version: 66.06
glider: 146
mission: 5
dive: 535
start: 10 30 110 16 28 20
data:
$ID,146
$MISSION,5
$DIVE,535
$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,-260609.09
$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,16
$R_STBD_OVSHOOT,62
$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
$GPS1,161527,2252.208,-15742.293,31,3.1,50,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-66.3
$GPS2,162727,2252.336,-15742.275,10,2.1,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.001,-0.235
$KALMAN_X,-260006.7,-351.2,24.7,309093.5,92.2
$KALMAN_Y,-568268.0,-244.6,294.6,701099.9,1271.9
$MHEAD_RNG_PITCHd_Wd,170.1,6197,-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,18,-1.38,-116.8,0.0,0.0,0,107,0.00,0.00,-85.88,0.000,2,0.000,0.000,475,1789,3444,0,0,0,0,0,0
$GC,110,-1.38,-116.8,3.8,-7.0,11,128,11.90,2.72,-0.62,0.000,4,0.160,0.068,2691,181,3479,0,0,0,0,0,0
$GC,207,-1.28,-116.8,28.0,-18.9,24,217,0.10,2.47,0.00,0.000,6,0.108,0.016,2715,1771,3481,0,0,0,0,0,0
$GC,473,-1.19,-116.8,65.4,-15.1,49,478,0.12,2.50,0.00,0.000,4,0.128,0.024,2738,3342,3481,0,0,0,0,0,0
$GC,486,-1.12,-116.8,68.1,-14.3,49,495,0.00,2.60,0.00,0.000,6,0.000,0.027,2738,1744,3481,0,0,0,0,0,0
$GC,749,-1.16,-116.8,95.8,-8.8,74,753,0.00,2.50,0.00,0.000,4,0.000,0.025,2738,3334,3482,0,0,0,0,0,0
$GC,761,-1.21,-116.8,97.1,-9.1,74,770,0.00,2.50,0.00,0.000,6,0.000,0.031,2738,1783,3482,0,0,0,0,0,0
$GC,1028,-1.27,-116.8,119.1,-8.4,99,1032,0.00,2.67,0.00,0.000,4,0.000,0.063,2738,194,3482,0,0,0,0,0,0
$GC,1063,-1.33,-116.8,122.2,-9.3,101,1068,0.12,2.45,0.00,0.000,6,0.070,0.022,2697,1807,3482,0,0,0,0,0,0
$GC,1328,-1.33,-116.8,145.1,-8.7,125,1332,0.00,2.38,0.00,0.000,4,0.000,0.025,2697,3319,3483,0,0,0,0,0,0
$GC,1360,-1.33,-116.8,148.0,-8.9,127,1364,0.00,2.40,0.00,0.000,6,0.000,0.032,2697,1803,3483,0,0,0,0,0,0
$GC,1629,-1.33,-116.8,173.1,-9.6,151,1633,0.00,2.72,0.00,0.000,4,0.000,0.063,2696,195,3483,0,0,0,0,0,0
$GC,1645,-1.33,-116.8,175.7,-10.2,152,1650,0.00,2.45,0.00,0.000,6,0.000,0.018,2696,1808,3483,0,0,0,0,0,0
$GC,1929,-1.33,-116.8,204.9,-10.4,175,1933,0.00,2.75,0.00,0.000,4,0.000,0.064,2696,192,3483,0,0,0,0,0,0
$GC,1950,-1.33,-116.8,207.6,-10.5,175,1954,0.00,2.42,0.00,0.000,6,0.000,0.019,2696,1794,3483,0,0,0,0,0,0
$GC,2205,-1.33,-116.8,233.8,-10.2,182,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1795,3483,0,0,0,0,0,0
$GC,2450,-1.33,-116.8,256.0,-8.8,188,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1795,3483,0,0,0,0,0,0
$GC,2693,-1.33,-116.8,277.5,-8.7,194,2697,0.00,2.78,0.00,0.000,4,0.000,0.073,2697,198,3482,0,0,0,0,0,0
$GC,2732,-1.37,-116.8,281.2,-9.3,195,2737,0.00,2.42,0.00,0.000,6,0.000,0.027,2696,1760,3482,0,0,0,0,0,0
$GC,3017,-1.37,-116.8,305.1,-8.8,202,3022,0.00,2.53,0.00,0.000,4,0.000,0.033,2697,3347,3481,0,0,0,0,0,0
