version: 66.06
glider: 146
mission: 5
dive: 515
start: 10 27 110 23 59 31
data:
$ID,146
$MISSION,5
$DIVE,515
$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,-260000.86
$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,50
$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
$GPS1,234447,2256.933,-15753.309,10,99.0,29,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-64.7
$GPS2,235836,2256.887,-15753.258,32,1.8,46,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.219,-0.086
$KALMAN_X,-258299.4,254.3,201.1,287701.8,-158.0
$KALMAN_Y,-598326.2,789.6,279.3,738577.3,-671.7
$MHEAD_RNG_PITCHd_Wd,101.3,24139,-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,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-86.28,0.000,2,0.000,0.000,477,1753,3459,0,0,0,0,0,0
$GC,109,-1.38,-116.8,3.9,-7.1,11,127,11.75,2.53,-0.30,0.000,4,0.157,0.035,2689,3356,3478,0,0,0,0,0,0
$GC,178,-1.34,-116.8,21.8,-12.8,20,187,0.00,2.60,0.00,0.000,6,0.000,0.037,2689,1780,3480,0,0,0,0,0,0
$GC,465,-1.25,-116.8,62.9,-13.6,49,474,0.17,0.00,0.00,0.000,6,0.120,0.000,2724,1780,3480,0,0,0,0,0,0
$GC,726,-1.25,-116.8,90.7,-10.3,74,731,0.00,2.70,0.00,0.000,4,0.000,0.064,2724,183,3481,0,0,0,0,0,0
$GC,756,-1.25,-116.8,93.8,-11.0,76,761,0.00,2.45,0.00,0.000,6,0.000,0.021,2724,1794,3480,0,0,0,0,0,0
$GC,1022,-1.29,-116.8,116.2,-8.2,100,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1795,3481,0,0,0,0,0,0
$GC,1289,-1.35,-116.8,137.7,-7.7,125,1293,0.00,2.72,0.00,0.000,4,0.000,0.059,2724,186,3482,0,0,0,0,0,0
$GC,1308,-1.40,-116.8,139.5,-7.7,126,1313,0.12,2.38,0.00,0.000,6,0.071,0.023,2681,1754,3481,0,0,0,0,0,0
$GC,1571,-1.40,-116.8,164.2,-9.9,150,1575,0.00,2.45,0.00,0.000,4,0.000,0.033,2681,3314,3482,0,0,0,0,0,0
$GC,1617,-1.40,-116.8,169.1,-10.7,153,1626,0.00,2.53,0.00,0.000,6,0.000,0.030,2680,1765,3482,0,0,0,0,0,0
$GC,1883,-1.40,-116.8,197.4,-11.4,178,1887,0.00,2.45,0.00,0.000,4,0.000,0.025,2680,3313,3482,0,0,0,0,0,0
$GC,1904,-1.40,-116.8,200.6,-11.6,179,1910,0.00,2.47,0.00,0.000,6,0.000,0.032,2681,1775,3482,0,0,0,0,0,0
$GC,2156,-1.40,-116.8,229.1,-11.7,186,2160,0.00,2.47,0.00,0.000,4,0.000,0.028,2681,3317,3482,0,0,0,0,0,0
$GC,2177,-1.40,-116.8,231.7,-11.1,186,2181,0.00,2.45,0.00,0.000,6,0.000,0.031,2681,1791,3481,0,0,0,0,0,0
$GC,2433,-1.40,-116.8,259.8,-10.9,193,2437,0.00,2.42,0.00,0.000,4,0.000,0.028,2681,3311,3481,0,0,0,0,0,0
$GC,2450,-1.40,-116.8,261.6,-10.7,193,2454,0.00,2.42,0.00,0.000,6,0.000,0.031,2680,1800,3481,0,0,0,0,0,0
$GC,2710,-1.40,-116.8,285.9,-9.0,200,2715,0.00,2.83,0.00,0.000,4,0.000,0.075,2680,189,3480,0,0,0,0,0,0
$GC,2755,-1.40,-116.8,290.4,-10.4,201,2760,0.00,2.47,0.00,0.000,6,0.000,0.021,2680,1767,3480,0,0,0,0,0,0
$GC,3035,-1.40,-116.8,316.1,-9.4,208,3040,0.00,2.53,0.00,0.000,4,0.000,0.037,2680,3344,3479,0,0,0,0,0,0
