version: 66.06
glider: 146
mission: 5
dive: 404
start: 10 13 110 16 54 9
data:
$ID,146
$MISSION,5
$DIVE,404
$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,-255636.02
$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,44
$R_STBD_OVSHOOT,47
$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
$GPS1,164506,2253.137,-15742.532,31,1.3,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.2
$GPS2,165313,2253.194,-15742.530,13,1.3,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,0.227
$KALMAN_X,-263071.8,-275.7,-40.1,311710.6,-353.0
$KALMAN_Y,-570795.3,-110.5,-268.2,705649.3,-285.0
$MHEAD_RNG_PITCHd_Wd,3.7,8947,-19.9,-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,-1.39,-115.9,0.0,0.0,0,96,0.00,0.00,-78.28,0.000,2,0.000,0.000,478,1747,3220,0,0,0,0,0,0
$GC,100,-1.39,-116.8,3.3,-6.1,10,126,11.60,2.58,-4.93,0.000,4,0.152,0.037,2689,3346,3479,0,0,0,0,0,0
$GC,210,-1.34,-116.8,27.2,-16.2,25,219,0.00,2.55,0.00,0.000,6,0.000,0.030,2689,1787,3480,0,0,0,0,0,0
$GC,488,-1.21,-116.8,72.5,-14.7,51,493,0.22,2.72,0.00,0.000,4,0.114,0.058,2734,193,3481,0,0,0,0,0,0
$GC,522,-1.21,-116.8,78.2,-14.5,53,526,0.00,2.40,0.00,0.000,6,0.000,0.015,2734,1784,3481,0,0,0,0,0,0
$GC,791,-1.27,-116.8,105.1,-9.3,77,795,0.00,2.67,0.00,0.000,4,0.000,0.055,2734,194,3482,0,0,0,0,0,0
$GC,825,-1.30,-116.8,108.6,-9.4,79,829,0.00,2.38,0.00,0.000,6,0.000,0.022,2735,1789,3482,0,0,0,0,0,0
$GC,1092,-1.37,-116.8,133.6,-9.2,103,1097,0.15,2.38,0.00,0.000,4,0.067,0.031,2689,3306,3482,0,0,0,0,0,0
$GC,1111,-1.40,-116.8,135.9,-9.6,104,1115,0.00,2.47,0.00,0.000,6,0.000,0.033,2688,1761,3482,0,0,0,0,0,0
$GC,1373,-1.40,-116.8,165.7,-11.7,128,1378,0.00,2.67,0.00,0.000,4,0.000,0.067,2688,192,3483,0,0,0,0,0,0
$GC,1393,-1.40,-116.8,167.9,-11.7,129,1397,0.00,2.33,0.00,0.000,6,0.000,0.018,2688,1747,3483,0,0,0,0,0,0
$GC,1655,-1.40,-116.8,196.4,-10.5,153,1660,0.00,2.45,0.00,0.000,4,0.000,0.028,2688,3315,3483,0,0,0,0,0,0
$GC,1689,-1.40,-116.8,200.0,-10.3,155,1695,0.00,2.47,0.00,0.000,6,0.000,0.033,2688,1765,3483,0,0,0,0,0,0
$GC,1941,-1.40,-116.8,225.9,-10.7,162,1945,0.00,2.70,0.00,0.000,4,0.000,0.067,2688,192,3483,0,0,0,0,0,0
$GC,1956,-1.40,-116.8,228.1,-10.7,162,1960,0.00,2.35,0.00,0.000,6,0.000,0.019,2688,1753,3483,0,0,0,0,0,0
$GC,2223,-1.40,-116.8,256.8,-10.6,169,2227,0.00,2.67,0.00,0.000,4,0.000,0.071,2688,196,3483,0,0,0,0,0,0
$GC,2268,-1.44,-116.8,262.0,-11.2,170,2273,0.00,2.35,0.00,0.000,6,0.000,0.018,2688,1733,3483,0,0,0,0,0,0
$GC,2546,-1.44,-116.8,289.3,-9.4,177,2551,0.00,2.53,0.00,0.000,4,0.000,0.037,2688,3332,3483,0,0,0,0,0,0
$GC,2602,-1.52,-116.8,294.7,-9.3,178,2606,0.00,2.58,0.00,0.000,6,0.000,0.035,2688,1747,3483,0,0,0,0,0,0
