version: 66.06
glider: 146
mission: 5
dive: 392
start: 10 12 110 5 8 23
data:
$ID,146
$MISSION,5
$DIVE,392
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,4
$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,-255321.05
$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,56
$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
$GPS1,045458,2254.278,-15750.947,11,99.0,30,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.0
$GPS2,050730,2254.204,-15751.045,41,1.2,46,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,-0.032
$KALMAN_X,-263468.8,226.8,-33.2,296943.4,-389.8
$KALMAN_Y,-562362.4,-132.7,-519.4,699364.2,-879.6
$MHEAD_RNG_PITCHd_Wd,87.6,18202,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.82,0.000,6,0.000,0.000,474,1756,3478,0,0,0,0,0,0
$GC,110,-1.38,-116.8,4.4,-9.2,11,128,11.20,2.62,0.00,0.000,4,0.137,0.054,2689,192,3481,0,0,0,0,0,0
$GC,159,-0.98,-116.8,23.1,-31.6,17,167,0.43,2.45,0.00,0.000,6,0.086,0.016,2784,1779,3481,0,0,0,0,0,0
$GC,443,-1.04,-116.8,56.7,-11.6,46,447,0.00,2.42,0.00,0.000,4,0.000,0.025,2785,3335,3482,0,0,0,0,0,0
$GC,464,-1.12,-116.8,59.3,-10.8,47,469,0.12,2.53,0.00,0.000,6,0.069,0.027,2741,1765,3482,0,0,0,0,0,0
$GC,731,-1.17,-116.8,87.2,-9.3,71,736,0.00,2.62,0.00,0.000,4,0.000,0.060,2741,193,3483,0,0,0,0,0,0
$GC,755,-1.23,-116.8,89.9,-9.8,72,764,0.00,2.45,0.00,0.000,6,0.000,0.019,2741,1799,3482,0,0,0,0,0,0
$GC,1022,-1.30,-116.8,114.4,-8.5,97,1027,0.10,2.40,0.00,0.000,4,0.080,0.025,2701,3314,3483,0,0,0,0,0,0
$GC,1068,-1.30,-116.8,118.9,-9.0,100,1077,0.00,2.47,0.00,0.000,6,0.000,0.031,2701,1791,3484,0,0,0,0,0,0
$GC,1335,-1.30,-116.8,144.6,-10.6,125,1339,0.00,2.70,0.00,0.000,4,0.000,0.065,2701,189,3483,0,0,0,0,0,0
$GC,1406,-1.30,-116.8,153.4,-11.8,130,1411,0.00,2.40,0.00,0.000,6,0.000,0.015,2700,1768,3483,0,0,0,0,0,0
$GC,1668,-1.30,-116.8,179.8,-9.2,155,1673,0.00,2.45,0.00,0.000,4,0.000,0.027,2700,3327,3483,0,0,0,0,0,0
$GC,1703,-1.35,-116.8,183.3,-9.8,157,1709,0.00,2.47,0.00,0.000,6,0.000,0.030,2701,1789,3483,0,0,0,0,0,0
$GC,1962,-1.35,-116.8,209.8,-10.8,176,1966,0.00,2.72,0.00,0.000,4,0.000,0.068,2700,191,3483,0,0,0,0,0,0
$GC,1983,-1.35,-116.8,212.5,-10.9,176,1987,0.00,2.45,0.00,0.000,6,0.000,0.021,2700,1804,3483,0,0,0,0,0,0
$GC,2239,-1.35,-116.8,238.9,-10.1,183,2243,0.00,2.78,0.00,0.000,4,0.000,0.064,2701,194,3483,0,0,0,0,0,0
$GC,2272,-1.35,-116.8,242.6,-11.7,183,2278,0.00,2.42,0.00,0.000,6,0.000,0.021,2701,1784,3483,0,0,0,0,0,0
$GC,2522,-1.35,-116.8,267.2,-9.5,190,2527,0.00,2.42,0.00,0.000,4,0.000,0.029,2701,3332,3483,0,0,0,0,0,0
$GC,2545,-1.39,-116.8,269.2,-8.8,190,2549,0.00,2.45,0.00,0.000,6,0.000,0.030,2701,1801,3483,0,0,0,0,0,0
$GC,2802,-1.43,-116.8,291.0,-8.7,197,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1801,3482,0,0,0,0,0,0
