version: 66.06
glider: 146
mission: 5
dive: 523
start: 10 29 110 1 59 0
data:
$ID,146
$MISSION,5
$DIVE,523
$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,-260212.59
$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,39
$R_STBD_OVSHOOT,54
$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
$GPS1,014247,2254.865,-15747.215,9,99.0,28,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.5
$GPS2,015807,2254.964,-15747.260,28,1.6,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.188,-0.140
$KALMAN_X,-260204.2,468.4,111.3,299808.8,-318.4
$KALMAN_Y,-589453.2,650.1,510.3,726043.6,-505.8
$MHEAD_RNG_PITCHd_Wd,116.5,14234,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,138,0.00,0.00,-116.78,0.000,6,0.000,0.000,476,1749,3478,0,0,0,0,0,0
$GC,142,-1.38,-116.8,4.4,-9.2,15,159,11.75,2.58,0.00,0.000,4,0.156,0.048,2691,203,3481,0,0,0,0,0,0
$GC,244,-1.27,-116.8,28.4,-16.2,29,254,0.12,2.45,0.00,0.000,6,0.105,0.017,2720,1768,3480,0,0,0,0,0,0
$GC,511,-1.21,-116.8,62.6,-11.2,54,515,0.00,2.47,0.00,0.000,4,0.000,0.025,2720,3346,3481,0,0,0,0,0,0
$GC,558,-1.21,-116.8,67.4,-10.1,57,562,0.00,2.47,0.00,0.000,6,0.000,0.027,2721,1796,3481,0,0,0,0,0,0
$GC,825,-1.21,-116.8,92.9,-9.3,81,829,0.00,2.70,0.00,0.000,4,0.000,0.063,2720,193,3481,0,0,0,0,0,0
$GC,866,-1.25,-116.8,97.5,-10.5,84,871,0.00,2.45,0.00,0.000,6,0.000,0.018,2720,1807,3481,0,0,0,0,0,0
$GC,1130,-1.29,-116.8,121.0,-9.1,108,1134,0.00,2.40,0.00,0.000,4,0.000,0.032,2720,3333,3482,0,0,0,0,0,0
$GC,1148,-1.35,-116.8,123.1,-9.4,109,1153,0.00,2.47,0.00,0.000,6,0.000,0.027,2720,1780,3482,0,0,0,0,0,0
$GC,1413,-1.39,-116.8,146.9,-8.9,134,1418,0.10,2.72,0.00,0.000,4,0.084,0.067,2682,191,3482,0,0,0,0,0,0
$GC,1458,-1.39,-116.8,152.3,-11.2,137,1464,0.00,2.42,0.00,0.000,6,0.000,0.018,2682,1783,3482,0,0,0,0,0,0
$GC,1723,-1.39,-116.8,178.8,-10.6,162,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1786,3481,0,0,0,0,0,0
$GC,2001,-1.39,-116.8,209.3,-10.8,183,2005,0.00,2.40,0.00,0.000,4,0.000,0.032,2682,3319,3481,0,0,0,0,0,0
$GC,2035,-1.39,-116.8,212.9,-10.6,183,2040,0.00,2.47,0.00,0.000,6,0.000,0.035,2683,1770,3481,0,0,0,0,0,0
$GC,2284,-1.39,-116.8,240.0,-10.9,190,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1770,3480,0,0,0,0,0,0
$GC,2529,-1.39,-116.8,262.8,-9.1,196,2533,0.00,2.50,0.00,0.000,4,0.000,0.028,2682,3318,3480,0,0,0,0,0,0
$GC,2544,-1.39,-116.8,264.3,-8.9,196,2549,0.00,2.53,0.00,0.000,6,0.000,0.031,2683,1762,3480,0,0,0,0,0,0
$GC,2807,-1.39,-116.8,285.6,-7.9,203,2812,0.00,2.72,0.00,0.000,4,0.000,0.080,2682,196,3478,0,0,0,0,0,0
$GC,2834,-1.39,-116.8,288.2,-9.3,203,2839,0.00,2.40,0.00,0.000,6,0.000,0.027,2683,1728,3478,0,0,0,0,0,0
$GC,3084,-1.39,-116.8,309.2,-8.4,209,3089,0.00,2.60,0.00,0.000,4,0.000,0.036,2682,3353,3477,0,0,0,0,0,0
$GC,3153,-1.44,-116.8,315.1,-8.3,210,3157,0.00,2.60,0.00,0.000,6,0.000,0.039,2682,1771,3476,0,0,0,0,0,0
