version: 66.06
glider: 157
mission: 5
dive: 404
start: 7 2 110 1 42 28
data:
$ID,157
$MISSION,5
$DIVE,404
$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,660
$T_MISSION,825
$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,-41373.082
$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,2310
$C_ROLL_CLIMB,2285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2860
$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
$GPS1,013507,-2004.010,-7036.618,29,0.8,29,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.4
$GPS2,014220,-2004.022,-7036.599,13,1.5,13,-2.3
$SPEED_LIMITS,0.087,0.200
$TGT_NAME,IQm1i
$TGT_LATLONG,-2005.000,-7036.000
$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,152.4,2090,-26.1,-5.000
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.70,-22.4,0.0,0.0,0,59,0.00,0.00,-43.83,0.000,2,0.000,0.000,52,2321,2599,0,0,0,0,0,0
$GC,61,-0.71,-30.0,3.0,-3.9,9,84,6.97,2.22,-11.30,0.000,4,0.235,0.076,1795,3882,2984,0,0,0,0,0,0
$GC,112,-0.71,-30.0,10.1,-11.7,19,116,0.00,2.15,0.00,0.000,6,0.000,0.046,1802,2309,2985,0,0,0,0,0,0
$GC,182,-0.71,-30.0,26.0,-22.9,35,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2309,2985,0,0,0,0,0,0
$GC,251,-0.71,-30.0,41.4,-21.9,51,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2308,2986,0,0,0,0,0,0
$GC,325,-0.71,-30.0,56.0,-19.9,67,330,0.00,2.95,0.00,0.000,4,0.000,0.050,1808,730,2987,0,0,0,0,0,0
$GC,405,-0.71,-30.0,69.8,-17.0,85,410,0.00,3.08,0.00,0.000,6,0.000,0.054,1797,2326,2987,0,0,0,0,0,0
$GC,475,-0.71,-30.0,83.4,-19.2,101,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2326,2987,0,0,0,0,0,0
$GC,545,-0.71,-30.0,96.4,-18.8,117,552,0.00,2.12,0.00,0.000,4,0.000,0.061,1787,3872,2987,0,0,0,0,0,0
$GC,603,-0.71,-30.0,107.3,-18.9,125,608,0.00,2.10,0.00,0.000,6,0.000,0.042,1788,2299,2987,0,0,0,0,0,0
$GC,736,-0.71,-30.0,130.8,-18.6,141,743,0.00,2.90,0.00,0.000,4,0.000,0.048,1794,727,2988,0,0,0,0,0,0
$GC,835,-0.71,-30.0,147.8,-15.9,152,841,0.00,3.05,0.00,0.000,6,0.000,0.053,1783,2305,2988,0,0,0,0,0,0
$GC,978,-0.71,-30.0,173.5,-18.2,158,979,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2305,2988,0,0,0,0,0,0
$GC,1172,-0.71,-30.0,209.4,-18.6,164,1176,0.00,2.97,0.00,0.000,4,0.000,0.046,1783,726,2988,0,0,0,0,0,0
$GC,1250,-0.71,-30.0,223.1,-16.9,166,1256,0.15,3.08,0.00,0.000,6,0.195,0.052,1807,2312,2989,0,0,0,0,0,0
$GC,1471,-0.71,-30.0,259.1,-16.3,173,1477,0.00,2.97,0.00,0.000,4,0.000,0.048,1808,722,2989,0,0,0,0,0,0
$GC,1522,-0.71,-30.0,267.4,-15.4,174,1528,0.00,3.08,0.00,0.000,6,0.000,0.051,1797,2323,2989,0,0,0,0,0,0
$GC,1739,-0.71,-30.0,303.2,-16.8,181,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2323,2989,0,0,0,0,0,0
