version: 66.06
glider: 146
mission: 5
dive: 316
start: 10 2 110 17 54 59
data:
$ID,146
$MISSION,5
$DIVE,316
$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,-253528.11
$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,41
$R_STBD_OVSHOOT,45
$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
$GPS1,174346,2256.760,-15753.219,13,2.4,32,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-62.7
$GPS2,175406,2256.658,-15753.238,35,1.0,39,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,-0.070
$KALMAN_X,-301295.4,-108.6,242.1,331050.3,29.0
$KALMAN_Y,-447758.9,-159.1,-192.9,589010.2,-966.4
$MHEAD_RNG_PITCHd_Wd,97.1,23858,-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,-116.8,0.0,0.0,0,135,0.00,0.00,-115.72,0.000,6,0.000,0.000,477,1744,3480,0,0,0,0,0,0
$GC,138,-1.38,-116.8,4.7,-9.9,15,156,11.18,2.55,0.00,0.000,4,0.137,0.028,2690,3356,3481,0,0,0,0,0,0
$GC,169,-0.17,-116.8,17.6,-38.6,18,179,1.17,2.58,0.00,0.000,6,0.072,0.037,2958,1790,3481,0,0,0,0,0,0
$GC,474,-0.82,-116.8,37.8,-5.4,54,480,0.55,2.67,0.00,0.000,4,0.047,0.054,2814,192,3482,0,0,0,0,0,0
$GC,513,-1.02,-116.8,40.8,-7.3,56,522,0.12,2.45,0.00,0.000,6,0.036,0.016,2762,1793,3482,0,0,0,0,0,0
$GC,780,-1.02,-116.8,70.3,-12.1,81,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1793,3481,0,0,0,0,0,0
$GC,1043,-1.08,-116.8,98.6,-10.1,106,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1793,3482,0,0,0,0,0,0
$GC,1296,-1.15,-116.8,125.0,-10.6,130,1301,0.00,2.70,0.00,0.000,4,0.000,0.062,2761,188,3482,0,0,0,0,0,0
$GC,1318,-1.22,-116.8,126.9,-11.3,131,1323,0.12,2.35,0.00,0.000,6,0.075,0.024,2721,1763,3482,0,0,0,0,0,0
$GC,1579,-1.22,-116.8,158.3,-10.8,155,1583,0.00,2.42,0.00,0.000,4,0.000,0.030,2720,3322,3482,0,0,0,0,0,0
$GC,1597,-1.22,-116.8,160.0,-10.9,156,1601,0.00,2.50,0.00,0.000,6,0.000,0.031,2720,1748,3483,0,0,0,0,0,0
$GC,1861,-1.22,-116.8,188.0,-10.6,180,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1748,3482,0,0,0,0,0,0
$GC,2137,-1.22,-116.8,217.6,-10.7,195,2142,0.00,2.47,0.00,0.000,4,0.000,0.025,2720,3315,3482,0,0,0,0,0,0
$GC,2172,-1.29,-116.8,221.6,-11.7,195,2178,0.00,2.50,0.00,0.000,6,0.000,0.035,2721,1759,3483,0,0,0,0,0,0
$GC,2422,-1.33,-116.8,248.9,-10.9,202,2427,0.00,2.67,0.00,0.000,4,0.000,0.074,2720,190,3482,0,0,0,0,0,0
$GC,2455,-1.33,-116.8,252.9,-12.1,202,2461,0.00,2.35,0.00,0.000,6,0.000,0.024,2720,1746,3482,0,0,0,0,0,0
$GC,2708,-1.38,-116.8,277.7,-9.8,209,2712,0.00,2.53,0.00,0.000,4,0.000,0.035,2720,3339,3481,0,0,0,0,0,0
$GC,2741,-1.47,-116.8,281.2,-9.0,209,2747,0.17,2.55,0.00,0.000,6,0.058,0.040,2663,1760,3481,0,0,0,0,0,0
$GC,2991,-1.42,-116.8,309.0,-11.2,216,2996,0.12,2.55,0.00,0.000,4,0.113,0.038,2689,3335,3480,0,0,0,0,0,0
$GC,3020,-1.42,-116.8,311.8,-9.8,216,3024,0.00,2.60,0.00,0.000,6,0.000,0.041,2689,1761,3480,0,0,0,0,0,0
