version: 66.06
glider: 146
mission: 5
dive: 564
start: 11 3 110 12 30 8
data:
$ID,146
$MISSION,5
$DIVE,564
$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,400
$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,-261238.11
$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,45
$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
$GPS1,121523,2253.769,-15743.157,28,1.3,44,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.2
$GPS2,122914,2253.801,-15743.262,9,1.2,9,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.050,-0.229
$KALMAN_X,-266136.7,-199.0,-221.9,313627.2,-358.4
$KALMAN_Y,-496400.1,52.7,-311.6,632254.8,1693.2
$MHEAD_RNG_PITCHd_Wd,157.5,9148,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-77.25,0.000,2,0.000,0.000,473,1776,3310,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.6,-7.3,10,126,11.98,2.75,-3.17,0.000,4,0.163,0.067,2687,190,3481,0,0,0,0,0,0
$GC,190,-1.27,-116.8,24.3,-14.7,22,200,0.12,2.50,0.00,0.000,6,0.098,0.022,2717,1784,3482,0,0,0,0,0,0
$GC,468,-1.19,-116.8,60.9,-13.3,49,473,0.10,2.75,0.00,0.000,4,0.137,0.062,2737,189,3483,0,0,0,0,0,0
$GC,503,-1.15,-116.8,66.0,-13.0,51,507,0.00,2.45,0.00,0.000,6,0.000,0.016,2737,1786,3483,0,0,0,0,0,0
$GC,772,-1.19,-116.8,91.3,-8.7,75,776,0.00,2.42,0.00,0.000,4,0.000,0.025,2737,3327,3483,0,0,0,0,0,0
$GC,842,-1.29,-116.8,98.2,-8.8,80,852,0.00,2.53,0.00,0.000,6,0.000,0.026,2737,1762,3484,0,0,0,0,0,0
$GC,1111,-1.36,-116.8,120.1,-8.0,105,1116,0.15,0.00,0.00,0.000,6,0.062,0.000,2688,1762,3484,0,0,0,0,0,0
$GC,1374,-1.36,-116.8,144.1,-9.2,130,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1762,3485,0,0,0,0,0,0
$GC,1633,-1.36,-116.8,167.7,-9.6,154,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1760,3485,0,0,0,0,0,0
$GC,1894,-1.36,-116.8,192.3,-9.0,179,1898,0.00,2.67,0.00,0.000,4,0.000,0.064,2688,192,3485,0,0,0,0,0,0
$GC,1917,-1.36,-116.8,194.4,-9.5,180,1927,0.00,2.47,0.00,0.000,6,0.000,0.020,2688,1788,3485,0,0,0,0,0,0
$GC,2191,-1.36,-116.8,219.7,-9.5,192,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1789,3485,0,0,0,0,0,0
$GC,2434,-1.36,-116.8,243.6,-10.1,198,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1789,3484,0,0,0,0,0,0
$GC,2677,-1.36,-116.8,269.1,-10.5,204,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1789,3484,0,0,0,0,0,0
$GC,2923,-1.36,-116.8,292.3,-9.3,210,2928,0.00,2.78,0.00,0.000,4,0.000,0.071,2688,194,3483,0,0,0,0,0,0
$GC,2945,-1.36,-116.8,294.7,-9.8,210,2949,0.00,2.45,0.00,0.000,6,0.000,0.028,2688,1758,3483,0,0,0,0,0,0
$GC,3200,-1.36,-116.8,317.1,-8.6,217,3204,0.00,2.60,0.00,0.000,4,0.000,0.038,2688,3355,3482,0,0,0,0,0,0
$GC,3223,-1.40,-116.8,319.1,-9.0,217,3228,0.00,2.55,0.00,0.000,6,0.000,0.041,2688,1799,3482,0,0,0,0,0,0
