version: 66.06
glider: 157
mission: 5
dive: 276
start: 6 7 110 11 13 32
data:
$ID,157
$MISSION,5
$DIVE,276
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,470
$T_MISSION,560
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51974
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,4438
$TGT_DEFAULT_LON,-12501
$TGT_AUTO_DEFAULT,0
$SM_CC,310
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-38667.57
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,90
$PITCH_MAX,4043
$C_PITCH,2030
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,39
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,231
$ROLL_MAX,3879
$ROLL_DEG,45
$C_ROLL_DIVE,2480
$C_ROLL_CLIMB,2305
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2755
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.207071
$PRESSURE_SLOPE,0.0001140972
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,119
$DEVICE5,-1
$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,0.004313
$SEABIRD_T_H,0.00063151005
$SEABIRD_T_I,2.4073433e-05
$SEABIRD_T_J,2.5600611e-06
$SEABIRD_C_G,-10.151347
$SEABIRD_C_H,1.1458639
$SEABIRD_C_I,-0.00036424753
$SEABIRD_C_J,0.00012563137
$GPS1,110630,-2005.329,-7108.508,36,0.9,41,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.4
$GPS2,111326,-2005.307,-7108.508,9,1.5,9,-1.9
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,IQoff
$TGT_LATLONG,-2005.000,-7130.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.180,-0.221
$KALMAN_X,63049.1,253.0,41.5,-165368.3,2397.1
$KALMAN_Y,13231.8,-614.4,-513.7,17722.5,8306.6
$MHEAD_RNG_PITCHd_Wd,272.8,37386,-12.1,-7.021
$D_GRID,990
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,14,-0.49,-146.0,0.0,0.0,0,64,0.00,0.00,-48.90,0.000,2,0.000,0.000,58,2488,2606,0,0,0,0,0,0
$GC,67,-0.49,-146.0,3.1,-3.2,8,100,7.30,2.72,-19.62,0.000,4,0.241,0.059,1877,886,3352,0,0,0,0,0,0
$GC,248,-0.49,-146.0,30.8,-15.6,49,255,0.00,2.78,0.00,0.000,6,0.000,0.055,1868,2469,3354,0,0,0,0,0,0
$GC,317,-0.49,-146.0,44.1,-20.5,65,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2469,3353,0,0,0,0,0,0
$GC,388,-0.49,-146.0,56.6,-17.7,81,393,0.00,2.65,0.00,0.000,4,0.000,0.045,1867,883,3354,0,0,0,0,0,0
$GC,434,-0.49,-146.0,63.5,-14.6,91,439,0.00,2.78,0.00,0.000,6,0.000,0.053,1856,2490,3354,0,0,0,0,0,0
$GC,506,-0.49,-146.0,74.2,-15.9,107,510,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2490,3354,0,0,0,0,0,0
$GC,576,-0.49,-146.0,85.8,-16.4,123,580,0.00,2.15,0.00,0.000,4,0.000,0.061,1846,3875,3355,0,0,0,0,0,0
$GC,605,-0.49,-146.0,90.6,-16.8,129,610,0.00,2.15,0.00,0.000,6,0.000,0.041,1846,2467,3355,0,0,0,0,0,0
$GC,678,-0.49,-146.0,103.3,-17.0,144,681,0.00,2.58,0.00,0.000,4,0.000,0.045,1846,892,3356,0,0,0,0,0,0
$GC,718,-0.49,-146.0,109.7,-16.0,148,722,0.10,2.72,0.00,0.000,6,0.156,0.053,1873,2487,3356,0,0,0,0,0,0