$GC,3052,-1.40,-116.8,318.0,-10.0,208,3056,0.00,2.55,0.00,0.000,6,0.000,0.038,2680,1791,3479,0,0,0,0,0,0
$GC,3312,-1.40,-116.8,343.7,-9.8,215,3317,0.00,2.50,0.00,0.000,4,0.000,0.034,2680,3340,3478,0,0,0,0,0,0
$GC,3356,-1.45,-116.8,347.7,-9.5,216,3360,0.00,2.55,0.00,0.000,6,0.000,0.041,2680,1800,3477,0,0,0,0,0,0
$GC,3639,-1.45,-116.8,374.1,-9.1,223,3644,0.00,2.50,0.00,0.000,4,0.000,0.038,2680,3342,3476,0,0,0,0,0,0
$GC,3673,-1.49,-116.8,377.6,-10.3,223,3679,0.00,2.58,0.00,0.000,6,0.000,0.045,2680,1803,3476,0,0,0,0,0,0
$GC,3925,-1.49,-116.8,401.7,-10.0,230,3929,0.00,2.92,0.00,0.000,4,0.000,0.093,2680,186,3474,0,0,0,0,0,0
$GC,3946,-1.49,-116.8,404.3,-10.4,230,3950,0.00,2.58,0.00,0.000,6,0.000,0.028,2681,1801,3473,0,0,0,0,0,0
$GC,4201,-1.49,-116.8,431.5,-10.9,237,4205,0.00,2.58,0.00,0.000,4,0.000,0.054,2680,3354,3471,0,0,0,0,0,0
$GC,4223,-1.49,-116.8,434.0,-11.4,237,4228,0.00,2.65,0.00,0.000,6,0.000,0.054,2680,1802,3472,0,0,0,0,0,0
$GC,4478,-1.49,-116.8,461.3,-10.7,244,4482,0.00,2.55,0.00,0.000,4,0.000,0.042,2680,3348,3470,0,0,0,0,0,0
$GC,4493,-1.49,-116.8,463.1,-10.4,244,4498,0.00,2.62,0.00,0.000,6,0.000,0.059,2681,1810,3470,0,0,0,0,0,0
$GC,4757,-1.49,-116.8,488.2,-9.6,251,4761,0.00,2.55,0.00,0.000,4,0.000,0.046,2680,3345,3468,0,0,0,0,0,0
$GC,4779,-1.53,-116.8,490.4,-9.1,251,4783,0.00,2.65,0.00,0.000,6,0.000,0.061,2680,1813,3468,0,0,0,0,0,0
$STATE,4909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4909,begin apogee
$GC,4915,-0.31,0.0,502.2,8.8,255,5016,1.15,0.00,97.60,0.929,6,0.087,0.000,2932,1813,3000,0,0,0,0,0,0
$STATE,5017,end apogee,CONTROL_FINISHED_OK
$STATE,5017,begin climb
$GC,5021,1.38,116.8,504.4,0.0,257,5132,1.52,0.00,102.53,0.907,6,0.048,0.000,3307,1813,2524,0,0,0,0,0,0
$GC,5389,1.31,164.3,487.3,7.3,266,5433,0.00,0.00,42.03,0.885,6,0.000,0.000,3307,1813,2331,0,0,0,0,0,0
$GC,5674,1.23,171.4,460.9,9.6,273,5689,0.20,2.75,6.65,0.714,4,0.117,0.048,3268,3400,2302,0,0,0,0,0,0
$GC,5786,1.24,180.9,450.6,9.5,275,5801,0.00,2.72,10.32,0.789,6,0.000,0.056,3268,1827,2263,0,0,0,0,0,0
$GC,6047,1.25,192.8,426.3,9.4,281,6066,0.00,3.10,11.57,0.801,4,0.000,0.104,3267,232,2214,0,0,0,0,0,0
$GC,6079,1.20,192.8,422.6,10.8,281,6083,0.00,2.58,0.00,0.000,6,0.000,0.024,3267,1816,2212,0,0,0,0,0,0
$GC,6328,1.22,206.9,399.3,9.2,287,6348,0.00,2.70,13.80,0.808,4,0.000,0.048,3267,3419,2157,0,0,0,0,0,0
$GC,6374,1.22,212.6,395.2,9.7,288,6388,0.00,2.75,6.70,0.698,6,0.000,0.052,3267,1817,2133,0,0,0,0,0,0
$GC,6662,1.25,237.0,369.9,8.6,295,6687,0.00,0.00,23.33,0.826,6,0.000,0.000,3267,1817,2034,0,0,0,0,0,0
$GC,6908,1.27,251.2,347.3,9.2,301,6927,0.00,2.67,13.70,0.781,4,0.000,0.036,3267,3408,1977,0,0,0,0,0,0
$GC,6972,1.34,254.8,340.9,9.8,302,6983,0.10,2.67,4.93,0.604,6,0.103,0.044,3293,1819,1961,0,0,0,0,0,0
$GC,7233,1.34,254.8,313.1,10.8,309,7238,0.00,2.83,0.00,0.000,4,0.000,0.082,3292,237,1959,0,0,0,0,0,0