$GC,3479,-1.40,-116.8,340.5,-8.5,224,3483,0.00,2.88,0.00,0.000,4,0.000,0.093,2688,188,3481,0,0,0,0,0,0
$GC,3522,-1.40,-116.8,344.8,-9.5,225,3527,0.00,2.53,0.00,0.000,6,0.000,0.023,2688,1782,3480,0,0,0,0,0,0
$GC,3803,-1.40,-116.8,370.1,-9.3,232,3807,0.00,2.58,0.00,0.000,4,0.000,0.046,2688,3352,3479,0,0,0,0,0,0
$GC,3864,-1.46,-116.8,375.9,-8.9,233,3868,0.00,2.62,0.00,0.000,6,0.000,0.052,2688,1787,3479,0,0,0,0,0,0
$GC,4126,-1.46,-116.8,398.0,-8.5,240,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1787,3477,0,0,0,0,0,0
$GC,4369,-1.50,-116.8,420.4,-9.5,246,4373,0.00,2.58,0.00,0.000,4,0.000,0.041,2688,3349,3476,0,0,0,0,0,0
$GC,4402,-1.58,-116.8,423.6,-9.6,246,4408,0.12,2.67,0.00,0.000,6,0.068,0.059,2642,1785,3476,0,0,0,0,0,0
$GC,4654,-1.53,-116.8,451.3,-11.3,253,4659,0.12,2.97,0.00,0.000,4,0.115,0.110,2668,183,3473,0,0,0,0,0,0
$GC,4670,-1.48,-116.8,453.5,-11.5,253,4675,0.00,2.58,0.00,0.000,6,0.000,0.028,2668,1784,3473,0,0,0,0,0,0
$GC,4931,-1.48,-116.8,480.9,-10.5,260,4935,0.00,2.67,0.00,0.000,4,0.000,0.063,2668,3354,3472,0,0,0,0,0,0
$GC,4972,-1.53,-116.8,484.7,-10.0,261,4977,0.00,2.65,0.00,0.000,6,0.000,0.063,2668,1806,3472,0,0,0,0,0,0
$STATE,5131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5132,begin apogee
$GC,5137,-0.31,0.0,500.9,10.0,265,5240,1.20,0.00,98.78,0.921,6,0.086,0.000,2931,1805,3001,0,0,0,0,0,0
$STATE,5240,end apogee,CONTROL_FINISHED_OK
$STATE,5240,begin climb
$GC,5243,1.38,116.8,503.8,0.0,267,5350,1.55,0.00,103.22,0.900,6,0.041,0.000,3308,1805,2524,0,0,0,0,0,0
$GC,5580,1.32,169.5,490.4,7.0,276,5635,0.00,2.80,46.60,0.882,4,0.000,0.048,3308,3402,2308,0,0,0,0,0,0
$GC,5691,1.25,180.2,480.7,9.4,278,5708,0.17,2.72,10.60,0.783,6,0.120,0.063,3274,1841,2266,0,0,0,0,0,0
$GC,5953,1.28,207.5,458.4,8.5,285,5983,0.00,2.67,25.10,0.850,4,0.000,0.045,3274,3414,2154,0,0,0,0,0,0
$GC,5994,1.31,233.2,454.5,8.6,286,6024,0.00,2.75,24.40,0.840,6,0.000,0.062,3273,1841,2050,0,0,0,0,0,0
$GC,6271,1.31,233.2,426.7,10.2,292,6276,0.00,3.05,0.00,0.000,4,0.000,0.104,3274,226,2042,0,0,0,0,0,0
$GC,6294,1.27,233.2,423.9,11.5,292,6299,0.00,2.62,0.00,0.000,6,0.000,0.028,3274,1842,2041,0,0,0,0,0,0
$GC,6549,1.28,242.4,399.2,9.5,299,6560,0.00,0.00,8.30,0.739,6,0.000,0.000,3274,1842,2012,0,0,0,0,0,0
$GC,6795,1.29,254.6,376.4,9.3,305,6814,0.00,2.65,12.43,0.782,4,0.000,0.044,3274,3408,1963,0,0,0,0,0,0
$GC,6826,1.34,259.2,373.1,9.8,305,6837,0.00,2.72,6.05,0.659,6,0.000,0.055,3273,1824,1944,0,0,0,0,0,0
$GC,7081,1.34,265.3,348.4,9.7,312,7089,0.00,0.00,6.55,0.678,6,0.000,0.000,3274,1824,1919,0,0,0,0,0,0
$GC,7326,1.35,266.7,324.1,10.0,318,7331,0.00,2.85,0.00,0.000,4,0.000,0.088,3274,233,1917,0,0,0,0,0,0
$GC,7372,1.35,266.7,318.9,11.4,319,7376,0.00,2.60,0.00,0.000,6,0.000,0.028,3273,1851,1916,0,0,0,0,0,0
$GC,7650,1.39,270.1,292.0,9.8,326,7659,0.12,0.00,5.65,0.626,6,0.084,0.000,3306,1852,1899,0,0,0,0,0,0
