version: 66.06
glider: 146
mission: 5
dive: 530
start: 10 30 110 0 42 55
data:
$ID,146
$MISSION,5
$DIVE,530
$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,-260457.58
$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,22
$R_STBD_OVSHOOT,58
$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
$GPS1,002056,2253.452,-15744.066,34,99.0,53,10.1
$_CALLS,4
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.2
$GPS2,004201,2253.773,-15744.116,8,1.8,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.059,-0.227
$KALMAN_X,-261132.1,354.9,35.5,306332.7,115.5
$KALMAN_Y,-578189.8,1068.1,533.6,712126.5,564.4
$MHEAD_RNG_PITCHd_Wd,155.4,9549,-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,-78.65,0.000,2,0.000,0.000,473,1769,3265,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.4,-6.4,10,128,11.82,2.72,-4.03,0.000,4,0.158,0.067,2688,190,3480,0,0,0,0,0,0
$GC,146,-0.76,-116.8,16.9,-26.9,15,156,0.65,2.45,0.00,0.000,6,0.094,0.016,2830,1780,3482,0,0,0,0,0,0
$GC,441,-0.90,-116.8,44.2,-8.3,49,450,0.12,0.00,0.00,0.000,6,0.068,0.000,2785,1781,3481,0,0,0,0,0,0
$GC,709,-0.98,-116.8,69.8,-9.2,74,713,0.00,2.42,0.00,0.000,4,0.000,0.025,2785,3331,3482,0,0,0,0,0,0
$GC,743,-1.09,-116.8,73.0,-8.7,76,748,0.10,2.47,0.00,0.000,6,0.079,0.026,2743,1775,3482,0,0,0,0,0,0
$GC,1007,-1.17,-116.8,96.6,-8.6,100,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1775,3483,0,0,0,0,0,0
$GC,1263,-1.25,-116.8,119.2,-9.0,124,1267,0.00,2.65,0.00,0.000,4,0.000,0.065,2743,199,3483,0,0,0,0,0,0
$GC,1273,-1.33,-116.8,120.5,-8.8,124,1283,0.12,2.47,0.00,0.000,6,0.035,0.019,2690,1828,3483,0,0,0,0,0,0
$GC,1541,-1.33,-116.8,146.3,-10.1,149,1545,0.00,2.80,0.00,0.000,4,0.000,0.061,2690,194,3483,0,0,0,0,0,0
$GC,1563,-1.33,-116.8,149.3,-10.5,150,1572,0.00,2.45,0.00,0.000,6,0.000,0.016,2690,1791,3484,0,0,0,0,0,0
$GC,1830,-1.33,-116.8,175.7,-10.3,175,1834,0.00,2.72,0.00,0.000,4,0.000,0.067,2690,200,3483,0,0,0,0,0,0
$GC,1848,-1.33,-116.8,177.8,-10.1,176,1852,0.00,2.40,0.00,0.000,6,0.000,0.015,2690,1792,3483,0,0,0,0,0,0
$GC,2109,-1.33,-116.8,205.5,-11.3,197,2113,0.00,2.40,0.00,0.000,4,0.000,0.031,2690,3317,3483,0,0,0,0,0,0
$GC,2177,-1.33,-116.8,212.9,-10.2,198,2181,0.00,2.45,0.00,0.000,6,0.000,0.028,2690,1794,3483,0,0,0,0,0,0
$GC,2432,-1.33,-116.8,239.3,-10.2,205,2436,0.00,2.40,0.00,0.000,4,0.000,0.026,2690,3326,3482,0,0,0,0,0,0
$GC,2448,-1.33,-116.8,241.0,-9.9,205,2452,0.00,2.42,0.00,0.000,6,0.000,0.035,2690,1805,3482,0,0,0,0,0,0
$GC,2710,-1.33,-116.8,263.1,-8.6,212,2714,0.00,2.40,0.00,0.000,4,0.000,0.027,2690,3315,3481,0,0,0,0,0,0
$GC,2744,-1.38,-116.8,266.0,-8.0,212,2749,0.00,2.42,0.00,0.000,6,0.000,0.036,2690,1816,3481,0,0,0,0,0,0
$GC,2994,-1.38,-116.8,286.3,-8.3,219,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1816,3480,0,0,0,0,0,0