$GC,7262,1.28,254.8,309.8,12.3,309,7267,0.00,2.55,0.00,0.000,6,0.000,0.021,3293,1829,1957,0,0,0,0,0,0
$GC,7512,1.28,254.8,282.1,11.0,315,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1831,1957,0,0,0,0,0,0
$GC,7755,1.28,254.8,256.6,10.3,321,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1831,1956,0,0,0,0,0,0
$GC,8001,1.28,259.5,232.9,9.8,327,8011,0.00,2.58,4.70,0.557,4,0.000,0.038,3293,3405,1943,0,0,0,0,0,0
$GC,8022,1.30,270.4,230.7,9.4,327,8041,0.00,2.65,11.75,0.702,6,0.000,0.040,3293,1791,1897,0,0,0,0,0,0
$GC,8325,1.30,277.5,201.1,9.6,335,8339,0.00,2.67,7.62,0.637,4,0.000,0.033,3293,3392,1868,0,0,0,0,0,0
$GC,8354,1.37,295.7,198.6,9.0,335,8383,0.00,2.65,17.62,0.699,6,0.000,0.038,3293,1802,1795,0,0,0,0,0,0
$GC,8639,1.42,304.3,171.6,9.5,361,8653,0.00,2.80,8.50,0.624,4,0.000,0.070,3294,244,1760,0,0,0,0,0,0
$GC,8676,1.42,304.3,167.9,10.4,364,8681,0.00,2.50,0.00,0.000,6,0.000,0.025,3293,1817,1759,0,0,0,0,0,0
$GC,8939,1.46,304.3,139.9,10.3,388,8944,0.10,2.58,0.00,0.000,4,0.097,0.036,3321,3397,1758,0,0,0,0,0,0
$GC,8964,1.51,304.3,137.0,10.9,389,8970,0.00,2.62,0.00,0.000,6,0.000,0.036,3321,1809,1757,0,0,0,0,0,0
$GC,9225,1.51,304.3,108.1,11.5,414,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1809,1757,0,0,0,0,0,0
$GC,9482,1.51,307.4,80.6,9.9,438,9493,0.00,0.00,3.72,0.404,6,0.000,0.000,3321,1809,1748,0,0,0,0,0,0
$GC,9752,1.58,327.9,54.8,8.9,463,9778,0.10,2.80,19.95,0.586,4,0.095,0.063,3349,243,1663,0,0,0,0,0,0
$GC,9816,1.54,333.5,48.9,9.7,468,9831,0.00,2.47,6.35,0.488,6,0.000,0.020,3348,1805,1640,0,0,0,0,0,0
$GC,10110,1.54,333.5,17.3,11.1,501,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1806,1638,0,0,0,0,0,0
$STATE,10228,end climb,SURFACE_DEPTH_REACHED
$STATE,10228,begin surface coast
$FINISH,0.4,1.023492
$STATE,10274,end surface coast,CONTROL_FINISHED_OK
$STATE,10274,begin surface
$SM_CCo,10296,71.85,0.544,0,0,1286,420.20
$SM_GC,1.08,0.00,0.00,71.85,0.000,0.000,0.544,474,1738,1286,-11.62,-0.90,420.20
$IRIDIUM_FIX,2248.70,-15755.40,220100,000053
$TT8_MAMPS,0.026078
$HUMID,55.98
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,19.50
$XPDR_PINGS,110
$24V_AH,23.3,71.214
$10V_AH,9.9,67.477
$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,26.975,130.375,413.375,71.850,0.000,78.292,109.578,315.813,27.500,0.000,47.495,1053.162,6759.566,557.912,1974.404,852.090,33.367,1292.856,0.000,1955.814,0.000,0.534,0.000
$DEVICE_MAMPS,157.235,115.050,928.837,543.803,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.813,312.183,411.720,782.777,1184.111,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,41594,524
$CAP_FILE_SIZE,114155,0
$CFSIZE,260165632,152268800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281010,025337,2256.260,-15752.200,37,1.5,37,10.1