version: 66.06
glider: 146
mission: 5
dive: 533
start: 10 30 110 10 10 59
data:
$ID,146
$MISSION,5
$DIVE,533
$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,-260557.38
$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,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
$GPS1,095504,2252.486,-15742.493,11,99.0,30,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.2
$GPS2,101006,2252.621,-15742.457,62,0.8,62,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.025,-0.234
$KALMAN_X,-260492.2,113.8,19.1,308801.5,-166.6
$KALMAN_Y,-572080.6,-219.4,-21.6,705727.2,1590.6
$MHEAD_RNG_PITCHd_Wd,163.7,6750,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,100,0.00,0.00,-78.85,0.000,2,0.000,0.000,475,1758,3238,0,0,0,0,0,0
$GC,103,-1.38,-116.8,3.0,-4.7,10,129,12.00,2.72,-4.78,0.000,4,0.165,0.074,2687,194,3479,0,0,0,0,0,0
$GC,194,-1.27,-116.8,23.6,-15.9,22,204,0.12,2.45,0.00,0.000,6,0.098,0.018,2717,1760,3480,0,0,0,0,0,0
$GC,471,-1.18,-116.8,60.9,-13.0,49,476,0.10,2.53,0.00,0.000,4,0.133,0.026,2739,3356,3481,0,0,0,0,0,0
$GC,495,-1.13,-116.8,64.2,-13.1,50,499,0.00,2.58,0.00,0.000,6,0.000,0.030,2739,1768,3481,0,0,0,0,0,0
$GC,758,-1.17,-116.8,90.7,-8.3,74,763,0.00,2.67,0.00,0.000,4,0.000,0.062,2739,193,3482,0,0,0,0,0,0
$GC,789,-1.24,-116.8,93.7,-9.9,76,794,0.00,2.42,0.00,0.000,6,0.000,0.022,2739,1790,3482,0,0,0,0,0,0
$GC,1052,-1.31,-116.8,115.2,-8.1,100,1057,0.10,2.40,0.00,0.000,4,0.084,0.031,2702,3320,3482,0,0,0,0,0,0
$GC,1083,-1.31,-116.8,118.2,-9.6,102,1088,0.00,2.53,0.00,0.000,6,0.000,0.033,2701,1746,3483,0,0,0,0,0,0
$GC,1346,-1.31,-116.8,143.1,-9.3,126,1351,0.00,2.62,0.00,0.000,4,0.000,0.062,2701,196,3483,0,0,0,0,0,0
$GC,1369,-1.31,-116.8,145.5,-9.2,127,1375,0.00,2.33,0.00,0.000,6,0.000,0.015,2701,1752,3483,0,0,0,0,0,0
$GC,1632,-1.31,-116.8,169.3,-8.9,152,1636,0.00,2.47,0.00,0.000,4,0.000,0.027,2701,3319,3483,0,0,0,0,0,0
$GC,1665,-1.31,-116.8,172.0,-8.7,154,1670,0.00,2.53,0.00,0.000,6,0.000,0.031,2701,1754,3483,0,0,0,0,0,0
$GC,1934,-1.31,-116.8,197.5,-9.6,178,1938,0.00,2.65,0.00,0.000,4,0.000,0.066,2701,197,3483,0,0,0,0,0,0
$GC,1951,-1.31,-116.8,199.9,-9.9,179,1955,0.00,2.38,0.00,0.000,6,0.000,0.015,2701,1771,3483,0,0,0,0,0,0
$GC,2201,-1.31,-116.8,224.7,-9.7,185,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1771,3483,0,0,0,0,0,0
$GC,2446,-1.31,-116.8,248.4,-9.7,191,2450,0.00,2.47,0.00,0.000,4,0.000,0.036,2701,3320,3482,0,0,0,0,0,0
$GC,2486,-1.38,-116.8,252.3,-9.7,192,2490,0.00,2.53,0.00,0.000,6,0.000,0.031,2701,1765,3482,0,0,0,0,0,0
$GC,2769,-1.38,-116.8,278.2,-8.9,199,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1765,3481,0,0,0,0,0,0
$GC,3015,-1.41,-116.8,300.0,-9.0,205,3019,0.00,2.47,0.00,0.000,4,0.000,0.030,2701,3315,3480,0,0,0,0,0,0
$GC,3042,-1.48,-116.8,302.6,-8.8,205,3047,0.10,2.58,0.00,0.000,6,0.084,0.035,2664,1751,3481,0,0,0,0,0,0
