version: 66.06
glider: 146
mission: 5
dive: 482
start: 10 23 110 16 29 52
data:
$ID,146
$MISSION,5
$DIVE,482
$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,-258938.81
$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,29
$R_STBD_OVSHOOT,57
$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
$GPS1,161657,2251.347,-15745.533,38,99.0,57,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.7
$GPS2,162856,2251.385,-15745.528,15,1.1,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,-0.175
$KALMAN_X,-259774.2,-143.4,-90.6,303169.4,-31.7
$KALMAN_Y,-614890.2,66.7,-162.0,746106.2,629.4
$MHEAD_RNG_PITCHd_Wd,128.0,7469,-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,16,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-86.28,0.000,6,0.000,0.000,474,1757,3479,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.4,-9.3,11,127,11.25,2.53,0.00,0.000,4,0.137,0.030,2690,3349,3482,0,0,0,0,0,0
$GC,210,-1.34,-116.8,29.2,-13.9,25,219,0.00,2.60,0.00,0.000,6,0.000,0.031,2690,1771,3482,0,0,0,0,0,0
$GC,478,-1.25,-116.8,67.8,-13.6,50,487,0.17,0.00,0.00,0.000,6,0.114,0.000,2726,1771,3483,0,0,0,0,0,0
$GC,745,-1.28,-116.8,93.8,-8.7,75,750,0.00,2.53,0.00,0.000,4,0.000,0.025,2726,3347,3483,0,0,0,0,0,0
$GC,852,-1.38,-116.8,102.2,-8.0,83,857,0.12,2.53,0.00,0.000,6,0.072,0.034,2680,1765,3484,0,0,0,0,0,0
$GC,1119,-1.34,-116.8,129.4,-10.5,107,1124,0.12,2.50,0.00,0.000,4,0.113,0.029,2706,3341,3484,0,0,0,0,0,0
$GC,1155,-1.39,-116.8,133.7,-11.1,109,1160,0.00,2.50,0.00,0.000,6,0.000,0.027,2706,1786,3485,0,0,0,0,0,0
$GC,1418,-1.39,-116.8,159.5,-9.7,134,1422,0.00,2.70,0.00,0.000,4,0.000,0.067,2706,195,3484,0,0,0,0,0,0
$GC,1462,-1.39,-116.8,164.8,-11.1,137,1468,0.00,2.45,0.00,0.000,6,0.000,0.017,2706,1803,3485,0,0,0,0,0,0
$GC,1727,-1.39,-116.8,191.6,-9.6,162,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1804,3485,0,0,0,0,0,0
$GC,1981,-1.39,-116.8,215.2,-9.0,175,1985,0.00,2.75,0.00,0.000,4,0.000,0.064,2706,192,3485,0,0,0,0,0,0
$GC,2009,-1.39,-116.8,217.9,-9.6,175,2014,0.00,2.42,0.00,0.000,6,0.000,0.018,2706,1792,3484,0,0,0,0,0,0
$GC,2260,-1.39,-116.8,242.2,-9.8,181,2264,0.00,2.40,0.00,0.000,4,0.000,0.033,2706,3321,3484,0,0,0,0,0,0
$GC,2303,-1.49,-116.8,246.8,-10.2,182,2309,0.12,2.45,0.00,0.000,6,0.073,0.030,2662,1805,3484,0,0,0,0,0,0
$GC,2583,-1.44,-116.8,278.5,-11.2,189,2588,0.10,2.40,0.00,0.000,4,0.123,0.035,2683,3315,3483,0,0,0,0,0,0
$GC,2611,-1.44,-116.8,281.5,-9.4,189,2615,0.00,2.42,0.00,0.000,6,0.000,0.035,2683,1817,3483,0,0,0,0,0,0
$GC,2861,-1.44,-116.8,302.8,-8.6,195,2865,0.00,2.85,0.00,0.000,4,0.000,0.077,2683,188,3483,0,0,0,0,0,0
$GC,2878,-1.44,-116.8,304.4,-8.9,195,2883,0.00,2.53,0.00,0.000,6,0.000,0.020,2682,1790,3482,0,0,0,0,0,0
$GC,3139,-1.44,-116.8,329.6,-9.9,202,3143,0.00,2.50,0.00,0.000,4,0.000,0.041,2683,3350,3481,0,0,0,0,0,0
