version: 66.06
glider: 146
mission: 5
dive: 400
start: 10 13 110 4 46 21
data:
$ID,146
$MISSION,5
$DIVE,400
$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,-255557.94
$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,41
$R_STBD_OVSHOOT,55
$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
$GPS1,043655,2249.406,-15742.270,41,1.3,41,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.7
$GPS2,044526,2249.339,-15742.277,35,1.2,35,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.039,0.238
$KALMAN_X,-262419.8,178.8,-48.9,311046.0,-335.0
$KALMAN_Y,-568418.2,48.5,-563.6,696273.9,-691.1
$MHEAD_RNG_PITCHd_Wd,359.1,16047,-19.2,-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,-1.34,-116.8,0.0,0.0,0,104,0.00,0.00,-85.00,0.000,2,0.000,0.000,472,1747,3421,0,0,0,0,0,0
$GC,107,-1.34,-116.8,3.8,-6.9,11,126,11.40,2.53,-1.05,0.000,4,0.142,0.041,2699,3343,3479,0,0,0,0,0,0
$GC,209,-1.26,-116.8,28.5,-16.2,25,219,0.08,2.58,0.00,0.000,6,0.104,0.032,2718,1780,3481,0,0,0,0,0,0
$GC,477,-1.21,-116.8,67.3,-13.1,50,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1780,3481,0,0,0,0,0,0
$GC,741,-1.21,-116.8,98.7,-11.8,75,746,0.00,2.70,0.00,0.000,4,0.000,0.061,2718,188,3482,0,0,0,0,0,0
$GC,799,-1.21,-116.8,105.3,-12.3,79,804,0.00,2.42,0.00,0.000,6,0.000,0.015,2718,1810,3482,0,0,0,0,0,0
$GC,1065,-1.21,-116.8,133.7,-10.6,103,1069,0.00,2.33,0.00,0.000,4,0.000,0.025,2718,3313,3483,0,0,0,0,0,0
$GC,1113,-1.27,-116.8,138.7,-9.1,106,1122,0.00,2.47,0.00,0.000,6,0.000,0.034,2718,1786,3483,0,0,0,0,0,0
$GC,1375,-1.27,-116.8,163.9,-9.7,131,1380,0.00,2.70,0.00,0.000,4,0.000,0.066,2718,192,3484,0,0,0,0,0,0
$GC,1444,-1.32,-116.8,170.4,-10.0,136,1448,0.00,2.38,0.00,0.000,6,0.000,0.015,2718,1765,3484,0,0,0,0,0,0
$GC,1710,-1.32,-116.8,195.8,-10.5,160,1714,0.00,2.42,0.00,0.000,4,0.000,0.029,2718,3319,3484,0,0,0,0,0,0
$GC,1755,-1.39,-116.8,200.5,-10.6,163,1759,0.00,2.47,0.00,0.000,6,0.000,0.035,2718,1776,3483,0,0,0,0,0,0
$GC,2039,-1.39,-116.8,231.8,-11.0,170,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1776,3484,0,0,0,0,0,0
$GC,2282,-1.43,-116.8,255.9,-9.7,176,2284,0.12,0.00,0.00,0.000,6,0.076,0.000,2678,1773,3483,0,0,0,0,0,0
$GC,2525,-1.43,-116.8,279.5,-9.6,182,2529,0.00,2.45,0.00,0.000,4,0.000,0.033,2678,3322,3483,0,0,0,0,0,0
$GC,2549,-1.43,-116.8,281.6,-9.3,182,2553,0.00,2.50,0.00,0.000,6,0.000,0.033,2678,1783,3483,0,0,0,0,0,0
$GC,2804,-1.43,-116.8,305.7,-9.6,189,2808,0.00,2.80,0.00,0.000,4,0.000,0.084,2678,189,3483,0,0,0,0,0,0
$GC,2858,-1.43,-116.8,311.8,-10.9,190,2863,0.00,2.40,0.00,0.000,6,0.000,0.024,2678,1742,3482,0,0,0,0,0,0
$GC,3126,-1.43,-116.8,340.4,-10.9,197,3131,0.00,2.58,0.00,0.000,4,0.000,0.038,2678,3356,3481,0,0,0,0,0,0
