version: 66.06
glider: 146
mission: 5
dive: 537
start: 10 30 110 22 52 20
data:
$ID,146
$MISSION,5
$DIVE,537
$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,-260656.98
$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,53
$R_STBD_OVSHOOT,60
$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
$GPS1,223306,2252.056,-15742.492,27,1.6,27,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.9
$GPS2,225126,2252.302,-15742.570,14,1.7,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.024,-0.234
$KALMAN_X,-260108.0,-153.3,-135.0,308655.2,305.4
$KALMAN_Y,-564331.3,670.7,-21.3,696497.5,1924.7
$MHEAD_RNG_PITCHd_Wd,175.8,6191,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,106,0.00,0.00,-85.45,0.000,6,0.000,0.000,474,1736,3479,0,0,0,0,0,0
$GC,111,-1.38,-116.8,4.6,-9.6,11,129,11.75,2.55,0.00,0.000,4,0.156,0.049,2688,214,3482,0,0,0,0,0,0
$GC,186,-1.25,-116.8,25.7,-16.9,21,194,0.12,2.42,0.00,0.000,6,0.105,0.016,2717,1773,3482,0,0,0,0,0,0
$GC,465,-1.18,-116.8,64.7,-12.6,48,470,0.12,2.65,0.00,0.000,4,0.128,0.055,2741,211,3483,0,0,0,0,0,0
$GC,488,-1.13,-116.8,68.1,-12.8,49,492,0.00,2.35,0.00,0.000,6,0.000,0.016,2741,1785,3483,0,0,0,0,0,0
$GC,755,-1.20,-116.8,92.5,-7.9,73,759,0.00,2.62,0.00,0.000,4,0.000,0.054,2741,219,3483,0,0,0,0,0,0
$GC,812,-1.29,-116.8,97.7,-9.1,77,816,0.00,2.30,0.00,0.000,6,0.000,0.016,2741,1766,3483,0,0,0,0,0,0
$GC,1079,-1.36,-116.8,119.7,-8.1,101,1084,0.15,2.45,0.00,0.000,4,0.061,0.033,2689,3309,3484,0,0,0,0,0,0
$GC,1102,-1.36,-116.8,122.3,-9.1,102,1111,0.00,2.47,0.00,0.000,6,0.000,0.031,2688,1780,3483,0,0,0,0,0,0
$GC,1368,-1.36,-116.8,148.5,-9.8,127,1373,0.00,2.42,0.00,0.000,4,0.000,0.031,2688,3314,3483,0,0,0,0,0,0
$GC,1415,-1.36,-116.8,152.9,-9.4,130,1420,0.00,2.47,0.00,0.000,6,0.000,0.033,2688,1772,3484,0,0,0,0,0,0
$GC,1682,-1.36,-116.8,180.1,-10.6,154,1686,0.00,2.70,0.00,0.000,4,0.000,0.064,2688,196,3484,0,0,0,0,0,0
$GC,1726,-1.36,-116.8,185.6,-10.9,157,1732,0.00,2.35,0.00,0.000,6,0.000,0.019,2688,1763,3484,0,0,0,0,0,0
$GC,2005,-1.36,-116.8,212.1,-9.4,175,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1764,3484,0,0,0,0,0,0
$GC,2247,-1.36,-116.8,235.2,-9.2,181,2251,0.00,2.47,0.00,0.000,4,0.000,0.031,2688,3325,3483,0,0,0,0,0,0
$GC,2277,-1.40,-116.8,237.8,-9.6,181,2281,0.00,2.53,0.00,0.000,6,0.000,0.030,2688,1760,3483,0,0,0,0,0,0
$GC,2527,-1.40,-116.8,262.2,-9.9,187,2531,0.00,2.72,0.00,0.000,4,0.000,0.077,2688,190,3483,0,0,0,0,0,0
$GC,2559,-1.40,-116.8,265.8,-10.9,187,2565,0.00,2.38,0.00,0.000,6,0.000,0.021,2688,1725,3482,0,0,0,0,0,0
$GC,2810,-1.40,-116.8,289.1,-9.2,194,2814,0.00,2.58,0.00,0.000,4,0.000,0.038,2688,3345,3481,0,0,0,0,0,0
$GC,2827,-1.40,-116.8,290.8,-9.5,194,2832,0.00,2.60,0.00,0.000,6,0.000,0.038,2688,1741,3481,0,0,0,0,0,0