$GC,854,-0.49,-146.0,127.3,-12.7,164,858,0.00,2.15,0.00,0.000,4,0.000,0.061,1864,3875,3356,0,0,0,0,0,0
$GC,885,-0.49,-146.0,131.8,-13.9,167,888,0.00,2.15,0.00,0.000,6,0.000,0.041,1864,2467,3356,0,0,0,0,0,0
$GC,1016,-0.49,-146.0,150.2,-14.8,182,1019,0.00,2.58,0.00,0.000,4,0.000,0.047,1864,887,3357,0,0,0,0,0,0
$GC,1063,-0.49,-146.0,156.9,-12.8,183,1067,0.00,2.72,0.00,0.000,6,0.000,0.052,1855,2491,3357,0,0,0,0,0,0
$GC,1270,-0.49,-146.0,187.0,-14.8,190,1273,0.00,2.15,0.00,0.000,4,0.000,0.060,1845,3883,3357,0,0,0,0,0,0
$GC,1296,-0.49,-146.0,191.1,-15.7,190,1303,0.00,2.17,0.00,0.000,6,0.000,0.042,1846,2473,3357,0,0,0,0,0,0
$GC,1498,-0.49,-146.0,222.6,-15.8,197,1501,0.00,2.60,0.00,0.000,4,0.000,0.048,1846,889,3357,0,0,0,0,0,0
$GC,1558,-0.49,-146.0,232.1,-13.9,198,1564,0.10,2.75,0.00,0.000,6,0.129,0.053,1874,2479,3357,0,0,0,0,0,0
$GC,1759,-0.49,-146.0,257.3,-12.6,205,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2479,3357,0,0,0,0,0,0
$GC,1952,-0.49,-146.0,281.1,-12.2,211,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2479,3358,0,0,0,0,0,0
$GC,2146,-0.49,-146.0,304.3,-11.9,217,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2479,3357,0,0,0,0,0,0
$GC,2469,-0.49,-146.0,342.3,-11.6,227,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2480,3357,0,0,0,0,0,0
$GC,2791,-0.49,-146.0,378.8,-11.2,237,2794,0.00,2.17,0.00,0.000,4,0.000,0.063,1866,3874,3356,0,0,0,0,0,0
$GC,2823,-0.49,-146.0,382.3,-12.1,238,2826,0.00,2.12,0.00,0.000,6,0.000,0.044,1866,2472,3355,0,0,0,0,0,0
$GC,3150,-0.49,-146.0,422.0,-12.2,248,3154,0.00,2.58,0.00,0.000,4,0.000,0.050,1865,889,3355,0,0,0,0,0,0
$GC,3223,-0.49,-146.0,431.1,-11.8,250,3227,0.00,2.70,0.00,0.000,6,0.000,0.054,1855,2486,3355,0,0,0,0,0,0
$GC,3537,-0.49,-146.0,470.3,-12.4,260,3541,0.00,2.15,0.00,0.000,4,0.000,0.064,1846,3874,3354,0,0,0,0,0,0
$GC,3563,-0.49,-146.0,473.9,-13.9,260,3566,0.00,2.15,0.00,0.000,6,0.000,0.044,1847,2473,3354,0,0,0,0,0,0
$GC,3891,-0.49,-146.0,516.6,-12.9,270,3895,0.00,2.60,0.00,0.000,4,0.000,0.051,1847,892,3353,0,0,0,0,0,0
$GC,3990,-0.49,-146.0,528.6,-10.9,273,3994,0.00,2.72,0.00,0.000,6,0.000,0.056,1841,2481,3353,0,0,0,0,0,0
$GC,4317,-0.49,-146.0,571.2,-13.4,283,4320,0.12,2.20,0.00,0.000,4,0.175,0.065,1866,3886,3352,0,0,0,0,0,0
$GC,4355,-0.49,-146.0,576.6,-11.0,284,4359,0.00,2.15,0.00,0.000,6,0.000,0.044,1866,2479,3352,0,0,0,0,0,0
$GC,4685,-0.49,-146.0,612.5,-11.0,292,4688,0.00,2.65,0.00,0.000,4,0.000,0.054,1866,887,3351,0,0,0,0,0,0
$GC,4763,-0.49,-146.0,620.9,-10.3,292,4767,0.00,2.72,0.00,0.000,6,0.000,0.057,1855,2479,3350,0,0,0,0,0,0
$GC,5207,-0.49,-146.0,673.0,-11.8,297,5211,0.00,2.22,0.00,0.000,4,0.000,0.067,1846,3883,3349,0,0,0,0,0,0
$GC,5255,-0.49,-146.0,679.1,-11.9,297,5258,0.00,2.15,0.00,0.000,6,0.000,0.046,1846,2481,3348,0,0,0,0,0,0
