version: 66.06
glider: 146
mission: 5
dive: 318
start: 10 2 110 23 45 31
data:
$ID,146
$MISSION,5
$DIVE,318
$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,-253573.94
$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,39
$R_STBD_OVSHOOT,22
$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
$GPS1,233813,2254.448,-15750.698,7,1.5,12,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.2
$GPS2,234436,2254.408,-15750.718,11,1.4,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,-0.090
$KALMAN_X,-301170.3,189.8,-258.8,335468.9,371.5
$KALMAN_Y,-450648.0,-59.0,-35.5,587471.8,-797.5
$MHEAD_RNG_PITCHd_Wd,102.4,17938,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.40,0.000,2,0.000,0.000,475,1739,3219,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.1,-5.0,10,125,11.15,2.62,-5.18,0.000,4,0.135,0.062,2688,200,3480,0,0,0,0,0,0
$GC,176,-1.21,-116.8,22.2,-18.9,20,184,0.17,2.50,0.00,0.000,6,0.096,0.017,2729,1815,3481,0,0,0,0,0,0
$GC,457,-1.13,-116.8,66.3,-15.0,48,462,0.10,2.75,0.00,0.000,4,0.130,0.057,2750,199,3482,0,0,0,0,0,0
$GC,480,-1.06,-116.8,70.3,-14.9,49,484,0.00,2.40,0.00,0.000,6,0.000,0.016,2750,1785,3481,0,0,0,0,0,0
$GC,746,-1.06,-116.8,103.9,-11.1,73,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1785,3482,0,0,0,0,0,0
$GC,1009,-1.12,-116.8,133.5,-11.4,98,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1785,3483,0,0,0,0,0,0
$GC,1262,-1.18,-116.8,161.1,-10.6,122,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1785,3483,0,0,0,0,0,0
$GC,1520,-1.26,-116.8,185.4,-8.1,146,1525,0.10,2.42,0.00,0.000,4,0.081,0.031,2707,3318,3484,0,0,0,0,0,0
$GC,1554,-1.26,-116.8,189.0,-10.0,148,1560,0.00,2.47,0.00,0.000,6,0.000,0.029,2707,1781,3484,0,0,0,0,0,0
$GC,1830,-1.26,-116.8,217.2,-10.4,163,1835,0.00,2.70,0.00,0.000,4,0.000,0.064,2707,194,3484,0,0,0,0,0,0
$GC,1857,-1.26,-116.8,220.3,-11.1,163,1861,0.00,2.38,0.00,0.000,6,0.000,0.023,2707,1776,3484,0,0,0,0,0,0
$GC,2113,-1.26,-116.8,246.4,-10.3,170,2117,0.00,2.75,0.00,0.000,4,0.000,0.070,2707,189,3484,0,0,0,0,0,0
$GC,2139,-1.26,-116.8,249.4,-10.9,170,2143,0.00,2.40,0.00,0.000,6,0.000,0.020,2707,1784,3484,0,0,0,0,0,0
$GC,2391,-1.26,-116.8,276.8,-11.2,176,2395,0.00,2.42,0.00,0.000,4,0.000,0.035,2707,3332,3485,0,0,0,0,0,0
$GC,2464,-1.33,-116.8,285.5,-12.1,177,2469,0.00,2.50,0.00,0.000,6,0.000,0.039,2707,1797,3484,0,0,0,0,0,0
$GC,2716,-1.37,-116.8,312.5,-10.5,183,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1798,3484,0,0,0,0,0,0
$GC,2959,-1.42,-116.8,334.3,-8.5,189,2963,0.00,2.47,0.00,0.000,4,0.000,0.037,2707,3326,3483,0,0,0,0,0,0
