version: 66.06
glider: 146
mission: 5
dive: 513
start: 10 27 110 17 44 17
data:
$ID,146
$MISSION,5
$DIVE,513
$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,-259920.2
$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,34
$R_STBD_OVSHOOT,55
$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
$GPS1,173536,2257.837,-15755.100,26,1.1,26,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-64.3
$GPS2,174324,2257.883,-15755.156,19,1.2,21,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.129,-0.196
$KALMAN_X,-257789.8,-301.0,-260.2,284943.8,365.5
$KALMAN_Y,-599343.0,341.9,-147.1,742310.1,753.3
$MHEAD_RNG_PITCHd_Wd,136.5,27839,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.75,0.000,2,0.000,0.000,476,1751,3239,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.6,-6.9,10,127,11.50,2.70,-4.47,0.000,4,0.146,0.066,2690,199,3480,0,0,0,0,0,0
$GC,191,-1.28,-116.8,26.4,-19.4,22,201,0.10,2.47,0.00,0.000,6,0.100,0.017,2715,1776,3481,0,0,0,0,0,0
$GC,465,-1.28,-116.8,62.9,-11.0,48,470,0.00,2.45,0.00,0.000,4,0.000,0.025,2715,3337,3482,0,0,0,0,0,0
$GC,488,-1.28,-116.8,66.3,-10.8,49,498,0.00,2.55,0.00,0.000,6,0.000,0.029,2715,1776,3483,0,0,0,0,0,0
$GC,752,-1.28,-116.8,91.2,-9.9,74,756,0.00,2.67,0.00,0.000,4,0.000,0.058,2715,194,3484,0,0,0,0,0,0
$GC,787,-1.28,-116.8,95.0,-10.1,76,798,0.00,2.42,0.00,0.000,6,0.000,0.017,2715,1777,3483,0,0,0,0,0,0
$GC,1054,-1.28,-116.8,119.1,-8.6,101,1059,0.00,2.67,0.00,0.000,4,0.000,0.062,2715,194,3485,0,0,0,0,0,0
$GC,1120,-1.32,-116.8,125.7,-10.0,106,1124,0.00,2.33,0.00,0.000,6,0.000,0.019,2715,1724,3485,0,0,0,0,0,0
$GC,1386,-1.32,-116.8,151.1,-10.4,130,1391,0.00,2.53,0.00,0.000,4,0.000,0.033,2715,3327,3486,0,0,0,0,0,0
$GC,1432,-1.41,-116.8,155.8,-10.3,133,1436,0.00,2.58,0.00,0.000,6,0.000,0.035,2715,1734,3485,0,0,0,0,0,0
$GC,1698,-1.45,-116.8,183.7,-10.1,157,1704,0.12,2.65,0.00,0.000,4,0.075,0.070,2672,190,3486,0,0,0,0,0,0
$GC,1715,-1.45,-116.8,186.4,-10.8,158,1719,0.00,2.35,0.00,0.000,6,0.000,0.018,2672,1737,3486,0,0,0,0,0,0
$GC,1998,-1.40,-116.8,218.5,-11.3,173,2003,0.10,2.53,0.00,0.000,4,0.126,0.028,2692,3323,3485,0,0,0,0,0,0
$GC,2031,-1.40,-116.8,221.9,-8.9,173,2036,0.00,2.58,0.00,0.000,6,0.000,0.034,2692,1735,3485,0,0,0,0,0,0
$GC,2282,-1.40,-116.8,244.5,-9.0,180,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1735,3485,0,0,0,0,0,0
$GC,2525,-1.40,-116.8,268.5,-9.9,186,2529,0.00,2.53,0.00,0.000,4,0.000,0.034,2692,3328,3485,0,0,0,0,0,0
$GC,2546,-1.40,-116.8,270.9,-10.7,186,2550,0.00,2.58,0.00,0.000,6,0.000,0.036,2692,1742,3485,0,0,0,0,0,0
$GC,2801,-1.40,-116.8,296.9,-10.3,193,2805,0.00,2.53,0.00,0.000,4,0.000,0.031,2692,3324,3484,0,0,0,0,0,0
$GC,2818,-1.40,-116.8,298.5,-10.2,193,2822,0.00,2.60,0.00,0.000,6,0.000,0.035,2692,1743,3484,0,0,0,0,0,0