$GC,3034,-1.41,-116.8,306.9,-8.8,202,3039,0.00,2.55,0.00,0.000,6,0.000,0.039,2696,1786,3481,0,0,0,0,0,0
$GC,3295,-1.41,-116.8,331.0,-9.2,209,3299,0.00,2.83,0.00,0.000,4,0.000,0.087,2696,185,3480,0,0,0,0,0,0
$GC,3312,-1.41,-116.8,332.6,-9.2,209,3317,0.00,2.50,0.00,0.000,6,0.000,0.022,2696,1792,3480,0,0,0,0,0,0
$GC,3574,-1.45,-116.8,358.5,-9.9,216,3578,0.00,2.53,0.00,0.000,4,0.000,0.042,2697,3346,3478,0,0,0,0,0,0
$GC,3624,-1.54,-116.8,363.4,-10.0,217,3629,0.12,2.58,0.00,0.000,6,0.067,0.048,2644,1801,3479,0,0,0,0,0,0
$GC,3898,-1.48,-116.8,394.2,-11.3,224,3900,0.15,0.00,0.00,0.000,6,0.109,0.000,2676,1801,3477,0,0,0,0,0,0
$GC,4140,-1.48,-116.8,417.3,-9.3,230,4144,0.00,2.50,0.00,0.000,4,0.000,0.040,2675,3341,3476,0,0,0,0,0,0
$GC,4156,-1.48,-116.8,418.9,-9.2,230,4160,0.00,2.58,0.00,0.000,6,0.000,0.056,2676,1815,3476,0,0,0,0,0,0
$GC,4417,-1.48,-116.8,443.0,-9.3,237,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1815,3474,0,0,0,0,0,0
$GC,4660,-1.48,-116.8,465.1,-9.0,243,4664,0.00,2.53,0.00,0.000,4,0.000,0.050,2675,3339,3472,0,0,0,0,0,0
$GC,4676,-1.48,-116.8,466.6,-8.8,243,4680,0.00,2.62,0.00,0.000,6,0.000,0.057,2676,1811,3472,0,0,0,0,0,0
$GC,4938,-1.48,-116.8,488.8,-8.6,250,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1811,3470,0,0,0,0,0,0
$STATE,5096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5096,begin apogee
$GC,5102,-0.31,0.0,503.6,9.1,254,5205,1.15,0.00,99.07,0.926,6,0.100,0.000,2928,1810,3001,0,0,0,0,0,0
$STATE,5205,end apogee,CONTROL_FINISHED_OK
$STATE,5205,begin climb
$GC,5208,1.38,116.8,506.2,0.0,256,5323,1.58,2.75,103.35,0.907,4,0.051,0.058,3307,3380,2523,0,0,0,0,0,0
$GC,5351,1.35,192.4,506.3,5.7,260,5426,0.00,2.75,67.50,0.891,6,0.000,0.061,3307,1818,2215,0,0,0,0,0,0
$GC,5711,1.26,193.1,472.6,10.0,269,5712,0.17,0.00,0.00,0.000,6,0.140,0.000,3274,1817,2206,0,0,0,0,0,0
$GC,5956,1.28,209.3,450.0,9.1,275,5972,0.00,0.00,14.75,0.824,6,0.000,0.000,3274,1818,2147,0,0,0,0,0,0
$GC,6197,1.28,214.0,426.1,9.8,281,6205,0.00,0.00,5.35,0.656,6,0.000,0.000,3274,1817,2127,0,0,0,0,0,0
$GC,6443,1.30,229.3,403.6,9.2,287,6464,0.00,2.97,15.25,0.818,4,0.000,0.102,3273,231,2065,0,0,0,0,0,0
$GC,6486,1.26,241.9,399.3,9.3,288,6506,0.00,2.55,13.45,0.796,6,0.000,0.027,3272,1813,2013,0,0,0,0,0,0
$GC,6769,1.29,261.2,374.7,8.9,295,6794,0.00,2.70,18.38,0.815,4,0.000,0.041,3273,3401,1935,0,0,0,0,0,0
$GC,6812,1.33,263.7,370.4,9.9,296,6817,0.00,2.70,0.00,0.000,6,0.000,0.053,3273,1825,1934,0,0,0,0,0,0
$GC,7095,1.33,263.7,340.8,10.4,303,7100,0.00,2.85,0.00,0.000,4,0.000,0.084,3273,233,1930,0,0,0,0,0,0
$GC,7131,1.28,263.7,337.1,11.1,303,7137,0.00,2.55,0.00,0.000,6,0.000,0.024,3273,1835,1929,0,0,0,0,0,0
$GC,7381,1.29,277.5,313.2,9.2,310,7399,0.00,0.00,15.68,0.772,6,0.000,0.000,3273,1837,1869,0,0,0,0,0,0