$GC,3003,-1.52,-116.8,338.2,-8.5,190,3008,0.15,2.53,0.00,0.000,6,0.064,0.048,2654,1804,3483,0,0,0,0,0,0
$GC,3282,-1.52,-116.8,366.8,-10.2,197,3287,0.00,2.90,0.00,0.000,4,0.000,0.090,2653,183,3482,0,0,0,0,0,0
$GC,3337,-1.46,-116.8,373.4,-11.5,198,3342,0.12,2.50,0.00,0.000,6,0.115,0.027,2679,1763,3482,0,0,0,0,0,0
$GC,3604,-1.46,-116.8,398.9,-9.6,205,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1766,3480,0,0,0,0,0,0
$GC,3849,-1.46,-116.8,423.8,-10.3,211,3853,0.00,2.62,0.00,0.000,4,0.000,0.049,2680,3349,3479,0,0,0,0,0,0
$GC,3881,-1.50,-116.8,427.5,-11.0,211,3887,0.00,2.62,0.00,0.000,6,0.000,0.059,2680,1794,3479,0,0,0,0,0,0
$GC,4131,-1.50,-116.8,452.2,-9.9,218,4136,0.00,2.58,0.00,0.000,4,0.000,0.043,2679,3355,3477,0,0,0,0,0,0
$GC,4166,-1.55,-116.8,455.6,-9.8,218,4171,0.00,2.67,0.00,0.000,6,0.000,0.058,2679,1799,3477,0,0,0,0,0,0
$GC,4416,-1.59,-116.8,480.7,-10.1,225,4422,0.12,3.05,0.00,0.000,4,0.075,0.117,2637,178,3475,0,0,0,0,0,0
$GC,4432,-1.59,-116.8,482.9,-10.6,225,4437,0.00,2.58,0.00,0.000,6,0.000,0.035,2637,1785,3475,0,0,0,0,0,0
$STATE,4569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4569,begin apogee
$GC,4577,-0.31,0.0,500.1,12.3,229,4678,1.33,0.00,96.97,0.912,6,0.081,0.000,2932,1832,3000,0,0,0,0,0,0
$STATE,4679,end apogee,CONTROL_FINISHED_OK
$STATE,4679,begin climb
$GC,4681,1.38,116.8,503.1,0.0,231,4795,1.52,2.80,100.32,0.890,4,0.052,0.066,3305,3396,2523,0,0,0,0,0,0
$GC,4812,1.34,183.4,500.5,6.2,234,4876,0.00,2.70,58.40,0.873,6,0.000,0.053,3305,1819,2251,0,0,0,0,0,0
$GC,5133,1.26,183.4,464.5,12.0,242,5138,0.15,2.62,0.00,0.000,4,0.239,0.041,3276,3397,2241,0,0,0,0,0,0
$GC,5195,1.26,183.4,457.9,10.1,243,5200,0.00,2.70,0.00,0.000,6,0.000,0.055,3276,1825,2240,0,0,0,0,0,0
$GC,5456,1.28,202.2,433.9,9.0,250,5477,0.00,2.62,15.73,0.813,4,0.000,0.042,3276,3400,2175,0,0,0,0,0,0
$GC,5569,1.30,216.0,423.7,9.2,252,5589,0.00,2.67,13.57,0.798,6,0.000,0.053,3276,1839,2119,0,0,0,0,0,0
$GC,5874,1.31,224.2,394.5,9.6,260,5888,0.00,2.62,7.78,0.725,4,0.000,0.034,3276,3404,2086,0,0,0,0,0,0
$GC,5901,1.31,230.0,391.9,9.7,260,5916,0.00,2.67,6.80,0.690,6,0.000,0.052,3276,1837,2063,0,0,0,0,0,0
$GC,6160,1.31,230.0,364.6,10.6,267,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1836,2059,0,0,0,0,0,0
$GC,6404,1.31,230.0,338.5,10.8,273,6408,0.00,2.88,0.00,0.000,4,0.000,0.084,3276,226,2058,0,0,0,0,0,0
$GC,6443,1.25,230.0,334.0,12.4,274,6448,0.00,2.58,0.00,0.000,6,0.000,0.021,3276,1851,2057,0,0,0,0,0,0
$GC,6728,1.26,237.5,305.5,9.6,281,6742,0.00,2.58,7.15,0.680,4,0.000,0.039,3276,3400,2032,0,0,0,0,0,0
$GC,6799,1.34,249.3,298.6,9.4,282,6818,0.00,2.58,12.27,0.738,6,0.000,0.042,3276,1843,1984,0,0,0,0,0,0