$GC,3270,-1.42,-116.8,334.6,-8.9,222,3274,0.00,2.80,0.00,0.000,4,0.000,0.092,2689,186,3480,0,0,0,0,0,0
$GC,3286,-1.42,-116.8,336.1,-9.0,222,3290,0.00,2.42,0.00,0.000,6,0.000,0.026,2689,1742,3480,0,0,0,0,0,0
$GC,3547,-1.42,-116.8,362.4,-10.4,229,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1742,3479,0,0,0,0,0,0
$GC,3790,-1.46,-116.8,388.6,-10.6,235,3795,0.00,2.62,0.00,0.000,4,0.000,0.051,2689,3347,3477,0,0,0,0,0,0
$GC,3824,-1.52,-116.8,392.0,-9.8,235,3830,0.00,2.67,0.00,0.000,6,0.000,0.056,2689,1763,3477,0,0,0,0,0,0
$GC,4076,-1.57,-116.8,415.1,-9.4,242,4078,0.12,0.00,0.00,0.000,6,0.214,0.000,2650,1763,3476,0,0,0,0,0,0
$GC,4317,-1.57,-116.8,440.5,-10.4,248,4321,0.00,2.60,0.00,0.000,4,0.000,0.044,2650,3342,3474,0,0,0,0,0,0
$GC,4338,-1.57,-116.8,442.8,-10.1,248,4343,0.00,2.67,0.00,0.000,6,0.000,0.058,2650,1765,3474,0,0,0,0,0,0
$GC,4594,-1.57,-116.8,469.9,-10.6,255,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1765,3472,0,0,0,0,0,0
$GC,4839,-1.57,-116.8,497.8,-11.6,261,4843,0.00,2.62,0.00,0.000,4,0.000,0.058,2650,3338,3469,0,0,0,0,0,0
$GC,4856,-1.57,-116.8,499.9,-11.6,261,4860,0.00,2.10,0.00,0.000,3,0.000,0.053,2650,2097,3469,0,0,0,0,0,0
$STATE,4861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4861,begin apogee
$GC,4867,-0.31,0.0,500.6,11.6,261,4967,1.23,0.00,95.95,0.913,6,0.081,0.000,2926,1812,3001,0,0,0,0,0,0
$STATE,4967,end apogee,CONTROL_FINISHED_OK
$STATE,4968,begin climb
$GC,4972,1.38,116.8,504.4,0.0,264,5077,1.60,0.00,101.20,0.891,6,0.050,0.000,3308,1812,2524,0,0,0,0,0,0
$GC,5287,1.29,144.6,486.9,8.4,272,5317,0.15,2.72,24.00,0.851,4,0.130,0.051,3281,3396,2410,0,0,0,0,0,0
$GC,5372,1.24,144.6,479.4,10.4,274,5376,0.00,2.70,0.00,0.000,6,0.000,0.061,3280,1836,2406,0,0,0,0,0,0
$GC,5655,1.20,151.6,452.1,9.6,281,5669,0.00,2.67,6.57,0.703,4,0.000,0.046,3280,3400,2381,0,0,0,0,0,0
$GC,5687,1.15,156.9,449.0,9.7,281,5698,0.15,2.70,6.18,0.685,6,0.136,0.054,3252,1830,2361,0,0,0,0,0,0
$GC,5943,1.18,182.7,426.7,8.5,288,5972,0.00,2.65,24.08,0.843,4,0.000,0.038,3251,3398,2255,0,0,0,0,0,0
$GC,6070,1.26,212.9,415.4,8.3,290,6105,0.10,2.65,27.88,0.838,6,0.096,0.050,3277,1849,2131,0,0,0,0,0,0
$GC,6364,1.26,216.1,387.5,9.9,298,6369,0.00,2.95,0.00,0.000,4,0.000,0.091,3277,229,2124,0,0,0,0,0,0
$GC,6397,1.18,216.1,383.4,12.4,298,6402,0.00,2.60,0.00,0.000,6,0.000,0.027,3277,1853,2123,0,0,0,0,0,0
$GC,6648,1.19,224.7,359.2,9.5,305,6663,0.00,2.55,10.00,0.749,4,0.000,0.038,3277,3400,2085,0,0,0,0,0,0
$GC,6697,1.23,224.7,354.1,10.8,306,6701,0.00,2.60,0.00,0.000,6,0.000,0.041,3277,1850,2082,0,0,0,0,0,0
$GC,6970,1.25,235.8,328.3,9.4,313,6983,0.00,0.00,11.07,0.746,6,0.000,0.000,3277,1849,2040,0,0,0,0,0,0
$GC,7215,1.25,237.2,303.9,10.0,319,7220,0.00,2.85,0.00,0.000,4,0.000,0.079,3277,234,2035,0,0,0,0,0,0