$GC,3182,-1.47,-116.8,346.5,-10.2,198,3186,0.00,2.60,0.00,0.000,6,0.000,0.041,2678,1775,3481,0,0,0,0,0,0
$GC,3448,-1.47,-116.8,373.0,-9.9,205,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1775,3480,0,0,0,0,0,0
$GC,3693,-1.47,-116.8,397.5,-10.1,211,3697,0.00,2.58,0.00,0.000,4,0.000,0.038,2678,3349,3478,0,0,0,0,0,0
$GC,3737,-1.51,-116.8,402.0,-10.1,212,3741,0.00,2.60,0.00,0.000,6,0.000,0.048,2678,1790,3478,0,0,0,0,0,0
$GC,4014,-1.51,-116.8,430.2,-10.3,219,4018,0.00,2.53,0.00,0.000,4,0.000,0.038,2678,3344,3476,0,0,0,0,0,0
$GC,4044,-1.51,-116.8,433.2,-10.3,219,4048,0.00,2.62,0.00,0.000,6,0.000,0.056,2678,1782,3476,0,0,0,0,0,0
$GC,4293,-1.51,-116.8,458.5,-10.1,225,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1782,3474,0,0,0,0,0,0
$GC,4537,-1.51,-116.8,481.7,-9.5,231,4542,0.00,2.58,0.00,0.000,4,0.000,0.047,2678,3341,3472,0,0,0,0,0,0
$GC,4584,-1.56,-116.8,486.0,-9.9,232,4588,0.00,2.65,0.00,0.000,6,0.000,0.064,2678,1796,3472,0,0,0,0,0,0
$STATE,4738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4739,begin apogee
$GC,4744,-0.31,0.0,501.0,9.8,236,4845,1.12,0.00,97.43,0.927,6,0.098,0.000,2929,1796,3001,0,0,0,0,0,0
$STATE,4846,end apogee,CONTROL_FINISHED_OK
$STATE,4846,begin climb
$GC,4849,1.34,116.8,504.0,0.0,238,4955,1.52,0.00,102.32,0.904,6,0.051,0.000,3298,1796,2524,0,0,0,0,0,0
$GC,5185,1.30,188.8,492.8,6.1,247,5255,0.00,2.75,62.92,0.892,4,0.000,0.046,3297,3375,2230,0,0,0,0,0,0
$GC,5415,1.23,189.8,472.9,10.0,252,5420,0.15,2.62,0.00,0.000,6,0.129,0.055,3269,1844,2223,0,0,0,0,0,0
$GC,5687,1.21,209.3,448.3,9.0,259,5712,0.00,2.62,18.02,0.844,4,0.000,0.038,3269,3382,2146,0,0,0,0,0,0
$GC,5725,1.22,213.7,444.5,9.8,259,5736,0.00,2.62,5.38,0.654,6,0.000,0.050,3269,1845,2129,0,0,0,0,0,0
$GC,6014,1.22,217.1,415.4,9.9,267,6024,0.00,2.60,3.90,0.548,4,0.000,0.040,3269,3397,2115,0,0,0,0,0,0
$GC,6046,1.23,218.5,412.2,10.0,267,6051,0.00,2.62,0.00,0.000,6,0.000,0.050,3269,1852,2115,0,0,0,0,0,0
$GC,6298,1.25,236.0,389.1,9.1,273,6318,0.00,0.00,18.67,0.828,6,0.000,0.000,3269,1852,2038,0,0,0,0,0,0
$GC,6540,1.25,236.0,365.2,10.1,279,6544,0.00,2.50,0.00,0.000,4,0.000,0.036,3269,3392,2033,0,0,0,0,0,0
$GC,6555,1.25,236.0,363.7,10.1,279,6559,0.00,2.60,0.00,0.000,6,0.000,0.048,3269,1848,2032,0,0,0,0,0,0
$GC,6818,1.25,236.0,337.0,10.3,286,6822,0.00,2.53,0.00,0.000,4,0.000,0.038,3269,3401,2031,0,0,0,0,0,0
$GC,6833,1.25,236.0,335.2,10.1,286,6838,0.00,2.58,0.00,0.000,6,0.000,0.043,3269,1850,2031,0,0,0,0,0,0
$GC,7100,1.25,236.9,308.9,10.0,293,7105,0.00,2.47,0.00,0.000,4,0.000,0.034,3269,3393,2030,0,0,0,0,0,0
$GC,7117,1.26,244.1,307.1,9.6,293,7131,0.00,2.55,7.38,0.695,6,0.000,0.040,3269,1853,2006,0,0,0,0,0,0
