version: 66.06
glider: 146
mission: 5
dive: 399
start: 10 13 110 1 47 43
data:
$ID,146
$MISSION,5
$DIVE,399
$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,-255520.02
$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,42
$R_STBD_OVSHOOT,50
$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
$GPS1,013856,2248.995,-15742.305,59,1.1,59,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.6
$GPS2,014647,2248.975,-15742.250,15,1.1,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.025,0.236
$KALMAN_X,-262403.6,144.3,264.1,310802.2,-225.9
$KALMAN_Y,-567781.4,204.9,317.2,693926.2,-1607.2
$MHEAD_RNG_PITCHd_Wd,355.9,16719,-19.6,-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,16,-1.37,-116.8,0.0,0.0,0,97,0.00,0.00,-78.65,0.000,2,0.000,0.000,475,1742,3227,0,0,0,0,0,0
$GC,101,-1.37,-116.8,3.0,-5.0,10,127,11.43,2.58,-4.90,0.000,4,0.145,0.034,2692,3349,3479,0,0,0,0,0,0
$GC,238,-1.33,-116.8,30.6,-15.7,29,248,0.00,2.55,0.00,0.000,6,0.000,0.031,2693,1790,3480,0,0,0,0,0,0
$GC,506,-1.22,-116.8,73.2,-13.7,54,511,0.20,2.70,0.00,0.000,4,0.111,0.057,2732,189,3481,0,0,0,0,0,0
$GC,541,-1.18,-116.8,78.3,-13.2,56,545,0.00,2.42,0.00,0.000,6,0.000,0.015,2732,1799,3481,0,0,0,0,0,0
$GC,805,-1.18,-116.8,105.8,-9.8,80,810,0.00,2.75,0.00,0.000,4,0.000,0.060,2732,189,3482,0,0,0,0,0,0
$GC,849,-1.23,-116.8,110.3,-10.4,83,853,0.00,2.33,0.00,0.000,6,0.000,0.015,2733,1754,3482,0,0,0,0,0,0
$GC,1118,-1.28,-116.8,134.9,-9.9,107,1122,0.00,2.45,0.00,0.000,4,0.000,0.024,2733,3313,3482,0,0,0,0,0,0
$GC,1158,-1.39,-116.8,139.7,-10.3,110,1163,0.15,2.50,0.00,0.000,6,0.061,0.036,2679,1745,3482,0,0,0,0,0,0
$GC,1421,-1.34,-116.8,171.7,-12.8,134,1426,0.12,2.67,0.00,0.000,4,0.109,0.068,2706,189,3483,0,0,0,0,0,0
$GC,1462,-1.34,-116.8,177.3,-12.8,137,1466,0.00,2.38,0.00,0.000,6,0.000,0.023,2706,1760,3483,0,0,0,0,0,0
$GC,1740,-1.34,-116.8,209.4,-11.4,157,1744,0.00,2.42,0.00,0.000,4,0.000,0.025,2705,3314,3483,0,0,0,0,0,0
$GC,1808,-1.41,-116.8,216.5,-10.2,158,1812,0.00,2.47,0.00,0.000,6,0.000,0.030,2706,1771,3483,0,0,0,0,0,0
$GC,2063,-1.41,-116.8,242.7,-10.4,165,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1771,3483,0,0,0,0,0,0
$GC,2307,-1.41,-116.8,267.0,-9.6,171,2311,0.00,2.45,0.00,0.000,4,0.000,0.033,2706,3313,3483,0,0,0,0,0,0
$GC,2341,-1.48,-116.8,270.1,-9.1,171,2348,0.12,2.47,0.00,0.000,6,0.069,0.037,2656,1782,3483,0,0,0,0,0,0
$GC,2592,-1.44,-116.8,297.4,-10.9,178,2597,0.15,2.80,0.00,0.000,4,0.108,0.077,2687,185,3482,0,0,0,0,0,0
$GC,2653,-1.44,-116.8,304.2,-10.8,179,2657,0.00,2.38,0.00,0.000,6,0.000,0.025,2687,1730,3482,0,0,0,0,0,0
$GC,2915,-1.44,-116.8,327.7,-8.9,186,2920,0.00,2.62,0.00,0.000,4,0.000,0.036,2687,3353,3481,0,0,0,0,0,0
