version: 66.06
glider: 146
mission: 5
dive: 529
start: 10 29 110 21 26 12
data:
$ID,146
$MISSION,5
$DIVE,529
$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,-260442
$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,33
$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
$GPS1,210346,2253.286,-15744.270,8,99.0,27,10.1
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.3
$GPS2,212516,2253.496,-15744.276,13,99.0,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.008,-0.235
$KALMAN_X,-260994.7,4.6,-110.0,306413.3,451.7
$KALMAN_Y,-580175.4,840.1,-38.9,714400.8,1540.9
$MHEAD_RNG_PITCHd_Wd,171.8,9189,-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,-85.28,0.000,6,0.000,0.000,473,1751,3478,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.6,-9.4,11,125,11.82,2.65,0.00,0.000,4,0.158,0.055,2689,197,3481,0,0,0,0,0,0
$GC,177,-1.23,-116.8,23.8,-16.4,20,187,0.15,2.45,0.00,0.000,6,0.104,0.018,2723,1780,3481,0,0,0,0,0,0
$GC,454,-1.18,-116.8,63.1,-13.4,47,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1781,3482,0,0,0,0,0,0
$GC,716,-1.18,-116.8,89.2,-7.8,72,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1781,3482,0,0,0,0,0,0
$GC,970,-1.22,-116.8,111.6,-8.4,96,975,0.00,2.67,0.00,0.000,4,0.000,0.059,2723,201,3482,0,0,0,0,0,0
$GC,993,-1.26,-116.8,113.1,-8.7,97,997,0.00,2.38,0.00,0.000,6,0.000,0.016,2723,1785,3482,0,0,0,0,0,0
$GC,1260,-1.31,-116.8,136.3,-8.6,121,1264,0.00,2.40,0.00,0.000,4,0.000,0.027,2723,3314,3483,0,0,0,0,0,0
$GC,1294,-1.38,-116.8,139.2,-8.7,123,1299,0.10,2.50,0.00,0.000,6,0.080,0.028,2682,1760,3483,0,0,0,0,0,0
$GC,1555,-1.34,-116.8,166.3,-10.6,147,1557,0.12,0.00,0.00,0.000,6,0.108,0.000,2708,1760,3483,0,0,0,0,0,0
$GC,1813,-1.34,-116.8,192.3,-9.6,171,1817,0.00,2.45,0.00,0.000,4,0.000,0.031,2708,3314,3482,0,0,0,0,0,0
$GC,1858,-1.41,-116.8,197.0,-9.4,174,1867,0.00,2.53,0.00,0.000,6,0.000,0.035,2707,1761,3482,0,0,0,0,0,0
$GC,2140,-1.41,-116.8,221.9,-8.8,184,2144,0.00,2.42,0.00,0.000,4,0.000,0.028,2708,3314,3481,0,0,0,0,0,0
$GC,2164,-1.45,-116.8,223.9,-8.4,184,2169,0.10,2.50,0.00,0.000,6,0.081,0.029,2669,1760,3481,0,0,0,0,0,0
$GC,2420,-1.42,-116.8,249.5,-10.2,191,2422,0.10,0.00,0.00,0.000,6,0.122,0.000,2690,1759,3481,0,0,0,0,0,0
$GC,2663,-1.42,-116.8,273.5,-9.8,197,2668,0.00,2.47,0.00,0.000,4,0.000,0.032,2690,3312,3480,0,0,0,0,0,0
$GC,2699,-1.46,-116.8,276.8,-9.7,197,2704,0.00,2.47,0.00,0.000,6,0.000,0.037,2689,1779,3480,0,0,0,0,0,0
$GC,2949,-1.46,-116.8,300.7,-9.4,204,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1779,3479,0,0,0,0,0,0
$GC,3192,-1.46,-116.8,324.0,-9.7,210,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1779,3478,0,0,0,0,0,0