$GC,3237,-1.38,-116.8,306.0,-8.1,225,3242,0.00,2.38,0.00,0.000,4,0.000,0.035,2690,3313,3480,0,0,0,0,0,0
$GC,3250,-1.38,-116.8,307.1,-8.4,225,3254,0.00,2.40,0.00,0.000,6,0.000,0.038,2690,1840,3480,0,0,0,0,0,0
$GC,3518,-1.38,-116.8,332.8,-10.1,232,3522,0.00,2.92,0.00,0.000,4,0.000,0.087,2690,191,3478,0,0,0,0,0,0
$GC,3534,-1.38,-116.8,334.7,-9.9,232,3538,0.00,2.55,0.00,0.000,6,0.000,0.022,2690,1810,3478,0,0,0,0,0,0
$GC,3796,-1.38,-116.8,358.2,-8.8,239,3800,0.00,2.50,0.00,0.000,4,0.000,0.044,2690,3346,3476,0,0,0,0,0,0
$GC,3836,-1.46,-116.8,361.7,-8.7,240,3840,0.00,2.47,0.00,0.000,6,0.000,0.048,2689,1855,3476,0,0,0,0,0,0
$GC,4121,-1.50,-116.8,385.4,-8.4,247,4126,0.00,2.97,0.00,0.000,4,0.000,0.094,2690,197,3474,0,0,0,0,0,0
$GC,4182,-1.55,-116.8,391.2,-9.0,248,4187,0.12,2.60,0.00,0.000,6,0.075,0.030,2649,1834,3474,0,0,0,0,0,0
$GC,4444,-1.51,-116.8,416.3,-9.7,255,4449,0.10,2.50,0.00,0.000,4,0.130,0.047,2669,3346,3472,0,0,0,0,0,0
$GC,4479,-1.51,-116.8,419.7,-9.8,255,4484,0.00,2.53,0.00,0.000,6,0.000,0.052,2669,1855,3472,0,0,0,0,0,0
$GC,4728,-1.51,-116.8,445.2,-10.5,262,4733,0.00,2.45,0.00,0.000,4,0.000,0.041,2669,3343,3470,0,0,0,0,0,0
$GC,4756,-1.51,-116.8,448.3,-11.0,262,4760,0.00,2.50,0.00,0.000,6,0.000,0.058,2669,1872,3470,0,0,0,0,0,0
$GC,5007,-1.51,-116.8,475.0,-10.7,268,5012,0.00,2.45,0.00,0.000,4,0.000,0.044,2669,3349,3468,0,0,0,0,0,0
$GC,5023,-1.51,-116.8,477.0,-10.4,268,5027,0.00,2.47,0.00,0.000,6,0.000,0.055,2669,1882,3468,0,0,0,0,0,0
$STATE,5282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5282,begin apogee
$GC,5289,-0.31,0.0,501.8,9.4,275,5391,1.17,0.00,98.45,0.927,6,0.099,0.000,2929,1831,3001,0,0,0,0,0,0
$STATE,5392,end apogee,CONTROL_FINISHED_OK
$STATE,5392,begin climb
$GC,5396,1.38,116.8,504.4,0.0,277,5509,1.55,2.70,103.60,0.907,4,0.048,0.051,3307,3393,2523,0,0,0,0,0,0
$GC,5532,1.35,192.4,504.2,5.7,280,5607,0.00,2.72,67.30,0.894,6,0.000,0.064,3308,1824,2215,0,0,0,0,0,0
$GC,5885,1.26,192.4,469.5,10.4,289,5887,0.17,0.00,0.00,0.000,6,0.121,0.000,3274,1824,2206,0,0,0,0,0,0
$GC,6129,1.28,211.3,447.5,9.0,295,6153,0.00,2.72,16.52,0.835,4,0.000,0.044,3273,3397,2138,0,0,0,0,0,0
$GC,6219,1.28,211.3,438.9,10.1,297,6224,0.00,2.72,0.00,0.000,6,0.000,0.061,3273,1824,2134,0,0,0,0,0,0
$GC,6502,1.30,228.2,412.9,9.1,304,6524,0.00,2.62,16.17,0.827,4,0.000,0.035,3273,3398,2069,0,0,0,0,0,0
$GC,6536,1.33,250.9,409.9,8.7,304,6566,0.00,2.70,22.17,0.831,6,0.000,0.051,3273,1833,1977,0,0,0,0,0,0
$GC,6828,1.34,257.8,381.7,9.6,312,6843,0.00,3.03,7.10,0.709,4,0.000,0.091,3273,232,1949,0,0,0,0,0,0
$GC,6891,1.29,257.8,374.7,11.8,313,6896,0.00,2.55,0.00,0.000,6,0.000,0.022,3273,1824,1947,0,0,0,0,0,0
$GC,7158,1.29,257.8,346.0,10.7,320,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1825,1945,0,0,0,0,0,0
$GC,7402,1.29,261.8,321.8,9.8,326,7408,0.00,0.00,4.55,0.581,6,0.000,0.000,3273,1826,1933,0,0,0,0,0,0
