version: 66.06
glider: 146
mission: 5
dive: 401
start: 10 13 110 7 52 1
data:
$ID,146
$MISSION,5
$DIVE,401
$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,-255588.08
$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,51
$R_STBD_OVSHOOT,53
$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
$GPS1,073859,2250.322,-15742.230,13,99.0,32,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.9
$GPS2,075106,2250.243,-15742.323,12,1.4,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.003,0.237
$KALMAN_X,-262501.5,72.3,-321.9,311429.0,137.1
$KALMAN_Y,-568987.5,-178.4,-467.0,698648.2,351.3
$MHEAD_RNG_PITCHd_Wd,349.1,14376,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.37,-116.8,0.0,0.0,0,96,0.00,0.00,-78.55,0.000,2,0.000,0.000,475,1740,3237,0,0,0,0,0,0
$GC,99,-1.37,-116.8,3.2,-5.6,10,125,11.40,2.58,-4.75,0.000,4,0.143,0.042,2693,3337,3479,0,0,0,0,0,0
$GC,163,-1.29,-116.8,19.1,-16.5,18,173,0.08,2.55,0.00,0.000,6,0.107,0.035,2712,1794,3480,0,0,0,0,0,0
$GC,445,-1.21,-116.8,63.6,-15.5,47,449,0.12,2.45,0.00,0.000,4,0.130,0.024,2736,3346,3481,0,0,0,0,0,0
$GC,467,-1.16,-116.8,66.7,-12.8,48,471,0.00,2.53,0.00,0.000,6,0.000,0.027,2736,1764,3481,0,0,0,0,0,0
$GC,730,-1.20,-116.8,96.1,-10.3,72,734,0.00,2.65,0.00,0.000,4,0.000,0.061,2736,190,3481,0,0,0,0,0,0
$GC,754,-1.24,-116.8,98.5,-9.7,73,760,0.00,2.40,0.00,0.000,6,0.000,0.018,2735,1795,3481,0,0,0,0,0,0
$GC,1017,-1.30,-116.8,122.5,-9.3,98,1021,0.00,2.38,0.00,0.000,4,0.000,0.026,2735,3313,3482,0,0,0,0,0,0
$GC,1087,-1.41,-116.8,128.6,-8.4,103,1092,0.17,2.47,0.00,0.000,6,0.058,0.034,2679,1768,3482,0,0,0,0,0,0
$GC,1352,-1.36,-116.8,157.8,-11.2,127,1357,0.12,2.67,0.00,0.000,4,0.111,0.064,2705,199,3482,0,0,0,0,0,0
$GC,1397,-1.36,-116.8,162.6,-10.6,130,1402,0.00,2.38,0.00,0.000,6,0.000,0.016,2705,1784,3482,0,0,0,0,0,0
$GC,1664,-1.36,-116.8,186.2,-8.7,154,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1785,3482,0,0,0,0,0,0
$GC,1942,-1.36,-116.8,212.6,-9.7,172,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1785,3483,0,0,0,0,0,0
$GC,2185,-1.36,-116.8,236.6,-10.0,178,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1785,3482,0,0,0,0,0,0
$GC,2429,-1.40,-116.8,259.0,-9.1,184,2433,0.00,2.40,0.00,0.000,4,0.000,0.031,2705,3313,3482,0,0,0,0,0,0
$GC,2470,-1.47,-116.8,262.6,-8.8,185,2475,0.12,2.47,0.00,0.000,6,0.071,0.037,2659,1772,3482,0,0,0,0,0,0
$GC,2754,-1.43,-116.8,292.1,-10.4,192,2759,0.15,2.75,0.00,0.000,4,0.110,0.081,2690,195,3481,0,0,0,0,0,0
$GC,2793,-1.43,-116.8,296.4,-10.7,193,2798,0.00,2.38,0.00,0.000,6,0.000,0.026,2690,1736,3481,0,0,0,0,0,0
$GC,3079,-1.43,-116.8,325.0,-10.0,200,3083,0.00,2.58,0.00,0.000,4,0.000,0.040,2690,3353,3479,0,0,0,0,0,0
