version: 66.06
glider: 146
mission: 5
dive: 406
start: 10 13 110 22 52 27
data:
$ID,146
$MISSION,5
$DIVE,406
$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,-255689.47
$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,37
$R_STBD_OVSHOOT,58
$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
$GPS1,224207,2256.018,-15742.340,30,0.9,30,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.6
$GPS2,225132,2256.068,-15742.316,33,1.5,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.000,0.235
$KALMAN_X,-263505.3,-47.2,-55.4,312296.6,361.1
$KALMAN_Y,-571157.5,457.7,238.2,710261.1,42.7
$MHEAD_RNG_PITCHd_Wd,349.9,3618,-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,12,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.07,0.000,2,0.000,0.000,477,1747,3443,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.3,-9.2,11,126,11.62,2.53,-0.62,0.000,4,0.153,0.035,2687,3339,3479,0,0,0,0,0,0
$GC,202,-1.31,-116.8,28.8,-15.9,24,212,0.08,2.58,0.00,0.000,6,0.110,0.032,2705,1775,3481,0,0,0,0,0,0
$GC,470,-1.22,-116.8,71.7,-14.6,49,476,0.12,2.70,0.00,0.000,4,0.124,0.060,2731,195,3482,0,0,0,0,0,0
$GC,554,-1.22,-116.8,83.0,-11.9,55,558,0.00,2.38,0.00,0.000,6,0.000,0.022,2731,1773,3482,0,0,0,0,0,0
$GC,823,-1.27,-116.8,107.8,-9.1,79,827,0.00,2.40,0.00,0.000,4,0.000,0.030,2731,3317,3483,0,0,0,0,0,0
$GC,891,-1.37,-116.8,114.9,-8.9,84,901,0.10,2.55,0.00,0.000,6,0.038,0.028,2688,1746,3483,0,0,0,0,0,0
$GC,1159,-1.37,-116.8,144.4,-12.6,109,1163,0.00,2.62,0.00,0.000,4,0.000,0.060,2688,196,3483,0,0,0,0,0,0
$GC,1192,-1.33,-116.8,149.1,-14.5,111,1197,0.10,2.33,0.00,0.000,6,0.122,0.015,2708,1757,3483,0,0,0,0,0,0
$GC,1453,-1.33,-116.8,179.9,-10.5,135,1457,0.00,2.45,0.00,0.000,4,0.000,0.031,2708,3317,3484,0,0,0,0,0,0
$GC,1482,-1.38,-116.8,182.8,-10.3,137,1486,0.00,2.53,0.00,0.000,6,0.000,0.034,2708,1738,3484,0,0,0,0,0,0
$GC,1752,-1.38,-116.8,207.2,-8.8,156,1756,0.00,2.47,0.00,0.000,4,0.000,0.031,2708,3312,3484,0,0,0,0,0,0
$GC,1779,-1.43,-116.8,209.7,-8.0,156,1783,0.00,2.53,0.00,0.000,6,0.000,0.035,2708,1738,3484,0,0,0,0,0,0
$GC,2029,-1.43,-116.8,233.0,-9.5,162,2033,0.00,2.50,0.00,0.000,4,0.000,0.030,2708,3310,3484,0,0,0,0,0,0
$GC,2047,-1.47,-116.8,234.6,-10.0,162,2052,0.12,2.55,0.00,0.000,6,0.075,0.035,2663,1739,3484,0,0,0,0,0,0
$GC,2308,-1.43,-116.8,266.0,-12.3,169,2313,0.12,2.70,0.00,0.000,4,0.115,0.071,2688,193,3484,0,0,0,0,0,0
$GC,2353,-1.47,-116.8,271.6,-13.0,170,2357,0.00,2.35,0.00,0.000,6,0.000,0.018,2689,1720,3483,0,0,0,0,0,0
$GC,2638,-1.47,-116.8,301.3,-10.2,177,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1720,3482,0,0,0,0,0,0
$GC,2880,-1.47,-116.8,324.8,-9.6,183,2885,0.00,2.60,0.00,0.000,4,0.000,0.034,2689,3336,3481,0,0,0,0,0,0