$GC,3154,-1.44,-116.8,331.4,-10.1,202,3158,0.00,2.50,0.00,0.000,6,0.000,0.038,2683,1825,3481,0,0,0,0,0,0
$GC,3418,-1.44,-116.8,356.5,-9.4,209,3422,0.00,2.45,0.00,0.000,4,0.000,0.039,2683,3350,3480,0,0,0,0,0,0
$GC,3457,-1.51,-116.8,360.2,-8.7,210,3462,0.00,2.50,0.00,0.000,6,0.000,0.044,2683,1838,3480,0,0,0,0,0,0
$GC,3741,-1.51,-116.8,385.3,-8.9,217,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1838,3478,0,0,0,0,0,0
$GC,3986,-1.51,-116.8,407.4,-9.1,223,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1838,3476,0,0,0,0,0,0
$GC,4228,-1.51,-116.8,429.0,-8.9,229,4233,0.00,2.47,0.00,0.000,4,0.000,0.048,2682,3345,3475,0,0,0,0,0,0
$GC,4256,-1.56,-116.8,431.6,-9.2,229,4261,0.10,2.55,0.00,0.000,6,0.087,0.048,2649,1837,3475,0,0,0,0,0,0
$GC,4508,-1.56,-116.8,456.0,-10.1,235,4512,0.00,2.50,0.00,0.000,4,0.000,0.047,2649,3347,3473,0,0,0,0,0,0
$GC,4523,-1.56,-116.8,457.9,-10.3,235,4527,0.00,2.53,0.00,0.000,6,0.000,0.054,2649,1858,3473,0,0,0,0,0,0
$GC,4784,-1.56,-116.8,484.9,-10.4,242,4789,0.00,2.45,0.00,0.000,4,0.000,0.050,2649,3342,3471,0,0,0,0,0,0
$GC,4813,-1.56,-116.8,488.1,-11.2,242,4818,0.00,2.55,0.00,0.000,6,0.000,0.058,2649,1856,3471,0,0,0,0,0,0
$STATE,4939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4939,begin apogee
$GC,4945,-0.31,0.0,501.4,10.4,245,5046,1.27,0.00,97.45,0.927,6,0.089,0.000,2928,1828,3001,0,0,0,0,0,0
$STATE,5047,end apogee,CONTROL_FINISHED_OK
$STATE,5047,begin climb
$GC,5050,1.38,116.8,504.3,0.0,247,5164,1.58,3.15,101.28,0.904,4,0.048,0.111,3307,234,2523,0,0,0,0,0,0
$GC,5198,1.20,159.5,503.3,7.6,251,5243,0.22,2.60,38.03,0.877,6,0.120,0.031,3263,1803,2349,0,0,0,0,0,0
$GC,5516,1.27,213.7,480.8,6.9,259,5571,0.00,2.85,47.92,0.881,4,0.000,0.062,3263,3408,2128,0,0,0,0,0,0
$GC,5602,1.30,233.7,473.9,8.9,261,5627,0.00,2.75,18.92,0.836,6,0.000,0.054,3263,1829,2048,0,0,0,0,0,0
$GC,5891,1.30,240.3,446.6,9.7,268,5899,0.00,0.00,6.30,0.699,6,0.000,0.000,3263,1829,2021,0,0,0,0,0,0
$GC,6133,1.30,240.3,422.0,10.1,274,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1829,2018,0,0,0,0,0,0
$GC,6377,1.32,254.7,399.2,9.2,280,6394,0.10,0.00,14.40,0.812,6,0.096,0.000,3289,1829,1962,0,0,0,0,0,0
$GC,6622,1.32,254.7,374.3,10.4,286,6626,0.00,2.92,0.00,0.000,4,0.000,0.095,3289,232,1958,0,0,0,0,0,0
$GC,6661,1.23,254.7,369.5,13.2,287,6666,0.00,2.60,0.00,0.000,6,0.000,0.025,3289,1854,1957,0,0,0,0,0,0
$GC,6944,1.23,254.7,337.9,11.4,294,6948,0.00,2.50,0.00,0.000,4,0.000,0.034,3289,3398,1956,0,0,0,0,0,0
$GC,6972,1.23,254.7,334.7,11.4,294,6977,0.00,2.62,0.00,0.000,6,0.000,0.048,3289,1832,1955,0,0,0,0,0,0
$GC,7222,1.23,254.7,306.2,11.4,300,7226,0.00,2.83,0.00,0.000,4,0.000,0.080,3289,236,1954,0,0,0,0,0,0
$GC,7249,1.16,254.7,302.7,12.5,300,7254,0.17,2.55,0.00,0.000,6,0.119,0.022,3254,1836,1953,0,0,0,0,0,0
$GC,7501,1.23,255.6,277.4,10.0,306,7505,0.00,2.83,0.00,0.000,4,0.000,0.070,3254,230,1953,0,0,0,0,0,0
