version: 66.06
glider: 146
mission: 5
dive: 524
start: 10 29 110 5 8 26
data:
$ID,146
$MISSION,5
$DIVE,524
$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,-260227.55
$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
$GPS1,045606,2254.302,-15746.335,23,1.3,23,10.1
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.6
$GPS2,050732,2254.415,-15746.352,12,1.9,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.162,-0.170
$KALMAN_X,-260305.1,372.7,-9.6,301685.9,-547.5
$KALMAN_Y,-587929.6,136.9,-163.4,724687.9,259.4
$MHEAD_RNG_PITCHd_Wd,126.2,12480,-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,-78.50,0.000,2,0.000,0.000,472,1750,3254,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.3,-5.8,10,128,11.93,2.67,-4.20,0.000,4,0.161,0.064,2688,204,3479,0,0,0,0,0,0
$GC,225,-1.28,-116.8,29.7,-14.4,27,234,0.10,2.45,0.00,0.000,6,0.108,0.016,2711,1778,3480,0,0,0,0,0,0
$GC,495,-1.22,-116.8,65.0,-12.4,52,500,0.10,2.47,0.00,0.000,4,0.141,0.025,2731,3340,3481,0,0,0,0,0,0
$GC,532,-1.22,-116.8,69.9,-10.0,54,542,0.00,2.55,0.00,0.000,6,0.000,0.029,2731,1782,3481,0,0,0,0,0,0
$GC,801,-1.27,-116.8,94.5,-8.5,79,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1781,3482,0,0,0,0,0,0
$GC,1063,-1.32,-116.8,116.4,-8.0,104,1067,0.00,2.47,0.00,0.000,4,0.000,0.031,2731,3339,3483,0,0,0,0,0,0
$GC,1085,-1.39,-116.8,117.8,-7.9,105,1090,0.15,2.50,0.00,0.000,6,0.061,0.028,2679,1769,3483,0,0,0,0,0,0
$GC,1351,-1.39,-116.8,145.3,-10.4,129,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1768,3483,0,0,0,0,0,0
$GC,1615,-1.39,-116.8,172.9,-10.3,154,1620,0.00,2.67,0.00,0.000,4,0.000,0.069,2679,195,3483,0,0,0,0,0,0
$GC,1660,-1.39,-116.8,177.7,-11.2,157,1664,0.00,2.42,0.00,0.000,6,0.000,0.016,2679,1788,3484,0,0,0,0,0,0
$GC,1921,-1.39,-116.8,203.6,-9.2,178,1925,0.00,2.40,0.00,0.000,4,0.000,0.029,2679,3320,3484,0,0,0,0,0,0
$GC,1972,-1.39,-116.8,208.5,-9.3,179,1976,0.00,2.50,0.00,0.000,6,0.000,0.035,2679,1772,3483,0,0,0,0,0,0
$GC,2244,-1.39,-116.8,234.0,-9.3,186,2248,0.00,2.47,0.00,0.000,4,0.000,0.027,2679,3324,3483,0,0,0,0,0,0
$GC,2261,-1.39,-116.8,235.6,-9.3,186,2266,0.00,2.53,0.00,0.000,6,0.000,0.030,2679,1766,3483,0,0,0,0,0,0
$GC,2524,-1.39,-116.8,260.4,-9.8,193,2529,0.00,2.72,0.00,0.000,4,0.000,0.074,2679,187,3482,0,0,0,0,0,0
$GC,2539,-1.39,-116.8,262.3,-10.3,193,2544,0.00,2.40,0.00,0.000,6,0.000,0.019,2679,1761,3482,0,0,0,0,0,0
$GC,2801,-1.39,-116.8,289.4,-10.3,200,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1761,3481,0,0,0,0,0,0
$GC,3045,-1.39,-116.8,312.8,-9.5,206,3049,0.00,2.53,0.00,0.000,4,0.000,0.034,2679,3335,3481,0,0,0,0,0,0
$GC,3096,-1.45,-116.8,317.3,-8.6,207,3101,0.00,2.55,0.00,0.000,6,0.000,0.036,2679,1786,3480,0,0,0,0,0,0
$GC,3369,-1.45,-116.8,341.3,-9.1,214,3374,0.00,2.85,0.00,0.000,4,0.000,0.086,2679,186,3479,0,0,0,0,0,0
