version: 66.06
glider: 146
mission: 5
dive: 397
start: 10 12 110 20 8 1
data:
$ID,146
$MISSION,5
$DIVE,397
$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,-255468.55
$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,52
$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
$GPS1,195442,2250.854,-15744.341,12,6.0,31,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-64.3
$GPS2,200706,2250.864,-15744.372,41,1.2,41,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.128,-0.197
$KALMAN_X,-262436.0,-131.8,-287.9,308003.3,652.9
$KALMAN_Y,-566555.8,213.9,-200.3,696697.8,329.4
$MHEAD_RNG_PITCHd_Wd,136.7,5321,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.30,0.000,2,0.000,0.000,479,1793,3231,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.1,-5.2,10,127,11.35,2.78,-4.80,0.000,4,0.143,0.071,2690,197,3480,0,0,0,0,0,0
$GC,218,-1.23,-116.8,30.3,-18.9,26,223,0.20,2.45,0.00,0.000,6,0.119,0.015,2730,1799,3481,0,0,0,0,0,0
$GC,486,-1.19,-116.8,70.1,-11.9,50,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1800,3481,0,0,0,0,0,0
$GC,751,-1.19,-116.8,98.5,-10.2,75,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1800,3483,0,0,0,0,0,0
$GC,1014,-1.23,-116.8,124.6,-8.4,100,1018,0.00,2.40,0.00,0.000,4,0.000,0.031,2730,3325,3483,0,0,0,0,0,0
$GC,1035,-1.29,-116.8,126.2,-8.6,101,1039,0.00,2.50,0.00,0.000,6,0.000,0.028,2730,1768,3483,0,0,0,0,0,0
$GC,1303,-1.35,-116.8,146.6,-9.1,125,1307,0.00,2.45,0.00,0.000,4,0.000,0.031,2730,3332,3483,0,0,0,0,0,0
$GC,1321,-1.41,-116.8,149.1,-9.8,126,1326,0.15,2.50,0.00,0.000,6,0.062,0.028,2679,1771,3483,0,0,0,0,0,0
$GC,1584,-1.37,-116.8,181.3,-11.7,150,1586,0.10,0.00,0.00,0.000,6,0.118,0.000,2701,1771,3483,0,0,0,0,0,0
$GC,1854,-1.37,-116.8,208.6,-9.5,170,1858,0.00,2.72,0.00,0.000,4,0.000,0.067,2701,196,3483,0,0,0,0,0,0
$GC,1881,-1.37,-116.8,211.4,-10.6,170,1885,0.00,2.42,0.00,0.000,6,0.000,0.017,2700,1784,3483,0,0,0,0,0,0
$GC,2133,-1.37,-116.8,234.9,-9.2,176,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1785,3483,0,0,0,0,0,0
$GC,2375,-1.37,-116.8,257.3,-9.2,182,2379,0.00,2.40,0.00,0.000,4,0.000,0.033,2701,3321,3483,0,0,0,0,0,0
$GC,2424,-1.43,-116.8,261.9,-9.2,183,2429,0.00,2.47,0.00,0.000,6,0.000,0.032,2701,1793,3483,0,0,0,0,0,0
$GC,2698,-1.43,-116.8,286.6,-9.1,190,2702,0.00,2.40,0.00,0.000,4,0.000,0.035,2701,3320,3482,0,0,0,0,0,0
$GC,2738,-1.50,-116.8,290.3,-9.1,191,2743,0.12,2.47,0.00,0.000,6,0.072,0.034,2658,1798,3482,0,0,0,0,0,0
$GC,3021,-1.47,-116.8,320.9,-11.1,198,3027,0.10,2.85,0.00,0.000,4,0.126,0.085,2678,192,3481,0,0,0,0,0,0
$GC,3084,-1.47,-116.8,328.4,-12.0,199,3088,0.00,2.47,0.00,0.000,6,0.000,0.021,2679,1767,3481,0,0,0,0,0,0
