version: 66.06
glider: 146
mission: 5
dive: 395
start: 10 12 110 14 4 37
data:
$ID,146
$MISSION,5
$DIVE,395
$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,-255410.42
$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,63
$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
$GPS1,135201,2251.683,-15746.933,71,1.0,71,10.1
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.7
$GPS2,140343,2251.696,-15746.919,11,1.0,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.030
$KALMAN_X,-262774.0,-174.0,299.9,303416.6,-222.4
$KALMAN_Y,-565379.2,-71.5,185.4,696975.9,-1533.0
$MHEAD_RNG_PITCHd_Wd,72.7,9770,-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,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.32,0.000,6,0.000,0.000,474,1783,3479,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.5,-9.2,11,125,11.23,0.00,0.00,0.000,6,0.137,0.000,2692,1783,3481,0,0,0,0,0,0
$GC,407,-1.23,-116.8,66.8,-17.1,43,412,0.17,2.45,0.00,0.000,4,0.110,0.027,2728,3332,3483,0,0,0,0,0,0
$GC,465,-1.23,-116.8,76.7,-15.6,47,469,0.00,2.55,0.00,0.000,6,0.000,0.030,2728,1760,3483,0,0,0,0,0,0
$GC,731,-1.23,-116.8,109.4,-10.2,71,735,0.00,2.65,0.00,0.000,4,0.000,0.066,2728,187,3483,0,0,0,0,0,0
$GC,747,-1.23,-116.8,111.7,-10.2,72,752,0.00,2.42,0.00,0.000,6,0.000,0.018,2729,1797,3483,0,0,0,0,0,0
$GC,1012,-1.27,-116.8,137.1,-10.9,96,1016,0.00,2.35,0.00,0.000,4,0.000,0.029,2728,3312,3484,0,0,0,0,0,0
$GC,1058,-1.36,-116.8,142.6,-10.6,99,1064,0.10,2.47,0.00,0.000,6,0.084,0.030,2689,1771,3484,0,0,0,0,0,0
$GC,1326,-1.36,-116.8,169.7,-9.5,124,1330,0.00,2.40,0.00,0.000,4,0.000,0.027,2689,3313,3484,0,0,0,0,0,0
$GC,1347,-1.36,-116.8,172.6,-9.9,125,1353,0.00,2.45,0.00,0.000,6,0.000,0.026,2689,1778,3484,0,0,0,0,0,0
$GC,1610,-1.36,-116.8,198.4,-10.2,150,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1777,3484,0,0,0,0,0,0
$GC,1875,-1.36,-116.8,227.8,-11.2,158,1879,0.00,2.70,0.00,0.000,4,0.000,0.069,2689,199,3484,0,0,0,0,0,0
$GC,1907,-1.36,-116.8,232.2,-12.8,158,1913,0.00,2.38,0.00,0.000,6,0.000,0.016,2689,1767,3484,0,0,0,0,0,0
$GC,2157,-1.36,-116.8,260.6,-11.4,165,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1771,3485,0,0,0,0,0,0
$GC,2400,-1.36,-116.8,288.0,-10.9,171,2405,0.00,2.45,0.00,0.000,4,0.000,0.036,2688,3324,3485,0,0,0,0,0,0
$GC,2446,-1.42,-116.8,292.6,-10.2,172,2451,0.00,2.53,0.00,0.000,6,0.000,0.035,2689,1779,3484,0,0,0,0,0,0
$GC,2724,-1.42,-116.8,318.6,-9.1,179,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1778,3483,0,0,0,0,0,0
$GC,2968,-1.42,-116.8,342.6,-10.0,185,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1778,3482,0,0,0,0,0,0