$GC,3438,-1.46,-116.8,345.7,-8.8,216,3442,0.00,2.45,0.00,0.000,4,0.000,0.035,2690,3307,3476,0,0,0,0,0,0
$GC,3471,-1.53,-116.8,348.6,-8.1,216,3477,0.10,2.53,0.00,0.000,6,0.084,0.048,2653,1781,3476,0,0,0,0,0,0
$GC,3721,-1.49,-116.8,373.3,-10.4,223,3726,0.10,2.90,0.00,0.000,4,0.126,0.097,2674,186,3475,0,0,0,0,0,0
$GC,3744,-1.49,-116.8,375.9,-11.4,223,3749,0.00,2.45,0.00,0.000,6,0.000,0.022,2674,1740,3474,0,0,0,0,0,0
$GC,4000,-1.49,-116.8,402.0,-9.9,230,4004,0.00,2.62,0.00,0.000,4,0.000,0.045,2673,3349,3473,0,0,0,0,0,0
$GC,4078,-1.54,-116.8,409.7,-9.5,231,4086,0.00,2.58,0.00,0.000,6,0.000,0.048,2673,1801,3472,0,0,0,0,0,0
$GC,4330,-1.54,-116.8,433.6,-9.7,238,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1801,3471,0,0,0,0,0,0
$GC,4572,-1.54,-116.8,456.2,-9.3,244,4576,0.00,2.58,0.00,0.000,4,0.000,0.049,2674,3350,3469,0,0,0,0,0,0
$GC,4616,-1.60,-116.8,460.4,-9.0,245,4620,0.00,2.62,0.00,0.000,6,0.000,0.055,2673,1804,3469,0,0,0,0,0,0
$GC,4895,-1.60,-116.8,485.5,-9.2,252,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1804,3467,0,0,0,0,0,0
$STATE,5053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5053,begin apogee
$GC,5059,-0.31,0.0,500.8,9.5,256,5160,1.17,0.00,98.03,0.923,6,0.086,0.000,2932,1804,3001,0,0,0,0,0,0
$STATE,5161,end apogee,CONTROL_FINISHED_OK
$STATE,5161,begin climb
$GC,5164,1.38,116.8,503.3,0.0,258,5272,1.52,0.00,103.15,0.900,6,0.041,0.000,3306,1804,2524,0,0,0,0,0,0
$GC,5490,1.29,145.1,486.4,8.4,266,5521,0.12,2.78,25.10,0.861,4,0.127,0.049,3283,3393,2407,0,0,0,0,0,0
$GC,5588,1.27,161.9,477.8,9.1,268,5610,0.00,2.75,16.05,0.828,6,0.000,0.059,3283,1825,2340,0,0,0,0,0,0
$GC,5860,1.26,192.4,454.2,8.3,275,5895,0.00,2.70,27.88,0.861,4,0.000,0.040,3283,3396,2216,0,0,0,0,0,0
$GC,5914,1.31,233.0,450.1,7.7,276,5958,0.00,2.72,37.60,0.859,6,0.000,0.060,3283,1831,2051,0,0,0,0,0,0
$GC,6233,1.34,256.3,422.6,8.7,284,6261,0.00,2.70,21.55,0.832,4,0.000,0.041,3283,3407,1955,0,0,0,0,0,0
$GC,6276,1.35,268.1,418.5,9.4,285,6296,0.00,2.72,12.10,0.782,6,0.000,0.055,3283,1832,1907,0,0,0,0,0,0
$GC,6564,1.35,268.1,388.0,10.9,292,6568,0.00,2.95,0.00,0.000,4,0.000,0.097,3283,229,1902,0,0,0,0,0,0
$GC,6591,1.28,268.1,384.5,13.4,292,6595,0.00,2.58,0.00,0.000,6,0.000,0.022,3283,1839,1900,0,0,0,0,0,0
$GC,6842,1.28,268.1,354.8,11.9,298,6847,0.00,2.88,0.00,0.000,4,0.000,0.081,3283,230,1899,0,0,0,0,0,0
$GC,6886,1.23,268.1,348.7,13.4,299,6890,0.00,2.53,0.00,0.000,6,0.000,0.026,3283,1807,1898,0,0,0,0,0,0
$GC,7163,1.23,268.1,318.6,10.7,306,7168,0.00,2.60,0.00,0.000,4,0.000,0.040,3283,3408,1897,0,0,0,0,0,0
$GC,7187,1.27,268.1,316.0,11.6,306,7192,0.00,2.70,0.00,0.000,6,0.000,0.048,3283,1799,1897,0,0,0,0,0,0