$GC,3344,-1.47,-116.8,356.5,-10.6,206,3349,0.00,2.55,0.00,0.000,4,0.000,0.041,2679,3355,3479,0,0,0,0,0,0
$GC,3386,-1.52,-116.8,360.9,-11.0,207,3390,0.00,2.58,0.00,0.000,6,0.000,0.043,2679,1803,3479,0,0,0,0,0,0
$GC,3669,-1.52,-116.8,391.1,-10.4,214,3673,0.00,2.50,0.00,0.000,4,0.000,0.041,2679,3349,3477,0,0,0,0,0,0
$GC,3730,-1.59,-116.8,397.6,-10.3,215,3735,0.10,2.58,0.00,0.000,6,0.081,0.054,2642,1818,3477,0,0,0,0,0,0
$GC,3992,-1.54,-116.8,426.2,-11.0,222,3998,0.10,3.03,0.00,0.000,4,0.121,0.098,2663,181,3475,0,0,0,0,0,0
$GC,4015,-1.49,-116.8,428.9,-10.9,222,4019,0.00,2.60,0.00,0.000,6,0.000,0.031,2663,1807,3474,0,0,0,0,0,0
$GC,4269,-1.49,-116.8,456.3,-11.0,229,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1807,3473,0,0,0,0,0,0
$GC,4515,-1.49,-116.8,484.0,-11.2,235,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1808,3471,0,0,0,0,0,0
$STATE,4673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4673,begin apogee
$GC,4679,-0.31,0.0,501.6,10.8,239,4779,1.20,0.00,96.82,0.922,6,0.086,0.000,2928,1807,3001,0,0,0,0,0,0
$STATE,4780,end apogee,CONTROL_FINISHED_OK
$STATE,4780,begin climb
$GC,4783,1.38,116.8,504.0,0.0,241,4889,1.58,0.00,101.95,0.902,6,0.047,0.000,3308,1807,2524,0,0,0,0,0,0
$GC,5122,1.30,156.2,487.5,7.8,250,5163,0.12,2.78,34.10,0.875,4,0.176,0.055,3285,3404,2363,0,0,0,0,0,0
$GC,5188,1.29,181.3,482.0,8.6,251,5217,0.00,2.75,23.80,0.852,6,0.000,0.055,3285,1819,2261,0,0,0,0,0,0
$GC,5499,1.24,181.3,449.3,10.9,259,5504,0.00,2.62,0.00,0.000,4,0.000,0.039,3285,3405,2252,0,0,0,0,0,0
$GC,5532,1.24,181.3,445.1,11.0,259,5537,0.00,2.70,0.00,0.000,6,0.000,0.051,3285,1823,2252,0,0,0,0,0,0
$GC,5782,1.19,181.3,418.9,10.3,266,5788,0.12,2.95,0.00,0.000,4,0.133,0.099,3261,232,2249,0,0,0,0,0,0
$GC,5828,1.12,181.3,414.2,10.3,267,5833,0.00,2.55,0.00,0.000,6,0.000,0.023,3261,1818,2248,0,0,0,0,0,0
$GC,6106,1.18,229.7,392.8,7.2,274,6155,0.00,2.70,41.75,0.851,4,0.000,0.041,3261,3408,2063,0,0,0,0,0,0
$GC,6168,1.26,263.0,388.1,8.1,275,6205,0.00,2.75,31.00,0.828,6,0.000,0.049,3261,1798,1928,0,0,0,0,0,0
$GC,6474,1.26,263.0,357.8,10.4,283,6478,0.00,2.62,0.00,0.000,4,0.000,0.030,3261,3412,1920,0,0,0,0,0,0
$GC,6490,1.30,263.0,355.9,10.8,283,6494,0.00,2.70,0.00,0.000,6,0.000,0.048,3261,1809,1919,0,0,0,0,0,0
$GC,6752,1.34,263.0,326.8,11.2,290,6757,0.12,2.80,0.00,0.000,4,0.086,0.078,3294,234,1918,0,0,0,0,0,0
$GC,6780,1.26,263.0,322.8,14.1,290,6784,0.00,2.53,0.00,0.000,6,0.000,0.023,3295,1827,1916,0,0,0,0,0,0
$GC,7031,1.26,263.0,291.8,12.2,296,7036,0.00,2.80,0.00,0.000,4,0.000,0.073,3295,233,1916,0,0,0,0,0,0
$GC,7060,1.20,263.0,288.4,11.9,296,7065,0.15,2.47,0.00,0.000,6,0.124,0.024,3263,1800,1915,0,0,0,0,0,0