$GC,2060,-0.71,-30.0,356.3,-16.4,186,2066,0.00,3.00,0.00,0.000,4,0.000,0.046,1797,728,2989,0,0,0,0,0,0
$GC,2210,-0.71,-30.0,379.1,-15.1,188,2216,0.00,3.05,0.00,0.000,6,0.000,0.054,1784,2311,2989,0,0,0,0,0,0
$GC,2528,-0.71,-30.0,427.9,-15.7,193,2534,0.00,3.00,0.00,0.000,4,0.000,0.048,1784,719,2989,0,0,0,0,0,0
$GC,2695,-0.71,-30.0,454.3,-15.0,195,2702,0.15,3.10,0.00,0.000,6,0.193,0.054,1808,2313,2989,0,0,0,0,0,0
$GC,3059,-0.71,-30.0,503.4,-13.7,201,3064,0.00,3.00,0.00,0.000,4,0.000,0.049,1808,732,2987,0,0,0,0,0,0
$GC,3177,-0.71,-30.0,519.4,-14.0,202,3184,0.00,3.05,0.00,0.000,6,0.000,0.056,1797,2317,2987,0,0,0,0,0,0
$GC,3522,-0.71,-30.0,571.8,-15.4,208,3528,0.00,3.00,0.00,0.000,4,0.000,0.050,1797,724,2986,0,0,0,0,0,0
$GC,3569,-0.71,-30.0,579.3,-14.1,208,3578,0.00,3.10,0.00,0.000,6,0.000,0.056,1784,2323,2986,0,0,0,0,0,0
$GC,3890,-0.71,-30.0,620.0,-12.4,213,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2323,2985,0,0,0,0,0,0
$GC,4307,-0.71,-30.0,676.4,-13.6,217,4313,0.00,3.03,0.00,0.000,4,0.000,0.055,1784,728,2983,0,0,0,0,0,0
$GC,4418,-0.71,-30.0,688.1,-13.0,218,4424,0.15,3.10,0.00,0.000,6,0.196,0.058,1807,2316,2983,0,0,0,0,0,0
$GC,4843,-0.71,-30.0,739.6,-12.1,222,4849,0.00,3.03,0.00,0.000,4,0.000,0.056,1807,722,2981,0,0,0,0,0,0
$GC,4908,-0.71,-30.0,747.3,-11.8,222,4914,0.00,3.10,0.00,0.000,6,0.000,0.059,1796,2315,2981,0,0,0,0,0,0
$GC,5373,-0.71,-30.0,807.4,-12.9,227,5379,0.00,3.00,0.00,0.000,4,0.000,0.056,1796,725,2980,0,0,0,0,0,0
$GC,5474,-0.71,-30.0,820.9,-13.6,227,5480,0.00,3.15,0.00,0.000,6,0.000,0.061,1783,2316,2979,0,0,0,0,0,0
$GC,5904,-0.71,-30.0,878.6,-13.5,232,5910,0.00,3.00,0.00,0.000,4,0.000,0.058,1782,732,2977,0,0,0,0,0,0
$GC,5987,-0.71,-30.0,889.1,-12.7,232,5996,0.15,3.10,0.00,0.000,6,0.198,0.059,1806,2318,2977,0,0,0,0,0,0
$GC,6436,-0.71,-30.0,941.5,-11.7,237,6443,0.00,3.03,0.00,0.000,4,0.000,0.057,1805,723,2976,0,0,0,0,0,0
$GC,6474,-0.71,-30.0,945.7,-11.9,237,6480,0.00,3.12,0.00,0.000,6,0.000,0.061,1795,2323,2976,0,0,0,0,0,0
$STATE,6864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6864,begin apogee
$GC,6869,-0.13,0.0,990.7,11.5,241,6898,0.70,0.00,26.08,1.322,6,0.175,0.000,1992,2323,2859,0,0,0,0,0,0
$STATE,6898,end apogee,CONTROL_FINISHED_OK
$STATE,6898,begin climb
$GC,6900,0.71,30.0,990.7,0.0,241,6932,0.73,0.00,27.50,1.299,6,0.061,0.000,2271,2323,2736,0,0,0,0,0,0
$GC,7324,0.79,95.3,1006.6,-4.8,245,7383,0.00,0.00,57.10,1.312,6,0.000,0.000,2271,2322,2470,0,0,0,0,0,0
$GC,7850,0.79,95.3,964.8,10.1,250,7856,0.00,3.12,0.00,0.000,4,0.000,0.061,2274,707,2460,0,0,0,0,0,0
