version: 66.06
glider: 146
mission: 5
dive: 526
start: 10 29 110 11 34 5
data:
$ID,146
$MISSION,5
$DIVE,526
$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,-260296.19
$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,29
$R_STBD_OVSHOOT,53
$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
$GPS1,111734,2253.738,-15745.498,15,99.0,34,10.1
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.8
$GPS2,113312,2253.886,-15745.472,34,1.6,50,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,-0.221
$KALMAN_X,-260566.4,-342.8,-3.8,304171.0,-91.5
$KALMAN_Y,-585025.1,-463.8,365.3,720880.1,1153.9
$MHEAD_RNG_PITCHd_Wd,150.3,10817,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-85.38,0.000,6,0.000,0.000,471,1757,3479,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.9,-10.3,11,124,11.68,2.65,0.00,0.000,4,0.152,0.057,2691,192,3481,0,0,0,0,0,0
$GC,208,-1.26,-116.8,30.9,-19.3,25,214,0.15,2.42,0.00,0.000,6,0.126,0.015,2720,1788,3482,0,0,0,0,0,0
$GC,475,-1.22,-116.8,67.5,-13.2,49,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1789,3482,0,0,0,0,0,0
$GC,738,-1.22,-116.8,95.5,-9.4,74,742,0.00,2.42,0.00,0.000,4,0.000,0.033,2720,3324,3483,0,0,0,0,0,0
$GC,792,-1.28,-116.8,100.5,-8.7,78,797,0.00,2.50,0.00,0.000,6,0.000,0.027,2720,1770,3483,0,0,0,0,0,0
$GC,1057,-1.33,-116.8,124.1,-9.7,102,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1769,3484,0,0,0,0,0,0
$GC,1325,-1.38,-116.8,147.1,-8.5,127,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1769,3484,0,0,0,0,0,0
$GC,1588,-1.43,-116.8,168.2,-7.4,152,1593,0.15,2.70,0.00,0.000,4,0.063,0.069,2671,193,3484,0,0,0,0,0,0
$GC,1621,-1.39,-116.8,171.0,-9.9,154,1626,0.12,2.42,0.00,0.000,6,0.111,0.023,2697,1796,3484,0,0,0,0,0,0
$GC,1886,-1.39,-116.8,193.5,-9.3,178,1890,0.00,2.40,0.00,0.000,4,0.000,0.027,2697,3328,3484,0,0,0,0,0,0
$GC,1931,-1.44,-116.8,198.2,-9.5,181,1937,0.00,2.42,0.00,0.000,6,0.000,0.028,2697,1808,3484,0,0,0,0,0,0
$GC,2203,-1.44,-116.8,223.3,-9.2,190,2207,0.00,2.78,0.00,0.000,4,0.000,0.071,2697,196,3484,0,0,0,0,0,0
$GC,2231,-1.44,-116.8,226.2,-10.2,190,2235,0.00,2.45,0.00,0.000,6,0.000,0.018,2697,1797,3483,0,0,0,0,0,0
$GC,2481,-1.44,-116.8,250.2,-9.9,196,2486,0.00,2.78,0.00,0.000,4,0.000,0.067,2697,199,3483,0,0,0,0,0,0
$GC,2496,-1.44,-116.8,252.0,-10.1,196,2501,0.00,2.42,0.00,0.000,6,0.000,0.022,2697,1775,3483,0,0,0,0,0,0
$GC,2760,-1.44,-116.8,276.5,-9.2,203,2764,0.00,2.47,0.00,0.000,4,0.000,0.038,2697,3339,3482,0,0,0,0,0,0
$GC,2781,-1.48,-116.8,278.6,-8.7,203,2786,0.00,2.53,0.00,0.000,6,0.000,0.033,2697,1786,3482,0,0,0,0,0,0
$GC,3037,-1.48,-116.8,299.8,-8.2,210,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1786,3481,0,0,0,0,0,0
$GC,3282,-1.48,-116.8,321.0,-8.9,216,3287,0.00,2.47,0.00,0.000,4,0.000,0.038,2697,3331,3480,0,0,0,0,0,0