$GC,3408,-1.44,-116.8,339.4,-9.9,217,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1771,3475,0,0,0,0,0,0
$GC,3653,-1.44,-116.8,362.7,-9.4,223,3658,0.00,2.53,0.00,0.000,4,0.000,0.035,2683,3339,3473,0,0,0,0,0,0
$GC,3680,-1.44,-116.8,365.8,-10.2,223,3685,0.00,2.60,0.00,0.000,6,0.000,0.048,2682,1779,3472,0,0,0,0,0,0
$GC,3931,-1.44,-116.8,389.5,-9.6,229,3935,0.00,2.53,0.00,0.000,4,0.000,0.042,2682,3343,3471,0,0,0,0,0,0
$GC,3975,-1.50,-116.8,393.7,-8.9,230,3980,0.00,2.60,0.00,0.000,6,0.000,0.048,2682,1790,3471,0,0,0,0,0,0
$GC,4255,-1.50,-116.8,417.5,-8.5,237,4259,0.00,2.53,0.00,0.000,4,0.000,0.041,2683,3339,3469,0,0,0,0,0,0
$GC,4283,-1.55,-116.8,420.2,-9.0,237,4288,0.00,2.58,0.00,0.000,6,0.000,0.049,2683,1798,3468,0,0,0,0,0,0
$GC,4535,-1.55,-116.8,442.7,-9.1,243,4539,0.00,2.55,0.00,0.000,4,0.000,0.046,2682,3348,3467,0,0,0,0,0,0
$GC,4562,-1.60,-116.8,445.4,-9.1,243,4568,0.15,2.62,0.00,0.000,6,0.067,0.059,2637,1807,3466,0,0,0,0,0,0
$GC,4812,-1.55,-116.8,470.3,-10.1,249,4818,0.12,3.05,0.00,0.000,4,0.119,0.113,2662,182,3465,0,0,0,0,0,0
$GC,4847,-1.55,-116.8,473.8,-10.1,249,4853,0.00,2.60,0.00,0.000,6,0.000,0.038,2661,1775,3464,0,0,0,0,0,0
$GC,5097,-1.55,-116.8,499.3,-10.3,256,5102,0.00,2.70,0.00,0.000,4,0.000,0.061,2662,3364,3463,0,0,0,0,0,0
$STATE,5104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5105,begin apogee
$GC,5113,-0.31,0.0,500.4,10.3,256,5214,1.20,0.00,97.30,0.922,6,0.087,0.000,2927,1809,3001,0,0,0,0,0,0
$STATE,5215,end apogee,CONTROL_FINISHED_OK
$STATE,5215,begin climb
$GC,5219,1.38,116.8,502.9,0.0,258,5333,1.55,3.03,103.78,0.901,4,0.050,0.107,3305,233,2522,0,0,0,0,0,0
$GC,5375,1.18,129.9,500.6,9.3,261,5394,0.22,2.62,12.00,0.804,6,0.119,0.031,3261,1819,2470,0,0,0,0,0,0
$GC,5674,1.23,175.0,478.1,7.4,269,5717,0.00,0.00,41.08,0.878,6,0.000,0.000,3260,1819,2286,0,0,0,0,0,0
$GC,5957,1.27,206.6,454.7,8.2,276,5991,0.00,2.95,28.50,0.860,4,0.000,0.088,3260,234,2157,0,0,0,0,0,0
$GC,6016,1.22,222.8,449.6,9.1,277,6037,0.00,2.58,15.77,0.816,6,0.000,0.028,3260,1817,2092,0,0,0,0,0,0
$GC,6281,1.24,235.7,425.0,9.3,283,6300,0.00,2.95,12.15,0.794,4,0.000,0.082,3260,235,2038,0,0,0,0,0,0
$GC,6308,1.24,235.7,422.3,10.2,283,6312,0.00,2.60,0.00,0.000,6,0.000,0.030,3261,1818,2038,0,0,0,0,0,0
$GC,6562,1.24,235.7,396.2,10.1,290,6567,0.00,2.65,0.00,0.000,4,0.000,0.044,3260,3415,2035,0,0,0,0,0,0
$GC,6635,1.31,235.7,388.5,10.5,291,6640,0.10,2.72,0.00,0.000,6,0.096,0.054,3287,1815,2033,0,0,0,0,0,0
$GC,6886,1.31,235.7,361.0,11.0,297,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1814,2031,0,0,0,0,0,0
$GC,7128,1.31,236.9,336.2,10.0,303,7133,0.00,2.60,0.00,0.000,4,0.000,0.035,3287,3414,2030,0,0,0,0,0,0
$GC,7149,1.31,236.9,334.0,10.0,303,7154,0.00,2.67,0.00,0.000,6,0.000,0.045,3287,1825,2030,0,0,0,0,0,0
