version: 66.06
glider: 146
mission: 5
dive: 518
start: 10 28 110 9 57 28
data:
$ID,146
$MISSION,5
$DIVE,518
$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,619.13721
$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,-260065.84
$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,24
$R_STBD_OVSHOOT,48
$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
$GPS1,092706,2255.743,-15750.698,83,1.0,83,10.1
$_CALLS,5
$_XMS_NAKs,29
$_XMS_TOUTs,3
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-62.6
$GPS2,095634,2256.047,-15750.816,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.158,-0.174
$KALMAN_X,-259470.7,-170.8,-117.5,293821.1,-86.6
$KALMAN_Y,-595877.3,-455.0,525.4,735557.9,459.0
$MHEAD_RNG_PITCHd_Wd,127.7,19921,-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,-116.8,0.0,0.0,0,105,0.00,0.00,-86.28,0.000,3,0.000,0.000,475,1755,3479,0,0,0,0,0,0
$GC,109,-1.38,-116.8,3.9,-7.4,11,126,11.55,2.65,0.00,0.000,4,0.149,0.058,2688,189,3481,0,0,0,0,0,0
$GC,196,-1.29,-116.8,27.2,-17.3,23,206,0.10,2.47,0.00,0.000,6,0.105,0.016,2712,1781,3481,0,0,0,0,0,0
$GC,475,-1.22,-116.8,65.2,-12.8,49,480,0.10,2.47,0.00,0.000,4,0.138,0.025,2731,3335,3481,0,0,0,0,0,0
$GC,497,-1.22,-116.8,67.8,-10.1,50,502,0.00,2.53,0.00,0.000,6,0.000,0.029,2731,1773,3481,0,0,0,0,0,0
$GC,760,-1.28,-116.8,89.8,-9.8,74,765,0.00,2.67,0.00,0.000,4,0.000,0.064,2731,196,3482,0,0,0,0,0,0
$GC,783,-1.34,-116.8,91.8,-9.8,75,787,0.00,2.45,0.00,0.000,6,0.000,0.021,2731,1809,3481,0,0,0,0,0,0
$GC,1050,-1.40,-116.8,115.2,-8.6,99,1055,0.15,2.38,0.00,0.000,4,0.064,0.026,2682,3319,3482,0,0,0,0,0,0
$GC,1083,-1.40,-116.8,118.5,-10.3,101,1088,0.00,2.45,0.00,0.000,6,0.000,0.031,2682,1790,3482,0,0,0,0,0,0
$GC,1350,-1.40,-116.8,146.7,-9.9,125,1354,0.00,2.40,0.00,0.000,4,0.000,0.025,2682,3322,3483,0,0,0,0,0,0
$GC,1385,-1.40,-116.8,150.6,-9.6,127,1391,0.00,2.42,0.00,0.000,6,0.000,0.029,2682,1806,3482,0,0,0,0,0,0
$GC,1648,-1.40,-116.8,175.9,-9.5,152,1653,0.00,2.75,0.00,0.000,4,0.000,0.064,2681,192,3482,0,0,0,0,0,0
$GC,1693,-1.40,-116.8,180.8,-9.8,155,1699,0.00,2.45,0.00,0.000,6,0.000,0.023,2681,1801,3481,0,0,0,0,0,0
$GC,1984,-1.40,-116.8,208.7,-9.6,177,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1804,3481,0,0,0,0,0,0
$GC,2226,-1.40,-116.8,231.0,-9.1,183,2231,0.00,2.75,0.00,0.000,4,0.000,0.064,2681,199,3480,0,0,0,0,0,0
$GC,2242,-1.40,-116.8,232.8,-9.8,183,2246,0.00,2.45,0.00,0.000,6,0.000,0.023,2681,1799,3480,0,0,0,0,0,0
$GC,2504,-1.40,-116.8,258.1,-10.0,190,2509,0.00,2.40,0.00,0.000,4,0.000,0.035,2681,3330,3479,0,0,0,0,0,0
$GC,2538,-1.45,-116.8,261.8,-10.0,190,2544,0.00,2.45,0.00,0.000,6,0.000,0.030,2682,1808,3479,0,0,0,0,0,0
$GC,2788,-1.45,-116.8,284.7,-8.9,197,2792,0.00,2.40,0.00,0.000,4,0.000,0.031,2681,3326,3478,0,0,0,0,0,0
