version: 66.06
glider: 146
mission: 5
dive: 315
start: 10 2 110 14 56 27
data:
$ID,146
$MISSION,5
$DIVE,315
$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,619.13721
$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,-253486.88
$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,36
$R_STBD_OVSHOOT,47
$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
$GPS1,143807,2258.015,-15754.843,27,2.0,27,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.0
$GPS2,145534,2257.869,-15754.827,9,2.4,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.226,-0.063
$KALMAN_X,-301627.8,-175.7,165.3,328791.9,118.3
$KALMAN_Y,-446449.8,-214.4,153.4,589650.3,-1131.7
$MHEAD_RNG_PITCHd_Wd,95.6,27373,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,100,0.00,0.00,-78.00,0.000,2,0.000,0.000,475,1757,3232,0,0,0,0,0,0
$GC,103,-1.38,-116.8,3.0,-5.6,10,129,11.12,2.67,-4.80,0.000,4,0.134,0.066,2691,202,3479,0,0,0,0,0,0
$GC,154,-1.04,-116.8,18.6,-27.8,16,163,0.35,2.45,0.00,0.000,6,0.082,0.016,2771,1788,3480,0,0,0,0,0,0
$GC,433,-1.04,-116.8,55.8,-11.5,45,437,0.00,2.40,0.00,0.000,4,0.000,0.024,2771,3334,3480,0,0,0,0,0,0
$GC,454,-1.04,-116.8,58.3,-11.7,46,459,0.00,2.47,0.00,0.000,6,0.000,0.028,2771,1782,3480,0,0,0,0,0,0
$GC,719,-1.09,-116.8,90.4,-11.9,70,723,0.00,2.70,0.00,0.000,4,0.000,0.057,2770,190,3480,0,0,0,0,0,0
$GC,763,-1.15,-116.8,95.4,-11.8,73,767,0.00,2.40,0.00,0.000,6,0.000,0.015,2771,1781,3480,0,0,0,0,0,0
$GC,1031,-1.24,-116.8,123.6,-10.3,97,1036,0.17,2.70,0.00,0.000,4,0.061,0.062,2716,188,3481,0,0,0,0,0,0
$GC,1063,-1.24,-116.8,127.9,-13.9,99,1067,0.00,2.35,0.00,0.000,6,0.000,0.023,2716,1758,3481,0,0,0,0,0,0
$GC,1327,-1.24,-116.8,160.2,-12.3,123,1331,0.00,2.42,0.00,0.000,4,0.000,0.030,2716,3309,3481,0,0,0,0,0,0
$GC,1367,-1.30,-116.8,164.9,-10.3,126,1371,0.00,2.47,0.00,0.000,6,0.000,0.028,2716,1751,3482,0,0,0,0,0,0
$GC,1630,-1.30,-116.8,191.7,-9.7,150,1634,0.00,2.45,0.00,0.000,4,0.000,0.030,2716,3307,3481,0,0,0,0,0,0
$GC,1653,-1.30,-116.8,193.5,-9.2,151,1658,0.00,2.45,0.00,0.000,6,0.000,0.031,2716,1760,3481,0,0,0,0,0,0
$GC,1927,-1.30,-116.8,220.9,-9.7,162,1931,0.00,2.65,0.00,0.000,4,0.000,0.066,2716,198,3481,0,0,0,0,0,0
$GC,1959,-1.30,-116.8,224.5,-11.4,162,1965,0.00,2.35,0.00,0.000,6,0.000,0.023,2716,1755,3481,0,0,0,0,0,0
$GC,2211,-1.34,-116.8,248.8,-10.1,169,2215,0.00,2.45,0.00,0.000,4,0.000,0.033,2716,3320,3481,0,0,0,0,0,0
$GC,2244,-1.41,-116.8,252.0,-8.7,169,2250,0.10,2.50,0.00,0.000,6,0.081,0.031,2674,1761,3481,0,0,0,0,0,0
$GC,2493,-1.41,-116.8,281.0,-11.9,176,2498,0.00,2.72,0.00,0.000,4,0.000,0.078,2673,195,3480,0,0,0,0,0,0
$GC,2511,-1.35,-116.8,283.0,-11.9,176,2516,0.15,2.35,0.00,0.000,6,0.106,0.023,2705,1738,3480,0,0,0,0,0,0