$GC,3123,-1.50,-116.8,329.8,-10.5,201,3127,0.00,2.62,0.00,0.000,6,0.000,0.038,2690,1758,3479,0,0,0,0,0,0
$GC,3400,-1.50,-116.8,358.0,-10.2,208,3404,0.00,2.58,0.00,0.000,4,0.000,0.035,2690,3346,3478,0,0,0,0,0,0
$GC,3451,-1.57,-116.8,362.7,-9.5,209,3457,0.12,2.60,0.00,0.000,6,0.076,0.049,2647,1771,3477,0,0,0,0,0,0
$GC,3724,-1.52,-116.8,394.9,-11.9,216,3726,0.10,0.00,0.00,0.000,6,0.129,0.000,2667,1771,3475,0,0,0,0,0,0
$GC,3969,-1.52,-116.8,422.4,-11.1,222,3973,0.00,2.58,0.00,0.000,4,0.000,0.041,2667,3338,3473,0,0,0,0,0,0
$GC,3995,-1.52,-116.8,425.7,-11.5,222,4000,0.00,2.62,0.00,0.000,6,0.000,0.051,2667,1769,3473,0,0,0,0,0,0
$GC,4245,-1.52,-116.8,452.1,-10.6,228,4250,0.00,2.90,0.00,0.000,4,0.000,0.102,2667,183,3472,0,0,0,0,0,0
$GC,4266,-1.52,-116.8,454.5,-10.4,228,4271,0.00,2.50,0.00,0.000,6,0.000,0.033,2667,1749,3471,0,0,0,0,0,0
$GC,4528,-1.52,-116.8,482.1,-10.5,235,4532,0.00,2.67,0.00,0.000,4,0.000,0.056,2667,3356,3470,0,0,0,0,0,0
$GC,4549,-1.52,-116.8,484.4,-10.0,235,4553,0.00,2.70,0.00,0.000,6,0.000,0.053,2667,1768,3469,0,0,0,0,0,0
$STATE,4720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4720,begin apogee
$GC,4726,-0.31,0.0,502.3,10.4,240,4827,1.20,0.00,97.00,0.929,6,0.089,0.000,2930,1853,3001,0,0,0,0,0,0
$STATE,4828,end apogee,CONTROL_FINISHED_OK
$STATE,4828,begin climb
$GC,4832,1.37,116.8,504.9,0.0,242,4942,1.52,2.65,101.53,0.906,4,0.044,0.054,3304,3376,2523,0,0,0,0,0,0
$GC,4957,1.36,203.0,505.3,5.1,245,5038,0.00,2.70,75.05,0.891,6,0.000,0.058,3304,1818,2173,0,0,0,0,0,0
$GC,5282,1.26,203.0,469.1,12.0,253,5287,0.15,2.58,0.00,0.000,4,0.126,0.038,3275,3378,2164,0,0,0,0,0,0
$GC,5360,1.26,203.0,460.3,10.8,254,5366,0.00,2.65,0.00,0.000,6,0.000,0.054,3274,1841,2161,0,0,0,0,0,0
$GC,5611,1.27,204.6,435.2,10.0,261,5616,0.00,3.03,0.00,0.000,4,0.000,0.107,3274,230,2160,0,0,0,0,0,0
$GC,5633,1.19,204.6,432.6,10.8,261,5638,0.00,2.55,0.00,0.000,6,0.000,0.028,3274,1816,2158,0,0,0,0,0,0
$GC,5889,1.21,217.4,408.3,9.3,268,5902,0.00,0.00,11.70,0.795,6,0.000,0.000,3274,1816,2114,0,0,0,0,0,0
$GC,6134,1.22,229.5,385.7,9.4,274,6148,0.00,0.00,11.95,0.789,6,0.000,0.000,3275,1816,2065,0,0,0,0,0,0
$GC,6417,1.22,229.9,357.5,10.0,281,6421,0.00,2.62,0.00,0.000,4,0.000,0.038,3274,3416,2061,0,0,0,0,0,0
$GC,6449,1.22,229.9,354.0,10.4,281,6455,0.00,2.65,0.00,0.000,6,0.000,0.042,3275,1838,2061,0,0,0,0,0,0
$GC,6701,1.22,229.9,326.7,11.0,288,6705,0.00,2.55,0.00,0.000,4,0.000,0.035,3275,3414,2060,0,0,0,0,0,0
$GC,6758,1.27,229.9,320.0,12.1,289,6762,0.00,2.58,0.00,0.000,6,0.000,0.041,3274,1859,2058,0,0,0,0,0,0
$GC,7024,1.27,229.9,290.9,10.7,296,7028,0.00,2.85,0.00,0.000,4,0.000,0.071,3274,230,2058,0,0,0,0,0,0