$GC,2870,-1.52,-116.8,319.8,-9.5,185,2874,0.00,2.55,0.00,0.000,4,0.000,0.038,2688,3332,3482,0,0,0,0,0,0
$GC,2910,-1.60,-116.8,323.8,-9.7,186,2915,0.15,2.60,0.00,0.000,6,0.064,0.042,2641,1758,3482,0,0,0,0,0,0
$GC,3195,-1.54,-116.8,357.8,-12.3,193,3200,0.10,2.55,0.00,0.000,4,0.130,0.038,2662,3330,3481,0,0,0,0,0,0
$GC,3222,-1.54,-116.8,361.4,-12.0,193,3227,0.00,2.60,0.00,0.000,6,0.000,0.049,2662,1762,3481,0,0,0,0,0,0
$GC,3472,-1.54,-116.8,389.4,-11.2,199,3477,0.00,2.55,0.00,0.000,4,0.000,0.038,2662,3338,3479,0,0,0,0,0,0
$GC,3518,-1.54,-116.8,394.6,-11.1,200,3522,0.00,2.62,0.00,0.000,6,0.000,0.048,2662,1767,3479,0,0,0,0,0,0
$GC,3795,-1.54,-116.8,426.6,-11.4,207,3799,0.00,2.55,0.00,0.000,4,0.000,0.040,2662,3334,3477,0,0,0,0,0,0
$GC,3816,-1.54,-116.8,429.0,-11.1,207,3820,0.00,2.62,0.00,0.000,6,0.000,0.051,2662,1766,3477,0,0,0,0,0,0
$GC,4074,-1.54,-116.8,455.3,-10.0,214,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1766,3475,0,0,0,0,0,0
$GC,4316,-1.54,-116.8,479.4,-10.0,220,4320,0.00,2.95,0.00,0.000,4,0.000,0.112,2662,187,3474,0,0,0,0,0,0
$GC,4337,-1.54,-116.8,481.8,-10.6,220,4341,0.00,2.50,0.00,0.000,6,0.000,0.030,2662,1747,3473,0,0,0,0,0,0
$STATE,4514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4514,begin apogee
$GC,4522,-0.31,0.0,501.0,10.7,225,4623,1.23,0.00,97.78,0.923,6,0.087,0.000,2931,1832,3001,0,0,0,0,0,0
$STATE,4624,end apogee,CONTROL_FINISHED_OK
$STATE,4624,begin climb
$GC,4626,1.39,116.8,504.1,0.0,227,4738,1.52,3.03,101.50,0.901,4,0.051,0.087,3307,234,2523,0,0,0,0,0,0
$GC,4757,1.29,196.4,504.4,5.4,230,4834,0.12,2.60,69.93,0.885,6,0.137,0.031,3285,1817,2200,0,0,0,0,0,0
$GC,5078,1.26,206.7,476.2,9.4,238,5092,0.00,2.78,9.23,0.766,4,0.000,0.064,3285,3404,2157,0,0,0,0,0,0
$GC,5122,1.26,206.7,471.8,10.2,239,5126,0.00,2.72,0.00,0.000,6,0.000,0.060,3285,1819,2156,0,0,0,0,0,0
$GC,5399,1.26,206.7,442.2,10.9,246,5404,0.00,2.97,0.00,0.000,4,0.000,0.109,3284,229,2153,0,0,0,0,0,0
$GC,5426,1.16,206.7,439.0,11.7,246,5431,0.15,2.60,0.00,0.000,6,0.132,0.033,3256,1827,2151,0,0,0,0,0,0
$GC,5677,1.17,215.6,415.0,9.5,252,5688,0.00,0.00,8.38,0.747,6,0.000,0.000,3256,1827,2121,0,0,0,0,0,0
$GC,5960,1.19,227.8,388.4,9.3,259,5980,0.00,2.92,12.15,0.793,4,0.000,0.074,3256,233,2071,0,0,0,0,0,0
$GC,6005,1.19,227.8,384.1,10.5,260,6010,0.00,2.58,0.00,0.000,6,0.000,0.029,3256,1823,2070,0,0,0,0,0,0
$GC,6289,1.26,255.8,359.3,8.4,267,6318,0.00,0.00,26.80,0.822,6,0.000,0.000,3256,1824,1957,0,0,0,0,0,0
$GC,6532,1.33,258.8,335.8,9.9,273,6534,0.15,0.00,0.00,0.000,6,0.083,0.000,3294,1824,1953,0,0,0,0,0,0
$GC,6777,1.33,258.8,306.1,12.3,279,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1824,1951,0,0,0,0,0,0
