version: 66.06
glider: 146
mission: 5
dive: 527
start: 10 29 110 14 52 51
data:
$ID,146
$MISSION,5
$DIVE,527
$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,-260332.95
$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,21
$R_STBD_OVSHOOT,60
$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
$GPS1,143301,2253.438,-15745.136,40,1.8,40,10.1
$_CALLS,3
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.8
$GPS2,145155,2253.597,-15745.192,15,1.2,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,-0.211
$KALMAN_X,-260794.2,-514.1,101.6,304947.4,-94.8
$KALMAN_Y,-583677.9,-224.8,427.0,718697.4,645.4
$MHEAD_RNG_PITCHd_Wd,143.7,10109,-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,-85.22,0.000,6,0.000,0.000,472,1789,3478,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.6,-9.5,11,124,11.85,2.70,0.00,0.000,4,0.159,0.054,2690,187,3481,0,0,0,0,0,0
$GC,209,-1.25,-116.8,28.9,-16.7,25,217,0.12,2.47,0.00,0.000,6,0.094,0.016,2721,1777,3481,0,0,0,0,0,0
$GC,477,-1.18,-116.8,64.3,-14.2,50,487,0.10,0.00,0.00,0.000,6,0.133,0.000,2741,1778,3482,0,0,0,0,0,0
$GC,747,-1.23,-116.8,90.8,-8.2,75,751,0.00,2.45,0.00,0.000,4,0.000,0.028,2741,3338,3482,0,0,0,0,0,0
$GC,764,-1.29,-116.8,92.9,-8.6,76,768,0.00,2.55,0.00,0.000,6,0.000,0.035,2741,1747,3482,0,0,0,0,0,0
$GC,1029,-1.36,-116.8,115.4,-8.3,100,1038,0.15,0.00,0.00,0.000,6,0.062,0.000,2690,1747,3483,0,0,0,0,0,0
$GC,1293,-1.36,-116.8,142.2,-10.1,125,1297,0.00,2.50,0.00,0.000,4,0.000,0.029,2690,3341,3484,0,0,0,0,0,0
$GC,1338,-1.36,-116.8,147.0,-9.7,128,1347,0.00,2.55,0.00,0.000,6,0.000,0.034,2690,1769,3484,0,0,0,0,0,0
$GC,1601,-1.36,-116.8,170.2,-8.2,153,1605,0.00,2.47,0.00,0.000,4,0.000,0.025,2690,3334,3484,0,0,0,0,0,0
$GC,1623,-1.36,-116.8,171.9,-8.4,154,1627,0.00,2.50,0.00,0.000,6,0.000,0.028,2690,1775,3484,0,0,0,0,0,0
$GC,1891,-1.36,-116.8,198.5,-10.3,178,1895,0.00,2.72,0.00,0.000,4,0.000,0.064,2690,189,3483,0,0,0,0,0,0
$GC,1914,-1.36,-116.8,201.9,-11.7,179,1918,0.00,2.42,0.00,0.000,6,0.000,0.021,2690,1794,3483,0,0,0,0,0,0
$GC,2169,-1.36,-116.8,226.6,-9.3,186,2173,0.00,2.42,0.00,0.000,4,0.000,0.030,2690,3324,3483,0,0,0,0,0,0
$GC,2210,-1.41,-116.8,230.2,-9.1,187,2215,0.00,2.47,0.00,0.000,6,0.000,0.036,2690,1793,3483,0,0,0,0,0,0
$GC,2493,-1.41,-116.8,257.3,-9.6,194,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1793,3482,0,0,0,0,0,0
$GC,2737,-1.41,-116.8,279.6,-9.1,200,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1793,3481,0,0,0,0,0,0
$GC,2982,-1.41,-116.8,302.0,-9.2,206,2987,0.00,2.45,0.00,0.000,4,0.000,0.038,2690,3325,3480,0,0,0,0,0,0
$GC,3011,-1.46,-116.8,305.0,-9.5,206,3015,0.00,2.47,0.00,0.000,6,0.000,0.041,2689,1807,3480,0,0,0,0,0,0