$GC,7384,1.27,255.4,282.4,9.4,300,7404,0.00,2.95,11.93,0.740,4,0.000,0.074,3269,233,1958,0,0,0,0,0,0
$GC,7477,1.27,255.4,271.5,11.9,302,7481,0.00,2.58,0.00,0.000,6,0.000,0.028,3269,1852,1957,0,0,0,0,0,0
$GC,7756,1.27,255.4,242.6,10.5,309,7760,0.00,2.47,0.00,0.000,4,0.000,0.037,3269,3390,1955,0,0,0,0,0,0
$GC,7795,1.35,255.4,238.3,10.8,310,7801,0.10,2.55,0.00,0.000,6,0.094,0.042,3296,1834,1954,0,0,0,0,0,0
$GC,8081,1.35,255.4,206.8,11.1,317,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1834,1954,0,0,0,0,0,0
$GC,8332,1.36,266.0,182.1,9.5,335,8344,0.00,0.00,10.10,0.653,6,0.000,0.000,3296,1834,1916,0,0,0,0,0,0
$GC,8596,1.37,274.8,157.3,9.6,360,8611,0.00,2.55,9.48,0.624,4,0.000,0.035,3296,3393,1879,0,0,0,0,0,0
$GC,8636,1.41,277.2,153.4,9.9,363,8641,0.00,2.55,0.00,0.000,6,0.000,0.038,3296,1838,1878,0,0,0,0,0,0
$GC,8903,1.41,277.2,126.2,10.8,387,8907,0.00,2.78,0.00,0.000,4,0.000,0.064,3296,234,1877,0,0,0,0,0,0
$GC,8938,1.36,277.2,121.5,12.2,389,8944,0.00,2.55,0.00,0.000,6,0.000,0.023,3296,1857,1876,0,0,0,0,0,0
$GC,9201,1.37,280.5,95.2,9.9,414,9216,0.00,2.50,5.93,0.513,4,0.000,0.029,3296,3392,1857,0,0,0,0,0,0
$GC,9318,1.43,281.8,84.4,10.0,423,9322,0.00,2.50,0.00,0.000,6,0.000,0.034,3296,1864,1856,0,0,0,0,0,0
$GC,9584,1.56,340.0,61.1,6.9,447,9644,0.17,2.85,52.70,0.593,4,0.067,0.058,3342,243,1612,0,0,0,0,0,0
$GC,9696,1.56,340.0,50.1,10.7,455,9700,0.00,2.55,0.00,0.000,6,0.000,0.019,3342,1863,1609,0,0,0,0,0,0
$GC,9977,1.56,340.0,21.8,10.8,484,9987,0.00,2.47,0.00,0.000,4,0.000,0.029,3342,3393,1606,0,0,0,0,0,0
$GC,10033,1.62,340.0,16.2,11.0,491,10042,0.00,2.55,0.00,0.000,6,0.000,0.035,3342,1855,1606,0,0,0,0,0,0
$STATE,10140,end climb,SURFACE_DEPTH_REACHED
$STATE,10140,begin surface coast
$FINISH,0.5,1.022143
$STATE,10184,end surface coast,CONTROL_FINISHED_OK
$STATE,10184,begin surface
$SM_CCo,10206,70.88,0.456,1,0,1287,420.20
$SM_GC,0.94,0.00,0.00,70.88,0.000,0.000,0.456,476,1741,1287,-11.62,-0.82,420.20
$IRIDIUM_FIX,2241.69,-15744.57,070100,010153
$TT8_MAMPS,0.026078
$HUMID,52.16
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.20
$XPDR_PINGS,57
$24V_AH,23.4,55.876
$10V_AH,10.1,53.638
$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,26.325,123.475,406.150,70.875,0.000,27.898,37.410,287.449,14.250,0.000,37.294,1034.430,6598.918,550.397,1955.586,657.493,33.367,1273.937,0.000,1944.130,0.000,0.534,0.000
$DEVICE_MAMPS,141.895,83.603,926.536,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.269,286.024,396.007,750.112,1135.259,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,41631,512
$CAP_FILE_SIZE,107417,0
$CFSIZE,260165632,158842880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131010,073859,2250.322,-15742.230,13,99.0,32,10.1