$GC,3213,-1.42,-116.8,369.4,-11.2,191,3217,0.00,2.53,0.00,0.000,4,0.000,0.042,2688,3326,3481,0,0,0,0,0,0
$GC,3228,-1.42,-116.8,371.5,-11.5,191,3232,0.00,2.58,0.00,0.000,6,0.000,0.046,2689,1779,3481,0,0,0,0,0,0
$GC,3490,-1.46,-116.8,401.1,-11.3,198,3494,0.00,2.50,0.00,0.000,4,0.000,0.042,2689,3323,3479,0,0,0,0,0,0
$GC,3518,-1.51,-116.8,404.1,-11.4,198,3523,0.00,2.60,0.00,0.000,6,0.000,0.056,2688,1784,3479,0,0,0,0,0,0
$GC,3769,-1.55,-116.8,429.0,-9.8,204,3770,0.12,0.00,0.00,0.000,6,0.079,0.000,2650,1783,3477,0,0,0,0,0,0
$GC,4012,-1.55,-116.8,454.7,-10.5,210,4016,0.00,2.50,0.00,0.000,4,0.000,0.047,2650,3315,3476,0,0,0,0,0,0
$GC,4063,-1.55,-116.8,459.9,-9.9,211,4067,0.00,2.60,0.00,0.000,6,0.000,0.061,2650,1793,3475,0,0,0,0,0,0
$GC,4334,-1.55,-116.8,487.5,-10.4,218,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1792,3473,0,0,0,0,0,0
$STATE,4454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4454,begin apogee
$GC,4459,-0.31,0.0,500.2,10.3,221,4560,1.25,0.00,96.93,0.924,6,0.082,0.000,2928,1792,3001,0,0,0,0,0,0
$STATE,4561,end apogee,CONTROL_FINISHED_OK
$STATE,4561,begin climb
$GC,4565,1.38,116.8,502.6,0.0,223,4677,1.55,3.08,100.47,0.901,4,0.041,0.117,3306,238,2523,0,0,0,0,0,0
$GC,4689,1.30,199.8,501.5,5.2,226,4775,0.10,2.55,72.38,0.887,6,0.142,0.037,3287,1781,2184,0,0,0,0,0,0
$GC,5015,1.26,202.3,471.0,9.9,234,5020,0.00,2.78,0.00,0.000,4,0.000,0.061,3288,3405,2175,0,0,0,0,0,0
$GC,5036,1.22,202.3,468.8,10.1,234,5041,0.10,2.72,0.00,0.000,6,0.144,0.057,3269,1820,2173,0,0,0,0,0,0
$GC,5293,1.24,220.9,445.3,9.0,241,5318,0.00,2.70,17.70,0.838,4,0.000,0.040,3269,3406,2099,0,0,0,0,0,0
$GC,5330,1.27,241.3,441.8,8.9,241,5355,0.00,2.72,19.70,0.833,6,0.000,0.051,3270,1823,2017,0,0,0,0,0,0
$GC,5618,1.29,257.0,415.4,9.1,249,5638,0.00,3.03,14.88,0.814,4,0.000,0.106,3269,233,1952,0,0,0,0,0,0
$GC,5656,1.29,257.0,411.4,10.4,250,5660,0.00,2.58,0.00,0.000,6,0.000,0.028,3269,1827,1951,0,0,0,0,0,0
$GC,5939,1.29,260.3,383.8,9.9,257,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1827,1947,0,0,0,0,0,0
$GC,6184,1.29,260.3,357.6,10.8,263,6188,0.00,2.83,0.00,0.000,4,0.000,0.077,3269,230,1946,0,0,0,0,0,0
$GC,6205,1.29,260.3,354.8,12.1,263,6209,0.00,2.55,0.00,0.000,6,0.000,0.027,3269,1823,1945,0,0,0,0,0,0
$GC,6460,1.29,260.3,327.5,10.6,270,6464,0.00,2.80,0.00,0.000,4,0.000,0.076,3269,229,1944,0,0,0,0,0,0
$GC,6481,1.29,260.3,325.0,11.6,270,6485,0.00,2.53,0.00,0.000,6,0.000,0.022,3269,1816,1943,0,0,0,0,0,0
$GC,6738,1.29,260.3,297.7,10.7,277,6742,0.00,2.55,0.00,0.000,4,0.000,0.039,3269,3402,1943,0,0,0,0,0,0
$GC,6788,1.37,260.3,292.1,10.6,278,6793,0.12,2.62,0.00,0.000,6,0.084,0.042,3303,1816,1941,0,0,0,0,0,0