$GC,3005,-1.50,-116.8,335.9,-8.8,188,3010,0.00,2.58,0.00,0.000,6,0.000,0.045,2687,1790,3481,0,0,0,0,0,0
$GC,3285,-1.50,-116.8,360.9,-9.3,195,3290,0.00,2.88,0.00,0.000,4,0.000,0.085,2687,181,3479,0,0,0,0,0,0
$GC,3312,-1.50,-116.8,364.0,-10.5,195,3316,0.00,2.50,0.00,0.000,6,0.000,0.022,2687,1782,3479,0,0,0,0,0,0
$GC,3562,-1.54,-116.8,389.8,-10.4,201,3567,0.10,2.58,0.00,0.000,4,0.085,0.044,2650,3349,3477,0,0,0,0,0,0
$GC,3624,-1.54,-116.8,396.9,-12.0,202,3629,0.00,2.60,0.00,0.000,6,0.000,0.054,2650,1793,3477,0,0,0,0,0,0
$GC,3885,-1.54,-116.8,427.1,-11.3,209,3890,0.00,2.53,0.00,0.000,4,0.000,0.038,2651,3356,3476,0,0,0,0,0,0
$GC,3925,-1.54,-116.8,431.4,-10.7,210,3929,0.00,2.62,0.00,0.000,6,0.000,0.050,2650,1798,3476,0,0,0,0,0,0
$GC,4210,-1.54,-116.8,460.5,-10.0,217,4214,0.00,2.55,0.00,0.000,4,0.000,0.042,2651,3350,3473,0,0,0,0,0,0
$GC,4249,-1.54,-116.8,464.6,-10.2,218,4253,0.00,2.62,0.00,0.000,6,0.000,0.060,2651,1798,3473,0,0,0,0,0,0
$GC,4531,-1.54,-116.8,493.3,-10.2,225,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1798,3471,0,0,0,0,0,0
$STATE,4612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4612,begin apogee
$GC,4619,-0.31,0.0,501.8,10.3,227,4720,1.27,0.00,97.32,0.929,6,0.087,0.000,2930,1797,3001,0,0,0,0,0,0
$STATE,4721,end apogee,CONTROL_FINISHED_OK
$STATE,4721,begin climb
$GC,4723,1.37,116.8,504.6,0.0,229,4835,1.52,2.80,101.47,0.907,4,0.040,0.051,3304,3384,2523,0,0,0,0,0,0
$GC,4905,1.30,161.6,500.7,7.5,233,4950,0.00,2.72,39.33,0.884,6,0.000,0.059,3304,1821,2342,0,0,0,0,0,0
$GC,5219,1.20,164.3,471.0,9.9,241,5224,0.20,2.62,0.00,0.000,4,0.139,0.038,3265,3395,2333,0,0,0,0,0,0
$GC,5237,1.13,164.3,469.0,10.1,241,5241,0.00,2.70,0.00,0.000,6,0.000,0.054,3266,1818,2332,0,0,0,0,0,0
$GC,5498,1.16,185.3,445.7,8.8,248,5524,0.00,2.65,20.83,0.857,4,0.000,0.039,3265,3396,2244,0,0,0,0,0,0
$GC,5576,1.16,186.4,438.5,10.0,249,5581,0.00,2.70,0.00,0.000,6,0.000,0.051,3265,1826,2241,0,0,0,0,0,0
$GC,5826,1.18,200.0,415.2,9.3,256,5845,0.00,2.65,13.77,0.824,4,0.000,0.036,3265,3390,2184,0,0,0,0,0,0
$GC,5878,1.18,200.0,409.8,10.4,257,5883,0.00,2.62,0.00,0.000,6,0.000,0.053,3265,1838,2183,0,0,0,0,0,0
$GC,6152,1.19,215.2,384.4,9.2,264,6168,0.00,0.00,14.48,0.815,6,0.000,0.000,3265,1838,2123,0,0,0,0,0,0
$GC,6394,1.22,234.0,362.4,9.0,270,6414,0.00,0.00,17.88,0.817,6,0.000,0.000,3266,1838,2047,0,0,0,0,0,0
$GC,6638,1.23,241.5,339.1,9.6,276,6652,0.00,2.95,7.80,0.722,4,0.000,0.082,3265,234,2016,0,0,0,0,0,0
$GC,6709,1.23,241.5,330.9,11.9,277,6713,0.00,2.53,0.00,0.000,6,0.000,0.023,3265,1835,2014,0,0,0,0,0,0
$GC,6969,1.23,241.5,304.0,10.3,284,6974,0.00,2.53,0.00,0.000,4,0.000,0.034,3265,3399,2013,0,0,0,0,0,0
