version: 66.06
glider: 146
mission: 5
dive: 486
start: 10 24 110 4 55 9
data:
$ID,146
$MISSION,5
$DIVE,486
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$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,-259060.09
$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,62
$R_STBD_OVSHOOT,57
$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
$GPS1,044206,2250.210,-15742.280,35,1.2,40,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.3
$GPS2,045414,2250.281,-15742.258,12,1.3,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.007,0.239
$KALMAN_X,-260043.5,157.7,-86.2,308759.4,13.0
$KALMAN_Y,-614722.4,-32.9,-266.4,744102.6,259.0
$MHEAD_RNG_PITCHd_Wd,351.6,14303,-19.4,-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,-1.36,-116.8,0.0,0.0,0,103,0.00,0.00,-85.80,0.000,6,0.000,0.000,482,1723,3478,0,0,0,0,0,0
$GC,108,-1.36,-116.8,4.5,-9.0,11,126,11.48,2.58,0.00,0.000,4,0.146,0.027,2694,3350,3480,0,0,0,0,0,0
$GC,222,-1.30,-116.8,31.5,-14.4,27,227,0.10,2.50,0.00,0.000,6,0.139,0.031,2713,1797,3482,0,0,0,0,0,0
$GC,490,-1.21,-116.8,68.2,-12.7,51,495,0.10,2.45,0.00,0.000,4,0.147,0.025,2732,3346,3482,0,0,0,0,0,0
$GC,513,-1.16,-116.8,71.3,-12.4,52,517,0.00,2.47,0.00,0.000,6,0.000,0.026,2732,1787,3482,0,0,0,0,0,0
$GC,778,-1.20,-116.8,93.8,-9.5,76,782,0.00,2.70,0.00,0.000,4,0.000,0.058,2732,196,3483,0,0,0,0,0,0
$GC,869,-1.29,-116.8,103.8,-11.3,83,873,0.00,2.38,0.00,0.000,6,0.000,0.015,2732,1786,3483,0,0,0,0,0,0
$GC,1138,-1.34,-116.8,128.1,-8.4,107,1143,0.12,2.40,0.00,0.000,4,0.072,0.025,2690,3316,3484,0,0,0,0,0,0
$GC,1178,-1.34,-116.8,132.8,-10.3,110,1182,0.00,2.47,0.00,0.000,6,0.000,0.026,2690,1756,3483,0,0,0,0,0,0
$GC,1441,-1.34,-116.8,157.5,-9.8,134,1445,0.00,2.65,0.00,0.000,4,0.000,0.067,2689,199,3484,0,0,0,0,0,0
$GC,1487,-1.34,-116.8,162.4,-9.8,137,1493,0.00,2.35,0.00,0.000,6,0.000,0.015,2689,1760,3484,0,0,0,0,0,0
$GC,1750,-1.34,-116.8,186.4,-9.6,162,1755,0.00,2.65,0.00,0.000,4,0.000,0.061,2689,199,3484,0,0,0,0,0,0
$GC,1774,-1.34,-116.8,188.4,-10.1,163,1779,0.00,2.35,0.00,0.000,6,0.000,0.015,2689,1764,3484,0,0,0,0,0,0
$GC,2049,-1.34,-116.8,218.3,-10.9,177,2053,0.00,2.45,0.00,0.000,4,0.000,0.031,2689,3315,3484,0,0,0,0,0,0
$GC,2121,-1.39,-116.8,226.3,-10.5,178,2125,0.00,2.47,0.00,0.000,6,0.000,0.029,2689,1769,3484,0,0,0,0,0,0
$GC,2373,-1.39,-116.8,251.3,-9.8,184,2377,0.00,2.45,0.00,0.000,4,0.000,0.031,2689,3313,3484,0,0,0,0,0,0
$GC,2400,-1.39,-116.8,254.0,-9.0,184,2404,0.00,2.45,0.00,0.000,6,0.000,0.036,2689,1783,3483,0,0,0,0,0,0
$GC,2650,-1.39,-116.8,277.0,-9.5,190,2654,0.00,2.78,0.00,0.000,4,0.000,0.073,2689,194,3482,0,0,0,0,0,0
$GC,2678,-1.39,-116.8,279.9,-10.6,190,2682,0.00,2.42,0.00,0.000,6,0.000,0.020,2689,1755,3482,0,0,0,0,0,0
$GC,2928,-1.39,-116.8,304.1,-9.5,196,2932,0.00,2.53,0.00,0.000,4,0.000,0.037,2689,3342,3481,0,0,0,0,0,0