$GC,7061,1.37,260.3,261.9,11.0,285,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1815,1941,0,0,0,0,0,0
$GC,7303,1.37,260.3,235.8,10.6,291,7308,0.00,2.55,0.00,0.000,4,0.000,0.037,3303,3402,1941,0,0,0,0,0,0
$GC,7319,1.37,260.3,234.0,10.5,291,7324,0.00,2.60,0.00,0.000,6,0.000,0.035,3303,1822,1940,0,0,0,0,0,0
$GC,7580,1.37,260.3,206.7,10.3,298,7585,0.00,2.55,0.00,0.000,4,0.000,0.035,3303,3399,1940,0,0,0,0,0,0
$GC,7592,1.37,260.3,205.5,10.4,298,7596,0.00,2.55,0.00,0.000,6,0.000,0.039,3303,1826,1940,0,0,0,0,0,0
$GC,7862,1.40,283.3,180.0,8.7,319,7891,0.00,0.00,22.15,0.687,6,0.000,0.000,3303,1826,1846,0,0,0,0,0,0
$GC,8150,1.40,285.5,153.5,9.9,346,8155,0.00,2.72,0.00,0.000,4,0.000,0.071,3303,242,1843,0,0,0,0,0,0
$GC,8172,1.40,285.5,150.1,11.4,347,8177,0.00,2.53,0.00,0.000,6,0.000,0.021,3303,1845,1842,0,0,0,0,0,0
$GC,8434,1.40,285.5,120.8,11.0,372,8439,0.00,2.47,0.00,0.000,4,0.000,0.030,3303,3394,1842,0,0,0,0,0,0
$GC,8470,1.48,285.5,116.7,10.8,374,8479,0.00,2.60,0.00,0.000,6,0.000,0.040,3303,1830,1841,0,0,0,0,0,0
$GC,8736,1.53,285.5,89.0,10.5,399,8741,0.12,2.75,0.00,0.000,4,0.084,0.062,3336,240,1841,0,0,0,0,0,0
$GC,8755,1.53,285.5,86.5,10.5,400,8759,0.00,2.50,0.00,0.000,6,0.000,0.023,3336,1846,1841,0,0,0,0,0,0
$GC,9022,1.56,305.2,62.0,8.9,424,9052,0.00,2.85,19.85,0.573,4,0.000,0.060,3337,238,1756,0,0,0,0,0,0
$GC,9069,1.56,309.4,57.4,9.8,427,9084,0.00,2.53,5.40,0.453,6,0.000,0.020,3336,1848,1737,0,0,0,0,0,0
$GC,9344,1.61,314.1,32.3,9.8,452,9359,0.00,2.50,5.47,0.446,4,0.000,0.029,3336,3385,1718,0,0,0,0,0,0
$GC,9376,1.66,314.1,28.6,10.6,454,9386,0.00,2.53,0.00,0.000,6,0.000,0.031,3336,1850,1718,0,0,0,0,0,0
$STATE,9636,end climb,SURFACE_DEPTH_REACHED
$STATE,9636,begin surface coast
$FINISH,0.2,1.010954
$STATE,9686,end surface coast,CONTROL_FINISHED_OK
$STATE,9686,begin surface
$SM_CCo,9708,92.90,0.471,1,0,1287,420.20
$SM_GC,0.96,0.00,0.00,92.90,0.000,0.000,0.471,474,1751,1287,-11.62,-0.51,420.20
$IRIDIUM_FIX,2246.36,-15743.68,060100,141454
$TT8_MAMPS,0.026078
$HUMID,51.26
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.70
$XPDR_PINGS,50
$24V_AH,23.4,55.248
$10V_AH,10.0,53.059
$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,26.500,119.475,374.925,92.900,0.000,56.199,64.062,369.785,12.500,0.000,12.950,981.835,6385.277,530.004,1814.269,800.096,33.363,1213.565,0.000,1825.114,0.000,0.535,0.000
$DEVICE_MAMPS,144.196,116.584,924.235,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.740,292.464,388.676,731.746,1106.696,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,38453,498
$CAP_FILE_SIZE,103547,0
$CFSIZE,260165632,159125504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121010,164925,2251.053,-15745.768,39,1.2,39,10.1