$GC,3397,-1.45,-116.8,344.2,-10.4,214,3402,0.00,2.47,0.00,0.000,6,0.000,0.024,2679,1750,3479,0,0,0,0,0,0
$GC,3647,-1.45,-116.8,367.1,-9.2,220,3652,0.00,2.62,0.00,0.000,4,0.000,0.041,2679,3352,3477,0,0,0,0,0,0
$GC,3733,-1.49,-116.8,374.4,-8.1,222,3737,0.00,2.58,0.00,0.000,6,0.000,0.048,2679,1802,3477,0,0,0,0,0,0
$GC,4018,-1.49,-116.8,400.3,-9.4,229,4022,0.00,2.53,0.00,0.000,4,0.000,0.043,2679,3360,3475,0,0,0,0,0,0
$GC,4044,-1.49,-116.8,403.3,-9.9,229,4049,0.00,2.60,0.00,0.000,6,0.000,0.046,2679,1808,3475,0,0,0,0,0,0
$GC,4294,-1.49,-116.8,428.5,-10.4,235,4299,0.00,2.50,0.00,0.000,4,0.000,0.041,2679,3350,3473,0,0,0,0,0,0
$GC,4312,-1.49,-116.8,430.3,-10.3,235,4316,0.00,2.60,0.00,0.000,6,0.000,0.050,2679,1809,3473,0,0,0,0,0,0
$GC,4573,-1.49,-116.8,455.0,-9.3,242,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1809,3472,0,0,0,0,0,0
$GC,4816,-1.49,-116.8,477.6,-9.3,248,4821,0.00,3.03,0.00,0.000,4,0.000,0.107,2679,182,3470,0,0,0,0,0,0
$GC,4845,-1.49,-116.8,480.4,-9.9,248,4850,0.00,2.65,0.00,0.000,6,0.000,0.035,2679,1806,3470,0,0,0,0,0,0
$STATE,5051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5052,begin apogee
$GC,5057,-0.31,0.0,500.7,9.7,253,5159,1.15,0.00,98.07,0.925,6,0.084,0.000,2932,1806,3001,0,0,0,0,0,0
$STATE,5160,end apogee,CONTROL_FINISHED_OK
$STATE,5160,begin climb
$GC,5162,1.38,116.8,503.6,0.0,255,5270,1.55,0.00,103.85,0.904,6,0.048,0.000,3309,1806,2524,0,0,0,0,0,0
$GC,5500,1.30,148.6,487.5,8.2,264,5535,0.12,2.95,27.77,0.870,4,0.131,0.087,3285,244,2394,0,0,0,0,0,0
$GC,5547,1.21,178.1,483.6,8.3,265,5584,0.10,2.62,28.30,0.861,6,0.149,0.030,3268,1825,2273,0,0,0,0,0,0
$GC,5830,1.24,202.1,458.8,8.7,272,5859,0.00,2.95,21.60,0.848,4,0.000,0.084,3267,237,2175,0,0,0,0,0,0
$GC,5900,1.17,202.1,451.8,10.8,273,5904,0.00,2.60,0.00,0.000,6,0.000,0.035,3267,1815,2172,0,0,0,0,0,0
$GC,6155,1.19,218.6,428.8,9.1,280,6175,0.00,2.72,15.12,0.821,4,0.000,0.054,3267,3413,2110,0,0,0,0,0,0
$GC,6195,1.20,222.5,425.1,9.8,281,6205,0.00,2.78,5.40,0.647,6,0.000,0.058,3267,1813,2093,0,0,0,0,0,0
$GC,6478,1.20,222.5,395.4,10.2,288,6482,0.00,2.62,0.00,0.000,4,0.000,0.032,3267,3417,2088,0,0,0,0,0,0
$GC,6519,1.25,222.5,391.3,10.6,289,6524,0.00,2.70,0.00,0.000,6,0.000,0.053,3267,1832,2087,0,0,0,0,0,0
$GC,6802,1.27,239.0,364.9,9.1,296,6819,0.00,0.00,15.23,0.802,6,0.000,0.000,3267,1832,2026,0,0,0,0,0,0
$GC,7046,1.27,241.7,341.5,9.9,302,7050,0.00,2.88,0.00,0.000,4,0.000,0.087,3267,234,2022,0,0,0,0,0,0
$GC,7069,1.27,241.7,338.7,12.0,302,7073,0.00,2.58,0.00,0.000,6,0.000,0.023,3267,1865,2021,0,0,0,0,0,0
$GC,7329,1.27,241.7,310.8,10.6,309,7334,0.00,2.88,0.00,0.000,4,0.000,0.074,3267,234,2020,0,0,0,0,0,0
$GC,7378,1.27,241.7,305.2,11.3,310,7383,0.00,2.53,0.00,0.000,6,0.000,0.027,3267,1824,2020,0,0,0,0,0,0