$GC,3292,-1.48,-116.8,326.3,-9.6,211,3296,0.00,2.50,0.00,0.000,4,0.000,0.031,2664,3311,3480,0,0,0,0,0,0
$GC,3327,-1.48,-116.8,329.8,-10.0,211,3333,0.00,2.58,0.00,0.000,6,0.000,0.045,2664,1760,3479,0,0,0,0,0,0
$GC,3577,-1.48,-116.8,354.4,-9.9,218,3581,0.00,2.50,0.00,0.000,4,0.000,0.035,2664,3314,3478,0,0,0,0,0,0
$GC,3604,-1.48,-116.8,357.1,-10.0,218,3608,0.00,2.55,0.00,0.000,6,0.000,0.041,2664,1778,3478,0,0,0,0,0,0
$GC,3856,-1.48,-116.8,382.0,-10.0,224,3860,0.00,2.47,0.00,0.000,4,0.000,0.041,2664,3313,3476,0,0,0,0,0,0
$GC,3877,-1.48,-116.8,384.3,-9.3,224,3881,0.00,2.55,0.00,0.000,6,0.000,0.051,2664,1782,3476,0,0,0,0,0,0
$GC,4132,-1.48,-116.8,408.5,-9.5,231,4137,0.00,2.47,0.00,0.000,4,0.000,0.044,2664,3307,3475,0,0,0,0,0,0
$GC,4150,-1.48,-116.8,410.2,-9.9,231,4155,0.00,2.55,0.00,0.000,6,0.000,0.054,2664,1794,3474,0,0,0,0,0,0
$GC,4411,-1.48,-116.8,435.5,-9.8,238,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1793,3473,0,0,0,0,0,0
$GC,4655,-1.48,-116.8,458.5,-9.3,244,4659,0.00,2.50,0.00,0.000,4,0.000,0.045,2664,3313,3471,0,0,0,0,0,0
$GC,4683,-1.48,-116.8,461.1,-9.3,244,4688,0.00,2.62,0.00,0.000,6,0.000,0.064,2664,1788,3471,0,0,0,0,0,0
$GC,4933,-1.48,-116.8,483.4,-9.0,250,4937,0.00,2.53,0.00,0.000,4,0.000,0.050,2664,3306,3469,0,0,0,0,0,0
$GC,4961,-1.48,-116.8,486.0,-8.8,250,4965,0.00,2.60,0.00,0.000,6,0.000,0.058,2664,1792,3469,0,0,0,0,0,0
$STATE,5127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5127,begin apogee
$GC,5134,-0.31,0.0,500.4,8.6,254,5236,1.23,0.00,98.32,0.922,6,0.100,0.000,2932,1792,3001,0,0,0,0,0,0
$STATE,5237,end apogee,CONTROL_FINISHED_OK
$STATE,5237,begin climb
$GC,5239,1.38,116.8,502.1,0.0,256,5353,1.55,3.03,103.60,0.900,4,0.036,0.111,3309,234,2521,0,0,0,0,0,0
$GC,5368,1.27,178.1,501.0,6.5,259,5429,0.15,2.53,54.80,0.882,6,0.130,0.031,3281,1770,2274,0,0,0,0,0,0
$GC,5697,1.25,196.7,471.4,9.0,268,5715,0.00,0.00,16.45,0.827,6,0.000,0.000,3281,1770,2199,0,0,0,0,0,0
$GC,5942,1.28,216.0,449.9,8.9,274,5963,0.00,0.00,18.83,0.834,6,0.000,0.000,3281,1771,2120,0,0,0,0,0,0
$GC,6184,1.28,220.7,426.3,9.8,280,6190,0.00,0.00,4.85,0.618,6,0.000,0.000,3281,1771,2101,0,0,0,0,0,0
$GC,6427,1.28,220.7,401.5,10.3,286,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1770,2099,0,0,0,0,0,0
$GC,6671,1.28,220.7,375.5,10.7,292,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1771,2097,0,0,0,0,0,0
$GC,6916,1.28,220.7,349.9,10.4,298,6921,0.00,2.70,0.00,0.000,4,0.000,0.042,3281,3415,2096,0,0,0,0,0,0
$GC,6984,1.28,220.7,342.7,10.3,299,6988,0.00,2.70,0.00,0.000,6,0.000,0.044,3281,1807,2095,0,0,0,0,0,0
$GC,7245,1.31,245.3,319.6,8.6,306,7274,0.00,2.90,22.80,0.792,4,0.000,0.084,3280,234,2000,0,0,0,0,0,0
$GC,7288,1.34,262.6,316.0,9.0,307,7313,0.00,2.58,17.33,0.762,6,0.000,0.026,3280,1837,1930,0,0,0,0,0,0