$GC,7443,1.27,268.1,288.7,10.4,313,7448,0.00,2.78,0.00,0.000,4,0.000,0.082,3283,230,1896,0,0,0,0,0,0
$GC,7509,1.27,268.1,281.4,11.1,314,7513,0.00,2.45,0.00,0.000,6,0.000,0.026,3283,1801,1895,0,0,0,0,0,0
$GC,7766,1.30,296.1,259.8,8.4,321,7792,0.00,0.00,24.52,0.758,6,0.000,0.000,3283,1802,1794,0,0,0,0,0,0
$GC,8008,1.35,296.1,234.9,10.5,327,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1802,1789,0,0,0,0,0,0
$GC,8252,1.40,296.1,210.4,10.1,333,8257,0.10,2.58,0.00,0.000,4,0.097,0.031,3309,3383,1787,0,0,0,0,0,0
$GC,8282,1.45,296.1,207.4,11.3,333,8287,0.00,2.67,0.00,0.000,6,0.000,0.039,3309,1776,1786,0,0,0,0,0,0
$GC,8540,1.45,296.1,180.1,10.7,351,8544,0.00,2.60,0.00,0.000,4,0.000,0.035,3309,3383,1786,0,0,0,0,0,0
$GC,8579,1.52,296.1,175.9,10.5,354,8584,0.00,2.65,0.00,0.000,6,0.000,0.043,3309,1787,1786,0,0,0,0,0,0
$GC,8843,1.52,296.1,147.4,11.7,378,8848,0.00,2.70,0.00,0.000,4,0.000,0.071,3309,235,1786,0,0,0,0,0,0
$GC,8896,1.52,296.1,140.5,12.4,382,8900,0.00,2.42,0.00,0.000,6,0.000,0.022,3309,1782,1785,0,0,0,0,0,0
$GC,9160,1.52,296.1,113.0,10.2,406,9164,0.00,2.58,0.00,0.000,4,0.000,0.034,3309,3385,1785,0,0,0,0,0,0
$GC,9183,1.56,296.1,110.2,10.2,407,9189,0.12,2.65,0.00,0.000,6,0.080,0.042,3342,1779,1784,0,0,0,0,0,0
$GC,9447,1.56,296.1,81.0,10.4,432,9451,0.00,2.65,0.00,0.000,4,0.000,0.069,3342,238,1784,0,0,0,0,0,0
$GC,9542,1.52,296.1,71.0,10.4,439,9547,0.00,2.38,0.00,0.000,6,0.000,0.020,3342,1780,1784,0,0,0,0,0,0
$GC,9811,1.60,327.5,49.1,8.2,463,9852,0.00,2.67,27.85,0.576,4,0.000,0.029,3342,3383,1663,0,0,0,0,0,0
$GC,9932,1.69,327.5,37.7,10.3,472,9937,0.12,2.67,0.00,0.000,6,0.081,0.036,3378,1773,1662,0,0,0,0,0,0
$STATE,10246,end climb,SURFACE_DEPTH_REACHED
$STATE,10246,begin surface coast
$FINISH,0.4,1.000912
$STATE,10288,end surface coast,CONTROL_FINISHED_OK
$STATE,10288,begin surface
$SM_CCo,10310,76.88,0.532,0,0,1287,420.20
$SM_GC,1.05,0.00,0.00,76.88,0.000,0.000,0.532,474,1770,1287,-11.62,0.00,420.20
$IRIDIUM_FIX,2244.02,-15743.68,230100,212132
$TT8_MAMPS,0.026078
$HUMID,55.71
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.50
$XPDR_PINGS,110
$24V_AH,23.3,73.404
$10V_AH,9.9,69.236
$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,27.600,119.675,393.825,76.875,0.000,81.148,102.167,799.657,27.500,0.000,34.377,1047.680,6815.118,534.729,1963.216,1318.733,33.370,1243.174,0.000,1950.865,0.000,0.537,0.000
$DEVICE_MAMPS,158.002,97.409,923.468,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.888,287.499,402.207,773.149,1169.510,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,41542,519
$CAP_FILE_SIZE,119248,0
$CFSIZE,260165632,151408640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,002056,2253.452,-15744.066,34,99.0,53,10.1