$GC,2772,-1.39,-116.8,310.8,-10.5,183,2776,0.00,2.55,0.00,0.000,4,0.000,0.038,2705,3335,3480,0,0,0,0,0,0
$GC,2805,-1.47,-116.8,314.8,-11.3,183,2811,0.12,2.60,0.00,0.000,6,0.069,0.044,2657,1767,3479,0,0,0,0,0,0
$GC,3056,-1.43,-116.8,347.2,-12.9,190,3058,0.15,0.00,0.00,0.000,6,0.107,0.000,2688,1767,3479,0,0,0,0,0,0
$GC,3298,-1.43,-116.8,371.9,-9.6,196,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1767,3478,0,0,0,0,0,0
$GC,3543,-1.46,-116.8,395.6,-9.7,202,3547,0.00,2.58,0.00,0.000,4,0.000,0.048,2688,3332,3476,0,0,0,0,0,0
$GC,3572,-1.52,-116.8,398.4,-10.0,202,3576,0.00,2.62,0.00,0.000,6,0.000,0.054,2688,1779,3476,0,0,0,0,0,0
$GC,3822,-1.57,-116.8,422.9,-9.5,208,3828,0.12,2.97,0.00,0.000,4,0.078,0.104,2648,182,3474,0,0,0,0,0,0
$GC,3839,-1.57,-116.8,425.0,-9.8,208,3843,0.00,2.50,0.00,0.000,6,0.000,0.030,2648,1744,3474,0,0,0,0,0,0
$GC,4101,-1.57,-116.8,453.7,-11.1,215,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1744,3472,0,0,0,0,0,0
$GC,4343,-1.57,-116.8,482.0,-11.8,221,4347,0.00,2.75,0.00,0.000,4,0.000,0.067,2648,3361,3470,0,0,0,0,0,0
$GC,4414,-1.57,-116.8,490.7,-11.4,222,4419,0.00,2.72,0.00,0.000,6,0.000,0.061,2648,1774,3470,0,0,0,0,0,0
$STATE,4500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4500,begin apogee
$GC,4507,-0.31,0.0,500.6,11.5,224,4607,1.25,0.00,95.85,0.910,6,0.078,0.000,2930,1852,3001,0,0,0,0,0,0
$STATE,4608,end apogee,CONTROL_FINISHED_OK
$STATE,4608,begin climb
$GC,4610,1.38,116.8,503.6,0.0,226,4715,1.58,0.00,100.70,0.886,6,0.050,0.000,3307,1852,2524,0,0,0,0,0,0
$GC,4948,1.29,149.3,484.9,8.2,235,4983,0.12,2.62,27.73,0.856,4,0.130,0.050,3284,3369,2391,0,0,0,0,0,0
$GC,5024,1.27,166.8,478.2,9.0,236,5046,0.00,2.67,16.70,0.821,6,0.000,0.058,3284,1823,2320,0,0,0,0,0,0
$GC,5323,1.22,172.8,449.6,9.7,244,5333,0.00,2.58,5.57,0.663,4,0.000,0.040,3284,3373,2296,0,0,0,0,0,0
$GC,5417,1.23,183.3,439.7,9.4,246,5434,0.00,2.62,10.95,0.786,6,0.000,0.056,3284,1838,2253,0,0,0,0,0,0
$GC,5689,1.23,183.3,412.5,10.1,253,5693,0.00,2.50,0.00,0.000,4,0.000,0.038,3284,3378,2248,0,0,0,0,0,0
$GC,5706,1.24,185.3,410.8,9.9,253,5711,0.00,2.62,0.00,0.000,6,0.000,0.054,3284,1833,2247,0,0,0,0,0,0
$GC,5967,1.25,198.4,385.8,9.3,260,5987,0.00,2.60,13.60,0.796,4,0.000,0.040,3284,3376,2191,0,0,0,0,0,0
$GC,6032,1.25,198.4,379.4,10.3,261,6037,0.00,2.60,0.00,0.000,6,0.000,0.044,3284,1840,2189,0,0,0,0,0,0
$GC,6295,1.25,198.4,352.8,10.3,268,6299,0.00,2.50,0.00,0.000,4,0.000,0.038,3284,3378,2187,0,0,0,0,0,0
$GC,6356,1.26,202.6,346.5,9.8,269,6365,0.00,2.55,4.60,0.590,6,0.000,0.043,3284,1844,2174,0,0,0,0,0,0
$GC,6617,1.27,214.8,322.4,9.3,276,6637,0.00,2.58,12.18,0.758,4,0.000,0.034,3284,3378,2125,0,0,0,0,0,0
$GC,6682,1.27,215.0,316.0,10.0,277,6687,0.00,2.50,0.00,0.000,6,0.000,0.037,3284,1857,2124,0,0,0,0,0,0