$GC,8062,0.79,95.3,952.0,11.9,251,8068,0.00,3.10,0.00,0.000,6,0.000,0.056,2269,2292,2459,0,0,0,0,0,0
$GC,8492,0.79,95.3,899.2,12.3,256,8498,0.00,3.03,0.00,0.000,4,0.000,0.056,2281,711,2459,0,0,0,0,0,0
$GC,8581,0.79,95.3,889.1,10.0,256,8587,0.00,3.08,0.00,0.000,6,0.000,0.059,2281,2285,2458,0,0,0,0,0,0
$GC,9020,0.79,95.3,834.6,12.5,261,9026,0.00,3.05,0.00,0.000,4,0.000,0.058,2294,707,2457,0,0,0,0,0,0
$GC,9114,0.79,95.3,822.9,12.7,261,9120,0.00,3.08,0.00,0.000,6,0.000,0.059,2294,2288,2457,0,0,0,0,0,0
$GC,9548,0.79,95.3,772.0,11.6,266,9554,0.00,3.08,0.00,0.000,4,0.000,0.058,2307,701,2456,0,0,0,0,0,0
$GC,9790,0.79,95.3,744.4,11.4,268,9796,0.00,3.10,0.00,0.000,6,0.000,0.060,2307,2286,2456,0,0,0,0,0,0
$GC,10199,0.79,95.3,701.1,10.1,272,10204,0.00,3.05,0.00,0.000,4,0.000,0.057,2320,702,2454,0,0,0,0,0,0
$GC,10325,0.79,95.3,686.3,11.9,273,10331,0.17,3.12,0.00,0.000,6,0.213,0.060,2278,2298,2454,0,0,0,0,0,0
$GC,10736,0.79,95.3,642.6,10.6,277,10742,0.00,3.05,0.00,0.000,4,0.000,0.056,2290,710,2454,0,0,0,0,0,0
$GC,10900,0.79,95.3,626.5,10.3,278,10906,0.00,3.08,0.00,0.000,6,0.000,0.059,2290,2290,2454,0,0,0,0,0,0
$GC,11274,0.79,95.3,590.7,9.5,282,11280,0.00,3.10,0.00,0.000,4,0.000,0.057,2303,703,2454,0,0,0,0,0,0
$GC,11529,0.79,95.3,568.4,9.1,285,11535,0.00,3.12,0.00,0.000,6,0.000,0.060,2303,2295,2454,0,0,0,0,0,0
$GC,11872,0.79,95.3,536.0,9.2,291,11878,0.00,3.08,0.00,0.000,4,0.000,0.055,2316,704,2454,0,0,0,0,0,0
$GC,11981,0.79,95.3,528.0,8.6,292,11988,0.15,3.12,0.00,0.000,6,0.205,0.058,2280,2291,2454,0,0,0,0,0,0
$GC,12334,0.79,95.3,498.0,8.5,298,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2291,2454,0,0,0,0,0,0
$GC,12654,0.80,104.6,482.9,3.6,303,12665,0.00,3.10,6.28,0.852,4,0.000,0.059,2292,710,2433,0,0,0,0,0,0
$GC,12771,0.86,154.9,480.3,-2.5,304,12823,0.00,3.08,45.20,0.999,6,0.000,0.056,2280,2293,2227,0,0,0,0,0,0
$GC,13180,0.86,154.9,420.9,17.4,311,13186,0.00,3.10,0.00,0.000,4,0.000,0.057,2293,704,2218,0,0,0,0,0,0
$GC,13418,0.86,154.9,384.6,13.0,314,13424,0.00,3.15,0.00,0.000,6,0.000,0.059,2292,2296,2215,0,0,0,0,0,0
$GC,13779,0.86,154.9,328.3,15.5,320,13784,0.00,3.05,0.00,0.000,4,0.000,0.055,2306,710,2215,0,0,0,0,0,0
$GC,13925,0.86,154.9,307.4,13.3,322,13931,0.00,3.10,0.00,0.000,6,0.000,0.057,2306,2300,2213,0,0,0,0,0,0
$GC,14246,0.86,154.9,254.7,16.7,331,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2299,2213,0,0,0,0,0,0
$GC,14439,0.86,154.9,223.0,16.5,337,14442,0.00,2.17,0.00,0.000,4,0.000,0.064,2306,3889,2213,0,0,0,0,0,0
$GC,14456,0.86,154.9,219.6,18.0,337,14459,0.00,2.22,0.00,0.000,6,0.000,0.051,2315,2285,2213,0,0,0,0,0,0
$GC,14659,0.86,154.9,183.3,17.7,344,14665,0.00,2.97,0.00,0.000,4,0.000,0.058,2329,705,2213,0,0,0,0,0,0