$GC,2908,-1.52,-116.8,327.3,-9.1,183,2913,0.00,2.60,0.00,0.000,6,0.000,0.044,2689,1753,3481,0,0,0,0,0,0
$GC,3160,-1.52,-116.8,351.5,-9.8,189,3164,0.00,2.53,0.00,0.000,4,0.000,0.041,2689,3332,3480,0,0,0,0,0,0
$GC,3187,-1.56,-116.8,354.4,-9.4,189,3192,0.12,2.62,0.00,0.000,6,0.075,0.048,2646,1751,3480,0,0,0,0,0,0
$GC,3437,-1.52,-116.8,381.2,-10.6,195,3439,0.10,0.00,0.00,0.000,6,0.128,0.000,2667,1751,3478,0,0,0,0,0,0
$GC,3683,-1.52,-116.8,405.5,-9.9,201,3687,0.00,2.60,0.00,0.000,4,0.000,0.045,2666,3338,3477,0,0,0,0,0,0
$GC,3709,-1.52,-116.8,408.5,-9.7,201,3714,0.00,2.65,0.00,0.000,6,0.000,0.049,2666,1757,3476,0,0,0,0,0,0
$GC,3959,-1.52,-116.8,433.5,-10.3,207,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1757,3475,0,0,0,0,0,0
$GC,4204,-1.52,-116.8,458.3,-10.1,213,4209,0.00,2.60,0.00,0.000,4,0.000,0.051,2666,3331,3473,0,0,0,0,0,0
$GC,4265,-1.56,-116.8,464.5,-9.6,214,4270,0.00,2.67,0.00,0.000,6,0.000,0.061,2666,1761,3472,0,0,0,0,0,0
$GC,4526,-1.56,-116.8,490.1,-9.8,221,4531,0.00,2.97,0.00,0.000,4,0.000,0.118,2666,185,3471,0,0,0,0,0,0
$GC,4583,-1.56,-116.8,496.4,-11.5,222,4587,0.00,2.47,0.00,0.000,6,0.000,0.037,2666,1717,3470,0,0,0,0,0,0
$STATE,4643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4643,begin apogee
$GC,4649,-0.31,0.0,503.3,10.7,224,4751,1.20,0.00,97.88,0.930,6,0.087,0.000,2930,1802,3001,0,0,0,0,0,0
$STATE,4752,end apogee,CONTROL_FINISHED_OK
$STATE,4752,begin climb
$GC,4754,1.38,116.8,505.8,0.0,226,4868,1.55,2.83,101.57,0.906,4,0.054,0.062,3305,3395,2523,0,0,0,0,0,0
$GC,4880,1.37,198.6,504.9,5.3,229,4962,0.00,2.70,71.80,0.889,6,0.000,0.056,3305,1818,2190,0,0,0,0,0,0
$GC,5206,1.28,198.6,472.4,10.7,237,5211,0.12,3.00,0.00,0.000,4,0.130,0.114,3282,232,2182,0,0,0,0,0,0
$GC,5246,1.17,198.6,467.6,12.0,238,5251,0.12,2.58,0.00,0.000,6,0.137,0.035,3258,1806,2180,0,0,0,0,0,0
$GC,5531,1.19,215.1,441.1,9.1,245,5551,0.00,2.72,14.07,0.822,4,0.000,0.049,3258,3415,2124,0,0,0,0,0,0
$GC,5624,1.24,215.1,431.4,10.5,247,5629,0.00,2.72,0.00,0.000,6,0.000,0.051,3258,1821,2122,0,0,0,0,0,0
$GC,5903,1.24,215.1,402.8,10.4,254,5907,0.00,2.90,0.00,0.000,4,0.000,0.099,3258,230,2120,0,0,0,0,0,0
$GC,5918,1.24,215.1,400.7,10.8,254,5922,0.00,2.55,0.00,0.000,6,0.000,0.021,3258,1839,2118,0,0,0,0,0,0
$GC,6185,1.24,215.1,373.6,10.1,261,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1840,2118,0,0,0,0,0,0
$GC,6429,1.25,221.4,349.7,9.7,267,6440,0.00,2.55,6.15,0.681,4,0.000,0.039,3258,3404,2097,0,0,0,0,0,0
$GC,6452,1.25,221.4,347.4,10.1,267,6457,0.00,2.62,0.00,0.000,6,0.000,0.048,3258,1830,2097,0,0,0,0,0,0
$GC,6707,1.25,222.7,322.2,10.0,274,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1829,2095,0,0,0,0,0,0
$GC,6951,1.32,245.1,299.8,8.7,280,6981,0.12,2.65,22.52,0.788,4,0.091,0.037,3289,3401,2000,0,0,0,0,0,0