$GC,7648,1.36,288.4,300.5,8.5,332,7679,0.10,2.88,25.42,0.789,4,0.100,0.074,3298,230,1826,0,0,0,0,0,0
$GC,7752,1.31,288.4,289.3,11.0,334,7757,0.00,2.58,0.00,0.000,6,0.000,0.021,3299,1840,1822,0,0,0,0,0,0
$GC,8015,1.32,291.7,264.0,9.8,341,8024,0.00,2.88,3.95,0.503,4,0.000,0.072,3300,233,1810,0,0,0,0,0,0
$GC,8042,1.32,291.7,260.6,12.1,341,8046,0.00,2.53,0.00,0.000,6,0.000,0.028,3299,1816,1810,0,0,0,0,0,0
$GC,8298,1.32,291.7,231.5,11.4,348,8302,0.00,2.55,0.00,0.000,4,0.000,0.035,3299,3395,1810,0,0,0,0,0,0
$GC,8319,1.36,291.7,228.9,12.2,348,8324,0.00,2.65,0.00,0.000,6,0.000,0.038,3299,1790,1808,0,0,0,0,0,0
$GC,8575,1.36,291.7,200.9,10.8,355,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1790,1808,0,0,0,0,0,0
$GC,8831,1.38,304.5,176.2,9.3,376,8846,0.00,0.00,12.62,0.664,6,0.000,0.000,3299,1790,1759,0,0,0,0,0,0
$GC,9106,1.42,305.3,148.3,10.0,402,9110,0.00,2.72,0.00,0.000,4,0.000,0.067,3299,232,1756,0,0,0,0,0,0
$GC,9149,1.42,305.3,143.4,11.7,405,9154,0.00,2.50,0.00,0.000,6,0.000,0.027,3299,1813,1755,0,0,0,0,0,0
$GC,9418,1.47,319.2,117.7,9.2,429,9443,0.00,2.83,14.30,0.624,4,0.000,0.070,3299,235,1698,0,0,0,0,0,0
$GC,9448,1.47,319.2,113.9,10.6,431,9454,0.00,2.47,0.00,0.000,6,0.000,0.020,3299,1805,1698,0,0,0,0,0,0
$GC,9713,1.55,319.2,86.9,10.9,456,9723,0.17,0.00,0.00,0.000,6,0.065,0.000,3344,1807,1696,0,0,0,0,0,0
$GC,9980,1.58,342.7,58.5,8.7,481,10007,0.00,2.60,21.50,0.584,4,0.000,0.029,3345,3390,1603,0,0,0,0,0,0
$GC,10038,1.68,342.7,52.9,10.0,485,10043,0.00,2.62,0.00,0.000,6,0.000,0.036,3344,1795,1601,0,0,0,0,0,0
$GC,10311,1.73,342.7,27.0,10.1,511,10321,0.12,2.70,0.00,0.000,4,0.077,0.061,3380,245,1599,0,0,0,0,0,0
$GC,10352,1.64,342.7,22.4,12.4,516,10362,0.10,2.42,0.00,0.000,6,0.097,0.020,3356,1785,1599,0,0,0,0,0,0
$STATE,10516,end climb,SURFACE_DEPTH_REACHED
$STATE,10516,begin surface coast
$FINISH,0.4,1.023453
$STATE,10572,end surface coast,CONTROL_FINISHED_OK
$STATE,10572,begin surface
$SM_CCo,10593,65.50,0.537,0,0,1287,420.20
$SM_GC,1.24,0.00,0.00,65.50,0.000,0.000,0.537,476,1787,1287,-11.62,0.48,420.20
$IRIDIUM_FIX,2246.36,-15745.85,240100,000056
$TT8_MAMPS,0.026078
$HUMID,55.94
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.20
$XPDR_PINGS,107
$24V_AH,23.3,73.567
$10V_AH,9.7,69.370
$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,28.200,134.575,413.675,65.500,0.000,107.757,132.668,665.389,26.750,0.000,14.957,1093.689,6934.812,539.285,2085.492,1272.232,33.372,1306.886,0.000,2090.715,0.000,0.535,0.000
$DEVICE_MAMPS,158.002,142.662,927.303,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.006,306.003,428.646,837.078,1264.725,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,44596,547
$CAP_FILE_SIZE,127699,0
$CFSIZE,260165632,151339008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,034200,2253.186,-15743.617,38,1.8,43,10.1