version: 66.06
glider: 146
mission: 5
dive: 407
start: 10 14 110 1 47 58
data:
$ID,146
$MISSION,5
$DIVE,407
$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,-255728.27
$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,23
$R_STBD_OVSHOOT,66
$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
$GPS1,013907,2257.048,-15742.074,6,1.6,17,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-68.7
$GPS2,014704,2257.029,-15742.007,16,2.1,35,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.020,0.234
$KALMAN_X,-263556.5,154.5,319.5,312301.3,-193.5
$KALMAN_Y,-571812.4,401.7,410.2,712587.7,-1244.2
$MHEAD_RNG_PITCHd_Wd,354.9,1799,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.90,0.000,6,0.000,0.000,475,1715,3479,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.7,-9.8,11,127,11.68,2.60,0.00,0.000,4,0.154,0.031,2691,3328,3481,0,0,0,0,0,0
$GC,145,-0.45,-116.8,20.7,-41.4,15,155,0.95,2.58,0.00,0.000,6,0.092,0.033,2899,1769,3482,0,0,0,0,0,0
$GC,440,-0.74,-116.8,41.3,-6.4,48,446,0.25,2.67,0.00,0.000,4,0.048,0.056,2816,185,3483,0,0,0,0,0,0
$GC,463,-0.95,-116.8,43.2,-7.3,49,468,0.10,2.42,0.00,0.000,6,0.085,0.016,2778,1792,3483,0,0,0,0,0,0
$GC,733,-1.06,-116.8,71.2,-8.6,73,738,0.00,2.72,0.00,0.000,4,0.000,0.057,2777,187,3484,0,0,0,0,0,0
$GC,767,-1.19,-116.8,74.6,-9.1,75,773,0.15,2.38,0.00,0.000,6,0.079,0.016,2723,1766,3484,0,0,0,0,0,0
$GC,1035,-1.19,-116.8,101.7,-10.8,99,1040,0.00,2.45,0.00,0.000,4,0.000,0.031,2723,3327,3484,0,0,0,0,0,0
$GC,1093,-1.28,-116.8,108.5,-10.4,103,1099,0.00,2.50,0.00,0.000,6,0.000,0.028,2723,1758,3485,0,0,0,0,0,0
$GC,1356,-1.32,-116.8,137.7,-11.6,128,1360,0.00,2.65,0.00,0.000,4,0.000,0.064,2723,192,3485,0,0,0,0,0,0
$GC,1380,-1.32,-116.8,140.6,-11.3,129,1385,0.00,2.38,0.00,0.000,6,0.000,0.021,2723,1774,3486,0,0,0,0,0,0
$GC,1649,-1.37,-116.8,164.6,-8.2,154,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1776,3486,0,0,0,0,0,0
$GC,1913,-1.41,-116.8,185.4,-8.1,179,1918,0.12,2.40,0.00,0.000,4,0.068,0.025,2677,3305,3486,0,0,0,0,0,0
$GC,1948,-1.41,-116.8,189.0,-10.0,181,1953,0.00,2.45,0.00,0.000,6,0.000,0.036,2677,1773,3486,0,0,0,0,0,0
$GC,2224,-1.41,-116.8,220.5,-11.8,196,2228,0.00,2.67,0.00,0.000,4,0.000,0.071,2677,197,3486,0,0,0,0,0,0
$GC,2245,-1.37,-116.8,223.5,-12.7,196,2250,0.10,2.38,0.00,0.000,6,0.127,0.016,2698,1761,3486,0,0,0,0,0,0
$GC,2500,-1.37,-116.8,251.1,-10.4,203,2505,0.00,2.47,0.00,0.000,4,0.000,0.032,2699,3331,3486,0,0,0,0,0,0
$GC,2542,-1.44,-116.8,255.0,-9.9,204,2547,0.00,2.47,0.00,0.000,6,0.000,0.032,2699,1783,3486,0,0,0,0,0,0
$GC,2826,-1.48,-116.8,283.7,-10.2,211,2831,0.00,2.78,0.00,0.000,4,0.000,0.076,2699,186,3486,0,0,0,0,0,0
$GC,2859,-1.52,-116.8,287.3,-10.9,211,2865,0.12,2.47,0.00,0.000,6,0.076,0.023,2656,1777,3485,0,0,0,0,0,0