$GC,2961,-1.44,-116.8,307.4,-9.6,196,2967,0.00,2.55,0.00,0.000,6,0.000,0.036,2689,1774,3482,0,0,0,0,0,0
$GC,3213,-1.44,-116.8,331.0,-9.6,203,3217,0.00,2.50,0.00,0.000,4,0.000,0.038,2689,3338,3480,0,0,0,0,0,0
$GC,3253,-1.49,-116.8,334.9,-9.3,204,3257,0.00,2.55,0.00,0.000,6,0.000,0.037,2689,1786,3480,0,0,0,0,0,0
$GC,3535,-1.49,-116.8,363.0,-10.1,211,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1786,3479,0,0,0,0,0,0
$GC,3781,-1.49,-116.8,388.3,-10.5,217,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1786,3477,0,0,0,0,0,0
$GC,4023,-1.49,-116.8,412.1,-9.5,223,4027,0.00,2.55,0.00,0.000,4,0.000,0.043,2689,3338,3476,0,0,0,0,0,0
$GC,4073,-1.56,-116.8,416.7,-8.2,224,4078,0.12,2.62,0.00,0.000,6,0.074,0.052,2647,1789,3476,0,0,0,0,0,0
$GC,4348,-1.51,-116.8,441.7,-9.1,231,4350,0.10,0.00,0.00,0.000,6,0.130,0.000,2667,1789,3474,0,0,0,0,0,0
$GC,4589,-1.51,-116.8,461.7,-8.2,237,4594,0.00,2.58,0.00,0.000,4,0.000,0.044,2667,3342,3472,0,0,0,0,0,0
$GC,4629,-1.51,-116.8,465.1,-8.8,238,4634,0.00,2.65,0.00,0.000,6,0.000,0.057,2668,1786,3472,0,0,0,0,0,0
$GC,4915,-1.51,-116.8,491.7,-9.8,245,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1786,3470,0,0,0,0,0,0
$STATE,5032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5032,begin apogee
$GC,5038,-0.31,0.0,503.8,9.9,248,5139,1.20,0.00,97.82,0.929,6,0.104,0.000,2929,1786,3001,0,0,0,0,0,0
$STATE,5140,end apogee,CONTROL_FINISHED_OK
$STATE,5140,begin climb
$GC,5143,1.36,116.8,506.6,0.0,250,5249,1.52,0.00,101.97,0.907,6,0.042,0.000,3302,1786,2524,0,0,0,0,0,0
$GC,5468,1.29,163.3,493.0,7.4,258,5515,0.00,2.78,40.80,0.884,4,0.000,0.054,3302,3382,2334,0,0,0,0,0,0
$GC,5546,1.23,181.0,486.8,9.1,259,5571,0.17,2.75,17.23,0.834,6,0.123,0.060,3268,1816,2261,0,0,0,0,0,0
$GC,5840,1.27,209.1,461.2,8.5,267,5871,0.00,2.67,25.27,0.858,4,0.000,0.041,3268,3390,2147,0,0,0,0,0,0
$GC,5924,1.28,220.7,453.5,9.4,269,5943,0.00,2.70,11.55,0.794,6,0.000,0.059,3269,1824,2100,0,0,0,0,0,0
$GC,6211,1.28,221.9,425.4,10.0,276,6216,0.00,2.97,0.00,0.000,4,0.000,0.103,3268,230,2095,0,0,0,0,0,0
$GC,6232,1.23,221.9,422.9,11.3,276,6237,0.00,2.55,0.00,0.000,6,0.000,0.028,3268,1822,2093,0,0,0,0,0,0
$GC,6489,1.25,236.6,398.9,9.2,283,6506,0.00,0.00,14.70,0.811,6,0.000,0.000,3268,1822,2036,0,0,0,0,0,0
$GC,6731,1.26,252.0,376.5,9.2,289,6748,0.00,0.00,15.32,0.805,6,0.000,0.000,3268,1822,1973,0,0,0,0,0,0
$GC,6975,1.26,252.0,351.3,10.5,295,6979,0.00,2.80,0.00,0.000,4,0.000,0.071,3268,232,1969,0,0,0,0,0,0
$GC,6997,1.26,252.0,348.9,11.1,295,7002,0.00,2.58,0.00,0.000,6,0.000,0.028,3268,1833,1968,0,0,0,0,0,0
$GC,7253,1.26,252.0,321.6,10.7,302,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1834,1967,0,0,0,0,0,0
$GC,7497,1.26,252.0,294.5,11.2,308,7501,0.00,2.55,0.00,0.000,4,0.000,0.033,3268,3405,1966,0,0,0,0,0,0
