version: 66.06
glider: 146
mission: 5
dive: 506
start: 10 26 110 19 44 40
data:
$ID,146
$MISSION,5
$DIVE,506
$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,-259688.02
$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,47
$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
$GPS1,193206,2250.425,-15754.066,35,1.4,40,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-65.6
$GPS2,194344,2250.558,-15753.981,13,1.6,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.143,-0.186
$KALMAN_X,-257541.4,112.2,-24.7,286057.3,649.9
$KALMAN_Y,-600766.6,535.1,16.1,729808.6,989.9
$MHEAD_RNG_PITCHd_Wd,207.4,2619,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-85.85,0.000,2,0.000,0.000,475,1738,3461,0,0,0,0,0,0
$GC,108,-1.38,-116.8,3.9,-7.4,11,127,11.80,2.55,-0.25,0.000,4,0.157,0.041,2691,3349,3478,0,0,0,0,0,0
$GC,231,-1.33,-116.8,28.3,-11.7,28,241,0.00,2.55,0.00,0.000,6,0.000,0.031,2691,1794,3479,0,0,0,0,0,0
$GC,509,-1.24,-116.8,67.0,-13.0,54,514,0.17,2.47,0.00,0.000,4,0.120,0.024,2726,3347,3480,0,0,0,0,0,0
$GC,521,-1.18,-116.8,69.4,-11.7,54,531,0.00,2.53,0.00,0.000,6,0.000,0.025,2726,1782,3480,0,0,0,0,0,0
$GC,790,-1.22,-116.8,92.2,-8.8,79,794,0.00,2.47,0.00,0.000,4,0.000,0.029,2726,3346,3481,0,0,0,0,0,0
$GC,822,-1.27,-116.8,95.3,-8.7,81,827,0.00,2.45,0.00,0.000,6,0.000,0.033,2726,1798,3481,0,0,0,0,0,0
$GC,1089,-1.32,-116.8,120.3,-9.0,105,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1796,3481,0,0,0,0,0,0
$GC,1354,-1.37,-116.8,145.3,-9.4,130,1359,0.10,2.72,0.00,0.000,4,0.250,0.061,2690,199,3481,0,0,0,0,0,0
$GC,1400,-1.37,-116.8,151.0,-11.3,133,1406,0.00,2.47,0.00,0.000,6,0.000,0.016,2691,1825,3481,0,0,0,0,0,0
$GC,1665,-1.37,-116.8,176.6,-9.0,158,1670,0.00,2.78,0.00,0.000,4,0.000,0.061,2690,193,3482,0,0,0,0,0,0
$GC,1683,-1.37,-116.8,178.6,-9.2,159,1687,0.00,2.47,0.00,0.000,6,0.000,0.021,2690,1820,3482,0,0,0,0,0,0
$GC,1945,-1.37,-116.8,203.9,-9.5,180,1950,0.00,2.75,0.00,0.000,4,0.000,0.061,2690,199,3482,0,0,0,0,0,0
$GC,1972,-1.37,-116.8,207.0,-10.5,180,1976,0.00,2.40,0.00,0.000,6,0.000,0.015,2690,1785,3482,0,0,0,0,0,0
$GC,2223,-1.37,-116.8,229.7,-9.0,186,2227,0.00,2.42,0.00,0.000,4,0.000,0.031,2690,3317,3482,0,0,0,0,0,0
$GC,2252,-1.37,-116.8,232.5,-9.8,186,2256,0.00,2.45,0.00,0.000,6,0.000,0.035,2691,1782,3482,0,0,0,0,0,0
$GC,2501,-1.37,-116.8,257.7,-10.2,192,2506,0.00,2.42,0.00,0.000,4,0.000,0.029,2691,3315,3481,0,0,0,0,0,0
$GC,2523,-1.37,-116.8,260.2,-11.2,192,2527,0.00,2.42,0.00,0.000,6,0.000,0.031,2691,1808,3481,0,0,0,0,0,0
$GC,2781,-1.37,-116.8,285.7,-10.0,199,2785,0.00,2.80,0.00,0.000,4,0.000,0.077,2690,192,3480,0,0,0,0,0,0
$GC,2791,-1.37,-116.8,287.0,-9.8,199,2795,0.00,2.50,0.00,0.000,6,0.000,0.019,2690,1795,3481,0,0,0,0,0,0
