version: 66.06
glider: 146
mission: 5
dive: 532
start: 10 30 110 6 59 37
data:
$ID,146
$MISSION,5
$DIVE,532
$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,-260492.58
$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,23
$R_STBD_OVSHOOT,52
$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
$GPS1,064830,2252.671,-15742.954,39,1.8,39,10.1
$_CALLS,1
$_XMS_NAKs,28
$_XMS_TOUTs,2
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.0
$GPS2,065839,2252.786,-15742.918,13,2.0,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.074,-0.223
$KALMAN_X,-260858.6,404.1,56.4,308046.6,-389.9
$KALMAN_Y,-574316.6,269.1,-136.8,707895.3,692.5
$MHEAD_RNG_PITCHd_Wd,151.6,7184,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.50,0.000,2,0.000,0.000,475,1794,3291,0,0,0,0,0,0
$GC,99,-1.38,-116.8,4.3,-9.3,10,125,11.85,2.80,-3.42,0.000,4,0.160,0.072,2689,197,3480,0,0,0,0,0,0
$GC,197,-1.27,-116.8,26.9,-16.3,23,207,0.12,2.45,0.00,0.000,6,0.097,0.017,2719,1763,3481,0,0,0,0,0,0
$GC,474,-1.22,-116.8,64.2,-11.7,49,478,0.00,2.50,0.00,0.000,4,0.000,0.026,2719,3341,3483,0,0,0,0,0,0
$GC,536,-1.25,-116.8,71.5,-9.9,53,545,0.00,2.55,0.00,0.000,6,0.000,0.028,2719,1774,3483,0,0,0,0,0,0
$GC,798,-1.25,-116.8,94.5,-8.4,78,803,0.00,2.67,0.00,0.000,4,0.000,0.058,2719,190,3484,0,0,0,0,0,0
$GC,821,-1.25,-116.8,96.0,-8.3,79,825,0.00,2.45,0.00,0.000,6,0.000,0.015,2719,1816,3484,0,0,0,0,0,0
$GC,1087,-1.25,-116.8,117.9,-8.1,103,1091,0.00,2.38,0.00,0.000,4,0.000,0.025,2719,3322,3485,0,0,0,0,0,0
$GC,1104,-1.29,-116.8,119.7,-7.9,104,1109,0.00,2.47,0.00,0.000,6,0.000,0.029,2719,1779,3485,0,0,0,0,0,0
$GC,1369,-1.33,-116.8,140.9,-8.8,128,1374,0.00,2.70,0.00,0.000,4,0.000,0.062,2719,197,3485,0,0,0,0,0,0
$GC,1392,-1.37,-116.8,142.7,-8.9,129,1396,0.00,2.38,0.00,0.000,6,0.000,0.016,2719,1781,3485,0,0,0,0,0,0
$GC,1655,-1.41,-116.8,166.3,-9.0,153,1660,0.12,2.42,0.00,0.000,4,0.074,0.026,2679,3316,3485,0,0,0,0,0,0
$GC,1684,-1.41,-116.8,169.4,-10.5,155,1689,0.00,2.45,0.00,0.000,6,0.000,0.035,2678,1779,3485,0,0,0,0,0,0
$GC,1949,-1.41,-116.8,194.9,-9.8,179,1953,0.00,2.42,0.00,0.000,4,0.000,0.029,2678,3316,3485,0,0,0,0,0,0
$GC,1967,-1.41,-116.8,196.9,-10.0,180,1971,0.00,2.47,0.00,0.000,6,0.000,0.029,2678,1776,3485,0,0,0,0,0,0
$GC,2249,-1.41,-116.8,225.1,-10.3,189,2253,0.00,2.70,0.00,0.000,4,0.000,0.066,2678,197,3485,0,0,0,0,0,0
$GC,2282,-1.41,-116.8,228.7,-11.7,189,2288,0.00,2.38,0.00,0.000,6,0.000,0.023,2678,1755,3485,0,0,0,0,0,0
$GC,2532,-1.41,-116.8,256.2,-11.1,196,2537,0.00,2.55,0.00,0.000,4,0.000,0.034,2678,3336,3485,0,0,0,0,0,0
$GC,2594,-1.45,-116.8,262.8,-10.1,197,2598,0.00,2.50,0.00,0.000,6,0.000,0.034,2678,1794,3485,0,0,0,0,0,0
$GC,2856,-1.45,-116.8,287.8,-9.5,204,2861,0.00,2.80,0.00,0.000,4,0.000,0.074,2678,187,3484,0,0,0,0,0,0
$GC,2872,-1.45,-116.8,289.6,-9.5,204,2876,0.00,2.50,0.00,0.000,6,0.000,0.024,2678,1789,3484,0,0,0,0,0,0