$GC,3305,-1.53,-116.8,323.4,-9.4,216,3310,0.12,2.53,0.00,0.000,6,0.071,0.038,2651,1796,3480,0,0,0,0,0,0
$GC,3560,-1.48,-116.8,349.4,-10.2,223,3562,0.12,0.00,0.00,0.000,6,0.114,0.000,2677,1796,3478,0,0,0,0,0,0
$GC,3806,-1.48,-116.8,372.5,-9.5,229,3810,0.00,2.90,0.00,0.000,4,0.000,0.089,2677,184,3477,0,0,0,0,0,0
$GC,3821,-1.48,-116.8,374.4,-9.8,229,3826,0.00,2.53,0.00,0.000,6,0.000,0.025,2677,1784,3477,0,0,0,0,0,0
$GC,4083,-1.48,-116.8,398.1,-9.0,236,4087,0.00,2.58,0.00,0.000,4,0.000,0.050,2677,3346,3475,0,0,0,0,0,0
$GC,4151,-1.53,-116.8,404.0,-8.3,237,4156,0.00,2.55,0.00,0.000,6,0.000,0.046,2677,1815,3475,0,0,0,0,0,0
$GC,4406,-1.53,-116.8,426.3,-8.8,244,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1815,3473,0,0,0,0,0,0
$GC,4650,-1.53,-116.8,447.7,-8.7,250,4654,0.00,2.50,0.00,0.000,4,0.000,0.041,2677,3342,3472,0,0,0,0,0,0
$GC,4673,-1.53,-116.8,449.7,-8.6,250,4677,0.00,2.58,0.00,0.000,6,0.000,0.055,2677,1823,3472,0,0,0,0,0,0
$GC,4928,-1.53,-116.8,472.9,-9.2,257,4933,0.00,3.08,0.00,0.000,4,0.000,0.114,2677,186,3470,0,0,0,0,0,0
$GC,4960,-1.53,-116.8,476.1,-10.0,257,4966,0.00,2.65,0.00,0.000,6,0.000,0.038,2677,1810,3470,0,0,0,0,0,0
$GC,5213,-1.53,-116.8,496.7,-7.9,264,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1810,3468,0,0,0,0,0,0
$STATE,5289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5289,begin apogee
$GC,5295,-0.31,0.0,502.9,7.6,266,5396,1.15,0.00,97.60,0.930,6,0.087,0.000,2929,1810,3001,0,0,0,0,0,0
$STATE,5397,end apogee,CONTROL_FINISHED_OK
$STATE,5397,begin climb
$GC,5399,1.38,116.8,504.1,0.0,268,5507,1.55,0.00,103.10,0.906,6,0.050,0.000,3306,1810,2523,0,0,0,0,0,0
$GC,5728,1.30,155.1,486.9,7.8,276,5770,0.10,2.80,33.62,0.880,4,0.159,0.064,3287,3409,2367,0,0,0,0,0,0
$GC,5855,1.29,179.1,476.0,8.6,278,5884,0.00,2.78,22.67,0.859,6,0.000,0.061,3287,1820,2269,0,0,0,0,0,0
$GC,6150,1.26,200.2,450.2,8.8,286,6174,0.00,3.08,19.02,0.848,4,0.000,0.108,3287,233,2184,0,0,0,0,0,0
$GC,6225,1.14,200.2,441.9,11.6,287,6231,0.17,2.60,0.00,0.000,6,0.120,0.028,3252,1821,2181,0,0,0,0,0,0
$GC,6477,1.19,236.8,421.6,7.9,294,6518,0.00,2.72,33.80,0.863,4,0.000,0.046,3252,3415,2034,0,0,0,0,0,0
$GC,6535,1.28,262.7,416.6,8.5,295,6566,0.12,2.75,24.62,0.835,6,0.084,0.055,3285,1822,1930,0,0,0,0,0,0
$GC,6847,1.28,262.7,383.5,10.7,303,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1822,1922,0,0,0,0,0,0
$GC,7088,1.29,266.6,359.1,9.8,309,7093,0.00,2.88,0.00,0.000,4,0.000,0.090,3285,232,1920,0,0,0,0,0,0
$GC,7127,1.20,266.6,354.7,11.6,310,7133,0.12,2.60,0.00,0.000,6,0.128,0.022,3262,1856,1919,0,0,0,0,0,0
$GC,7415,1.28,285.2,328.8,9.0,317,7440,0.00,2.92,19.65,0.795,4,0.000,0.073,3261,231,1838,0,0,0,0,0,0
$GC,7462,1.28,285.2,324.0,10.2,318,7467,0.00,2.58,0.00,0.000,6,0.000,0.027,3261,1835,1837,0,0,0,0,0,0
