version: 66.06
glider: 146
mission: 5
dive: 534
start: 10 30 110 13 17 19
data:
$ID,146
$MISSION,5
$DIVE,534
$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,-260576.69
$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,55
$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
$GPS1,130801,2252.329,-15742.233,12,1.7,29,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.3
$GPS2,131625,2252.397,-15742.210,12,1.0,17,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.003,-0.236
$KALMAN_X,-260106.1,-169.8,73.9,309069.3,33.1
$KALMAN_Y,-570360.3,-478.3,423.8,703415.4,1256.9
$MHEAD_RNG_PITCHd_Wd,169.2,6302,-19.7,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.37,-116.8,0.0,0.0,0,98,0.00,0.00,-78.03,0.000,2,0.000,0.000,470,1789,3209,0,0,0,0,0,0
$GC,103,-1.37,-116.8,3.1,-5.6,10,129,12.02,2.78,-5.25,0.000,4,0.164,0.071,2691,197,3479,0,0,0,0,0,0
$GC,192,-1.28,-116.8,22.8,-16.1,22,201,0.10,2.47,0.00,0.000,6,0.103,0.016,2715,1777,3480,0,0,0,0,0,0
$GC,474,-1.19,-116.8,62.1,-13.3,51,479,0.12,2.50,0.00,0.000,4,0.127,0.024,2739,3345,3481,0,0,0,0,0,0
$GC,486,-1.11,-116.8,64.7,-13.9,51,495,0.00,2.58,0.00,0.000,6,0.000,0.028,2739,1764,3481,0,0,0,0,0,0
$GC,751,-1.15,-116.8,93.0,-9.6,76,755,0.00,2.50,0.00,0.000,4,0.000,0.025,2739,3346,3482,0,0,0,0,0,0
$GC,785,-1.24,-116.8,96.7,-9.1,78,794,0.00,2.55,0.00,0.000,6,0.000,0.028,2739,1778,3482,0,0,0,0,0,0
$GC,1054,-1.30,-116.8,119.7,-8.5,103,1059,0.00,2.45,0.00,0.000,4,0.000,0.031,2739,3337,3482,0,0,0,0,0,0
$GC,1077,-1.37,-116.8,122.2,-8.0,104,1086,0.12,2.50,0.00,0.000,6,0.035,0.031,2688,1796,3482,0,0,0,0,0,0
$GC,1345,-1.37,-116.8,146.3,-9.0,129,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1795,3483,0,0,0,0,0,0
$GC,1610,-1.37,-116.8,170.7,-9.2,154,1614,0.00,2.42,0.00,0.000,4,0.000,0.025,2688,3338,3483,0,0,0,0,0,0
$GC,1654,-1.37,-116.8,174.9,-9.7,157,1658,0.00,2.50,0.00,0.000,6,0.000,0.028,2688,1782,3483,0,0,0,0,0,0
$GC,1949,-1.37,-116.8,204.9,-10.0,181,1953,0.00,2.72,0.00,0.000,4,0.000,0.066,2688,196,3484,0,0,0,0,0,0
$GC,1988,-1.37,-116.8,209.5,-11.4,182,1992,0.00,2.45,0.00,0.000,6,0.000,0.015,2688,1799,3484,0,0,0,0,0,0
$GC,2273,-1.37,-116.8,234.9,-8.5,189,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1800,3483,0,0,0,0,0,0
$GC,2515,-1.37,-116.8,254.1,-8.1,195,2519,0.00,2.42,0.00,0.000,4,0.000,0.035,2688,3328,3483,0,0,0,0,0,0
$GC,2570,-1.42,-116.8,259.4,-9.4,196,2575,0.00,2.53,0.00,0.000,6,0.000,0.038,2688,1776,3483,0,0,0,0,0,0
$GC,2839,-1.42,-116.8,285.7,-10.0,203,2843,0.00,2.78,0.00,0.000,4,0.000,0.080,2688,193,3482,0,0,0,0,0,0
$GC,2871,-1.42,-116.8,289.4,-11.2,203,2877,0.00,2.45,0.00,0.000,6,0.000,0.021,2688,1762,3482,0,0,0,0,0,0
$GC,3121,-1.42,-116.8,311.2,-8.6,210,3126,0.00,2.55,0.00,0.000,4,0.000,0.036,2688,3350,3481,0,0,0,0,0,0