$GC,14723,0.86,154.9,172.4,17.0,345,14728,0.00,3.10,0.00,0.000,6,0.000,0.056,2329,2295,2212,0,0,0,0,0,0
$GC,14918,0.86,154.9,136.6,19.0,357,14926,0.00,3.05,0.00,0.000,4,0.000,0.054,2342,698,2212,0,0,0,0,0,0
$GC,14988,0.86,154.9,123.5,17.4,365,14997,0.17,3.08,0.00,0.000,6,0.206,0.055,2299,2289,2212,0,0,0,0,0,0
$GC,15124,0.86,154.9,101.4,15.6,381,15131,0.00,3.08,0.00,0.000,4,0.000,0.054,2311,691,2212,0,0,0,0,0,0
$GC,15210,0.86,154.9,87.8,16.0,399,15216,0.00,3.15,0.00,0.000,6,0.000,0.056,2311,2292,2212,0,0,0,0,0,0
$GC,15283,0.86,154.9,76.3,15.6,415,15288,0.00,2.17,0.00,0.000,4,0.000,0.063,2311,3887,2212,0,0,0,0,0,0
$GC,15383,0.86,154.9,58.8,17.2,438,15389,0.00,2.22,0.00,0.000,6,0.000,0.049,2319,2283,2212,0,0,0,0,0,0
$GC,15456,0.86,154.9,47.2,15.6,454,15461,0.00,3.00,0.00,0.000,4,0.000,0.055,2333,696,2212,0,0,0,0,0,0
$GC,15487,0.86,154.9,42.4,15.5,461,15492,0.00,3.10,0.00,0.000,6,0.000,0.054,2333,2295,2212,0,0,0,0,0,0
$GC,15557,0.86,154.9,33.9,12.1,477,15563,0.00,3.08,0.00,0.000,4,0.000,0.052,2346,699,2212,0,0,0,0,0,0
$GC,15568,0.86,154.9,32.4,12.0,479,15573,0.17,3.10,0.00,0.000,6,0.202,0.054,2304,2295,2212,0,0,0,0,0,0
$GC,15638,0.86,154.9,24.7,11.1,495,15644,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2294,2212,0,0,0,0,0,0
$GC,15710,0.86,154.9,17.1,10.1,511,15715,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2294,2212,0,0,0,0,0,0
$GC,15779,0.86,154.9,9.9,10.0,527,15783,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2294,2212,0,0,0,0,0,0
$STATE,15842,end climb,SURFACE_DEPTH_REACHED
$STATE,15842,begin surface coast
$FINISH,0.7,1.003824
$STATE,15868,end surface coast,CONTROL_FINISHED_OK
$STATE,15868,begin surface
$SM_CCo,15883,130.70,0.605,1,0,1596,310.06
$SM_GC,1.62,0.00,0.00,130.70,0.000,0.000,0.605,39,2298,1596,-6.22,-0.34,310.06
$IRIDIUM_FIX,-1959.59,-7042.38,250999,181818
$TT8_MAMPS,0.048321
$HUMID,39.91
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,21.30
$XPDR_PINGS,2
$24V_AH,23.4,51.615
$10V_AH,10.2,41.414
$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,15.525,195.050,162.150,130.700,0.000,30.570,27.237,213.932,23.000,0.000,15.355,0.000,12448.063,480.271,2861.845,627.820,0.000,1639.689,0.000,2415.536,0.000,139.926,0.000
$DEVICE_MAMPS,234.702,75.933,1322.308,605.163,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil
$SENSOR_SECS,383.062,423.375,506.922,210.124,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$MEM,344820
$DATA_FILE_SIZE,31820,548
$CAP_FILE_SIZE,162726,0
$CFSIZE,260165632,191918080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020710,061031,-2004.818,-7035.935,39,1.3,39,-2.3