$GC,3132,-1.45,-116.8,312.7,-8.7,211,3137,0.00,2.53,0.00,0.000,4,0.000,0.035,2678,3352,3483,0,0,0,0,0,0
$GC,3150,-1.45,-116.8,314.3,-9.1,211,3154,0.00,2.55,0.00,0.000,6,0.000,0.041,2678,1798,3483,0,0,0,0,0,0
$GC,3411,-1.45,-116.8,339.4,-9.8,218,3415,0.00,2.50,0.00,0.000,4,0.000,0.037,2678,3353,3481,0,0,0,0,0,0
$GC,3427,-1.45,-116.8,341.1,-9.9,218,3431,0.00,2.58,0.00,0.000,6,0.000,0.038,2678,1796,3482,0,0,0,0,0,0
$GC,3689,-1.45,-116.8,365.0,-9.3,225,3693,0.00,2.50,0.00,0.000,4,0.000,0.040,2678,3346,3480,0,0,0,0,0,0
$GC,3705,-1.45,-116.8,366.8,-9.2,225,3709,0.00,2.55,0.00,0.000,6,0.000,0.040,2678,1807,3480,0,0,0,0,0,0
$GC,3967,-1.45,-116.8,391.1,-9.6,232,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1806,3479,0,0,0,0,0,0
$GC,4211,-1.45,-116.8,415.5,-9.9,238,4216,0.00,2.97,0.00,0.000,4,0.000,0.099,2678,186,3477,0,0,0,0,0,0
$GC,4227,-1.45,-116.8,417.4,-9.9,238,4231,0.00,2.58,0.00,0.000,6,0.000,0.031,2678,1797,3477,0,0,0,0,0,0
$GC,4487,-1.45,-116.8,444.3,-10.5,245,4491,0.00,2.58,0.00,0.000,4,0.000,0.054,2678,3357,3475,0,0,0,0,0,0
$GC,4528,-1.51,-116.8,448.4,-10.3,246,4533,0.00,2.60,0.00,0.000,6,0.000,0.051,2678,1807,3475,0,0,0,0,0,0
$GC,4812,-1.51,-116.8,476.3,-9.6,253,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1807,3473,0,0,0,0,0,0
$GC,5056,-1.51,-116.8,497.6,-8.6,259,5060,0.00,2.58,0.00,0.000,4,0.000,0.054,2678,3349,3472,0,0,0,0,0,0
$STATE,5080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5080,begin apogee
$GC,5090,-0.31,0.0,500.1,9.0,259,5193,1.12,0.00,98.97,0.921,6,0.087,0.000,2927,1821,3001,0,0,0,0,0,0
$STATE,5194,end apogee,CONTROL_FINISHED_OK
$STATE,5194,begin climb
$GC,5196,1.38,116.8,502.6,0.0,262,5311,1.58,2.72,103.12,0.900,4,0.050,0.048,3307,3404,2523,0,0,0,0,0,0
$GC,5339,1.33,176.6,500.5,6.6,265,5399,0.00,2.78,53.22,0.883,6,0.000,0.063,3306,1819,2282,0,0,0,0,0,0
$GC,5675,1.24,183.2,469.1,9.7,274,5689,0.17,2.67,6.38,0.696,4,0.117,0.044,3272,3409,2253,0,0,0,0,0,0
$GC,5707,1.27,208.3,465.9,8.6,274,5737,0.00,2.75,24.00,0.848,6,0.000,0.061,3272,1821,2152,0,0,0,0,0,0
$GC,6005,1.29,220.5,438.2,9.3,282,6019,0.00,0.00,11.98,0.798,6,0.000,0.000,3272,1821,2101,0,0,0,0,0,0
$GC,6250,1.31,239.9,416.1,8.9,288,6275,0.00,3.08,18.73,0.831,4,0.000,0.107,3272,232,2022,0,0,0,0,0,0
$GC,6293,1.26,243.7,411.9,9.8,289,6303,0.00,2.55,4.93,0.615,6,0.000,0.025,3272,1817,2007,0,0,0,0,0,0
$GC,6578,1.27,252.7,385.0,9.5,296,6593,0.00,2.88,9.68,0.761,4,0.000,0.082,3272,230,1969,0,0,0,0,0,0
$GC,6618,1.23,252.7,380.5,10.9,297,6623,0.00,2.55,0.00,0.000,6,0.000,0.021,3272,1818,1967,0,0,0,0,0,0
$GC,6901,1.25,270.1,354.2,9.0,304,6920,0.00,0.00,17.10,0.798,6,0.000,0.000,3272,1818,1899,0,0,0,0,0,0
$GC,7147,1.26,281.6,331.3,9.4,310,7160,0.00,0.00,11.38,0.752,6,0.000,0.000,3272,1819,1853,0,0,0,0,0,0
