version: 66.06
glider: 146
mission: 5
dive: 319
start: 10 3 110 2 41 56
data:
$ID,146
$MISSION,5
$DIVE,319
$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,-253591.09
$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,33
$R_STBD_OVSHOOT,51
$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
$GPS1,023125,2253.605,-15749.176,66,1.1,66,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.9
$GPS2,024102,2253.553,-15749.196,15,1.5,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.228,-0.055
$KALMAN_X,-301011.4,217.6,9.5,337631.7,297.7
$KALMAN_Y,-451730.4,-25.5,319.4,586579.5,-1205.5
$MHEAD_RNG_PITCHd_Wd,93.4,14899,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-85.47,0.000,6,0.000,0.000,479,1757,3478,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.6,-9.4,11,124,11.12,0.00,0.00,0.000,6,0.134,0.000,2689,1757,3480,0,0,0,0,0,0
$GC,400,-1.22,-116.8,65.3,-17.8,43,409,0.20,0.00,0.00,0.000,6,0.105,0.000,2732,1757,3481,0,0,0,0,0,0
$GC,661,-1.22,-116.8,105.7,-14.0,68,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1757,3481,0,0,0,0,0,0
$GC,917,-1.22,-116.8,137.0,-11.2,92,922,0.00,2.47,0.00,0.000,4,0.000,0.023,2731,3346,3482,0,0,0,0,0,0
$GC,951,-1.31,-116.8,140.9,-10.2,94,960,0.00,2.55,0.00,0.000,6,0.000,0.029,2731,1772,3482,0,0,0,0,0,0
$GC,1215,-1.31,-116.8,167.9,-10.4,119,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1770,3482,0,0,0,0,0,0
$GC,1479,-1.36,-116.8,193.8,-9.0,144,1484,0.12,2.50,0.00,0.000,4,0.071,0.024,2690,3345,3482,0,0,0,0,0,0
$GC,1501,-1.36,-116.8,195.8,-9.8,145,1505,0.00,2.50,0.00,0.000,6,0.000,0.029,2690,1771,3482,0,0,0,0,0,0
$GC,1784,-1.36,-116.8,228.5,-11.6,154,1788,0.00,2.72,0.00,0.000,4,0.000,0.072,2690,187,3482,0,0,0,0,0,0
$GC,1811,-1.29,-116.8,232.3,-13.1,154,1816,0.12,2.42,0.00,0.000,6,0.114,0.017,2716,1801,3483,0,0,0,0,0,0
$GC,2061,-1.34,-116.8,259.0,-10.5,160,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1802,3482,0,0,0,0,0,0
$GC,2306,-1.39,-116.8,284.1,-10.3,166,2310,0.00,2.40,0.00,0.000,4,0.000,0.030,2716,3317,3482,0,0,0,0,0,0
$GC,2328,-1.46,-116.8,286.6,-10.0,166,2333,0.15,2.47,0.00,0.000,6,0.062,0.036,2661,1785,3482,0,0,0,0,0,0
$GC,2584,-1.42,-116.8,319.0,-13.2,173,2589,0.12,2.47,0.00,0.000,4,0.109,0.036,2688,3313,3482,0,0,0,0,0,0
$GC,2625,-1.46,-116.8,324.1,-12.5,174,2629,0.00,2.53,0.00,0.000,6,0.000,0.049,2688,1790,3482,0,0,0,0,0,0
$GC,2908,-1.46,-116.8,355.8,-10.8,181,2912,0.00,2.85,0.00,0.000,4,0.000,0.088,2689,188,3480,0,0,0,0,0,0
