version: 66.06
glider: 146
mission: 5
dive: 516
start: 10 28 110 3 17 27
data:
$ID,146
$MISSION,5
$DIVE,516
$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,-260016.39
$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,44
$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
$GPS1,025337,2256.260,-15752.200,37,1.5,37,10.1
$_CALLS,4
$_XMS_NAKs,15
$_XMS_TOUTs,2
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.7
$GPS2,031631,2256.213,-15752.332,9,1.4,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,-0.071
$KALMAN_X,-258763.8,317.0,35.8,289865.1,-686.4
$KALMAN_Y,-597869.7,369.2,-167.2,737735.3,-451.0
$MHEAD_RNG_PITCHd_Wd,97.5,22126,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.30,0.000,2,0.000,0.000,473,1738,3239,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.0,-4.5,10,127,11.62,2.62,-4.70,0.000,4,0.150,0.064,2691,210,3480,0,0,0,0,0,0
$GC,171,-1.27,-116.8,20.0,-15.6,19,179,0.10,2.45,0.00,0.000,6,0.110,0.016,2715,1785,3481,0,0,0,0,0,0
$GC,455,-1.18,-116.8,56.6,-12.9,49,464,0.12,0.00,0.00,0.000,6,0.123,0.000,2739,1787,3481,0,0,0,0,0,0
$GC,719,-1.24,-116.8,85.2,-10.1,74,723,0.00,2.67,0.00,0.000,4,0.000,0.061,2740,208,3482,0,0,0,0,0,0
$GC,766,-1.33,-116.8,89.9,-9.9,77,775,0.10,2.35,0.00,0.000,6,0.039,0.015,2698,1785,3482,0,0,0,0,0,0
$GC,1029,-1.33,-116.8,116.0,-9.1,102,1034,0.00,2.40,0.00,0.000,4,0.000,0.025,2698,3324,3482,0,0,0,0,0,0
$GC,1065,-1.33,-116.8,119.2,-9.1,104,1074,0.00,2.47,0.00,0.000,6,0.000,0.034,2697,1796,3482,0,0,0,0,0,0
$GC,1332,-1.33,-116.8,143.4,-9.7,129,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1794,3482,0,0,0,0,0,0
$GC,1599,-1.33,-116.8,169.2,-9.4,154,1603,0.00,2.40,0.00,0.000,4,0.000,0.025,2697,3328,3482,0,0,0,0,0,0
$GC,1616,-1.33,-116.8,171.3,-9.6,155,1620,0.00,2.47,0.00,0.000,6,0.000,0.034,2697,1783,3482,0,0,0,0,0,0
$GC,1878,-1.33,-116.8,196.9,-9.9,179,1883,0.00,2.72,0.00,0.000,4,0.000,0.070,2697,196,3482,0,0,0,0,0,0
$GC,1912,-1.33,-116.8,200.2,-11.1,181,1916,0.00,2.42,0.00,0.000,6,0.000,0.016,2697,1788,3482,0,0,0,0,0,0
$GC,2161,-1.33,-116.8,226.2,-10.0,187,2166,0.00,2.42,0.00,0.000,4,0.000,0.030,2697,3322,3481,0,0,0,0,0,0
$GC,2206,-1.39,-116.8,230.4,-9.4,188,2211,0.00,2.45,0.00,0.000,6,0.000,0.030,2697,1789,3481,0,0,0,0,0,0
$GC,2486,-1.39,-116.8,254.6,-8.4,195,2490,0.00,2.42,0.00,0.000,4,0.000,0.027,2697,3327,3480,0,0,0,0,0,0
$GC,2520,-1.45,-116.8,258.1,-9.4,195,2525,0.00,2.47,0.00,0.000,6,0.000,0.038,2697,1799,3480,0,0,0,0,0,0
$GC,2770,-1.45,-116.8,282.3,-9.9,202,2774,0.00,2.80,0.00,0.000,4,0.000,0.074,2697,196,3479,0,0,0,0,0,0
$GC,2798,-1.45,-116.8,285.3,-10.7,202,2802,0.00,2.47,0.00,0.000,6,0.000,0.024,2697,1788,3479,0,0,0,0,0,0
$GC,3048,-1.45,-116.8,309.7,-9.5,208,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1789,3477,0,0,0,0,0,0