$GC,7530,1.33,252.0,290.7,12.1,308,7535,0.00,2.62,0.00,0.000,6,0.000,0.044,3268,1814,1965,0,0,0,0,0,0
$GC,7781,1.33,255.1,265.3,9.9,315,7786,0.00,2.78,0.00,0.000,4,0.000,0.077,3268,233,1965,0,0,0,0,0,0
$GC,7808,1.33,257.1,262.6,9.9,315,7822,0.10,2.55,4.85,0.577,6,0.102,0.024,3295,1843,1951,0,0,0,0,0,0
$GC,8065,1.34,266.2,238.6,9.5,322,8078,0.00,0.00,9.98,0.695,6,0.000,0.000,3295,1845,1915,0,0,0,0,0,0
$GC,8353,1.35,269.6,210.4,9.9,329,8359,0.00,0.00,4.15,0.508,6,0.000,0.000,3295,1845,1901,0,0,0,0,0,0
$GC,8602,1.36,277.8,185.5,9.6,344,8617,0.00,2.85,9.18,0.650,4,0.000,0.071,3295,232,1868,0,0,0,0,0,0
$GC,8643,1.32,277.8,181.3,11.0,347,8647,0.00,2.55,0.00,0.000,6,0.000,0.028,3295,1843,1867,0,0,0,0,0,0
$GC,8906,1.36,311.0,157.3,8.2,371,8943,0.00,2.90,30.38,0.683,4,0.000,0.064,3295,234,1732,0,0,0,0,0,0
$GC,8951,1.38,329.0,153.2,9.0,375,8976,0.00,2.58,17.55,0.652,6,0.000,0.021,3295,1849,1658,0,0,0,0,0,0
$GC,9235,1.42,329.0,125.2,10.9,401,9239,0.00,2.80,0.00,0.000,4,0.000,0.067,3295,238,1654,0,0,0,0,0,0
$GC,9300,1.42,329.0,117.4,11.3,406,9305,0.00,2.47,0.00,0.000,6,0.000,0.021,3295,1805,1652,0,0,0,0,0,0
$GC,9563,1.48,339.4,91.9,9.5,430,9579,0.10,2.55,9.45,0.571,4,0.097,0.033,3324,3389,1616,0,0,0,0,0,0
$GC,9593,1.51,339.4,88.8,10.5,432,9597,0.00,2.62,0.00,0.000,6,0.000,0.035,3324,1808,1615,0,0,0,0,0,0
$GC,9860,1.60,352.9,60.0,9.3,456,9879,0.10,2.72,12.90,0.565,4,0.091,0.061,3352,241,1560,0,0,0,0,0,0
$GC,9948,1.60,352.9,50.4,11.6,462,9952,0.00,2.50,0.00,0.000,6,0.000,0.020,3352,1828,1559,0,0,0,0,0,0
$GC,10232,1.60,352.9,20.6,11.0,492,10242,0.00,2.75,0.00,0.000,4,0.000,0.060,3352,242,1559,0,0,0,0,0,0
$GC,10267,1.55,352.9,16.7,12.0,496,10277,0.00,2.47,0.00,0.000,6,0.000,0.021,3352,1813,1558,0,0,0,0,0,0
$STATE,10388,end climb,SURFACE_DEPTH_REACHED
$STATE,10388,begin surface coast
$FINISH,0.4,1.012659
$STATE,10453,end surface coast,CONTROL_FINISHED_OK
$STATE,10453,begin surface
$SM_CCo,10475,56.78,0.536,0,0,1288,420.20
$SM_GC,0.96,0.00,0.00,56.78,0.000,0.000,0.536,477,1736,1288,-11.61,-0.96,420.20
$IRIDIUM_FIX,2241.69,-15739.35,180100,040408
$TT8_MAMPS,0.026078
$HUMID,56.18
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.40
$XPDR_PINGS,101
$24V_AH,23.3,67.213
$10V_AH,9.9,63.921
$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,26.950,129.650,423.100,56.775,0.000,60.903,78.561,380.210,25.250,0.000,13.673,1053.495,6904.447,534.121,1925.439,844.632,33.374,1255.661,0.000,1930.331,0.000,0.534,0.000
$DEVICE_MAMPS,147.264,114.283,928.837,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.359,296.075,404.136,763.630,1154.743,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,41616,522
$CAP_FILE_SIZE,115552,0
$CFSIZE,260165632,154001408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,075152,2251.824,-15742.270,9,3.3,28,10.1