$GC,2940,-1.46,-116.8,359.7,-11.9,181,2946,0.00,2.45,0.00,0.000,6,0.000,0.025,2689,1749,3480,0,0,0,0,0,0
$GC,3192,-1.46,-116.8,383.8,-9.3,188,3196,0.00,2.62,0.00,0.000,4,0.000,0.051,2689,3350,3479,0,0,0,0,0,0
$GC,3214,-1.50,-116.8,385.9,-8.5,188,3218,0.00,2.60,0.00,0.000,6,0.000,0.054,2689,1799,3479,0,0,0,0,0,0
$GC,3469,-1.54,-116.8,408.4,-9.1,195,3471,0.10,0.00,0.00,0.000,6,0.089,0.000,2655,1799,3477,0,0,0,0,0,0
$GC,3714,-1.54,-116.8,434.5,-10.7,201,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1799,3476,0,0,0,0,0,0
$GC,3956,-1.54,-116.8,460.1,-10.4,207,3960,0.00,2.58,0.00,0.000,4,0.000,0.050,2656,3344,3474,0,0,0,0,0,0
$GC,3977,-1.54,-116.8,462.3,-10.3,207,3981,0.00,2.65,0.00,0.000,6,0.000,0.064,2654,1793,3474,0,0,0,0,0,0
$GC,4233,-1.54,-116.8,490.0,-10.8,214,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1793,3472,0,0,0,0,0,0
$STATE,4351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4351,begin apogee
$GC,4357,-0.31,0.0,503.4,11.0,217,4457,1.23,0.00,96.93,0.914,6,0.078,0.000,2929,1789,3001,0,0,0,0,0,0
$STATE,4458,end apogee,CONTROL_FINISHED_OK
$STATE,4458,begin climb
$GC,4461,1.38,116.8,505.8,0.0,219,4574,1.55,2.83,100.40,0.892,4,0.053,0.055,3306,3389,2523,0,0,0,0,0,0
$GC,4602,1.32,162.7,502.8,7.4,222,4648,0.00,2.72,40.15,0.867,6,0.000,0.063,3306,1819,2337,0,0,0,0,0,0
$GC,4913,1.22,162.7,471.7,10.3,230,4918,0.20,2.65,0.00,0.000,4,0.185,0.040,3267,3400,2328,0,0,0,0,0,0
$GC,4935,1.18,162.7,468.9,10.9,230,4939,0.00,2.72,0.00,0.000,6,0.000,0.060,3267,1825,2327,0,0,0,0,0,0
$GC,5190,1.19,170.0,444.7,9.6,237,5201,0.00,2.60,5.70,0.668,4,0.000,0.044,3267,3398,2307,0,0,0,0,0,0
$GC,5310,1.20,177.1,433.4,9.6,239,5324,0.00,2.67,8.32,0.746,6,0.000,0.056,3266,1835,2278,0,0,0,0,0,0
$GC,5609,1.22,194.4,405.6,9.0,247,5632,0.00,2.60,16.25,0.814,4,0.000,0.039,3267,3405,2206,0,0,0,0,0,0
$GC,5667,1.24,209.3,400.4,9.2,248,5687,0.00,2.67,14.43,0.794,6,0.000,0.051,3267,1835,2146,0,0,0,0,0,0
$GC,5932,1.25,218.9,375.1,9.5,254,5946,0.00,2.60,9.20,0.744,4,0.000,0.034,3267,3401,2108,0,0,0,0,0,0
$GC,5970,1.29,224.6,371.3,9.7,254,5984,0.00,2.62,6.68,0.680,6,0.000,0.044,3266,1848,2084,0,0,0,0,0,0
$GC,6264,1.30,232.2,342.8,9.6,262,6274,0.00,0.00,7.95,0.709,6,0.000,0.000,3267,1848,2054,0,0,0,0,0,0
$GC,6507,1.35,243.1,319.5,9.4,268,6526,0.12,2.90,11.02,0.739,4,0.089,0.079,3298,235,2009,0,0,0,0,0,0
$GC,6551,1.26,243.1,314.9,11.6,269,6556,0.12,2.60,0.00,0.000,6,0.130,0.022,3274,1877,2007,0,0,0,0,0,0
$GC,6834,1.28,251.8,288.0,9.5,276,6845,0.00,0.00,8.93,0.696,6,0.000,0.000,3274,1878,1973,0,0,0,0,0,0