$GC,3261,-1.46,-116.8,326.7,-8.7,212,3266,0.00,2.88,0.00,0.000,4,0.000,0.086,2689,186,3479,0,0,0,0,0,0
$GC,3302,-1.51,-116.8,330.6,-9.9,213,3307,0.00,2.47,0.00,0.000,6,0.000,0.021,2690,1765,3479,0,0,0,0,0,0
$GC,3586,-1.51,-116.8,358.4,-10.2,220,3590,0.00,2.58,0.00,0.000,4,0.000,0.047,2690,3358,3477,0,0,0,0,0,0
$GC,3602,-1.55,-116.8,360.1,-10.6,220,3607,0.12,2.62,0.00,0.000,6,0.074,0.044,2647,1782,3477,0,0,0,0,0,0
$GC,3865,-1.50,-116.8,389.9,-11.2,227,3867,0.12,0.00,0.00,0.000,6,0.117,0.000,2673,1782,3475,0,0,0,0,0,0
$GC,4109,-1.50,-116.8,410.2,-7.9,233,4113,0.00,2.58,0.00,0.000,4,0.000,0.040,2673,3351,3474,0,0,0,0,0,0
$GC,4142,-1.54,-116.8,413.0,-8.0,233,4148,0.00,2.62,0.00,0.000,6,0.000,0.055,2673,1798,3474,0,0,0,0,0,0
$GC,4394,-1.54,-116.8,434.6,-9.0,240,4398,0.00,2.53,0.00,0.000,4,0.000,0.040,2673,3346,3472,0,0,0,0,0,0
$GC,4410,-1.54,-116.8,436.3,-9.1,240,4414,0.00,2.60,0.00,0.000,6,0.000,0.051,2673,1805,3472,0,0,0,0,0,0
$GC,4670,-1.54,-116.8,461.4,-9.8,247,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1805,3470,0,0,0,0,0,0
$GC,4916,-1.54,-116.8,484.5,-9.4,253,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1805,3469,0,0,0,0,0,0
$STATE,5114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5114,begin apogee
$GC,5120,-0.31,0.0,502.9,9.1,258,5222,1.15,0.00,97.88,0.927,6,0.087,0.000,2929,1805,3001,0,0,0,0,0,0
$STATE,5222,end apogee,CONTROL_FINISHED_OK
$STATE,5222,begin climb
$GC,5225,1.38,116.8,505.4,0.0,260,5340,1.52,3.05,102.82,0.907,4,0.051,0.111,3303,236,2523,0,0,0,0,0,0
$GC,5392,1.21,150.5,503.3,8.1,264,5429,0.20,2.58,30.42,0.873,6,0.120,0.037,3265,1806,2387,0,0,0,0,0,0
$GC,5675,1.27,199.1,483.4,7.2,270,5725,0.00,2.83,43.70,0.884,4,0.000,0.060,3265,3411,2189,0,0,0,0,0,0
$GC,5798,1.29,213.0,472.5,9.2,272,5817,0.00,2.75,13.60,0.815,6,0.000,0.056,3265,1831,2131,0,0,0,0,0,0
$GC,6093,1.30,224.2,445.0,9.4,280,6109,0.00,3.05,10.70,0.793,4,0.000,0.107,3264,236,2085,0,0,0,0,0,0
$GC,6143,1.23,224.2,439.6,11.7,281,6148,0.00,2.60,0.00,0.000,6,0.000,0.031,3264,1838,2083,0,0,0,0,0,0
$GC,6416,1.24,235.7,413.9,9.4,288,6430,0.00,0.00,11.35,0.795,6,0.000,0.000,3264,1838,2040,0,0,0,0,0,0
$GC,6658,1.26,245.5,390.6,9.5,294,6670,0.00,0.00,10.12,0.775,6,0.000,0.000,3264,1838,2000,0,0,0,0,0,0
$GC,6902,1.28,262.9,368.0,9.0,300,6921,0.00,0.00,17.12,0.809,6,0.000,0.000,3264,1837,1928,0,0,0,0,0,0
$GC,7186,1.35,289.4,344.4,8.5,307,7217,0.12,2.92,25.05,0.811,4,0.084,0.077,3296,229,1820,0,0,0,0,0,0
$GC,7283,1.30,289.4,333.0,13.3,309,7287,0.00,2.60,0.00,0.000,6,0.000,0.027,3296,1841,1817,0,0,0,0,0,0
$GC,7554,1.30,289.4,301.1,11.8,316,7559,0.00,2.85,0.00,0.000,4,0.000,0.074,3297,234,1814,0,0,0,0,0,0
$GC,7583,1.23,289.4,297.0,14.2,316,7588,0.12,2.53,0.00,0.000,6,0.126,0.021,3271,1814,1813,0,0,0,0,0,0