$GC,3044,-1.47,-116.8,315.6,-10.3,203,3048,0.00,2.83,0.00,0.000,4,0.000,0.084,2700,194,3481,0,0,0,0,0,0
$GC,3070,-1.47,-116.8,318.6,-10.9,203,3075,0.00,2.47,0.00,0.000,6,0.000,0.025,2700,1780,3481,0,0,0,0,0,0
$GC,3328,-1.51,-116.8,342.9,-9.2,210,3330,0.12,0.00,0.00,0.000,6,0.076,0.000,2660,1780,3480,0,0,0,0,0,0
$GC,3570,-1.51,-116.8,368.4,-10.8,216,3574,0.00,2.53,0.00,0.000,4,0.000,0.044,2660,3346,3478,0,0,0,0,0,0
$GC,3602,-1.51,-116.8,372.2,-10.8,216,3608,0.00,2.55,0.00,0.000,6,0.000,0.043,2660,1805,3478,0,0,0,0,0,0
$GC,3854,-1.51,-116.8,398.7,-10.5,223,3858,0.00,2.50,0.00,0.000,4,0.000,0.043,2660,3346,3476,0,0,0,0,0,0
$GC,3886,-1.51,-116.8,402.5,-10.7,223,3892,0.00,2.58,0.00,0.000,6,0.000,0.053,2660,1811,3476,0,0,0,0,0,0
$GC,4136,-1.51,-116.8,429.2,-10.7,230,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1810,3475,0,0,0,0,0,0
$GC,4381,-1.51,-116.8,456.0,-11.0,236,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1811,3473,0,0,0,0,0,0
$GC,4625,-1.51,-116.8,482.1,-10.6,242,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1810,3471,0,0,0,0,0,0
$STATE,4824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4824,begin apogee
$GC,4830,-0.31,0.0,503.5,10.6,247,4931,1.20,0.00,97.57,0.925,6,0.078,0.000,2929,1810,3001,0,0,0,0,0,0
$STATE,4932,end apogee,CONTROL_FINISHED_OK
$STATE,4932,begin climb
$GC,4934,1.38,116.8,505.7,0.0,249,5041,1.55,0.00,102.85,0.903,6,0.054,0.000,3305,1810,2524,0,0,0,0,0,0
$GC,5263,1.29,143.6,487.2,8.5,257,5293,0.12,2.78,23.35,0.860,4,0.133,0.054,3282,3387,2415,0,0,0,0,0,0
$GC,5328,1.27,166.8,481.3,8.7,258,5358,0.00,2.72,21.98,0.851,6,0.000,0.061,3282,1820,2320,0,0,0,0,0,0
$GC,5641,1.22,167.7,450.4,10.0,266,5645,0.00,2.62,0.00,0.000,4,0.000,0.041,3282,3393,2313,0,0,0,0,0,0
$GC,5668,1.19,172.2,447.3,9.8,266,5680,0.10,2.70,5.18,0.647,6,0.148,0.054,3264,1817,2298,0,0,0,0,0,0
$GC,5924,1.23,201.2,425.3,8.4,273,5954,0.00,0.00,27.50,0.854,6,0.000,0.000,3263,1817,2180,0,0,0,0,0,0
$GC,6166,1.26,223.2,404.2,8.8,279,6189,0.00,0.00,20.42,0.829,6,0.000,0.000,3264,1817,2091,0,0,0,0,0,0
$GC,6410,1.26,223.2,378.8,10.8,285,6414,0.00,2.60,0.00,0.000,4,0.000,0.034,3264,3402,2086,0,0,0,0,0,0
$GC,6444,1.31,223.2,374.9,11.6,285,6450,0.00,2.70,0.00,0.000,6,0.000,0.048,3264,1815,2084,0,0,0,0,0,0
$GC,6694,1.32,226.6,349.3,9.8,292,6699,0.10,2.60,0.00,0.000,4,0.113,0.030,3289,3402,2084,0,0,0,0,0,0
$GC,6716,1.33,238.1,347.1,9.4,292,6735,0.00,2.65,13.93,0.781,6,0.000,0.043,3288,1826,2029,0,0,0,0,0,0
$GC,7021,1.34,250.0,318.3,9.4,300,7035,0.00,0.00,11.90,0.755,6,0.000,0.000,3289,1826,1981,0,0,0,0,0,0
$GC,7263,1.34,250.0,291.9,11.0,306,7268,0.00,2.83,0.00,0.000,4,0.000,0.075,3288,234,1977,0,0,0,0,0,0
$GC,7302,1.28,250.0,287.1,12.3,307,7307,0.00,2.53,0.00,0.000,6,0.000,0.021,3289,1825,1976,0,0,0,0,0,0