$GC,7000,1.33,253.3,295.4,9.6,281,7014,0.00,2.60,9.02,0.705,6,0.000,0.040,3289,1836,1967,0,0,0,0,0,0
$GC,7282,1.34,263.4,268.5,9.5,288,7293,0.00,0.00,9.98,0.712,6,0.000,0.000,3289,1836,1927,0,0,0,0,0,0
$GC,7527,1.36,274.4,245.6,9.4,294,7545,0.00,2.85,11.45,0.709,4,0.000,0.072,3289,237,1880,0,0,0,0,0,0
$GC,7585,1.36,274.4,238.9,11.6,295,7590,0.00,2.58,0.00,0.000,6,0.000,0.021,3289,1864,1879,0,0,0,0,0,0
$GC,7852,1.36,279.8,212.5,9.7,302,7863,0.00,2.47,5.45,0.580,4,0.000,0.036,3289,3395,1862,0,0,0,0,0,0
$GC,7898,1.45,287.1,208.3,9.6,303,7913,0.12,2.58,8.65,0.652,6,0.086,0.037,3321,1841,1830,0,0,0,0,0,0
$GC,8166,1.45,287.1,179.8,11.1,320,8171,0.00,2.80,0.00,0.000,4,0.000,0.072,3320,241,1827,0,0,0,0,0,0
$GC,8185,1.40,287.1,177.8,11.6,321,8189,0.00,2.55,0.00,0.000,6,0.000,0.026,3321,1864,1826,0,0,0,0,0,0
$GC,8451,1.40,287.1,147.7,12.1,345,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1867,1826,0,0,0,0,0,0
$GC,8714,1.40,287.1,114.4,12.3,370,8718,0.00,2.80,0.00,0.000,4,0.000,0.062,3321,237,1826,0,0,0,0,0,0
$GC,8734,1.36,287.1,112.1,12.5,371,8739,0.12,2.50,0.00,0.000,6,0.129,0.026,3298,1846,1825,0,0,0,0,0,0
$GC,9001,1.42,293.3,83.5,9.7,395,9009,0.00,0.00,6.30,0.522,6,0.000,0.000,3297,1848,1805,0,0,0,0,0,0
$GC,9268,1.60,352.9,62.5,6.6,420,9332,0.22,2.88,52.45,0.597,4,0.133,0.061,3354,241,1561,0,0,0,0,0,0
$GC,9351,1.61,358.2,55.4,9.7,427,9364,0.00,2.55,6.10,0.476,6,0.000,0.019,3354,1861,1539,0,0,0,0,0,0
$GC,9630,1.61,358.2,24.5,12.2,455,9640,0.00,2.83,0.00,0.000,4,0.000,0.059,3354,241,1536,0,0,0,0,0,0
$GC,9650,1.61,358.2,21.9,12.3,457,9659,0.00,2.53,0.00,0.000,6,0.000,0.025,3354,1847,1535,0,0,0,0,0,0
$STATE,9811,end climb,SURFACE_DEPTH_REACHED
$STATE,9811,begin surface coast
$FINISH,0.4,1.023070
$STATE,9857,end surface coast,CONTROL_FINISHED_OK
$STATE,9857,begin surface
$SM_CCo,9878,57.20,0.441,1,0,1287,420.20
$SM_GC,1.08,0.00,0.00,57.20,0.000,0.000,0.441,476,1714,1287,-11.61,-1.58,420.20
$IRIDIUM_FIX,2246.36,-15743.68,070100,191928
$TT8_MAMPS,0.026078
$HUMID,53.18
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.90
$XPDR_PINGS,64
$24V_AH,23.4,56.667
$10V_AH,10.1,54.327
$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,27.825,131.075,423.400,57.200,0.000,29.996,35.165,341.105,16.000,0.000,34.872,1001.587,6409.648,522.777,1872.674,702.392,33.392,1253.033,0.000,1853.796,0.000,0.533,0.000
$DEVICE_MAMPS,153.400,118.118,929.604,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.675,276.518,373.516,718.890,1086.245,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,38484,486
$CAP_FILE_SIZE,110720,0
$CFSIZE,260165632,158523392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141010,013907,2257.048,-15742.074,6,1.6,17,10.1