$GC,3057,-1.37,-116.8,311.1,-8.8,206,3061,0.00,2.47,0.00,0.000,4,0.000,0.035,2690,3341,3480,0,0,0,0,0,0
$GC,3104,-1.45,-116.8,315.4,-9.6,207,3108,0.00,2.45,0.00,0.000,6,0.000,0.035,2691,1827,3479,0,0,0,0,0,0
$GC,3381,-1.45,-116.8,339.4,-8.4,214,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1827,3478,0,0,0,0,0,0
$GC,3625,-1.45,-116.8,360.8,-8.7,220,3629,0.00,2.45,0.00,0.000,4,0.000,0.035,2690,3343,3477,0,0,0,0,0,0
$GC,3654,-1.51,-116.8,363.1,-8.2,220,3658,0.00,2.50,0.00,0.000,6,0.000,0.039,2690,1831,3477,0,0,0,0,0,0
$GC,3904,-1.55,-116.8,383.3,-8.2,226,3910,0.12,3.00,0.00,0.000,4,0.080,0.095,2651,187,3475,0,0,0,0,0,0
$GC,3921,-1.55,-116.8,385.0,-8.5,226,3925,0.00,2.60,0.00,0.000,6,0.000,0.029,2651,1815,3475,0,0,0,0,0,0
$GC,4183,-1.55,-116.8,410.3,-9.8,233,4188,0.00,2.50,0.00,0.000,4,0.000,0.046,2651,3354,3473,0,0,0,0,0,0
$GC,4225,-1.55,-116.8,414.5,-9.9,234,4229,0.00,2.55,0.00,0.000,6,0.000,0.056,2651,1842,3473,0,0,0,0,0,0
$GC,4508,-1.55,-116.8,443.9,-10.6,241,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1842,3472,0,0,0,0,0,0
$GC,4753,-1.55,-116.8,472.5,-11.9,247,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1842,3470,0,0,0,0,0,0
$GC,4995,-1.55,-116.8,499.4,-10.8,253,5000,0.00,2.55,0.00,0.000,4,0.000,0.058,2650,3346,3468,0,0,0,0,0,0
$STATE,5003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5003,begin apogee
$GC,5012,-0.31,0.0,500.6,10.8,253,5117,1.25,0.00,97.65,0.923,6,0.089,0.000,2927,1832,3001,0,0,0,0,0,0
$STATE,5118,end apogee,CONTROL_FINISHED_OK
$STATE,5118,begin climb
$GC,5122,1.38,116.8,504.1,0.0,256,5230,1.55,0.00,103.57,0.903,6,0.051,0.000,3306,1832,2524,0,0,0,0,0,0
$GC,5449,1.30,153.2,487.3,7.9,264,5491,0.12,2.78,31.88,0.874,4,0.133,0.051,3283,3403,2375,0,0,0,0,0,0
$GC,5558,1.27,169.5,477.5,9.1,266,5579,0.00,2.75,15.70,0.828,6,0.000,0.058,3283,1821,2310,0,0,0,0,0,0
$GC,5824,1.24,187.6,453.4,9.0,273,5848,0.00,2.72,16.95,0.835,4,0.000,0.043,3283,3401,2235,0,0,0,0,0,0
$GC,5861,1.27,207.1,450.1,8.9,273,5886,0.00,2.75,19.10,0.833,6,0.000,0.055,3283,1823,2156,0,0,0,0,0,0
$GC,6153,1.27,210.3,421.2,9.9,281,6158,0.00,3.00,0.00,0.000,4,0.000,0.104,3283,227,2149,0,0,0,0,0,0
$GC,6180,1.19,210.3,418.1,11.2,281,6185,0.12,2.58,0.00,0.000,6,0.132,0.029,3260,1826,2147,0,0,0,0,0,0
$GC,6432,1.20,223.9,395.3,9.3,287,6452,0.00,2.62,14.93,0.812,4,0.000,0.045,3260,3405,2087,0,0,0,0,0,0
$GC,6497,1.26,223.9,388.7,10.4,288,6501,0.00,2.70,0.00,0.000,6,0.000,0.052,3260,1824,2086,0,0,0,0,0,0
$GC,6753,1.29,246.0,365.7,8.8,295,6776,0.00,0.00,21.10,0.819,6,0.000,0.000,3260,1824,1998,0,0,0,0,0,0
$GC,6996,1.35,257.9,343.1,9.4,301,7015,0.15,2.67,11.70,0.765,4,0.081,0.031,3297,3405,1948,0,0,0,0,0,0
$GC,7060,1.35,257.9,335.7,11.6,302,7064,0.00,2.67,0.00,0.000,6,0.000,0.045,3297,1824,1946,0,0,0,0,0,0