$GC,7587,1.28,250.0,256.9,10.3,314,7591,0.00,2.53,0.00,0.000,4,0.000,0.031,3289,3394,1976,0,0,0,0,0,0
$GC,7648,1.33,250.0,250.4,11.1,315,7652,0.00,2.60,0.00,0.000,6,0.000,0.038,3289,1820,1974,0,0,0,0,0,0
$GC,7908,1.34,260.0,225.5,9.5,322,7923,0.00,2.80,9.38,0.677,4,0.000,0.074,3289,241,1940,0,0,0,0,0,0
$GC,7986,1.34,260.0,217.6,10.8,323,7992,0.00,2.50,0.00,0.000,6,0.000,0.025,3289,1819,1939,0,0,0,0,0,0
$GC,8238,1.40,274.9,195.2,9.2,333,8262,0.00,2.62,14.75,0.690,4,0.000,0.033,3288,3394,1879,0,0,0,0,0,0
$GC,8269,1.46,283.0,192.2,9.6,335,8290,0.12,2.62,8.55,0.627,6,0.084,0.039,3321,1811,1847,0,0,0,0,0,0
$GC,8545,1.46,283.0,161.1,11.0,361,8550,0.00,2.55,0.00,0.000,4,0.000,0.036,3321,3390,1845,0,0,0,0,0,0
$GC,8581,1.46,283.0,156.7,11.5,363,8591,0.00,2.60,0.00,0.000,6,0.000,0.041,3321,1830,1843,0,0,0,0,0,0
$GC,8844,1.46,283.0,129.0,10.5,388,8848,0.00,2.75,0.00,0.000,4,0.000,0.067,3321,233,1843,0,0,0,0,0,0
$GC,8901,1.39,283.0,121.1,13.7,392,8911,0.00,2.53,0.00,0.000,6,0.000,0.021,3321,1824,1842,0,0,0,0,0,0
$GC,9168,1.39,283.0,89.6,12.2,417,9173,0.00,2.53,0.00,0.000,4,0.000,0.036,3321,3397,1842,0,0,0,0,0,0
$GC,9224,1.46,283.0,82.8,11.6,421,9229,0.00,2.60,0.00,0.000,6,0.000,0.035,3321,1814,1842,0,0,0,0,0,0
$GC,9493,1.55,328.0,63.4,7.4,445,9541,0.00,2.60,39.60,0.592,4,0.000,0.028,3320,3383,1662,0,0,0,0,0,0
$GC,9559,1.68,358.1,58.1,8.3,450,9591,0.20,2.62,26.50,0.571,6,0.067,0.035,3371,1799,1540,0,0,0,0,0,0
$GC,9865,1.68,358.1,19.2,13.4,482,9874,0.00,2.58,0.00,0.000,4,0.000,0.028,3371,3380,1536,0,0,0,0,0,0
$GC,9952,1.68,358.1,6.2,14.3,494,9961,0.00,2.60,0.00,0.000,6,0.000,0.042,3371,1821,1534,0,0,0,0,0,0
$STATE,9969,end climb,SURFACE_DEPTH_REACHED
$STATE,9969,begin surface coast
$FINISH,0.6,1.023280
$STATE,10005,end surface coast,CONTROL_FINISHED_OK
$STATE,10005,begin surface
$SM_CCo,10028,57.15,0.439,1,0,1287,420.20
$SM_GC,1.10,0.00,0.00,57.15,0.000,0.000,0.439,475,1748,1287,-11.62,-0.59,420.20
$IRIDIUM_FIX,2244.02,-15751.06,060100,050548
$TT8_MAMPS,0.026078
$HUMID,54.09
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.80
$XPDR_PINGS,55
$24V_AH,23.5,54.840
$10V_AH,10.0,52.725
$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,27.250,129.125,423.450,57.150,0.000,48.373,68.672,394.074,13.750,0.000,47.493,999.566,6619.730,563.480,1832.455,825.449,33.374,1265.265,0.000,1814.666,0.000,0.535,0.000
$DEVICE_MAMPS,148.031,120.419,925.002,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.540,299.699,387.020,734.083,1110.320,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,38444,501
$CAP_FILE_SIZE,109518,0
$CFSIZE,260165632,159281152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121010,075736,2253.777,-15749.649,11,1.9,21,10.1