$GC,3292,-1.49,-116.8,330.9,-8.6,214,3296,0.00,2.50,0.00,0.000,4,0.000,0.036,2697,3342,3476,0,0,0,0,0,0
$GC,3310,-1.54,-116.8,332.2,-8.1,214,3315,0.15,2.53,0.00,0.000,6,0.065,0.041,2650,1805,3476,0,0,0,0,0,0
$GC,3571,-1.49,-116.8,358.1,-10.1,221,3577,0.12,2.92,0.00,0.000,4,0.119,0.087,2676,188,3475,0,0,0,0,0,0
$GC,3599,-1.49,-116.8,361.2,-10.5,221,3603,0.00,2.53,0.00,0.000,6,0.000,0.023,2676,1787,3474,0,0,0,0,0,0
$GC,3851,-1.49,-116.8,385.8,-9.8,227,3855,0.00,2.55,0.00,0.000,4,0.000,0.044,2676,3352,3473,0,0,0,0,0,0
$GC,3912,-1.54,-116.8,392.0,-10.1,228,3916,0.00,2.55,0.00,0.000,6,0.000,0.047,2676,1816,3473,0,0,0,0,0,0
$GC,4172,-1.54,-116.8,416.0,-9.0,235,4177,0.00,2.97,0.00,0.000,4,0.000,0.096,2676,186,3471,0,0,0,0,0,0
$GC,4205,-1.54,-116.8,419.2,-10.0,235,4211,0.00,2.60,0.00,0.000,6,0.000,0.032,2676,1803,3471,0,0,0,0,0,0
$GC,4455,-1.54,-116.8,442.8,-9.5,242,4459,0.00,2.58,0.00,0.000,4,0.000,0.051,2676,3363,3469,0,0,0,0,0,0
$GC,4490,-1.59,-116.8,445.9,-9.5,242,4495,0.00,2.62,0.00,0.000,6,0.000,0.058,2676,1815,3469,0,0,0,0,0,0
$GC,4740,-1.59,-116.8,468.1,-8.9,249,4744,0.00,2.55,0.00,0.000,4,0.000,0.048,2676,3360,3467,0,0,0,0,0,0
$GC,4781,-1.64,-116.8,471.5,-8.8,250,4786,0.15,2.62,0.00,0.000,6,0.068,0.063,2631,1826,3467,0,0,0,0,0,0
$GC,5067,-1.58,-116.8,496.9,-9.0,257,5069,0.10,0.00,0.00,0.000,6,0.132,0.000,2652,1826,3465,0,0,0,0,0,0
$STATE,5103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5103,begin apogee
$GC,5108,-0.31,0.0,500.5,8.9,258,5209,1.27,0.00,97.18,0.923,6,0.089,0.000,2930,1826,3001,0,0,0,0,0,0
$STATE,5210,end apogee,CONTROL_FINISHED_OK
$STATE,5210,begin climb
$GC,5213,1.38,116.8,502.0,0.0,260,5327,1.55,3.10,102.38,0.902,4,0.041,0.110,3307,234,2523,0,0,0,0,0,0
$GC,5338,1.30,194.5,500.9,5.5,263,5416,0.12,2.62,68.95,0.887,6,0.135,0.031,3285,1812,2208,0,0,0,0,0,0
$GC,5659,1.26,206.9,472.5,9.3,271,5672,0.00,0.00,11.20,0.796,6,0.000,0.000,3285,1812,2157,0,0,0,0,0,0
$GC,5903,1.23,218.6,449.9,9.4,277,5922,0.00,2.80,11.57,0.802,4,0.000,0.056,3285,3409,2108,0,0,0,0,0,0
$GC,5992,1.23,218.6,440.9,10.5,279,5997,0.00,2.72,0.00,0.000,6,0.000,0.054,3285,1830,2106,0,0,0,0,0,0
$GC,6275,1.25,231.0,413.5,9.3,286,6289,0.00,0.00,11.98,0.798,6,0.000,0.000,3285,1830,2059,0,0,0,0,0,0
$GC,6519,1.25,234.3,389.4,9.9,292,6529,0.00,2.97,4.18,0.569,4,0.000,0.099,3284,229,2045,0,0,0,0,0,0
$GC,6542,1.20,234.3,387.0,11.2,292,6547,0.10,2.60,0.00,0.000,6,0.146,0.023,3265,1860,2045,0,0,0,0,0,0
$GC,6797,1.22,245.5,362.4,9.4,299,6816,0.00,2.60,11.62,0.779,4,0.000,0.041,3265,3401,1999,0,0,0,0,0,0
$GC,6845,1.29,245.5,357.6,10.1,300,6850,0.00,2.65,0.00,0.000,6,0.000,0.048,3265,1827,1998,0,0,0,0,0,0
$GC,7125,1.29,246.6,330.1,10.0,307,7129,0.00,2.85,0.00,0.000,4,0.000,0.081,3264,236,1996,0,0,0,0,0,0
$GC,7164,1.29,246.6,325.4,12.2,308,7168,0.00,2.55,0.00,0.000,6,0.000,0.024,3265,1831,1994,0,0,0,0,0,0