$GC,3079,-1.40,-116.8,323.5,-9.5,200,3083,0.00,2.53,0.00,0.000,4,0.000,0.032,2692,3316,3483,0,0,0,0,0,0
$GC,3118,-1.49,-116.8,327.0,-8.6,201,3123,0.00,2.58,0.00,0.000,6,0.000,0.039,2692,1761,3483,0,0,0,0,0,0
$GC,3404,-1.49,-116.8,348.2,-7.1,208,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1761,3482,0,0,0,0,0,0
$GC,3646,-1.53,-116.8,367.3,-8.0,214,3651,0.10,2.53,0.00,0.000,4,0.090,0.038,2659,3319,3481,0,0,0,0,0,0
$GC,3668,-1.53,-116.8,369.4,-9.1,214,3672,0.00,2.62,0.00,0.000,6,0.000,0.047,2659,1762,3480,0,0,0,0,0,0
$GC,3924,-1.53,-116.8,394.9,-10.3,221,3929,0.00,2.88,0.00,0.000,4,0.000,0.095,2659,186,3479,0,0,0,0,0,0
$GC,3957,-1.53,-116.8,398.9,-11.8,221,3963,0.00,2.45,0.00,0.000,6,0.000,0.024,2659,1728,3479,0,0,0,0,0,0
$GC,4207,-1.53,-116.8,426.3,-11.1,228,4211,0.00,2.67,0.00,0.000,4,0.000,0.048,2659,3352,3478,0,0,0,0,0,0
$GC,4258,-1.56,-116.8,431.7,-10.3,229,4263,0.00,2.70,0.00,0.000,6,0.000,0.055,2659,1773,3478,0,0,0,0,0,0
$GC,4529,-1.56,-116.8,460.2,-10.5,236,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1773,3476,0,0,0,0,0,0
$GC,4774,-1.56,-116.8,484.6,-9.9,242,4778,0.00,2.60,0.00,0.000,4,0.000,0.047,2659,3344,3475,0,0,0,0,0,0
$GC,4797,-1.56,-116.8,486.8,-9.8,242,4801,0.00,2.70,0.00,0.000,6,0.000,0.064,2658,1783,3475,0,0,0,0,0,0
$STATE,4968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4968,begin apogee
$GC,4973,-0.31,0.0,502.9,9.3,247,5077,1.23,0.00,99.57,0.924,6,0.088,0.000,2928,1783,3001,0,0,0,0,0,0
$STATE,5077,end apogee,CONTROL_FINISHED_OK
$STATE,5077,begin climb
$GC,5080,1.38,116.8,504.8,0.0,249,5188,1.58,0.00,104.35,0.904,6,0.044,0.000,3307,1783,2524,0,0,0,0,0,0
$GC,5416,1.30,153.9,487.7,7.9,258,5454,0.12,0.00,33.15,0.877,6,0.130,0.000,3284,1783,2373,0,0,0,0,0,0
$GC,5698,1.29,189.1,465.2,8.0,265,5740,0.00,2.83,32.17,0.872,4,0.000,0.049,3284,3393,2228,0,0,0,0,0,0
$GC,5823,1.30,199.1,453.8,9.5,267,5838,0.00,2.78,10.05,0.779,6,0.000,0.063,3284,1810,2189,0,0,0,0,0,0
$GC,6113,1.30,200.9,425.9,9.9,275,6118,0.00,2.62,0.00,0.000,4,0.000,0.042,3284,3398,2184,0,0,0,0,0,0
$GC,6141,1.31,205.6,422.9,9.8,275,6155,0.00,2.72,6.85,0.716,6,0.000,0.057,3284,1816,2162,0,0,0,0,0,0
$GC,6441,1.32,217.1,394.5,9.4,283,6460,0.00,2.70,11.60,0.790,4,0.000,0.035,3284,3404,2114,0,0,0,0,0,0
$GC,6494,1.32,217.1,389.0,10.5,284,6498,0.00,2.70,0.00,0.000,6,0.000,0.055,3284,1828,2113,0,0,0,0,0,0
$GC,6768,1.33,229.6,362.9,9.3,291,6788,0.00,2.97,12.18,0.780,4,0.000,0.087,3284,236,2064,0,0,0,0,0,0
$GC,6812,1.26,229.6,358.1,11.1,292,6817,0.00,2.55,0.00,0.000,6,0.000,0.025,3284,1819,2063,0,0,0,0,0,0
$GC,7099,1.27,235.5,330.3,9.7,299,7112,0.00,2.67,6.62,0.683,4,0.000,0.041,3284,3402,2040,0,0,0,0,0,0
$GC,7204,1.31,235.5,319.0,10.6,301,7209,0.00,2.65,0.00,0.000,6,0.000,0.043,3284,1830,2038,0,0,0,0,0,0
$GC,7470,1.31,235.5,291.8,10.2,308,7474,0.00,2.58,0.00,0.000,4,0.000,0.035,3284,3407,2037,0,0,0,0,0,0