$GC,7078,1.32,251.8,263.4,10.1,282,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1878,1971,0,0,0,0,0,0
$GC,7324,1.37,258.3,239.4,9.7,288,7333,0.10,0.00,6.72,0.624,6,0.098,0.000,3301,1878,1947,0,0,0,0,0,0
$GC,7565,1.39,272.6,216.9,9.2,294,7585,0.00,2.92,14.25,0.689,4,0.000,0.069,3301,229,1888,0,0,0,0,0,0
$GC,7606,1.35,272.6,213.0,10.1,295,7610,0.00,2.62,0.00,0.000,6,0.000,0.024,3301,1881,1886,0,0,0,0,0,0
$GC,7863,1.35,272.6,186.0,10.9,308,7867,0.00,2.42,0.00,0.000,4,0.000,0.035,3301,3404,1885,0,0,0,0,0,0
$GC,7896,1.35,272.6,182.9,11.6,310,7900,0.00,2.50,0.00,0.000,6,0.000,0.032,3301,1858,1884,0,0,0,0,0,0
$GC,8163,1.35,272.6,155.3,10.3,334,8168,0.00,2.47,0.00,0.000,4,0.000,0.032,3301,3406,1884,0,0,0,0,0,0
$GC,8197,1.41,273.6,151.3,10.0,336,8206,0.00,2.53,0.00,0.000,6,0.000,0.038,3301,1872,1883,0,0,0,0,0,0
$GC,8465,1.47,284.9,125.6,9.4,361,8489,0.00,2.83,11.45,0.594,4,0.000,0.059,3301,237,1837,0,0,0,0,0,0
$GC,8494,1.47,284.9,121.8,10.8,363,8500,0.00,2.60,0.00,0.000,6,0.000,0.020,3301,1901,1837,0,0,0,0,0,0
$GC,8759,1.56,300.1,95.6,9.2,388,8783,0.17,2.50,14.40,0.581,4,0.092,0.028,3345,3416,1776,0,0,0,0,0,0
$GC,8823,1.61,300.1,88.6,11.3,393,8827,0.00,2.50,0.00,0.000,6,0.000,0.033,3345,1877,1775,0,0,0,0,0,0
$GC,9090,1.61,300.1,61.3,10.3,417,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1877,1774,0,0,0,0,0,0
$GC,9355,1.61,303.3,35.6,9.9,442,9364,0.00,0.00,4.30,0.390,6,0.000,0.000,3345,1877,1763,0,0,0,0,0,0
$STATE,9636,end climb,SURFACE_DEPTH_REACHED
$STATE,9636,begin surface coast
$FINISH,0.5,1.022625
$STATE,9679,end surface coast,CONTROL_FINISHED_OK
$STATE,9679,begin surface
$SM_CCo,9701,100.90,0.472,1,0,1288,420.20
$SM_GC,1.06,0.00,0.00,100.90,0.000,0.000,0.472,474,1747,1288,-11.62,-0.65,420.20
$IRIDIUM_FIX,2244.02,-15751.06,281299,020229
$TT8_MAMPS,0.026078
$HUMID,48.14
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.10
$XPDR_PINGS,41
$24V_AH,23.5,45.072
$10V_AH,10.2,44.342
$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,27.100,99.075,377.075,100.900,0.000,60.830,77.491,236.158,10.250,0.000,16.528,971.210,6442.486,542.100,1777.511,652.135,33.367,1210.375,0.000,1782.551,0.000,0.536,0.000
$DEVICE_MAMPS,184.847,88.205,914.264,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.027,289.524,374.199,715.751,1082.708,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38390,487
$CAP_FILE_SIZE,101689,0
$CFSIZE,260165632,163217408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031010,052613,2252.679,-15747.553,9,1.9,9,10.1