$GC,7651,1.29,254.3,280.0,9.3,317,7671,0.00,2.60,14.32,0.752,4,0.000,0.034,3267,3393,1964,0,0,0,0,0,0
$GC,7682,1.36,272.9,277.0,9.0,317,7708,0.12,2.65,18.62,0.753,6,0.089,0.042,3299,1813,1887,0,0,0,0,0,0
$GC,7978,1.36,272.9,245.2,10.9,325,7983,0.00,2.78,0.00,0.000,4,0.000,0.071,3299,241,1881,0,0,0,0,0,0
$GC,7999,1.31,272.9,242.2,11.8,325,8004,0.00,2.53,0.00,0.000,6,0.000,0.026,3299,1828,1880,0,0,0,0,0,0
$GC,8254,1.31,272.9,216.0,10.1,332,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1829,1880,0,0,0,0,0,0
$GC,8500,1.32,281.9,192.0,9.5,341,8514,0.00,2.60,8.07,0.637,4,0.000,0.038,3299,3389,1851,0,0,0,0,0,0
$GC,8564,1.40,297.1,186.0,9.2,346,8584,0.00,2.62,14.93,0.681,6,0.000,0.038,3299,1815,1789,0,0,0,0,0,0
$GC,8841,1.40,297.1,158.8,10.2,372,8846,0.00,2.78,0.00,0.000,4,0.000,0.067,3299,234,1786,0,0,0,0,0,0
$GC,8897,1.40,297.1,152.5,12.8,376,8901,0.00,2.50,0.00,0.000,6,0.000,0.021,3299,1812,1784,0,0,0,0,0,0
$GC,9159,1.40,297.1,124.9,10.2,400,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1813,1784,0,0,0,0,0,0
$GC,9415,1.44,298.6,99.5,10.0,424,9419,0.00,2.55,0.00,0.000,4,0.000,0.031,3299,3393,1784,0,0,0,0,0,0
$GC,9438,1.52,308.1,97.7,9.5,425,9454,0.12,2.62,10.48,0.588,6,0.080,0.036,3334,1804,1744,0,0,0,0,0,0
$GC,9712,1.52,308.7,69.0,10.0,450,9717,0.00,2.58,0.00,0.000,4,0.000,0.028,3334,3394,1741,0,0,0,0,0,0
$GC,9723,1.53,313.7,67.5,9.8,450,9735,0.00,2.62,5.80,0.494,6,0.000,0.039,3334,1817,1723,0,0,0,0,0,0
$GC,10002,1.62,340.8,44.7,8.5,476,10033,0.00,2.80,25.12,0.574,4,0.000,0.061,3334,240,1609,0,0,0,0,0,0
$GC,10070,1.62,340.8,37.6,11.5,481,10079,0.00,2.50,0.00,0.000,6,0.000,0.020,3334,1813,1608,0,0,0,0,0,0
$GC,10390,1.72,420.4,7.4,5.4,523,10433,0.17,0.00,40.15,0.539,2,0.064,0.000,3381,1814,1423,0,0,0,0,0,0
$STATE,10434,end climb,SURFACE_DEPTH_REACHED
$STATE,10434,begin surface coast
$FINISH,0.3,0.999132
$STATE,10489,end surface coast,CONTROL_FINISHED_OK
$STATE,10491,begin surface
$SM_CCo,10515,27.02,0.522,0,0,1287,420.20
$SM_GC,1.08,0.00,0.00,27.02,0.000,0.000,0.522,470,1746,1287,-11.64,-0.71,420.20
$IRIDIUM_FIX,2246.36,-15745.85,230100,020224
$TT8_MAMPS,0.026078
$HUMID,55.74
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.50
$XPDR_PINGS,126
$24V_AH,23.3,72.625
$10V_AH,9.8,68.611
$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,27.550,136.350,452.850,27.025,0.000,30.912,42.066,463.823,31.500,0.000,14.333,1080.248,6768.891,532.901,1986.504,858.610,33.374,1275.843,0.000,1994.702,0.000,0.533,0.000
$DEVICE_MAMPS,161.070,115.817,925.002,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.613,316.972,418.059,807.501,1221.529,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,41572,536
$CAP_FILE_SIZE,116476,0
$CFSIZE,260165632,151719936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291010,080539,2253.955,-15745.778,50,1.1,50,10.1