$GC,7019,1.33,258.8,278.2,11.4,285,7024,0.00,2.78,0.00,0.000,4,0.000,0.069,3294,228,1950,0,0,0,0,0,0
$GC,7041,1.29,258.8,275.4,12.0,285,7046,0.00,2.55,0.00,0.000,6,0.000,0.023,3294,1828,1949,0,0,0,0,0,0
$GC,7297,1.33,288.5,252.3,8.3,292,7330,0.00,0.00,29.15,0.756,6,0.000,0.000,3294,1829,1823,0,0,0,0,0,0
$GC,7584,1.33,294.6,225.9,9.7,299,7597,0.00,2.80,6.12,0.604,4,0.000,0.064,3294,230,1799,0,0,0,0,0,0
$GC,7627,1.29,294.6,220.9,12.6,300,7631,0.00,2.50,0.00,0.000,6,0.000,0.021,3293,1815,1798,0,0,0,0,0,0
$GC,7887,1.33,294.6,192.7,11.5,310,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1816,1797,0,0,0,0,0,0
$GC,8148,1.33,294.6,163.2,10.9,335,8153,0.00,2.78,0.00,0.000,4,0.000,0.064,3293,226,1796,0,0,0,0,0,0
$GC,8164,1.33,294.6,161.3,11.6,336,8169,0.00,2.47,0.00,0.000,6,0.000,0.027,3294,1809,1795,0,0,0,0,0,0
$GC,8428,1.33,294.6,133.1,11.2,360,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1811,1795,0,0,0,0,0,0
$GC,8694,1.38,294.6,104.3,10.6,385,8698,0.00,2.53,0.00,0.000,4,0.000,0.029,3294,3390,1795,0,0,0,0,0,0
$GC,8712,1.44,294.6,102.1,10.5,386,8717,0.00,2.60,0.00,0.000,6,0.000,0.035,3294,1794,1794,0,0,0,0,0,0
$GC,8980,1.52,309.6,75.9,9.2,410,9004,0.15,0.00,13.85,0.581,6,0.183,0.000,3333,1794,1738,0,0,0,0,0,0
$GC,9259,1.60,333.2,47.9,8.7,436,9287,0.00,2.70,21.90,0.568,4,0.000,0.059,3333,232,1641,0,0,0,0,0,0
$GC,9316,1.60,333.2,42.3,10.3,440,9321,0.00,2.47,0.00,0.000,6,0.000,0.020,3333,1822,1639,0,0,0,0,0,0
$GC,9626,1.65,333.2,11.9,10.7,477,9635,0.10,2.55,0.00,0.000,4,0.091,0.029,3362,3387,1638,0,0,0,0,0,0
$GC,9673,1.71,349.2,7.3,9.1,483,9699,0.00,2.60,14.27,0.511,6,0.000,0.041,3362,1821,1577,0,0,0,0,0,0
$STATE,9708,end climb,SURFACE_DEPTH_REACHED
$STATE,9708,begin surface coast
$FINISH,0.3,0.999842
$STATE,9751,end surface coast,CONTROL_FINISHED_OK
$STATE,9751,begin surface
$SM_CCo,9775,65.82,0.450,1,0,1288,420.20
$SM_GC,1.03,0.00,0.00,65.82,0.000,0.000,0.450,476,1737,1288,-11.61,-0.93,420.20
$IRIDIUM_FIX,2241.69,-15744.57,070100,141418
$TT8_MAMPS,0.026078
$HUMID,52.52
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.10
$XPDR_PINGS,59
$24V_AH,23.4,56.409
$10V_AH,10.1,54.098
$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,27.400,125.075,411.050,65.825,0.000,30.184,42.091,272.139,14.750,0.000,14.975,1001.637,6311.342,528.101,1849.874,643.782,33.372,1242.202,0.000,1858.509,0.000,0.534,0.000
$DEVICE_MAMPS,182.546,162.604,923.468,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.482,284.766,382.497,731.679,1105.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,38358,493
$CAP_FILE_SIZE,105950,0
$CFSIZE,260165632,158638080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131010,193936,2254.343,-15742.454,29,1.5,40,10.1