$GC,7625,1.35,278.7,288.8,10.0,316,7630,0.00,2.83,0.00,0.000,4,0.000,0.074,3273,233,1865,0,0,0,0,0,0
$GC,7670,1.35,278.7,283.9,10.7,317,7675,0.00,2.50,0.00,0.000,6,0.000,0.026,3273,1804,1863,0,0,0,0,0,0
$GC,7949,1.42,290.9,257.8,9.3,324,7969,0.15,2.85,12.77,0.722,4,0.081,0.071,3313,230,1813,0,0,0,0,0,0
$GC,7988,1.35,290.9,253.4,12.0,324,7993,0.00,2.53,0.00,0.000,6,0.000,0.023,3313,1806,1812,0,0,0,0,0,0
$GC,8237,1.35,290.9,224.5,11.3,331,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1808,1811,0,0,0,0,0,0
$GC,8481,1.35,290.9,198.6,10.6,337,8486,0.00,2.78,0.00,0.000,4,0.000,0.067,3313,227,1810,0,0,0,0,0,0
$GC,8514,1.27,290.9,194.6,12.8,339,8524,0.12,2.47,0.00,0.000,6,0.100,0.021,3283,1777,1809,0,0,0,0,0,0
$GC,8783,1.34,302.4,169.9,9.4,364,8799,0.00,2.65,11.15,0.647,4,0.000,0.030,3283,3397,1766,0,0,0,0,0,0
$GC,8828,1.46,302.4,164.7,10.2,367,8834,0.15,2.70,0.00,0.000,6,0.077,0.036,3322,1775,1765,0,0,0,0,0,0
$GC,9092,1.46,302.4,134.3,12.2,392,9097,0.00,2.65,0.00,0.000,4,0.000,0.073,3322,240,1764,0,0,0,0,0,0
$GC,9122,1.40,302.4,130.0,14.1,394,9126,0.00,2.45,0.00,0.000,6,0.000,0.020,3322,1807,1764,0,0,0,0,0,0
$GC,9386,1.40,302.4,101.0,10.9,418,9390,0.00,2.50,0.00,0.000,4,0.000,0.028,3322,3383,1763,0,0,0,0,0,0
$GC,9454,1.47,302.4,93.9,10.7,423,9458,0.00,2.65,0.00,0.000,6,0.000,0.037,3322,1782,1763,0,0,0,0,0,0
$GC,9722,1.49,316.6,67.3,9.2,447,9741,0.00,0.00,13.23,0.573,6,0.000,0.000,3322,1782,1711,0,0,0,0,0,0
$GC,10000,1.64,375.2,45.4,6.7,473,10058,0.15,2.72,52.05,0.577,4,0.083,0.062,3361,239,1470,0,0,0,0,0,0
$GC,10111,1.64,375.2,34.4,12.1,481,10115,0.00,2.42,0.00,0.000,6,0.000,0.020,3361,1790,1468,0,0,0,0,0,0
$STATE,10371,end climb,SURFACE_DEPTH_REACHED
$STATE,10371,begin surface coast
$FINISH,0.5,1.023413
$STATE,10427,end surface coast,CONTROL_FINISHED_OK
$STATE,10428,begin surface
$SM_CCo,10450,36.95,0.530,0,0,1287,420.20
$SM_GC,0.98,0.00,0.00,36.95,0.000,0.000,0.530,477,1793,1287,-11.61,0.65,420.20
$IRIDIUM_FIX,2244.02,-15743.68,240100,161635
$TT8_MAMPS,0.026078
$HUMID,56.61
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.10
$XPDR_PINGS,121
$24V_AH,23.3,74.257
$10V_AH,9.9,69.978
$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,27.775,125.000,441.975,36.950,0.000,51.972,75.215,358.216,30.250,0.000,31.787,1046.500,6903.927,517.943,1923.607,813.559,33.368,1242.046,0.000,1913.000,0.000,0.534,0.000
$DEVICE_MAMPS,160.303,102.011,925.769,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.434,296.708,403.117,766.841,1159.863,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,41512,524
$CAP_FILE_SIZE,113450,0
$CFSIZE,260165632,151048192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,192436,2251.919,-15742.117,31,1.4,47,10.1