$GC,3110,-1.49,-116.8,315.2,-11.2,218,3115,0.10,2.50,0.00,0.000,4,0.127,0.039,2675,3342,3484,0,0,0,0,0,0
$GC,3132,-1.49,-116.8,317.7,-10.2,218,3136,0.00,2.55,0.00,0.000,6,0.000,0.044,2675,1787,3484,0,0,0,0,0,0
$GC,3387,-1.49,-116.8,342.7,-9.8,225,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1787,3483,0,0,0,0,0,0
$GC,3632,-1.49,-116.8,366.9,-9.9,231,3637,0.00,2.55,0.00,0.000,4,0.000,0.042,2675,3348,3482,0,0,0,0,0,0
$GC,3688,-1.53,-116.8,372.5,-9.0,232,3693,0.00,2.58,0.00,0.000,6,0.000,0.044,2675,1796,3482,0,0,0,0,0,0
$GC,3955,-1.53,-116.8,395.6,-8.6,239,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1796,3480,0,0,0,0,0,0
$GC,4200,-1.53,-116.8,416.3,-8.5,245,4204,0.00,2.53,0.00,0.000,4,0.000,0.042,2675,3342,3479,0,0,0,0,0,0
$GC,4240,-1.58,-116.8,419.6,-8.4,246,4244,0.00,2.60,0.00,0.000,6,0.000,0.053,2675,1791,3479,0,0,0,0,0,0
$GC,4523,-1.58,-116.8,445.5,-9.6,253,4527,0.00,2.53,0.00,0.000,4,0.000,0.046,2675,3336,3477,0,0,0,0,0,0
$GC,4586,-1.64,-116.8,451.3,-9.2,254,4591,0.12,2.60,0.00,0.000,6,0.074,0.060,2634,1808,3477,0,0,0,0,0,0
$GC,4847,-1.59,-116.8,481.1,-11.7,261,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1808,3474,0,0,0,0,0,0
$STATE,5006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5007,begin apogee
$GC,5014,-0.31,0.0,501.0,12.3,265,5116,1.35,0.00,98.65,0.929,6,0.092,0.000,2929,1808,3001,0,0,0,0,0,0
$STATE,5117,end apogee,CONTROL_FINISHED_OK
$STATE,5117,begin climb
$GC,5119,1.38,116.8,504.5,0.0,267,5232,1.55,2.75,102.28,0.905,4,0.053,0.051,3306,3382,2523,0,0,0,0,0,0
$GC,5262,1.35,183.4,504.8,6.2,270,5328,0.00,2.72,58.83,0.890,6,0.000,0.054,3306,1819,2253,0,0,0,0,0,0
$GC,5572,1.26,183.4,473.0,11.1,278,5578,0.15,3.03,0.00,0.000,4,0.123,0.113,3277,232,2243,0,0,0,0,0,0
$GC,5602,1.15,183.4,469.6,11.6,278,5607,0.12,2.55,0.00,0.000,6,0.137,0.034,3253,1794,2242,0,0,0,0,0,0
$GC,5852,1.16,199.3,445.9,9.1,284,5871,0.00,2.78,13.68,0.819,4,0.000,0.051,3253,3404,2187,0,0,0,0,0,0
$GC,5935,1.21,206.1,438.1,9.6,285,5949,0.00,2.70,7.78,0.737,6,0.000,0.052,3253,1818,2159,0,0,0,0,0,0
$GC,6228,1.23,221.5,411.1,9.2,293,6248,0.00,2.67,14.85,0.816,4,0.000,0.042,3253,3415,2096,0,0,0,0,0,0
$GC,6271,1.31,232.8,406.9,9.4,294,6290,0.12,2.72,11.50,0.783,6,0.093,0.048,3285,1820,2051,0,0,0,0,0,0
$GC,6553,1.31,232.8,377.0,10.7,301,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1820,2047,0,0,0,0,0,0
$GC,6795,1.31,232.8,349.8,11.0,307,6800,0.00,2.60,0.00,0.000,4,0.000,0.037,3285,3413,2046,0,0,0,0,0,0
$GC,6817,1.31,232.8,347.3,11.7,307,6822,0.00,2.67,0.00,0.000,6,0.000,0.044,3285,1820,2045,0,0,0,0,0,0
$GC,7075,1.31,232.8,319.6,10.8,314,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1820,2044,0,0,0,0,0,0
$GC,7317,1.31,232.8,291.4,11.8,320,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1820,2043,0,0,0,0,0,0