$GC,6986,1.27,241.5,302.2,10.2,284,6991,0.00,2.62,0.00,0.000,6,0.000,0.038,3265,1809,2011,0,0,0,0,0,0
$GC,7249,1.33,259.1,278.3,9.0,291,7274,0.10,2.88,16.80,0.763,4,0.102,0.074,3291,234,1943,0,0,0,0,0,0
$GC,7338,1.29,259.1,269.1,10.8,293,7343,0.00,2.50,0.00,0.000,6,0.000,0.023,3291,1816,1941,0,0,0,0,0,0
$GC,7623,1.32,285.9,244.6,8.5,300,7650,0.00,0.00,24.90,0.751,6,0.000,0.000,3292,1818,1835,0,0,0,0,0,0
$GC,7865,1.32,285.9,218.3,11.2,306,7869,0.00,2.55,0.00,0.000,4,0.000,0.037,3292,3392,1830,0,0,0,0,0,0
$GC,7892,1.38,285.9,215.2,10.9,306,7897,0.00,2.62,0.00,0.000,6,0.000,0.037,3292,1800,1828,0,0,0,0,0,0
$GC,8145,1.38,285.9,186.9,11.1,318,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1800,1828,0,0,0,0,0,0
$GC,8400,1.38,288.1,159.4,9.9,342,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1800,1827,0,0,0,0,0,0
$GC,8657,1.40,304.4,134.9,9.1,366,8681,0.00,2.78,16.45,0.640,4,0.000,0.064,3291,245,1758,0,0,0,0,0,0
$GC,8720,1.40,304.4,128.5,12.0,371,8724,0.00,2.47,0.00,0.000,6,0.000,0.026,3292,1816,1755,0,0,0,0,0,0
$GC,8988,1.46,304.4,101.7,11.1,395,8993,0.10,2.55,0.00,0.000,4,0.095,0.029,3320,3391,1754,0,0,0,0,0,0
$GC,9068,1.54,304.4,91.5,13.3,401,9072,0.00,2.58,0.00,0.000,6,0.000,0.035,3320,1822,1753,0,0,0,0,0,0
$GC,9336,1.59,304.4,60.1,10.8,425,9341,0.10,2.72,0.00,0.000,4,0.094,0.061,3347,236,1754,0,0,0,0,0,0
$GC,9408,1.59,304.4,51.1,11.6,430,9413,0.00,2.50,0.00,0.000,6,0.000,0.020,3347,1838,1753,0,0,0,0,0,0
$GC,9681,1.62,330.3,26.8,8.6,456,9716,0.00,2.55,23.00,0.549,4,0.000,0.028,3347,3385,1653,0,0,0,0,0,0
$GC,9742,1.66,330.3,21.2,10.0,463,9752,0.00,2.58,0.00,0.000,6,0.000,0.033,3347,1832,1652,0,0,0,0,0,0
$STATE,9903,end climb,SURFACE_DEPTH_REACHED
$STATE,9904,begin surface coast
$FINISH,0.5,1.023631
$STATE,9961,end surface coast,CONTROL_FINISHED_OK
$STATE,9962,begin surface
$SM_CCo,9985,79.88,0.466,1,0,1287,420.20
$SM_GC,1.03,0.00,0.00,79.88,0.000,0.000,0.466,472,1748,1287,-11.63,-0.62,420.20
$IRIDIUM_FIX,2241.69,-15744.57,060100,232346
$TT8_MAMPS,0.026078
$HUMID,52.36
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.30
$XPDR_PINGS,55
$24V_AH,23.4,55.750
$10V_AH,10.1,53.522
$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,27.350,129.875,394.025,79.875,0.000,30.616,31.343,272.109,13.750,0.000,16.473,1023.606,6444.463,538.639,1909.897,627.026,33.366,1261.834,0.000,1911.971,0.000,0.533,0.000
$DEVICE_MAMPS,144.963,97.409,928.837,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.646,278.168,378.663,725.352,1097.048,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38574,494
$CAP_FILE_SIZE,108639,0
$CFSIZE,260165632,158900224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131010,043655,2249.406,-15742.270,41,1.3,41,10.1