$GC,3088,-1.40,-116.8,315.0,-9.5,201,3092,0.00,2.58,0.00,0.000,4,0.000,0.038,2688,3347,3480,0,0,0,0,0,0
$GC,3110,-1.44,-116.8,317.2,-9.9,201,3114,0.00,2.60,0.00,0.000,6,0.000,0.041,2688,1771,3480,0,0,0,0,0,0
$GC,3366,-1.44,-116.8,342.7,-10.3,208,3371,0.00,2.85,0.00,0.000,4,0.000,0.094,2688,186,3479,0,0,0,0,0,0
$GC,3398,-1.44,-116.8,346.6,-11.4,208,3404,0.00,2.47,0.00,0.000,6,0.000,0.023,2688,1758,3479,0,0,0,0,0,0
$GC,3649,-1.44,-116.8,371.1,-9.7,215,3653,0.00,2.60,0.00,0.000,4,0.000,0.041,2688,3353,3477,0,0,0,0,0,0
$GC,3690,-1.51,-116.8,374.9,-9.3,216,3694,0.00,2.60,0.00,0.000,6,0.000,0.044,2689,1778,3477,0,0,0,0,0,0
$GC,3973,-1.51,-116.8,400.7,-9.0,223,3978,0.00,2.90,0.00,0.000,4,0.000,0.097,2688,182,3475,0,0,0,0,0,0
$GC,3989,-1.51,-116.8,402.3,-9.5,223,3993,0.00,2.50,0.00,0.000,6,0.000,0.031,2688,1770,3475,0,0,0,0,0,0
$GC,4252,-1.55,-116.8,427.0,-9.5,230,4257,0.12,2.62,0.00,0.000,4,0.075,0.045,2645,3356,3473,0,0,0,0,0,0
$GC,4296,-1.55,-116.8,432.4,-11.6,231,4301,0.00,2.67,0.00,0.000,6,0.000,0.058,2644,1778,3473,0,0,0,0,0,0
$GC,4576,-1.51,-116.8,464.1,-11.5,238,4581,0.12,2.60,0.00,0.000,4,0.120,0.044,2669,3350,3471,0,0,0,0,0,0
$GC,4592,-1.51,-116.8,466.2,-11.2,238,4597,0.00,2.67,0.00,0.000,6,0.000,0.060,2669,1774,3471,0,0,0,0,0,0
$GC,4854,-1.51,-116.8,491.1,-9.3,245,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1774,3469,0,0,0,0,0,0
$STATE,4973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4973,begin apogee
$GC,4981,-0.31,0.0,502.0,8.9,248,5083,1.20,0.00,98.55,0.918,6,0.087,0.000,2931,1833,3001,0,0,0,0,0,0
$STATE,5084,end apogee,CONTROL_FINISHED_OK
$STATE,5084,begin climb
$GC,5086,1.38,116.8,503.8,0.0,250,5194,1.52,0.00,103.82,0.898,6,0.041,0.000,3308,1833,2524,0,0,0,0,0,0
$GC,5413,1.30,148.3,486.9,8.2,258,5448,0.12,2.72,27.75,0.866,4,0.131,0.056,3285,3381,2396,0,0,0,0,0,0
$GC,5527,1.27,159.0,476.6,9.4,260,5543,0.00,2.70,10.93,0.792,6,0.000,0.063,3284,1822,2352,0,0,0,0,0,0
$GC,5789,1.24,184.8,454.0,8.5,267,5818,0.00,2.65,24.05,0.854,4,0.000,0.038,3285,3400,2246,0,0,0,0,0,0
$GC,5835,1.27,206.1,449.7,8.8,268,5861,0.00,2.75,20.48,0.834,6,0.000,0.055,3285,1821,2160,0,0,0,0,0,0
$GC,6112,1.28,218.0,423.7,9.3,275,6125,0.00,0.00,11.23,0.786,6,0.000,0.000,3284,1821,2112,0,0,0,0,0,0
$GC,6357,1.30,231.2,401.3,9.3,281,6372,0.00,0.00,12.95,0.795,6,0.000,0.000,3285,1821,2059,0,0,0,0,0,0
$GC,6599,1.32,251.7,379.4,8.9,287,6624,0.00,2.97,19.83,0.815,4,0.000,0.099,3285,230,1974,0,0,0,0,0,0
$GC,6641,1.27,251.7,375.4,10.4,288,6646,0.00,2.55,0.00,0.000,6,0.000,0.021,3284,1823,1972,0,0,0,0,0,0
$GC,6922,1.27,251.7,347.3,10.5,295,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1824,1970,0,0,0,0,0,0
$GC,7163,1.27,251.7,321.3,10.6,301,7168,0.00,2.83,0.00,0.000,4,0.000,0.074,3284,226,1969,0,0,0,0,0,0