$GC,6944,1.27,215.2,290.3,10.0,284,6948,0.00,2.85,0.00,0.000,4,0.000,0.074,3283,235,2121,0,0,0,0,0,0
$GC,6968,1.27,215.2,287.7,11.8,284,6972,0.00,2.58,0.00,0.000,6,0.000,0.021,3283,1858,2120,0,0,0,0,0,0
$GC,7223,1.28,221.5,262.1,9.7,291,7236,0.00,2.55,6.88,0.650,4,0.000,0.039,3283,3393,2096,0,0,0,0,0,0
$GC,7260,1.30,240.4,258.7,8.9,291,7284,0.00,2.53,18.10,0.734,6,0.000,0.041,3284,1863,2020,0,0,0,0,0,0
$GC,7553,1.34,268.8,233.5,8.4,299,7585,0.00,2.50,26.23,0.724,4,0.000,0.031,3284,3393,1902,0,0,0,0,0,0
$GC,7596,1.42,295.1,229.8,8.5,300,7626,0.10,2.50,23.98,0.704,6,0.102,0.034,3309,1874,1797,0,0,0,0,0,0
$GC,7878,1.42,295.1,199.9,10.9,307,7882,0.00,2.85,0.00,0.000,4,0.000,0.065,3309,234,1789,0,0,0,0,0,0
$GC,7899,1.38,295.1,197.0,12.3,308,7905,0.00,2.62,0.00,0.000,6,0.000,0.021,3309,1890,1789,0,0,0,0,0,0
$GC,8161,1.38,295.1,165.9,12.3,333,8166,0.00,2.40,0.00,0.000,4,0.000,0.036,3309,3394,1788,0,0,0,0,0,0
$GC,8207,1.44,295.1,159.7,12.7,336,8216,0.00,2.50,0.00,0.000,6,0.000,0.041,3309,1882,1787,0,0,0,0,0,0
$GC,8473,1.44,295.1,129.7,11.2,361,8477,0.00,2.42,0.00,0.000,4,0.000,0.028,3309,3400,1786,0,0,0,0,0,0
$GC,8506,1.51,295.1,125.9,12.2,363,8511,0.00,2.47,0.00,0.000,6,0.000,0.033,3309,1878,1786,0,0,0,0,0,0
$GC,8773,1.57,305.7,98.6,9.4,387,8792,0.15,0.00,8.98,0.551,6,0.087,0.000,3348,1878,1753,0,0,0,0,0,0
$GC,9050,1.57,305.7,69.4,10.2,413,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1878,1752,0,0,0,0,0,0
$GC,9314,1.57,305.7,40.7,10.3,438,9319,0.00,2.40,0.00,0.000,4,0.000,0.028,3348,3397,1752,0,0,0,0,0,0
$GC,9350,1.61,305.7,36.8,11.9,440,9354,0.00,2.45,0.00,0.000,6,0.000,0.033,3348,1875,1751,0,0,0,0,0,0
$STATE,9631,end climb,SURFACE_DEPTH_REACHED
$STATE,9631,begin surface coast
$FINISH,0.4,1.020312
$STATE,9680,end surface coast,CONTROL_FINISHED_OK
$STATE,9680,begin surface
$SM_CCo,9703,256.88,0.497,1,0,477,619.14
$SM_GC,0.83,0.00,0.00,256.88,0.000,0.000,0.497,477,1744,477,-11.61,-0.74,619.14
$IRIDIUM_FIX,2248.70,-15753.23,271299,141438
$TT8_MAMPS,0.025311
$HUMID,46.41
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.80
$XPDR_PINGS,46
$24V_AH,23.5,44.597
$10V_AH,10.2,43.890
$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,27.075,133.100,372.025,256.875,0.000,150.718,205.940,280.480,11.500,0.000,30.811,995.834,6512.985,726.476,1831.064,947.721,33.371,1397.902,0.000,1822.276,0.000,0.536,0.000
$DEVICE_MAMPS,134.225,109.681,910.429,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.432,272.333,372.324,715.713,1082.537,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38560,484
$CAP_FILE_SIZE,113159,0
$CFSIZE,260165632,163414016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021010,174346,2256.760,-15753.219,13,2.4,32,10.1