$GC,3168,-1.49,-116.8,315.3,-8.6,211,3172,0.00,2.58,0.00,0.000,6,0.000,0.042,2688,1784,3481,0,0,0,0,0,0
$GC,3445,-1.49,-116.8,341.2,-9.2,218,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1784,3480,0,0,0,0,0,0
$GC,3689,-1.49,-116.8,361.4,-8.0,224,3693,0.00,2.53,0.00,0.000,4,0.000,0.033,2688,3346,3478,0,0,0,0,0,0
$GC,3735,-1.56,-116.8,364.9,-7.8,225,3740,0.12,2.60,0.00,0.000,6,0.073,0.043,2644,1791,3478,0,0,0,0,0,0
$GC,4014,-1.51,-116.8,390.4,-9.4,232,4019,0.12,2.55,0.00,0.000,4,0.120,0.035,2669,3351,3477,0,0,0,0,0,0
$GC,4037,-1.51,-116.8,392.7,-9.4,232,4042,0.00,2.65,0.00,0.000,6,0.000,0.051,2669,1788,3477,0,0,0,0,0,0
$GC,4292,-1.51,-116.8,415.7,-9.1,239,4297,0.00,2.95,0.00,0.000,4,0.000,0.100,2669,186,3475,0,0,0,0,0,0
$GC,4308,-1.51,-116.8,417.2,-9.5,239,4312,0.00,2.53,0.00,0.000,6,0.000,0.027,2669,1784,3475,0,0,0,0,0,0
$GC,4569,-1.51,-116.8,442.4,-9.6,246,4573,0.00,2.60,0.00,0.000,4,0.000,0.055,2669,3350,3474,0,0,0,0,0,0
$GC,4610,-1.56,-116.8,446.1,-9.5,247,4615,0.00,2.62,0.00,0.000,6,0.000,0.054,2669,1804,3473,0,0,0,0,0,0
$GC,4893,-1.56,-116.8,472.1,-9.1,254,4898,0.00,3.05,0.00,0.000,4,0.000,0.114,2669,181,3471,0,0,0,0,0,0
$GC,4911,-1.56,-116.8,473.8,-9.2,254,4916,0.00,2.62,0.00,0.000,6,0.000,0.036,2669,1805,3471,0,0,0,0,0,0
$GC,5172,-1.56,-116.8,497.7,-9.1,261,5176,0.00,2.62,0.00,0.000,4,0.000,0.061,2669,3359,3470,0,0,0,0,0,0
$STATE,5196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5196,begin apogee
$GC,5204,-0.31,0.0,500.5,9.5,261,5307,1.17,0.00,98.90,0.928,6,0.087,0.000,2929,1813,3001,0,0,0,0,0,0
$STATE,5308,end apogee,CONTROL_FINISHED_OK
$STATE,5308,begin climb
$GC,5312,1.37,116.8,503.6,0.0,264,5425,1.52,2.78,102.75,0.905,4,0.048,0.056,3302,3408,2523,0,0,0,0,0,0
$GC,5506,1.32,160.9,498.1,7.5,268,5550,0.00,2.78,39.05,0.882,6,0.000,0.055,3302,1813,2345,0,0,0,0,0,0
$GC,5803,1.21,164.3,469.7,9.8,276,5808,0.17,2.67,0.00,0.000,4,0.120,0.047,3267,3408,2337,0,0,0,0,0,0
$GC,5844,1.23,181.1,465.8,9.1,277,5869,0.00,2.75,18.65,0.848,6,0.000,0.058,3267,1817,2261,0,0,0,0,0,0
$GC,6131,1.26,198.4,439.3,9.1,284,6155,0.00,3.05,16.27,0.834,4,0.000,0.105,3266,233,2190,0,0,0,0,0,0
$GC,6178,1.18,198.4,434.5,10.7,285,6182,0.00,2.58,0.00,0.000,6,0.000,0.027,3266,1818,2188,0,0,0,0,0,0
$GC,6457,1.20,219.5,409.4,8.8,292,6482,0.00,2.67,19.75,0.838,4,0.000,0.047,3266,3411,2105,0,0,0,0,0,0
$GC,6499,1.23,238.0,405.4,9.0,293,6523,0.00,2.75,18.40,0.821,6,0.000,0.054,3266,1809,2030,0,0,0,0,0,0
$GC,6781,1.24,246.2,378.8,9.6,300,6796,0.00,2.95,7.90,0.729,4,0.000,0.094,3266,238,1996,0,0,0,0,0,0
$GC,6848,1.20,246.2,371.1,11.5,301,6852,0.00,2.53,0.00,0.000,6,0.000,0.027,3266,1816,1995,0,0,0,0,0,0
$GC,7108,1.20,247.0,345.2,10.0,308,7113,0.00,2.58,0.00,0.000,4,0.000,0.038,3266,3403,1994,0,0,0,0,0,0
$GC,7149,1.27,247.0,341.2,10.4,309,7154,0.00,2.70,0.00,0.000,6,0.000,0.046,3266,1803,1993,0,0,0,0,0,0