$GC,7522,1.23,255.6,274.8,10.9,306,7526,0.00,2.55,0.00,0.000,6,0.000,0.027,3254,1833,1953,0,0,0,0,0,0
$GC,7778,1.31,260.7,249.3,9.7,313,7789,0.12,2.55,5.35,0.600,4,0.081,0.037,3288,3400,1937,0,0,0,0,0,0
$GC,7807,1.36,260.7,246.3,10.8,313,7812,0.00,2.60,0.00,0.000,6,0.000,0.040,3288,1831,1937,0,0,0,0,0,0
$GC,8057,1.38,270.6,222.4,9.5,319,8073,0.00,2.83,10.88,0.692,4,0.000,0.068,3288,242,1896,0,0,0,0,0,0
$GC,8096,1.38,270.6,218.2,11.2,320,8101,0.00,2.53,0.00,0.000,6,0.000,0.026,3288,1829,1895,0,0,0,0,0,0
$GC,8354,1.43,276.0,192.8,9.7,330,8368,0.10,2.80,6.22,0.594,4,0.091,0.070,3316,236,1874,0,0,0,0,0,0
$GC,8380,1.39,276.0,189.6,11.4,332,8384,0.00,2.53,0.00,0.000,6,0.000,0.021,3316,1825,1873,0,0,0,0,0,0
$GC,8644,1.39,276.0,161.2,10.7,356,8648,0.00,2.53,0.00,0.000,4,0.000,0.031,3316,3391,1872,0,0,0,0,0,0
$GC,8662,1.39,276.0,159.2,10.9,357,8667,0.00,2.60,0.00,0.000,6,0.000,0.041,3316,1816,1872,0,0,0,0,0,0
$GC,8930,1.39,276.0,132.9,10.4,381,8935,0.00,2.72,0.00,0.000,4,0.000,0.067,3316,233,1871,0,0,0,0,0,0
$GC,8964,1.34,276.0,128.9,11.5,383,8969,0.12,2.50,0.00,0.000,6,0.124,0.021,3292,1825,1870,0,0,0,0,0,0
$GC,9229,1.42,297.9,104.6,8.8,407,9255,0.00,2.55,20.35,0.627,4,0.000,0.029,3292,3390,1786,0,0,0,0,0,0
$GC,9269,1.52,309.6,100.7,9.4,410,9287,0.15,2.62,11.88,0.588,6,0.074,0.036,3333,1812,1737,0,0,0,0,0,0
$GC,9554,1.52,309.6,70.8,10.9,436,9558,0.00,2.72,0.00,0.000,4,0.000,0.063,3333,236,1734,0,0,0,0,0,0
$GC,9574,1.52,309.6,68.3,11.3,437,9578,0.00,2.53,0.00,0.000,6,0.000,0.020,3333,1838,1733,0,0,0,0,0,0
$GC,9842,1.60,332.5,43.8,8.7,461,9872,0.00,2.55,20.75,0.567,4,0.000,0.029,3333,3382,1643,0,0,0,0,0,0
$GC,9892,1.69,341.0,39.1,9.5,464,9908,0.15,2.55,8.77,0.511,6,0.074,0.035,3372,1840,1609,0,0,0,0,0,0
$STATE,10205,end climb,SURFACE_DEPTH_REACHED
$STATE,10206,begin surface coast
$FINISH,0.5,1.010180
$STATE,10251,end surface coast,CONTROL_FINISHED_OK
$STATE,10251,begin surface
$SM_CCo,10273,65.32,0.536,0,0,1288,420.20
$SM_GC,1.07,0.00,0.00,65.32,0.000,0.000,0.536,475,1740,1288,-11.62,-0.85,420.20
$IRIDIUM_FIX,2244.02,-15743.68,170100,161659
$TT8_MAMPS,0.026078
$HUMID,55.94
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.30
$XPDR_PINGS,95
$24V_AH,23.3,66.674
$10V_AH,9.9,63.429
$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,27.825,140.175,408.500,65.325,0.000,52.717,70.845,374.430,23.750,0.000,16.789,1052.948,6745.428,527.287,1899.110,833.463,33.379,1260.875,0.000,1902.671,0.000,0.534,0.000
$DEVICE_MAMPS,136.526,194.051,926.536,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.543,305.458,397.079,754.706,1144.083,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,41532,512
$CAP_FILE_SIZE,117837,0
$CFSIZE,260165632,154230784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231010,192322,2250.826,-15744.508,10,99.0,29,10.1