$GC,2817,-1.45,-116.8,287.1,-8.4,197,2821,0.00,2.47,0.00,0.000,6,0.000,0.039,2681,1810,3478,0,0,0,0,0,0
$GC,3067,-1.45,-116.8,308.3,-8.5,203,3071,0.00,2.88,0.00,0.000,4,0.000,0.081,2681,186,3476,0,0,0,0,0,0
$GC,3082,-1.45,-116.8,309.9,-8.7,203,3087,0.00,2.53,0.00,0.000,6,0.000,0.020,2681,1792,3476,0,0,0,0,0,0
$GC,3345,-1.45,-116.8,334.2,-9.4,210,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1792,3475,0,0,0,0,0,0
$GC,3587,-1.45,-116.8,356.5,-9.0,216,3591,0.00,2.53,0.00,0.000,4,0.000,0.045,2681,3343,3473,0,0,0,0,0,0
$GC,3648,-1.51,-116.8,362.1,-9.2,217,3652,0.00,2.53,0.00,0.000,6,0.000,0.047,2681,1810,3472,0,0,0,0,0,0
$GC,3910,-1.51,-116.8,384.9,-8.9,224,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1810,3470,0,0,0,0,0,0
$GC,4152,-1.51,-116.8,407.2,-9.1,230,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1810,3468,0,0,0,0,0,0
$GC,4396,-1.51,-116.8,428.4,-8.4,236,4400,0.00,2.50,0.00,0.000,4,0.000,0.040,2682,3339,3467,0,0,0,0,0,0
$GC,4419,-1.55,-116.8,430.3,-8.4,236,4424,0.00,2.62,0.00,0.000,6,0.000,0.054,2681,1801,3467,0,0,0,0,0,0
$GC,4675,-1.55,-116.8,454.0,-9.4,243,4679,0.00,2.55,0.00,0.000,4,0.000,0.044,2681,3346,3465,0,0,0,0,0,0
$GC,4702,-1.60,-116.8,456.7,-9.6,243,4707,0.12,2.62,0.00,0.000,6,0.077,0.061,2642,1815,3465,0,0,0,0,0,0
$GC,4954,-1.56,-116.8,482.3,-10.2,249,4958,0.00,2.53,0.00,0.000,4,0.000,0.051,2642,3341,3463,0,0,0,0,0,0
$GC,4969,-1.56,-116.8,484.2,-9.9,249,4974,0.00,2.60,0.00,0.000,6,0.000,0.064,2642,1822,3463,0,0,0,0,0,0
$STATE,5147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5147,begin apogee
$GC,5152,-0.31,0.0,502.1,10.0,254,5253,1.33,0.00,97.18,0.932,6,0.088,0.000,2932,1821,3001,0,0,0,0,0,0
$STATE,5254,end apogee,CONTROL_FINISHED_OK
$STATE,5254,begin climb
$GC,5258,1.38,116.8,504.7,0.0,256,5371,1.55,2.72,102.50,0.909,4,0.038,0.051,3308,3386,2523,0,0,0,0,0,0
$GC,5377,1.38,218.1,505.8,4.2,259,5476,0.00,2.75,89.25,0.895,6,0.000,0.065,3308,1822,2111,0,0,0,0,0,0
$GC,5754,1.29,218.1,464.9,12.0,269,5756,0.12,0.00,0.00,0.000,6,0.131,0.000,3285,1821,2101,0,0,0,0,0,0
$GC,6000,1.26,218.1,437.8,11.0,275,6004,0.00,2.60,0.00,0.000,4,0.000,0.038,3285,3387,2099,0,0,0,0,0,0
$GC,6032,1.26,218.1,433.6,11.8,275,6040,0.00,2.67,0.00,0.000,6,0.000,0.054,3285,1824,2098,0,0,0,0,0,0
$GC,6282,1.26,218.1,406.5,10.7,282,6286,0.00,2.55,0.00,0.000,4,0.000,0.035,3285,3396,2096,0,0,0,0,0,0
$GC,6309,1.28,236.6,403.9,9.0,282,6330,0.00,2.65,15.52,0.816,6,0.000,0.052,3285,1829,2036,0,0,0,0,0,0
$GC,6604,1.28,236.6,373.1,10.6,290,6609,0.00,2.90,0.00,0.000,4,0.000,0.094,3285,227,2031,0,0,0,0,0,0
$GC,6648,1.19,236.6,367.3,12.9,291,6653,0.12,2.55,0.00,0.000,6,0.133,0.026,3262,1822,2030,0,0,0,0,0,0
$GC,6929,1.21,254.0,341.2,9.0,298,6952,0.00,2.60,16.45,0.796,4,0.000,0.037,3261,3397,1965,0,0,0,0,0,0