$GC,7560,1.31,232.8,263.0,11.5,326,7565,0.00,2.60,0.00,0.000,4,0.000,0.035,3285,3422,2042,0,0,0,0,0,0
$GC,7623,1.36,232.8,256.5,11.0,327,7627,0.00,2.65,0.00,0.000,6,0.000,0.039,3285,1821,2041,0,0,0,0,0,0
$GC,7883,1.39,255.9,233.2,8.7,334,7909,0.00,2.83,20.60,0.740,4,0.000,0.071,3285,236,1957,0,0,0,0,0,0
$GC,7977,1.40,270.1,224.4,9.2,336,7996,0.00,2.55,14.02,0.706,6,0.000,0.028,3285,1839,1898,0,0,0,0,0,0
$GC,8255,1.48,290.7,200.5,8.9,343,8276,0.15,0.00,19.17,0.704,6,0.079,0.000,3323,1839,1816,0,0,0,0,0,0
$GC,8511,1.48,290.7,171.6,11.6,364,8516,0.00,2.78,0.00,0.000,4,0.000,0.070,3323,240,1811,0,0,0,0,0,0
$GC,8534,1.41,290.7,168.2,12.9,365,8540,0.00,2.50,0.00,0.000,6,0.000,0.028,3323,1823,1810,0,0,0,0,0,0
$GC,8796,1.41,290.7,138.2,10.8,390,8801,0.00,2.53,0.00,0.000,4,0.000,0.036,3323,3393,1810,0,0,0,0,0,0
$GC,8817,1.41,290.7,136.1,11.0,391,8821,0.00,2.60,0.00,0.000,6,0.000,0.036,3323,1818,1809,0,0,0,0,0,0
$GC,9084,1.41,290.7,107.9,10.6,415,9089,0.00,2.53,0.00,0.000,4,0.000,0.034,3323,3390,1809,0,0,0,0,0,0
$GC,9106,1.41,290.7,104.7,10.9,416,9115,0.00,2.58,0.00,0.000,6,0.000,0.035,3323,1836,1809,0,0,0,0,0,0
$GC,9375,1.43,305.8,80.8,9.2,441,9399,0.00,2.83,13.50,0.585,4,0.000,0.067,3323,241,1753,0,0,0,0,0,0
$GC,9417,1.43,306.1,75.7,10.0,444,9426,0.00,2.50,0.00,0.000,6,0.000,0.023,3323,1821,1753,0,0,0,0,0,0
$GC,9685,1.54,341.1,53.9,8.0,469,9726,0.00,2.58,31.38,0.580,4,0.000,0.028,3323,3386,1610,0,0,0,0,0,0
$GC,9781,1.69,344.5,44.8,9.8,476,9796,0.20,2.53,4.32,0.407,6,0.071,0.034,3375,1838,1596,0,0,0,0,0,0
$GC,10088,1.69,344.5,7.6,13.6,514,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1838,1594,0,0,0,0,0,0
$STATE,10118,end climb,SURFACE_DEPTH_REACHED
$STATE,10118,begin surface coast
$FINISH,0.3,1.002712
$STATE,10160,end surface coast,CONTROL_FINISHED_OK
$STATE,10161,begin surface
$SM_CCo,10184,69.28,0.456,1,0,1288,420.20
$SM_GC,1.02,0.00,0.00,69.28,0.000,0.000,0.456,477,1743,1288,-11.61,-0.76,420.20
$IRIDIUM_FIX,2246.36,-15743.68,070100,222205
$TT8_MAMPS,0.026078
$HUMID,52.32
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,21.20
$XPDR_PINGS,66
$24V_AH,23.4,56.793
$10V_AH,10.0,54.447
$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,29.175,129.725,410.550,69.275,0.000,23.864,31.264,262.215,16.500,0.000,38.167,1055.663,6496.896,545.381,2014.980,623.391,33.388,1292.774,0.000,1995.516,0.000,0.534,0.000
$DEVICE_MAMPS,154.167,112.749,928.837,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.142,310.182,411.369,801.985,1213.084,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,41590,524
$CAP_FILE_SIZE,112144,0
$CFSIZE,260165632,158466048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141010,044007,2257.703,-15741.932,30,1.2,30,10.1