$GC,7433,1.32,261.1,314.0,9.2,316,7454,0.10,2.88,14.75,0.774,4,0.100,0.081,3293,233,1935,0,0,0,0,0,0
$GC,7508,1.27,261.1,305.9,11.4,317,7512,0.00,2.50,0.00,0.000,6,0.000,0.028,3293,1805,1933,0,0,0,0,0,0
$GC,7758,1.27,262.7,281.1,9.9,323,7762,0.00,2.78,0.00,0.000,4,0.000,0.069,3293,233,1932,0,0,0,0,0,0
$GC,7785,1.22,262.7,278.0,11.2,323,7790,0.12,2.47,0.00,0.000,6,0.130,0.028,3267,1787,1931,0,0,0,0,0,0
$GC,8037,1.32,298.8,257.1,8.0,329,8078,0.00,0.00,34.45,0.763,6,0.000,0.000,3268,1789,1782,0,0,0,0,0,0
$GC,8323,1.42,314.5,231.6,9.1,336,8344,0.17,2.80,15.18,0.713,4,0.074,0.070,3313,229,1716,0,0,0,0,0,0
$GC,8391,1.36,314.5,223.3,13.4,337,8395,0.00,2.47,0.00,0.000,6,0.000,0.026,3313,1780,1714,0,0,0,0,0,0
$GC,8647,1.36,314.5,193.6,11.4,347,8652,0.00,2.72,0.00,0.000,4,0.000,0.070,3313,235,1713,0,0,0,0,0,0
$GC,8669,1.36,314.5,190.9,12.3,348,8678,0.00,2.42,0.00,0.000,6,0.000,0.028,3313,1757,1712,0,0,0,0,0,0
$GC,8936,1.36,314.5,161.8,10.4,373,8941,0.00,2.65,0.00,0.000,4,0.000,0.036,3313,3398,1712,0,0,0,0,0,0
$GC,8965,1.42,315.9,158.2,10.0,375,8969,0.00,2.70,0.00,0.000,6,0.000,0.041,3313,1759,1710,0,0,0,0,0,0
$GC,9233,1.42,316.8,131.7,10.0,399,9238,0.00,2.67,0.00,0.000,4,0.000,0.067,3313,227,1710,0,0,0,0,0,0
$GC,9321,1.42,316.8,120.5,12.0,406,9325,0.00,2.38,0.00,0.000,6,0.000,0.019,3313,1754,1709,0,0,0,0,0,0
$GC,9585,1.47,316.8,91.2,10.8,430,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1757,1709,0,0,0,0,0,0
$GC,9851,1.60,346.9,66.4,8.3,455,9886,0.15,0.00,27.73,0.594,6,0.156,0.000,3351,1756,1589,0,0,0,0,0,0
$GC,10141,1.60,346.9,37.2,10.8,482,10145,0.00,2.65,0.00,0.000,4,0.000,0.026,3352,3402,1585,0,0,0,0,0,0
$GC,10174,1.68,346.9,33.5,12.0,484,10179,0.00,2.80,0.00,0.000,6,0.000,0.036,3351,1717,1584,0,0,0,0,0,0
$STATE,10453,end climb,SURFACE_DEPTH_REACHED
$STATE,10454,begin surface coast
$FINISH,0.5,1.021879
$STATE,10510,end surface coast,CONTROL_FINISHED_OK
$STATE,10510,begin surface
$SM_CCo,10532,62.50,0.535,0,0,1288,420.20
$SM_GC,0.91,0.00,0.00,62.50,0.000,0.000,0.535,476,1788,1288,-11.62,0.51,420.20
$IRIDIUM_FIX,2241.69,-15744.57,240100,101013
$TT8_MAMPS,0.025311
$HUMID,55.19
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.80
$XPDR_PINGS,139
$24V_AH,23.3,74.117
$10V_AH,9.9,69.858
$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,27.800,147.450,413.775,62.500,0.000,24.571,37.742,291.012,34.750,0.000,18.680,1093.580,6740.660,531.577,2046.482,687.085,33.368,1320.248,0.000,2049.046,0.000,0.534,0.000
$DEVICE_MAMPS,164.138,134.225,928.070,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.920,311.002,410.450,781.557,1182.808,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,41597,530
$CAP_FILE_SIZE,119015,0
$CFSIZE,260165632,151101440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,161527,2252.208,-15742.293,31,3.1,50,10.1