$GC,7833,1.29,289.4,270.7,10.1,322,7838,0.00,2.80,0.00,0.000,4,0.000,0.075,3270,230,1813,0,0,0,0,0,0
$GC,7861,1.29,289.4,267.6,11.2,322,7866,0.00,2.50,0.00,0.000,6,0.000,0.021,3270,1803,1813,0,0,0,0,0,0
$GC,8112,1.36,294.7,243.2,9.7,328,8123,0.10,2.62,4.90,0.571,4,0.092,0.039,3298,3398,1799,0,0,0,0,0,0
$GC,8139,1.40,294.7,240.1,11.2,328,8144,0.00,2.70,0.00,0.000,6,0.000,0.039,3298,1784,1798,0,0,0,0,0,0
$GC,8391,1.40,294.7,213.5,10.5,334,8395,0.00,2.72,0.00,0.000,4,0.000,0.079,3297,238,1797,0,0,0,0,0,0
$GC,8430,1.36,294.7,209.0,11.1,335,8434,0.00,2.47,0.00,0.000,6,0.000,0.021,3298,1804,1797,0,0,0,0,0,0
$GC,8692,1.38,315.7,185.2,8.8,351,8720,0.00,2.85,20.00,0.694,4,0.000,0.072,3298,237,1713,0,0,0,0,0,0
$GC,8742,1.38,315.7,179.7,11.3,355,8748,0.00,2.47,0.00,0.000,6,0.000,0.028,3298,1790,1712,0,0,0,0,0,0
$GC,9006,1.43,319.8,153.3,9.8,380,9013,0.00,0.00,4.88,0.512,6,0.000,0.000,3298,1792,1697,0,0,0,0,0,0
$GC,9276,1.48,319.8,125.9,10.6,405,9281,0.10,0.00,0.00,0.000,6,0.089,0.000,3326,1792,1696,0,0,0,0,0,0
$GC,9539,1.48,319.8,95.7,11.1,430,9543,0.00,2.58,0.00,0.000,4,0.000,0.037,3326,3389,1695,0,0,0,0,0,0
$GC,9559,1.48,319.8,93.8,10.8,431,9563,0.00,2.67,0.00,0.000,6,0.000,0.041,3326,1779,1694,0,0,0,0,0,0
$GC,9826,1.57,332.7,66.6,9.3,455,9844,0.00,2.70,12.77,0.572,4,0.000,0.065,3326,238,1643,0,0,0,0,0,0
$GC,9924,1.58,345.9,57.5,9.3,462,9943,0.00,2.40,12.80,0.561,6,0.000,0.027,3326,1772,1589,0,0,0,0,0,0
$GC,10211,1.73,404.6,35.7,6.6,488,10269,0.20,2.65,51.95,0.565,4,0.140,0.029,3380,3379,1350,0,0,0,0,0,0
$GC,10304,1.78,404.6,26.4,12.3,496,10313,0.00,2.75,0.00,0.000,6,0.000,0.039,3380,1756,1347,0,0,0,0,0,0
$STATE,10479,end climb,SURFACE_DEPTH_REACHED
$STATE,10482,begin surface coast
$FINISH,0.4,0.999225
$STATE,10525,end surface coast,CONTROL_FINISHED_OK
$STATE,10525,begin surface
$SM_CCo,10546,12.12,0.496,0,0,1287,420.20
$SM_GC,1.00,0.00,0.00,12.12,0.000,0.000,0.496,475,1753,1287,-11.62,-0.45,420.20
$IRIDIUM_FIX,2246.36,-15748.90,230100,141420
$TT8_MAMPS,0.026078
$HUMID,56.89
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.10
$XPDR_PINGS,108
$24V_AH,23.3,73.080
$10V_AH,9.9,68.985
$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,27.850,120.700,470.075,12.125,0.000,78.269,110.817,638.876,27.000,0.000,36.142,1058.983,6991.131,500.365,1974.230,1169.480,33.372,1258.532,0.000,1960.066,0.000,0.535,0.000
$DEVICE_MAMPS,158.769,111.215,926.536,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.509,308.036,409.232,775.585,1172.084,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,41709,527
$CAP_FILE_SIZE,121289,0
$CFSIZE,260165632,151531520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291010,175022,2253.223,-15744.711,36,1.2,51,10.1