$GC,7104,1.21,229.9,281.4,12.0,297,7110,0.00,2.60,0.00,0.000,6,0.000,0.026,3274,1868,2057,0,0,0,0,0,0
$GC,7354,1.24,248.3,257.9,9.0,304,7373,0.00,0.00,17.35,0.752,6,0.000,0.000,3274,1870,1988,0,0,0,0,0,0
$GC,7598,1.27,275.1,237.2,8.5,310,7628,0.00,2.53,25.23,0.746,4,0.000,0.031,3274,3402,1878,0,0,0,0,0,0
$GC,7647,1.36,284.4,232.8,9.5,311,7662,0.00,2.58,9.38,0.667,6,0.000,0.041,3274,1847,1841,0,0,0,0,0,0
$GC,7918,1.40,284.4,205.1,10.2,318,7923,0.12,2.83,0.00,0.000,4,0.090,0.067,3306,240,1837,0,0,0,0,0,0
$GC,7936,1.40,284.4,203.1,10.3,318,7940,0.00,2.58,0.00,0.000,6,0.000,0.025,3307,1857,1836,0,0,0,0,0,0
$GC,8195,1.40,284.4,175.3,10.5,339,8199,0.00,2.80,0.00,0.000,4,0.000,0.067,3307,234,1835,0,0,0,0,0,0
$GC,8216,1.40,284.4,173.3,11.4,340,8221,0.00,2.58,0.00,0.000,6,0.000,0.022,3307,1860,1834,0,0,0,0,0,0
$GC,8481,1.40,284.4,145.0,10.6,364,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1861,1834,0,0,0,0,0,0
$GC,8745,1.40,284.4,115.4,11.4,389,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1861,1834,0,0,0,0,0,0
$GC,9008,1.42,295.3,88.6,9.4,414,9020,0.00,0.00,9.65,0.571,6,0.000,0.000,3307,1861,1797,0,0,0,0,0,0
$GC,9277,1.52,325.6,65.9,8.3,439,9318,0.10,2.55,27.65,0.593,4,0.088,0.031,3336,3389,1672,0,0,0,0,0,0
$GC,9361,1.62,325.6,57.7,10.2,445,9366,0.00,2.55,0.00,0.000,6,0.000,0.035,3335,1844,1670,0,0,0,0,0,0
$GC,9630,1.69,335.9,33.2,9.5,469,9653,0.12,2.50,9.50,0.512,4,0.100,0.031,3371,3394,1630,0,0,0,0,0,0
$GC,9670,1.69,335.9,28.5,11.8,472,9679,0.00,2.58,0.00,0.000,6,0.000,0.035,3371,1846,1631,0,0,0,0,0,0
$STATE,9901,end climb,SURFACE_DEPTH_REACHED
$STATE,9901,begin surface coast
$FINISH,0.3,1.009638
$STATE,9950,end surface coast,CONTROL_FINISHED_OK
$STATE,9950,begin surface
$SM_CCo,9974,75.90,0.462,1,0,1287,420.20
$SM_GC,1.05,0.00,0.00,75.90,0.000,0.000,0.462,475,1725,1287,-11.62,-1.30,420.20
$IRIDIUM_FIX,2241.69,-15746.73,070100,070750
$TT8_MAMPS,0.026078
$HUMID,51.92
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.30
$XPDR_PINGS,63
$24V_AH,23.4,56.010
$10V_AH,10.0,53.757
$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,27.350,119.675,395.975,75.900,0.000,64.068,68.770,369.522,15.750,0.000,29.508,1023.971,6483.173,544.968,1929.236,802.759,33.398,1250.813,0.000,1920.450,0.000,0.534,0.000
$DEVICE_MAMPS,143.429,177.944,928.837,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.317,291.872,400.168,763.620,1155.012,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,41549,512
$CAP_FILE_SIZE,109246,0
$CFSIZE,260165632,158789632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131010,104055,2251.302,-15742.246,38,1.1,38,10.1