$GC,7322,1.35,257.9,305.5,11.5,309,7326,0.00,2.55,0.00,0.000,4,0.000,0.031,3297,3404,1946,0,0,0,0,0,0
$GC,7343,1.35,257.9,302.8,11.6,309,7348,0.00,2.62,0.00,0.000,6,0.000,0.040,3297,1833,1944,0,0,0,0,0,0
$GC,7606,1.35,257.9,274.0,11.2,316,7611,0.00,2.53,0.00,0.000,4,0.000,0.035,3297,3405,1943,0,0,0,0,0,0
$GC,7648,1.39,257.9,269.4,11.2,317,7652,0.00,2.60,0.00,0.000,6,0.000,0.041,3297,1847,1943,0,0,0,0,0,0
$GC,7931,1.39,257.9,238.5,10.6,324,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1847,1942,0,0,0,0,0,0
$GC,8175,1.41,273.0,215.5,9.2,330,8194,0.00,2.60,13.80,0.703,4,0.000,0.030,3297,3405,1887,0,0,0,0,0,0
$GC,8207,1.41,273.0,212.4,10.2,330,8211,0.00,2.62,0.00,0.000,6,0.000,0.043,3297,1841,1886,0,0,0,0,0,0
$GC,8462,1.41,276.0,185.8,9.9,345,8475,0.00,0.00,4.18,0.495,6,0.000,0.000,3297,1841,1874,0,0,0,0,0,0
$GC,8733,1.41,276.0,158.3,10.6,370,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1841,1873,0,0,0,0,0,0
$GC,8998,1.41,276.0,130.1,10.4,395,9003,0.00,2.80,0.00,0.000,4,0.000,0.071,3298,233,1873,0,0,0,0,0,0
$GC,9038,1.37,276.0,125.1,11.6,398,9043,0.00,2.60,0.00,0.000,6,0.000,0.028,3297,1890,1871,0,0,0,0,0,0
$GC,9303,1.44,296.9,99.8,8.8,422,9328,0.00,2.90,19.40,0.626,4,0.000,0.068,3297,238,1788,0,0,0,0,0,0
$GC,9366,1.44,296.9,93.3,11.1,427,9371,0.00,2.60,0.00,0.000,6,0.000,0.022,3297,1871,1786,0,0,0,0,0,0
$GC,9635,1.52,305.7,67.6,9.5,451,9654,0.12,0.00,8.82,0.546,6,0.080,0.000,3333,1873,1753,0,0,0,0,0,0
$GC,9910,1.63,346.6,43.1,7.7,477,9952,0.00,2.50,36.38,0.580,4,0.000,0.027,3334,3408,1585,0,0,0,0,0,0
$GC,10007,1.75,346.6,33.7,11.4,484,10013,0.20,2.60,0.00,0.000,6,0.140,0.035,3387,1838,1582,0,0,0,0,0,0
$STATE,10247,end climb,SURFACE_DEPTH_REACHED
$STATE,10247,begin surface coast
$FINISH,0.4,1.014161
$STATE,10283,end surface coast,CONTROL_FINISHED_OK
$STATE,10283,begin surface
$SM_CCo,10307,60.12,0.539,0,0,1288,420.20
$SM_GC,0.96,0.00,0.00,60.12,0.000,0.000,0.539,480,1751,1288,-11.59,-0.54,420.20
$IRIDIUM_FIX,2241.69,-15751.94,200100,191927
$TT8_MAMPS,0.025311
$HUMID,56.89
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,19.60
$XPDR_PINGS,114
$24V_AH,23.3,70.015
$10V_AH,9.9,66.370
$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,27.650,130.225,415.150,60.125,0.000,59.498,71.122,344.225,28.500,0.000,14.881,1045.435,6747.566,541.768,1924.593,804.293,33.404,1260.158,0.000,1928.015,0.000,0.534,0.000
$DEVICE_MAMPS,250.042,103.545,922.701,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.549,300.491,407.053,776.352,1174.527,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,41587,521
$CAP_FILE_SIZE,113704,0
$CFSIZE,260165632,152805376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,223907,2249.836,-15754.384,59,1.3,59,10.1