$GC,5631,-0.49,-146.0,727.8,-13.1,301,5637,0.00,2.60,0.00,0.000,4,0.000,0.055,1846,902,3347,0,0,0,0,0,0
$GC,5741,-0.49,-146.0,741.4,-11.8,301,5746,0.00,2.75,0.00,0.000,6,0.000,0.061,1842,2481,3346,0,0,0,0,0,0
$GC,6163,-0.49,-146.0,795.3,-12.8,306,6170,0.00,2.17,0.00,0.000,4,0.000,0.069,1832,3875,3345,0,0,0,0,0,0
$GC,6191,-0.49,-146.0,799.1,-14.1,306,6195,0.17,2.17,0.00,0.000,6,0.157,0.049,1880,2474,3345,0,0,0,0,0,0
$GC,6588,-0.49,-146.0,834.4,-8.7,310,6591,0.00,2.65,0.00,0.000,4,0.000,0.057,1881,885,3343,0,0,0,0,0,0
$GC,6675,-0.49,-146.0,842.0,-9.0,310,6679,0.00,2.75,0.00,0.000,6,0.000,0.059,1872,2482,3343,0,0,0,0,0,0
$GC,7110,-0.49,-146.0,882.3,-9.3,315,7113,0.00,2.25,0.00,0.000,4,0.000,0.071,1862,3888,3342,0,0,0,0,0,0
$GC,7184,-0.49,-146.0,889.4,-9.8,315,7187,0.00,2.17,0.00,0.000,6,0.000,0.050,1862,2480,3341,0,0,0,0,0,0
$GC,7633,-0.49,-146.0,935.1,-10.2,320,7637,0.00,2.67,0.00,0.000,4,0.000,0.060,1862,893,3341,0,0,0,0,0,0
$GC,7771,-0.49,-146.0,949.1,-9.9,321,7775,0.00,2.78,0.00,0.000,6,0.000,0.062,1855,2481,3341,0,0,0,0,0,0
$STATE,8163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8163,begin apogee
$GC,8169,-0.13,0.0,990.8,10.7,325,8293,0.45,0.00,122.47,1.355,6,0.135,0.000,1996,2302,2755,0,0,0,0,0,0
$STATE,8293,end apogee,CONTROL_FINISHED_OK
$STATE,8294,begin climb
$GC,8296,0.49,146.0,994.1,0.0,326,8438,0.55,2.95,132.82,1.298,4,0.066,0.058,2210,724,2157,0,0,0,0,0,0
$GC,8551,0.49,146.0,969.8,14.4,328,8557,0.00,2.88,0.00,0.000,6,0.000,0.058,2210,2315,2148,0,0,0,0,0,0
$GC,8937,0.49,146.0,907.4,16.3,332,8941,0.00,2.53,0.00,0.000,4,0.000,0.068,2210,3887,2143,0,0,0,0,0,0
$GC,8984,0.49,146.0,898.8,18.3,332,8988,0.15,2.50,0.00,0.000,6,0.183,0.055,2182,2312,2142,0,0,1,0,0,0
$GC,9354,0.49,146.0,849.4,13.0,336,9358,0.00,2.72,0.00,0.000,4,0.000,0.064,2193,709,2140,0,0,0,0,0,0
$GC,9423,0.49,146.0,841.1,10.6,336,9427,0.00,2.80,0.00,0.000,6,0.000,0.061,2193,2317,2138,0,0,0,0,0,0
$GC,9876,0.49,146.0,782.5,13.0,341,9879,0.00,2.47,0.00,0.000,4,0.000,0.071,2193,3877,2138,0,0,0,0,0,0
$GC,9923,0.49,146.0,775.0,16.4,341,9927,0.00,2.50,0.00,0.000,6,0.000,0.054,2203,2297,2137,0,0,0,0,0,0
$GC,10292,0.49,146.0,720.2,14.8,345,10296,0.00,2.67,0.00,0.000,4,0.000,0.063,2216,705,2137,0,0,0,0,0,0
$GC,10349,0.49,146.0,712.3,14.1,345,10353,0.00,2.78,0.00,0.000,6,0.000,0.061,2216,2318,2136,0,0,0,0,0,0
$GC,10814,0.49,146.0,640.5,15.4,350,10817,0.00,2.53,0.00,0.000,4,0.000,0.070,2216,3888,2136,0,0,0,0,0,0
$GC,10853,0.49,146.0,633.7,18.5,350,10857,0.17,2.53,0.00,0.000,6,0.173,0.056,2180,2302,2135,0,0,0,0,0,0
$GC,11231,0.49,146.0,588.3,11.6,354,11235,0.00,2.70,0.00,0.000,4,0.000,0.063,2191,714,2135,0,0,0,0,0,0
$GC,11296,0.49,146.0,581.4,10.4,356,11300,0.00,2.78,0.00,0.000,6,0.000,0.061,2191,2311,2134,0,0,0,0,0,0