$GC,7575,1.35,273.9,288.5,9.4,314,7591,0.00,2.58,11.15,0.721,4,0.000,0.035,3280,3398,1883,0,0,0,0,0,0
$GC,7604,1.40,281.9,285.7,9.6,314,7620,0.10,2.67,9.07,0.687,6,0.094,0.041,3307,1810,1850,0,0,0,0,0,0
$GC,7906,1.40,281.9,252.5,11.0,322,7910,0.00,2.80,0.00,0.000,4,0.000,0.079,3306,232,1846,0,0,0,0,0,0
$GC,7945,1.35,281.9,247.7,12.3,323,7949,0.00,2.53,0.00,0.000,6,0.000,0.021,3307,1818,1845,0,0,0,0,0,0
$GC,8230,1.35,281.9,219.1,10.0,330,8234,0.00,2.55,0.00,0.000,4,0.000,0.034,3306,3392,1844,0,0,0,0,0,0
$GC,8251,1.36,290.6,216.7,9.5,330,8267,0.00,2.65,7.93,0.642,6,0.000,0.040,3307,1804,1816,0,0,0,0,0,0
$GC,8520,1.36,290.6,190.8,10.1,343,8525,0.00,2.75,0.00,0.000,4,0.000,0.073,3307,240,1814,0,0,0,0,0,0
$GC,8554,1.31,290.6,186.4,12.3,345,8563,0.00,2.50,0.00,0.000,6,0.000,0.021,3307,1805,1813,0,0,0,0,0,0
$GC,8819,1.31,290.6,158.7,10.8,370,8824,0.00,2.58,0.00,0.000,4,0.000,0.031,3307,3404,1813,0,0,0,0,0,0
$GC,8842,1.36,290.6,155.7,10.9,371,8848,0.00,2.62,0.00,0.000,6,0.000,0.038,3307,1815,1811,0,0,0,0,0,0
$GC,9105,1.36,290.6,127.7,10.3,396,9109,0.00,2.72,0.00,0.000,4,0.000,0.066,3307,241,1811,0,0,0,0,0,0
$GC,9159,1.36,290.6,121.4,11.7,400,9163,0.00,2.47,0.00,0.000,6,0.000,0.026,3307,1820,1811,0,0,0,0,0,0
$GC,9424,1.44,312.6,96.6,8.8,424,9451,0.00,2.58,20.67,0.615,4,0.000,0.031,3307,3375,1725,0,0,0,0,0,0
$GC,9496,1.55,321.7,89.8,9.5,430,9512,0.12,2.62,9.50,0.560,6,0.078,0.041,3342,1794,1688,0,0,0,0,0,0
$GC,9767,1.60,330.9,63.7,9.5,455,9786,0.00,0.00,9.43,0.539,6,0.000,0.000,3342,1794,1649,0,0,0,0,0,0
$GC,10047,1.67,353.7,39.4,8.7,481,10076,0.00,0.00,20.73,0.555,6,0.000,0.000,3342,1794,1557,0,0,0,0,0,0
$GC,10376,1.67,360.2,9.5,9.7,524,10386,0.10,0.00,6.90,0.458,6,0.094,0.000,3371,1794,1532,0,0,0,0,0,0
$STATE,10427,end climb,SURFACE_DEPTH_REACHED
$STATE,10428,begin surface coast
$FINISH,0.4,1.016987
$STATE,10476,end surface coast,CONTROL_FINISHED_OK
$STATE,10478,begin surface
$SM_CCo,10499,50.53,0.529,0,0,1287,420.20
$SM_GC,1.13,0.00,0.00,50.53,0.000,0.000,0.529,471,1790,1287,-11.64,0.57,420.20
$IRIDIUM_FIX,2244.02,-15741.52,240100,101001
$TT8_MAMPS,0.026078
$HUMID,55.98
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,21.10
$XPDR_PINGS,132
$24V_AH,23.3,73.983
$10V_AH,9.9,69.737
$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,27.525,128.800,432.350,50.525,0.000,78.985,165.681,332.476,33.000,0.000,64.165,1076.491,6911.135,539.390,2013.921,910.983,33.370,1269.514,0.000,1975.017,0.000,0.534,0.000
$DEVICE_MAMPS,164.905,111.215,921.934,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.789,328.605,422.718,817.894,1237.141,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,41486,538
$CAP_FILE_SIZE,114864,0
$CFSIZE,260165632,151166976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,130801,2252.329,-15742.233,12,1.7,29,10.1