$GC,7406,1.31,236.9,308.6,10.2,310,7411,0.00,2.83,0.00,0.000,4,0.000,0.079,3288,234,2029,0,0,0,0,0,0
$GC,7424,1.27,236.9,306.6,10.5,310,7428,0.00,2.58,0.00,0.000,6,0.000,0.025,3287,1856,2028,0,0,0,0,0,0
$GC,7684,1.29,254.5,282.1,9.0,317,7708,0.00,2.60,16.62,0.762,4,0.000,0.038,3288,3396,1962,0,0,0,0,0,0
$GC,7721,1.32,276.0,278.9,8.8,317,7747,0.00,2.65,20.62,0.759,6,0.000,0.043,3287,1826,1875,0,0,0,0,0,0
$GC,8009,1.35,303.7,254.0,8.4,325,8039,0.00,2.88,25.02,0.751,4,0.000,0.077,3287,236,1761,0,0,0,0,0,0
$GC,8080,1.35,303.7,247.0,11.1,326,8084,0.00,2.50,0.00,0.000,6,0.000,0.024,3288,1820,1759,0,0,0,0,0,0
$GC,8330,1.40,303.7,220.5,10.8,332,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1821,1756,0,0,0,0,0,0
$GC,8576,1.45,307.4,194.6,9.8,341,8581,0.12,2.55,0.00,0.000,4,0.080,0.031,3323,3393,1755,0,0,0,0,0,0
$GC,8611,1.45,307.4,191.5,11.3,343,8615,0.00,2.65,0.00,0.000,6,0.000,0.041,3324,1801,1754,0,0,0,0,0,0
$GC,8877,1.45,307.4,161.0,11.4,367,8882,0.00,2.72,0.00,0.000,4,0.000,0.069,3323,240,1754,0,0,0,0,0,0
$GC,8929,1.37,307.4,153.8,13.5,371,8934,0.12,2.45,0.00,0.000,6,0.127,0.025,3300,1793,1752,0,0,0,0,0,0
$GC,9195,1.42,314.0,127.2,9.7,395,9213,0.00,0.00,9.15,0.600,6,0.000,0.000,3299,1795,1719,0,0,0,0,0,0
$GC,9472,1.46,314.0,99.5,10.4,421,9476,0.00,2.58,0.00,0.000,4,0.000,0.030,3299,3389,1717,0,0,0,0,0,0
$GC,9514,1.60,314.0,94.1,11.3,424,9519,0.20,2.65,0.00,0.000,6,0.062,0.035,3351,1787,1716,0,0,0,0,0,0
$GC,9780,1.60,314.0,66.7,10.4,448,9784,0.00,2.60,0.00,0.000,4,0.000,0.029,3351,3390,1716,0,0,0,0,0,0
$GC,9865,1.68,339.0,58.9,8.6,454,9893,0.00,2.60,22.58,0.586,6,0.000,0.035,3351,1813,1618,0,0,0,0,0,0
$GC,10151,1.68,341.5,33.2,9.9,480,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1813,1614,0,0,0,0,0,0
$STATE,10427,end climb,SURFACE_DEPTH_REACHED
$STATE,10427,begin surface coast
$FINISH,0.5,1.011066
$STATE,10470,end surface coast,CONTROL_FINISHED_OK
$STATE,10470,begin surface
$SM_CCo,10493,67.88,0.535,0,0,1287,420.20
$SM_GC,0.99,0.00,0.00,67.88,0.000,0.000,0.535,473,1751,1287,-11.63,-0.54,420.20
$IRIDIUM_FIX,2246.36,-15745.85,230100,010153
$TT8_MAMPS,0.026078
$HUMID,55.71
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.40
$XPDR_PINGS,104
$24V_AH,23.3,72.482
$10V_AH,9.9,68.487
$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,27.500,141.200,404.575,67.875,0.000,55.043,64.789,567.192,26.000,0.000,30.411,1060.174,6856.562,549.089,1996.884,1014.975,33.372,1305.422,0.000,1984.247,0.000,0.535,0.000
$DEVICE_MAMPS,155.701,124.254,921.934,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.257,306.326,409.344,795.619,1203.499,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,41528,525
$CAP_FILE_SIZE,120151,0
$CFSIZE,260165632,151777280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291010,045606,2254.302,-15746.335,23,1.3,23,10.1