512,6,0.000,0.035,3334,1843,1690,0,0,0,0,0,0
$GC,9796,1.68,335.1,41.2,9.2,477,9815,0.12,2.78,13.18,0.539,4,0.079,0.059,3370,234,1633,0,0,0,0,0,0
$GC,9832,1.68,335.1,37.4,10.9,479,9837,0.00,2.53,0.00,0.000,6,0.000,0.020,3370,1852,1632,0,0,0,0,0,0
$STATE,10113,end climb,SURFACE_DEPTH_REACHED
$STATE,10113,begin surface coast
$FINISH,0.3,1.010175
$STATE,10156,end surface coast,CONTROL_FINISHED_OK
$STATE,10156,begin surface
$SM_CCo,10178,76.57,0.463,1,0,1288,420.20
$SM_GC,1.07,0.00,0.00,76.57,0.000,0.000,0.463,477,1747,1288,-11.61,-0.65,420.20
$IRIDIUM_FIX,2241.69,-15749.78,120100,131339
$TT8_MAMPS,0.026078
$HUMID,54.33
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.70
$XPDR_PINGS,77
$24V_AH,23.4,61.547
$10V_AH,10.0,58.780
$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,27.925,134.800,399.875,76.575,0.000,25.600,34.437,300.524,19.250,0.000,16.868,1057.325,6502.948,553.218,1973.137,684.268,33.371,1263.542,0.000,1984.066,0.000,0.534,0.000
$DEVICE_MAMPS,139.594,108.147,922.701,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.670,304.653,409.689,801.954,1212.973,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,41805,521
$CAP_FILE_SIZE,111063,0
$CFSIZE,260165632,156430336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181010,193436,2250.424,-15744.259,29,2.0,33,10.1