$GC,7447,1.33,246.6,296.0,10.4,315,7452,0.10,2.55,0.00,0.000,4,0.100,0.033,3290,3405,1994,0,0,0,0,0,0
$GC,7468,1.33,246.6,293.4,11.6,315,7473,0.00,2.65,0.00,0.000,6,0.000,0.042,3290,1818,1993,0,0,0,0,0,0
$GC,7724,1.33,247.0,266.5,10.0,322,7728,0.00,2.78,0.00,0.000,4,0.000,0.075,3290,238,1993,0,0,0,0,0,0
$GC,7765,1.26,247.0,262.3,11.2,323,7769,0.00,2.50,0.00,0.000,6,0.000,0.021,3290,1827,1991,0,0,0,0,0,0
$GC,8048,1.28,259.9,235.8,9.3,330,8067,0.00,2.60,13.50,0.719,4,0.000,0.035,3290,3387,1941,0,0,0,0,0,0
$GC,8102,1.35,263.5,230.3,9.8,331,8112,0.00,2.60,4.88,0.555,6,0.000,0.042,3290,1824,1926,0,0,0,0,0,0
$GC,8375,1.35,263.5,201.6,10.6,338,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1824,1923,0,0,0,0,0,0
$GC,8626,1.38,291.5,178.2,8.4,359,8660,0.00,2.88,26.00,0.699,4,0.000,0.075,3290,244,1811,0,0,0,0,0,0
$GC,8689,1.38,291.5,172.7,11.3,364,8694,0.00,2.53,0.00,0.000,6,0.000,0.021,3290,1830,1808,0,0,0,0,0,0
$GC,8952,1.43,291.5,144.6,11.1,388,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1831,1807,0,0,0,0,0,0
$GC,9207,1.48,297.0,118.6,9.7,412,9221,0.12,0.00,5.65,0.527,6,0.080,0.000,3325,1832,1789,0,0,0,0,0,0
$GC,9476,1.48,297.0,90.4,10.4,437,9480,0.00,2.53,0.00,0.000,4,0.000,0.029,3325,3396,1788,0,0,0,0,0,0
$GC,9509,1.48,297.0,87.0,10.6,439,9513,0.00,2.60,0.00,0.000,6,0.000,0.043,3325,1827,1787,0,0,0,0,0,0
$GC,9775,1.53,333.3,63.2,7.9,463,9817,0.00,2.83,32.83,0.601,4,0.000,0.062,3325,243,1640,0,0,0,0,0,0
$GC,9873,1.58,338.9,54.7,9.7,470,9888,0.00,2.50,6.22,0.488,6,0.000,0.021,3325,1830,1617,0,0,0,0,0,0
$GC,10144,1.67,343.9,29.9,9.8,495,10155,0.17,2.50,5.40,0.449,4,0.078,0.026,3372,3382,1598,0,0,0,0,0,0
$GC,10176,1.72,343.9,26.8,10.5,498,10185,0.00,2.62,0.00,0.000,6,0.000,0.039,3372,1819,1597,0,0,0,0,0,0
$STATE,10344,end climb,SURFACE_DEPTH_REACHED
$STATE,10344,begin surface coast
$FINISH,0.4,1.010015
$STATE,10389,end surface coast,CONTROL_FINISHED_OK
$STATE,10389,begin surface
$SM_CCo,10410,63.58,0.541,0,0,1287,420.20
$SM_GC,1.12,0.00,0.00,63.58,0.000,0.000,0.541,473,1760,1287,-11.62,-0.28,420.20
$IRIDIUM_FIX,2241.69,-15503.37,220100,030324
$TT8_MAMPS,0.026078
$HUMID,56.34
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,19.60
$XPDR_PINGS,110
$24V_AH,23.3,71.380
$10V_AH,9.8,67.606
$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,27.800,135.775,413.525,63.575,0.000,121.062,170.170,715.493,27.500,0.000,14.902,1073.150,6881.945,533.980,1989.709,1371.508,33.371,1295.182,0.000,1996.423,0.000,0.536,0.000
$DEVICE_MAMPS,150.332,128.856,923.468,540.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.284,310.073,411.687,788.317,1192.607,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,41462,528
$CAP_FILE_SIZE,128051,0
$CFSIZE,260165632,152190976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281010,061327,2255.914,-15751.378,42,1.7,43,10.1