$GC,7389,1.31,281.6,306.4,10.4,316,7393,0.00,2.83,0.00,0.000,4,0.000,0.075,3272,230,1850,0,0,0,0,0,0
$GC,7432,1.31,281.6,301.1,12.2,317,7437,0.00,2.53,0.00,0.000,6,0.000,0.026,3272,1815,1849,0,0,0,0,0,0
$GC,7712,1.36,281.6,271.8,10.5,324,7718,0.10,2.83,0.00,0.000,4,0.094,0.070,3298,225,1848,0,0,0,0,0,0
$GC,7742,1.31,281.6,268.4,12.0,324,7746,0.00,2.50,0.00,0.000,6,0.000,0.027,3299,1793,1847,0,0,0,0,0,0
$GC,7992,1.33,295.2,244.1,9.3,330,8011,0.00,2.67,12.98,0.718,4,0.000,0.039,3299,3387,1797,0,0,0,0,0,0
$GC,8053,1.40,301.9,238.4,9.6,331,8067,0.00,2.67,7.78,0.650,6,0.000,0.045,3299,1791,1769,0,0,0,0,0,0
$GC,8323,1.40,301.9,210.6,10.3,338,8328,0.00,2.72,0.00,0.000,4,0.000,0.073,3299,236,1766,0,0,0,0,0,0
$GC,8351,1.40,301.9,207.4,11.7,338,8355,0.00,2.50,0.00,0.000,6,0.000,0.027,3299,1813,1764,0,0,0,0,0,0
$GC,8610,1.40,301.9,181.9,10.3,356,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1815,1764,0,0,0,0,0,0
$GC,8862,1.40,301.9,154.8,11.1,380,8867,0.00,2.75,0.00,0.000,4,0.000,0.071,3299,236,1764,0,0,0,0,0,0
$GC,8885,1.40,301.9,152.2,11.5,381,8895,0.00,2.50,0.00,0.000,6,0.000,0.027,3298,1805,1762,0,0,0,0,0,0
$GC,9148,1.41,305.5,126.1,9.8,406,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1807,1763,0,0,0,0,0,0
$GC,9403,1.46,305.5,101.0,10.3,430,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1807,1763,0,0,0,0,0,0
$GC,9661,1.59,339.0,77.0,8.1,454,9701,0.20,2.60,33.00,0.608,4,0.061,0.028,3351,3389,1618,0,0,0,0,0,0
$GC,9720,1.61,359.0,72.2,8.9,458,9749,0.00,2.65,18.67,0.580,6,0.000,0.040,3351,1790,1535,0,0,0,0,0,0
$GC,10005,1.62,367.1,44.1,9.6,484,10020,0.00,2.72,8.10,0.507,4,0.000,0.064,3351,234,1503,0,0,0,0,0,0
$GC,10039,1.63,374.0,40.9,9.6,486,10054,0.00,2.50,7.93,0.499,6,0.000,0.020,3351,1824,1474,0,0,0,0,0,0
$STATE,10349,end climb,SURFACE_DEPTH_REACHED
$STATE,10349,begin surface coast
$FINISH,0.3,1.023354
$STATE,10392,end surface coast,CONTROL_FINISHED_OK
$STATE,10392,begin surface
$SM_CCo,10416,38.50,0.532,0,0,1287,420.20
$SM_GC,1.17,0.00,0.00,38.50,0.000,0.000,0.532,476,1758,1287,-11.62,-0.31,420.20
$IRIDIUM_FIX,2244.02,-15743.68,240100,030315
$TT8_MAMPS,0.025311
$HUMID,56.77
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.40
$XPDR_PINGS,136
$24V_AH,23.3,73.841
$10V_AH,9.9,69.611
$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,26.975,140.750,447.925,38.500,0.000,31.308,34.683,389.255,34.000,0.000,15.750,1082.878,6715.341,531.745,1952.818,781.858,33.374,1281.774,0.000,1957.165,0.000,0.534,0.000
$DEVICE_MAMPS,159.536,106.613,921.167,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.720,317.882,416.497,778.238,1177.913,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,41495,533
$CAP_FILE_SIZE,117005,0
$CFSIZE,260165632,151228416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,095504,2252.486,-15742.493,11,99.0,30,10.1