$GC,7310,1.31,304.9,267.9,7.6,302,7351,0.00,2.60,35.90,0.770,4,0.000,0.031,3264,3395,1757,0,0,0,0,0,0
$GC,7381,1.45,311.3,261.7,9.7,303,7398,0.22,2.70,7.22,0.645,6,0.066,0.038,3320,1783,1730,0,0,0,0,0,0
$GC,7641,1.45,311.3,229.9,12.9,310,7645,0.00,2.67,0.00,0.000,4,0.000,0.071,3320,240,1726,0,0,0,0,0,0
$GC,7657,1.38,311.3,227.5,13.6,310,7661,0.00,2.47,0.00,0.000,6,0.000,0.021,3320,1806,1725,0,0,0,0,0,0
$GC,7914,1.38,311.3,195.4,12.5,319,7918,0.00,2.55,0.00,0.000,4,0.000,0.031,3320,3390,1724,0,0,0,0,0,0
$GC,7930,1.38,311.3,192.4,13.0,320,7935,0.00,2.65,0.00,0.000,6,0.000,0.038,3320,1784,1724,0,0,0,0,0,0
$GC,8194,1.38,311.3,160.1,12.9,344,8199,0.00,2.65,0.00,0.000,4,0.000,0.066,3320,241,1723,0,0,0,0,0,0
$GC,8216,1.33,311.3,156.6,13.4,345,8226,0.12,2.47,0.00,0.000,6,0.104,0.021,3291,1802,1722,0,0,0,0,0,0
$GC,8480,1.37,311.5,128.1,10.0,370,8485,0.00,2.53,0.00,0.000,4,0.000,0.032,3291,3383,1722,0,0,0,0,0,0
$GC,8550,1.49,311.5,120.7,10.3,375,8557,0.15,2.58,0.00,0.000,6,0.076,0.041,3330,1817,1721,0,0,0,0,0,0
$GC,8813,1.49,311.5,92.6,12.0,400,8817,0.00,2.50,0.00,0.000,4,0.000,0.028,3330,3385,1721,0,0,0,0,0,0
$GC,8859,1.54,311.5,87.7,11.8,403,8863,0.00,2.53,0.00,0.000,6,0.000,0.036,3330,1845,1721,0,0,0,0,0,0
$GC,9125,1.56,323.1,57.6,9.4,427,9148,0.00,2.55,10.20,0.548,4,0.000,0.028,3330,3390,1682,0,0,0,0,0,0
$GC,9155,1.63,335.4,54.4,9.3,429,9177,0.08,2.55,12.20,0.549,6,0.061,0.035,3357,1854,1632,0,0,0,0,0,0
$GC,9436,1.63,335.4,27.4,11.2,456,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1853,1630,0,0,0,0,0,0
$STATE,9637,end climb,SURFACE_DEPTH_REACHED
$STATE,9637,begin surface coast
$FINISH,0.4,1.008550
$STATE,9683,end surface coast,CONTROL_FINISHED_OK
$STATE,9683,begin surface
$SM_CCo,9704,76.43,0.465,1,0,1288,420.20
$SM_GC,0.96,0.00,0.00,76.43,0.000,0.000,0.465,473,1754,1288,-11.62,-0.45,420.20
$IRIDIUM_FIX,2241.69,-15748.90,060100,202052
$TT8_MAMPS,0.025311
$HUMID,52.99
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.00
$XPDR_PINGS,57
$24V_AH,23.4,55.508
$10V_AH,10.0,53.299
$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,27.800,124.975,394.950,76.425,0.000,59.009,73.416,370.672,14.250,0.000,43.039,995.745,6311.209,557.059,1857.418,810.715,33.367,1240.235,0.000,1833.277,0.000,0.535,0.000
$DEVICE_MAMPS,175.643,98.943,921.934,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.912,284.185,381.715,727.726,1100.747,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,38522,491
$CAP_FILE_SIZE,110639,0
$CFSIZE,260165632,159002624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121010,225216,2249.892,-15743.277,7,99.0,26,10.1