$GC,7939,1.39,270.1,262.3,10.1,333,7944,0.00,2.53,0.00,0.000,4,0.000,0.040,3306,3405,1897,0,0,0,0,0,0
$GC,7972,1.39,270.1,258.7,10.2,333,7978,0.00,2.65,0.00,0.000,6,0.000,0.046,3307,1818,1896,0,0,0,0,0,0
$GC,8222,1.41,289.2,236.2,8.9,340,8246,0.00,2.65,18.55,0.727,4,0.000,0.033,3306,3397,1820,0,0,0,0,0,0
$GC,8283,1.49,301.9,230.7,9.3,341,8302,0.00,2.58,12.85,0.692,6,0.000,0.043,3306,1860,1769,0,0,0,0,0,0
$GC,8553,1.49,301.9,202.8,10.5,348,8558,0.00,2.85,0.00,0.000,4,0.000,0.072,3306,236,1765,0,0,0,0,0,0
$GC,8616,1.49,301.9,195.1,12.3,351,8621,0.00,2.60,0.00,0.000,6,0.000,0.021,3306,1867,1763,0,0,0,0,0,0
$GC,8879,1.49,302.6,167.2,10.0,375,8884,0.00,2.85,0.00,0.000,4,0.000,0.069,3306,238,1763,0,0,0,0,0,0
$GC,8902,1.49,302.6,165.4,10.1,376,8907,0.00,2.55,0.00,0.000,6,0.000,0.026,3306,1847,1762,0,0,0,0,0,0
$GC,9165,1.53,332.6,141.2,8.3,400,9204,0.10,2.58,27.45,0.657,4,0.089,0.031,3335,3392,1644,0,0,0,0,0,0
$GC,9211,1.53,332.6,136.5,10.1,403,9217,0.00,2.62,0.00,0.000,6,0.000,0.042,3335,1826,1643,0,0,0,0,0,0
$GC,9474,1.53,332.6,106.6,11.9,428,9478,0.00,2.75,0.00,0.000,4,0.000,0.065,3335,238,1641,0,0,0,0,0,0
$GC,9520,1.49,332.6,100.6,12.4,431,9526,0.00,2.50,0.00,0.000,6,0.000,0.021,3335,1821,1640,0,0,0,0,0,0
$GC,9789,1.54,343.4,72.6,9.4,456,9808,0.00,0.00,10.25,0.555,6,0.000,0.000,3335,1822,1600,0,0,0,0,0,0
$GC,10069,1.62,369.6,48.9,8.5,482,10100,0.00,2.83,24.17,0.569,4,0.000,0.061,3336,240,1493,0,0,0,0,0,0
$GC,10136,1.62,369.6,41.5,11.6,487,10140,0.00,2.47,0.00,0.000,6,0.000,0.020,3335,1809,1491,0,0,0,0,0,0
$GC,10445,1.65,394.4,11.1,8.6,524,10472,0.10,0.00,22.88,0.529,6,0.089,0.000,3366,1811,1392,0,0,0,0,0,0
$STATE,10513,end climb,SURFACE_DEPTH_REACHED
$STATE,10513,begin surface coast
$FINISH,0.4,1.000961
$STATE,10564,end surface coast,CONTROL_FINISHED_OK
$STATE,10564,begin surface
$SM_CCo,10586,4.07,0.364,0,0,1370,400.08
$SM_GC,1.28,0.00,0.00,4.07,0.000,0.000,0.364,474,1743,1370,-11.62,-0.76,400.08
$IRIDIUM_FIX,2241.69,-16031.00,280100,121213
$TT8_MAMPS,0.026078
$HUMID,57.44
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.80
$XPDR_PINGS,144
$24V_AH,23.3,78.306
$10V_AH,9.8,73.551
$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,27.675,122.175,463.825,4.075,0.000,63.843,102.430,448.381,36.000,0.000,11.022,1071.688,6924.920,520.588,1950.396,952.841,33.370,1254.154,0.000,1968.675,0.000,0.533,0.000
$DEVICE_MAMPS,163.371,116.584,921.167,363.558,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.718,315.793,420.893,801.924,1212.951,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,41335,540
$CAP_FILE_SIZE,115079,0
$CFSIZE,260165632,149291008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031110,152757,2253.941,-15743.346,16,3.1,35,10.1