$GC,6965,1.30,276.1,337.7,8.8,298,6994,0.00,2.67,21.77,0.796,6,0.000,0.048,3261,1819,1875,0,0,0,0,0,0
$GC,7260,1.35,279.2,309.5,9.9,306,7265,0.15,2.85,0.00,0.000,4,0.075,0.085,3301,236,1869,0,0,0,0,0,0
$GC,7321,1.28,279.2,300.7,14.0,307,7326,0.12,2.53,0.00,0.000,6,0.130,0.021,3277,1820,1868,0,0,0,0,0,0
$GC,7582,1.28,279.2,273.4,10.4,314,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1822,1866,0,0,0,0,0,0
$GC,7828,1.33,287.3,249.6,9.6,320,7840,0.00,0.00,10.12,0.700,6,0.000,0.000,3277,1822,1829,0,0,0,0,0,0
$GC,8070,1.40,299.1,227.1,9.4,326,8085,0.12,0.00,12.10,0.700,6,0.086,0.000,3310,1822,1781,0,0,0,0,0,0
$GC,8313,1.40,299.1,200.7,10.8,332,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1822,1777,0,0,0,0,0,0
$GC,8568,1.40,301.8,174.5,9.9,353,8573,0.00,2.78,0.00,0.000,4,0.000,0.071,3310,233,1777,0,0,0,0,0,0
$GC,8602,1.36,301.8,171.1,11.8,355,8607,0.00,2.50,0.00,0.000,6,0.000,0.022,3310,1810,1775,0,0,0,0,0,0
$GC,8870,1.36,301.8,142.9,11.1,379,8875,0.00,2.55,0.00,0.000,4,0.000,0.031,3310,3394,1775,0,0,0,0,0,0
$GC,8892,1.39,301.8,139.6,11.5,380,8901,0.00,2.67,0.00,0.000,6,0.000,0.044,3310,1794,1774,0,0,0,0,0,0
$GC,9160,1.39,301.8,109.7,11.1,405,9165,0.00,2.58,0.00,0.000,4,0.000,0.029,3310,3393,1774,0,0,0,0,0,0
$GC,9216,1.48,301.8,103.5,10.6,409,9220,0.00,2.60,0.00,0.000,6,0.000,0.043,3310,1819,1774,0,0,0,0,0,0
$GC,9482,1.52,301.8,77.7,10.8,433,9487,0.00,2.72,0.00,0.000,4,0.000,0.067,3310,241,1774,0,0,0,0,0,0
$GC,9555,1.55,328.3,70.5,8.5,438,9587,0.12,2.47,26.25,0.604,6,0.080,0.021,3343,1824,1661,0,0,0,0,0,0
$GC,9851,1.70,409.2,46.2,5.4,464,9933,0.12,2.58,70.47,0.582,4,0.081,0.028,3378,3375,1331,0,0,0,0,0,0
$GC,9952,1.75,445.7,40.2,7.9,471,9993,0.00,2.62,32.03,0.555,6,0.000,0.039,3378,1812,1182,0,0,0,0,0,0
$STATE,10210,end climb,SURFACE_DEPTH_REACHED
$STATE,10211,begin surface coast
$FINISH,0.5,1.001667
$STATE,10253,end surface coast,CONTROL_FINISHED_OK
$STATE,10254,begin surface
$SM_CCo,10275,138.05,0.525,0,0,476,619.14
$SM_GC,0.86,0.00,0.00,138.05,0.000,0.000,0.525,471,1749,476,-11.63,-0.59,619.14
$IRIDIUM_FIX,2248.70,-15753.23,220100,090937
$TT8_MAMPS,0.026078
$HUMID,54.60
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,20.00
$XPDR_PINGS,91
$24V_AH,23.3,71.745
$10V_AH,9.9,67.863
$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,27.725,129.100,493.650,138.050,0.000,125.227,180.296,1010.195,22.750,0.000,31.926,1024.340,6940.237,640.662,1896.335,1680.411,33.375,1388.729,0.000,1884.206,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,124.254,931.905,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.298,304.774,394.100,750.900,1134.555,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,41705,511
$CAP_FILE_SIZE,131425,0
$CFSIZE,260165632,152059904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281010,125237,2255.728,-15750.117,53,1.0,53,10.1