$GC,7493,1.31,235.5,289.4,10.4,308,7497,0.00,2.62,0.00,0.000,6,0.000,0.045,3284,1837,2037,0,0,0,0,0,0
$GC,7750,1.32,245.6,264.7,9.5,315,7762,0.00,0.00,10.48,0.717,6,0.000,0.000,3284,1838,1998,0,0,0,0,0,0
$GC,7991,1.36,275.3,243.6,8.3,321,8022,0.00,0.00,28.50,0.751,6,0.000,0.000,3284,1837,1878,0,0,0,0,0,0
$GC,8237,1.43,292.3,221.8,9.1,327,8261,0.10,2.85,15.85,0.709,4,0.099,0.077,3311,240,1808,0,0,0,0,0,0
$GC,8279,1.36,292.3,217.2,11.4,328,8284,0.00,2.60,0.00,0.000,6,0.000,0.022,3311,1857,1807,0,0,0,0,0,0
$GC,8536,1.36,292.3,190.1,10.9,338,8540,0.00,2.47,0.00,0.000,4,0.000,0.037,3311,3399,1804,0,0,0,0,0,0
$GC,8569,1.36,292.3,185.8,11.6,340,8575,0.00,2.58,0.00,0.000,6,0.000,0.042,3311,1845,1803,0,0,0,0,0,0
$GC,8832,1.36,292.3,156.9,10.9,365,8836,0.00,2.80,0.00,0.000,4,0.000,0.073,3311,236,1803,0,0,0,0,0,0
$GC,8865,1.31,292.3,153.4,12.2,367,8871,0.12,2.58,0.00,0.000,6,0.127,0.027,3287,1861,1801,0,0,0,0,0,0
$GC,9131,1.40,311.0,127.2,9.0,391,9155,0.00,2.85,16.70,0.641,4,0.000,0.062,3287,241,1733,0,0,0,0,0,0
$GC,9216,1.40,311.0,118.3,10.6,398,9220,0.00,2.53,0.00,0.000,6,0.000,0.025,3287,1832,1731,0,0,0,0,0,0
$GC,9479,1.50,321.1,94.1,9.5,422,9497,0.17,2.83,10.68,0.584,4,0.066,0.064,3334,247,1690,0,0,0,0,0,0
$GC,9593,1.45,321.1,81.1,12.1,431,9597,0.00,2.45,0.00,0.000,6,0.000,0.020,3334,1801,1688,0,0,0,0,0,0
$GC,9860,1.54,363.7,54.9,7.6,455,9903,0.00,2.65,37.38,0.588,4,0.000,0.031,3334,3383,1517,0,0,0,0,0,0
$GC,9970,1.68,367.8,45.4,9.8,463,9985,0.15,2.62,5.00,0.438,6,0.119,0.037,3375,1808,1501,0,0,0,0,0,0
$GC,10275,1.62,367.8,10.4,11.3,500,10285,0.10,2.75,0.00,0.000,4,0.133,0.062,3355,238,1498,0,0,0,0,0,0
$GC,10309,1.59,367.8,5.4,13.5,504,10319,0.00,2.50,0.00,0.000,6,0.000,0.021,3355,1810,1497,0,0,0,0,0,0
$STATE,10326,end climb,SURFACE_DEPTH_REACHED
$STATE,10326,begin surface coast
$FINISH,0.4,1.023686
$STATE,10369,end surface coast,CONTROL_FINISHED_OK
$STATE,10369,begin surface
$SM_CCo,10393,43.75,0.535,0,0,1288,420.20
$SM_GC,0.92,0.00,0.00,43.75,0.000,0.000,0.535,477,1751,1288,-11.61,-0.54,420.20
$IRIDIUM_FIX,2248.70,-15755.40,210100,141449
$TT8_MAMPS,0.026078
$HUMID,55.82
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,19.90
$XPDR_PINGS,134
$24V_AH,23.3,70.948
$10V_AH,9.9,67.231
$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,27.325,141.475,441.125,43.750,0.000,28.349,35.339,237.187,33.500,0.000,22.480,1047.703,6731.088,578.012,1909.258,636.406,33.378,1310.181,0.000,1909.984,0.000,0.533,0.000
$DEVICE_MAMPS,146.497,122.720,924.235,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.999,290.908,390.723,749.276,1134.490,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,41425,512
$CAP_FILE_SIZE,112585,0
$CFSIZE,260165632,152387584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271010,203936,2257.656,-15754.337,35,1.9,41,10.1