$GC,7737,1.35,293.6,297.9,9.6,325,7752,0.15,2.90,8.57,0.706,4,0.075,0.074,3300,229,1804,0,0,0,0,0,0
$GC,7808,1.30,293.6,289.1,13.2,326,7812,0.00,2.53,0.00,0.000,6,0.000,0.026,3301,1813,1801,0,0,0,0,0,0
$GC,8064,1.30,293.6,261.3,10.8,333,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1815,1800,0,0,0,0,0,0
$GC,8306,1.30,293.6,236.7,10.1,339,8311,0.00,2.80,0.00,0.000,4,0.000,0.071,3301,227,1800,0,0,0,0,0,0
$GC,8350,1.26,293.6,231.7,11.3,340,8355,0.12,2.50,0.00,0.000,6,0.125,0.022,3276,1806,1799,0,0,0,0,0,0
$GC,8630,1.33,300.9,205.2,9.6,347,8639,0.00,0.00,7.30,0.630,6,0.000,0.000,3276,1807,1774,0,0,0,0,0,0
$GC,8880,1.42,310.6,180.9,9.5,365,8897,0.12,2.80,10.62,0.657,4,0.085,0.071,3309,230,1732,0,0,0,0,0,0
$GC,8938,1.42,310.6,174.2,12.1,369,8947,0.00,2.47,0.00,0.000,6,0.000,0.027,3309,1779,1731,0,0,0,0,0,0
$GC,9200,1.42,310.6,145.0,10.5,394,9204,0.00,2.60,0.00,0.000,4,0.000,0.032,3310,3387,1730,0,0,0,0,0,0
$GC,9246,1.49,310.6,139.9,10.7,397,9252,0.00,2.67,0.00,0.000,6,0.000,0.038,3309,1779,1728,0,0,0,0,0,0
$GC,9510,1.49,310.6,114.4,10.1,422,9515,0.00,2.60,0.00,0.000,4,0.000,0.028,3309,3391,1728,0,0,0,0,0,0
$GC,9532,1.55,323.9,112.6,9.3,423,9557,0.12,2.62,12.65,0.612,6,0.081,0.038,3342,1800,1680,0,0,0,0,0,0
$GC,9811,1.55,323.9,82.1,10.4,449,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1800,1677,0,0,0,0,0,0
$GC,10077,1.61,326.3,55.3,9.9,474,10081,0.00,2.70,0.00,0.000,4,0.000,0.063,3342,239,1677,0,0,0,0,0,0
$GC,10099,1.61,326.3,53.2,10.0,475,10103,0.00,2.45,0.00,0.000,6,0.000,0.027,3342,1810,1676,0,0,0,0,0,0
$GC,10370,1.73,391.0,28.8,6.3,500,10437,0.15,2.83,58.70,0.562,4,0.070,0.065,3384,224,1404,0,0,0,0,0,0
$GC,10459,1.67,391.0,20.3,10.3,510,10468,0.08,2.47,0.00,0.000,6,0.100,0.019,3366,1786,1402,0,0,0,0,0,0
$STATE,10571,end climb,SURFACE_DEPTH_REACHED
$STATE,10571,begin surface coast
$FINISH,0.4,1.010132
$STATE,10609,end surface coast,CONTROL_FINISHED_OK
$STATE,10609,begin surface
$SM_CCo,10632,23.20,0.521,0,0,1288,420.20
$SM_GC,1.22,0.00,0.00,23.20,0.000,0.000,0.521,473,1788,1288,-11.62,0.54,420.20
$IRIDIUM_FIX,2248.70,-15745.85,230100,111148
$TT8_MAMPS,0.026078
$HUMID,56.26
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.30
$XPDR_PINGS,123
$24V_AH,23.3,72.920
$10V_AH,9.9,68.859
$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,28.100,126.375,451.950,23.200,0.000,53.401,76.478,549.919,30.750,0.000,52.394,1059.472,7023.622,523.752,1972.997,1011.001,33.371,1274.555,0.000,1938.609,0.000,0.533,0.000
$DEVICE_MAMPS,158.769,113.516,930.371,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.635,302.813,408.240,758.815,1141.633,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,41620,531
$CAP_FILE_SIZE,119925,0
$CFSIZE,260165632,151592960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291010,143301,2253.438,-15745.136,40,1.8,40,10.1