$GC,7255,1.20,237.2,299.3,12.3,320,7259,0.00,2.62,0.00,0.000,6,0.000,0.022,3277,1882,2033,0,0,0,0,0,0
$GC,7538,1.20,237.2,269.3,10.7,327,7542,0.00,2.45,0.00,0.000,4,0.000,0.038,3277,3400,2032,0,0,0,0,0,0
$GC,7623,1.28,237.2,260.2,10.6,329,7628,0.00,2.50,0.00,0.000,6,0.000,0.039,3277,1868,2031,0,0,0,0,0,0
$GC,7908,1.34,252.2,233.1,9.2,336,7924,0.00,0.00,14.75,0.706,6,0.000,0.000,3277,1868,1973,0,0,0,0,0,0
$GC,8152,1.39,252.2,207.3,10.8,342,8158,0.10,2.83,0.00,0.000,4,0.097,0.067,3304,237,1970,0,0,0,0,0,0
$GC,8197,1.33,252.2,201.6,13.4,343,8201,0.00,2.62,0.00,0.000,6,0.000,0.027,3304,1897,1968,0,0,0,0,0,0
$GC,8467,1.33,252.2,171.9,10.9,366,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1898,1968,0,0,0,0,0,0
$GC,8732,1.34,263.6,146.1,9.4,391,8748,0.00,2.42,11.07,0.613,4,0.000,0.035,3304,3401,1924,0,0,0,0,0,0
$GC,8790,1.41,263.6,139.8,10.1,395,8795,0.00,2.50,0.00,0.000,6,0.000,0.038,3304,1875,1923,0,0,0,0,0,0
$GC,9054,1.46,269.7,115.7,9.7,420,9069,0.00,2.47,6.53,0.528,4,0.000,0.028,3304,3396,1901,0,0,0,0,0,0
$GC,9075,1.51,269.7,113.2,10.2,421,9081,0.10,2.45,0.00,0.000,6,0.099,0.031,3332,1888,1900,0,0,0,0,0,0
$GC,9339,1.53,285.9,86.1,9.1,446,9363,0.00,2.53,15.32,0.578,4,0.000,0.028,3332,3423,1834,0,0,0,0,0,0
$GC,9381,1.60,298.6,82.4,9.3,449,9405,0.00,2.50,12.23,0.555,6,0.000,0.038,3332,1878,1782,0,0,0,0,0,0
$GC,9662,1.65,313.5,56.9,9.2,475,9682,0.12,0.00,14.02,0.543,6,0.088,0.000,3367,1878,1720,0,0,0,0,0,0
$GC,9950,1.65,313.5,23.1,12.3,505,9959,0.00,2.47,0.00,0.000,4,0.000,0.028,3367,3405,1717,0,0,0,0,0,0
$GC,9991,1.65,313.5,17.4,12.8,510,10001,0.00,2.47,0.00,0.000,6,0.000,0.033,3367,1897,1717,0,0,0,0,0,0
$STATE,10103,end climb,SURFACE_DEPTH_REACHED
$STATE,10103,begin surface coast
$FINISH,0.5,1.023260
$STATE,10147,end surface coast,CONTROL_FINISHED_OK
$STATE,10148,begin surface
$SM_CCo,10171,92.43,0.467,1,0,1287,420.20
$SM_GC,1.09,0.00,0.00,92.43,0.000,0.000,0.467,477,1760,1287,-11.61,-0.28,420.20
$IRIDIUM_FIX,2246.36,-15751.06,271299,171739
$TT8_MAMPS,0.025311
$HUMID,48.11
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.80
$XPDR_PINGS,48
$24V_AH,23.5,44.720
$10V_AH,10.2,44.015
$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,28.975,124.200,380.850,92.425,0.000,61.476,66.483,265.191,12.000,0.000,40.615,1052.553,6543.878,586.924,2008.408,697.135,33.361,1322.079,0.000,1993.745,0.000,0.536,0.000
$DEVICE_MAMPS,213.993,97.409,912.730,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.204,315.530,418.712,832.322,1261.381,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,41689,532
$CAP_FILE_SIZE,112238,0
$CFSIZE,260165632,163360768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021010,204725,2255.367,-15752.000,37,1.5,37,10.1