$GC,7219,1.21,251.7,314.8,11.9,302,7223,0.00,2.55,0.00,0.000,6,0.000,0.027,3284,1821,1966,0,0,0,0,0,0
$GC,7487,1.23,269.4,290.5,9.0,309,7510,0.00,2.90,16.55,0.765,4,0.000,0.073,3284,229,1901,0,0,0,0,0,0
$GC,7545,1.19,269.4,284.1,11.7,310,7550,0.12,2.53,0.00,0.000,6,0.127,0.026,3261,1804,1898,0,0,0,0,0,0
$GC,7814,1.28,280.9,259.0,9.4,317,7828,0.00,0.00,11.25,0.712,6,0.000,0.000,3261,1806,1855,0,0,0,0,0,0
$GC,8102,1.41,309.3,234.1,8.4,324,8137,0.20,2.88,26.48,0.736,4,0.064,0.067,3314,230,1738,0,0,0,0,0,0
$GC,8226,1.35,309.3,219.8,12.5,326,8232,0.00,2.50,0.00,0.000,6,0.000,0.021,3314,1799,1735,0,0,0,0,0,0
$GC,8478,1.35,309.3,191.8,11.1,336,8482,0.00,2.58,0.00,0.000,4,0.000,0.036,3314,3397,1734,0,0,0,0,0,0
$GC,8522,1.43,309.3,186.7,11.9,339,8532,0.00,2.70,0.00,0.000,6,0.000,0.039,3314,1791,1732,0,0,0,0,0,0
$GC,8791,1.43,309.3,157.7,10.5,364,8795,0.00,2.72,0.00,0.000,4,0.000,0.070,3314,232,1732,0,0,0,0,0,0
$GC,8858,1.38,309.3,148.8,11.6,369,8864,0.00,2.47,0.00,0.000,6,0.000,0.021,3314,1804,1731,0,0,0,0,0,0
$GC,9123,1.39,319.8,123.9,9.4,394,9138,0.00,2.55,9.77,0.597,4,0.000,0.028,3314,3387,1695,0,0,0,0,0,0
$GC,9150,1.45,336.8,121.1,9.1,396,9175,0.00,2.65,16.65,0.621,6,0.000,0.041,3314,1790,1626,0,0,0,0,0,0
$GC,9430,1.52,345.8,94.1,9.5,422,9445,0.00,2.70,8.35,0.554,4,0.000,0.069,3314,241,1591,0,0,0,0,0,0
$GC,9544,1.54,361.9,83.3,9.1,431,9569,0.00,2.40,15.68,0.588,6,0.000,0.020,3314,1781,1525,0,0,0,0,0,0
$GC,9823,1.69,386.0,60.1,8.6,457,9860,0.22,2.78,22.60,0.574,4,0.137,0.060,3372,233,1425,0,0,0,0,0,0
$GC,9865,1.69,386.0,54.6,12.4,460,9877,0.00,2.40,0.00,0.000,6,0.000,0.020,3372,1750,1425,0,0,0,0,0,0
$GC,10152,1.69,386.0,17.5,13.4,491,10161,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1750,1423,0,0,0,0,0,0
$STATE,10266,end climb,SURFACE_DEPTH_REACHED
$STATE,10266,begin surface coast
$FINISH,0.4,1.008199
$STATE,10319,end surface coast,CONTROL_FINISHED_OK
$STATE,10319,begin surface
$SM_CCo,10340,28.17,0.525,0,0,1287,420.20
$SM_GC,1.13,0.00,0.00,28.17,0.000,0.000,0.525,477,1750,1287,-11.61,-0.57,420.20
$IRIDIUM_FIX,2244.02,-15738.46,240100,222202
$TT8_MAMPS,0.026078
$HUMID,56.97
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.90
$XPDR_PINGS,120
$24V_AH,23.3,74.545
$10V_AH,9.9,70.221
$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,27.650,135.275,456.900,28.175,0.000,110.897,148.049,484.071,30.000,0.000,15.493,1047.343,6852.258,548.692,1921.565,1097.472,33.368,1299.440,0.000,1925.632,0.000,0.535,0.000
$DEVICE_MAMPS,155.701,335.179,918.099,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.288,295.136,394.946,743.580,1124.838,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,41616,514
$CAP_FILE_SIZE,120739,0
$CFSIZE,260165632,150921216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311010,014630,2252.538,-15742.527,34,1.8,40,10.1