$GC,11618,0.49,146.0,544.9,11.2,366,11622,0.00,2.47,0.00,0.000,4,0.000,0.068,2191,3878,2134,0,0,0,0,0,0
$GC,11635,0.49,146.0,542.7,11.6,366,11638,0.00,2.50,0.00,0.000,6,0.000,0.055,2201,2294,2134,0,0,0,0,0,0
$GC,11967,0.49,146.0,499.6,12.9,377,11970,0.00,2.65,0.00,0.000,4,0.000,0.062,2214,715,2134,0,0,0,0,0,0
$GC,12019,0.49,146.0,493.1,13.3,378,12023,0.00,2.75,0.00,0.000,6,0.000,0.060,2214,2306,2133,0,0,0,0,0,0
$GC,12351,0.49,146.0,447.1,13.9,389,12354,0.00,2.50,0.00,0.000,4,0.000,0.069,2214,3876,2133,0,0,0,0,0,0
$GC,12394,0.49,146.0,440.4,16.0,390,12398,0.15,2.50,0.00,0.000,6,0.173,0.054,2185,2298,2133,0,0,0,0,0,0
$GC,12704,0.49,146.0,405.3,11.1,400,12708,0.00,2.67,0.00,0.000,4,0.000,0.062,2196,716,2133,0,0,0,0,0,0
$GC,12734,0.49,146.0,401.7,11.2,401,12738,0.00,2.75,0.00,0.000,6,0.000,0.059,2196,2307,2133,0,0,0,0,0,0
$GC,13056,0.49,146.0,363.2,11.9,411,13060,0.00,2.50,0.00,0.000,4,0.000,0.067,2196,3876,2133,0,0,0,0,0,0
$GC,13099,0.49,146.0,357.1,14.3,412,13102,0.00,2.50,0.00,0.000,6,0.000,0.053,2206,2297,2133,0,0,0,0,0,0
$GC,13407,0.49,146.0,317.3,12.8,422,13411,0.00,2.65,0.00,0.000,4,0.000,0.060,2219,713,2133,0,0,0,0,0,0
$GC,13459,0.49,146.0,311.3,11.3,423,13463,0.00,2.75,0.00,0.000,6,0.000,0.057,2219,2306,2133,0,0,0,0,0,0
$GC,13791,0.49,146.0,269.8,12.4,434,13795,0.00,2.47,0.00,0.000,4,0.000,0.067,2219,3878,2133,0,0,0,0,0,0
$GC,13808,0.49,146.0,267.4,13.1,434,13812,0.17,2.45,0.00,0.000,6,0.169,0.053,2183,2305,2132,0,0,0,0,0,0
$GC,14013,0.49,146.0,246.1,10.3,441,14017,0.00,2.67,0.00,0.000,4,0.000,0.060,2193,707,2132,0,0,0,0,0,0
$GC,14051,0.49,146.0,241.7,9.7,442,14055,0.00,2.75,0.00,0.000,6,0.000,0.058,2193,2306,2132,0,0,0,0,0,0
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$STATE,16404,end climb,SURFACE_DEPTH_REACHED
$STATE,16404,begin surface coast
$FINISH,0.7,1.011766
$STATE,16428,end surface coast,CONTROL_FINISHED_OK
$STATE,16428,begin surface
$SM_CCo,16443,91.28,0.558,1,0,1490,310.06
$SM_GC,1.56,0.00,0.00,91.28,0.000,0.000,0.558,53,2492,1490,-6.18,0.34,310.06
$IRIDIUM_FIX,-1955.00,-7107.06,010999,060600
$TT8_MAMPS,0.048321
$HUMID,38.81
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,18.60
$XPDR_PINGS,5
$24V_AH,22.6,35.000
$10V_AH,10.3,29.356
$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,15.325,229.400,293.700,91.275,0.000,29.403,31.739,217.992,23.750,0.000,11.490,0.000,12440.385,544.121,3290.922,654.396,0.000,1723.505,0.000,2795.503,0.000,141.584,0.000
$DEVICE_MAMPS,240.838,71.331,1355.289,557.609,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil
$SENSOR_SECS,549.414,570.089,1276.865,290.174,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$MEM,345420
$DATA_FILE_SIZE,47590,767
$CAP_FILE_SIZE,182948,0
$CFSIZE,260165632,201293824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,070610,155007,-2005.460,-7110.583,32,1.0,32,-1.9