$GC,7106,1.39,263.7,270.6,9.2,290,7126,0.12,2.85,14.05,0.729,4,0.089,0.074,3308,243,1924,0,0,0,0,0,0
$GC,7133,1.39,263.7,267.4,11.1,290,7138,0.00,2.60,0.00,0.000,6,0.000,0.021,3308,1876,1923,0,0,0,0,0,0
$GC,7385,1.39,263.7,240.4,10.8,296,7389,0.00,2.42,0.00,0.000,4,0.000,0.034,3308,3398,1921,0,0,0,0,0,0
$GC,7429,1.43,263.7,235.3,11.3,297,7433,0.00,2.55,0.00,0.000,6,0.000,0.035,3308,1850,1920,0,0,0,0,0,0
$GC,7706,1.43,263.7,206.9,10.3,304,7710,0.00,2.78,0.00,0.000,4,0.000,0.066,3308,240,1919,0,0,0,0,0,0
$GC,7768,1.36,263.7,199.4,12.8,305,7772,0.00,2.55,0.00,0.000,6,0.000,0.027,3308,1861,1918,0,0,0,0,0,0
$GC,8031,1.36,263.7,169.2,10.9,329,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1862,1918,0,0,0,0,0,0
$GC,8289,1.38,282.7,145.0,8.9,353,8315,0.00,2.50,17.00,0.636,4,0.000,0.030,3308,3388,1846,0,0,0,0,0,0
$GC,8356,1.47,290.7,138.3,9.6,358,8369,0.00,2.55,8.15,0.569,6,0.000,0.035,3308,1855,1815,0,0,0,0,0,0
$GC,8629,1.52,291.8,111.4,10.0,383,8635,0.10,0.00,0.00,0.000,6,0.089,0.000,3336,1855,1812,0,0,0,0,0,0
$GC,8892,1.52,293.2,84.7,10.0,408,8896,0.00,2.45,0.00,0.000,4,0.000,0.027,3336,3390,1812,0,0,0,0,0,0
$GC,8939,1.59,297.8,80.6,9.8,411,8954,0.00,2.50,7.32,0.515,6,0.000,0.033,3336,1857,1786,0,0,0,0,0,0
$GC,9221,1.60,306.8,52.5,9.5,437,9236,0.00,2.47,9.35,0.515,4,0.000,0.026,3336,3393,1749,0,0,0,0,0,0
$GC,9255,1.64,306.8,49.1,10.6,439,9260,0.00,2.50,0.00,0.000,6,0.000,0.032,3336,1863,1749,0,0,0,0,0,0
$GC,9544,1.64,306.8,18.5,11.3,470,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1863,1748,0,0,0,0,0,0
$STATE,9676,end climb,SURFACE_DEPTH_REACHED
$STATE,9676,begin surface coast
$FINISH,0.6,1.023198
$STATE,9721,end surface coast,CONTROL_FINISHED_OK
$STATE,9722,begin surface
$SM_CCo,9743,98.80,0.469,1,0,1287,420.20
$SM_GC,1.05,0.00,0.00,98.80,0.000,0.000,0.469,479,1757,1287,-11.60,-0.37,420.20
$IRIDIUM_FIX,2246.36,-15753.23,271299,202017
$TT8_MAMPS,0.025311
$HUMID,47.87
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.20
$XPDR_PINGS,46
$24V_AH,23.5,44.950
$10V_AH,10.2,44.231
$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,26.675,119.800,374.875,98.800,0.000,26.982,32.528,176.708,11.500,0.000,30.055,1007.590,6261.363,535.763,1909.598,519.570,33.362,1247.664,0.000,1896.968,0.000,0.536,0.000
$DEVICE_MAMPS,239.304,164.905,911.963,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.336,296.561,386.951,727.723,1100.957,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,38529,495
$CAP_FILE_SIZE,105447,0
$CFSIZE,260165632,163266560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031010,023125,2253.605,-15749.176,66,1.1,66,10.1