version: 66.06
glider: 146
mission: 5
dive: 321
start: 10 3 110 8 27 8
data:
$ID,146
$MISSION,5
$DIVE,321
$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,-253635.67
$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,38
$R_STBD_OVSHOOT,56
$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
$GPS1,082031,2251.764,-15746.364,37,1.7,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.3
$GPS2,082614,2251.701,-15746.387,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,-0.029
$KALMAN_X,-300651.6,6.8,86.0,342242.8,-397.3
$KALMAN_Y,-453935.1,67.5,-304.0,585887.7,-982.3
$MHEAD_RNG_PITCHd_Wd,87.1,9006,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.00,0.000,2,0.000,0.000,476,1755,3471,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.6,-10.1,11,126,11.20,2.60,0.00,0.000,4,0.137,0.050,2691,196,3474,0,0,0,0,0,0
$GC,157,-0.96,-116.8,22.2,-30.8,17,167,0.43,2.45,0.00,0.000,6,0.086,0.023,2786,1779,3474,0,0,0,0,0,0
$GC,436,-1.00,-116.8,55.8,-11.4,45,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1780,3475,0,0,0,0,0,0
$GC,699,-1.08,-116.8,82.9,-8.7,70,703,0.00,2.65,0.00,0.000,4,0.000,0.055,2786,201,3476,0,0,0,0,0,0
$GC,721,-1.16,-116.8,85.5,-10.3,71,727,0.17,2.38,0.00,0.000,6,0.056,0.017,2728,1770,3476,0,0,0,0,0,0
$GC,985,-1.16,-116.8,116.1,-11.4,96,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1771,3476,0,0,0,0,0,0
$GC,1250,-1.16,-116.8,145.5,-11.0,121,1254,0.00,2.65,0.00,0.000,4,0.000,0.064,2727,204,3477,0,0,0,0,0,0
$GC,1301,-1.16,-116.8,151.7,-11.8,125,1305,0.00,2.30,0.00,0.000,6,0.000,0.018,2727,1754,3477,0,0,0,0,0,0
$GC,1566,-1.19,-116.8,176.8,-8.9,149,1570,0.00,2.42,0.00,0.000,4,0.000,0.025,2727,3318,3477,0,0,0,0,0,0
$GC,1588,-1.24,-116.8,179.0,-8.7,150,1597,0.00,2.53,0.00,0.000,6,0.000,0.031,2727,1757,3477,0,0,0,0,0,0
$GC,1882,-1.28,-116.8,203.7,-8.4,175,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1757,3477,0,0,0,0,0,0
$GC,2122,-1.33,-116.8,225.9,-9.4,181,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1757,3478,0,0,0,0,0,0
$GC,2366,-1.37,-116.8,250.2,-9.8,187,2371,0.12,2.47,0.00,0.000,4,0.074,0.030,2684,3309,3477,0,0,0,0,0,0
$GC,2423,-1.37,-116.8,256.9,-12.1,188,2427,0.00,2.53,0.00,0.000,6,0.000,0.037,2684,1749,3477,0,0,0,0,0,0
$GC,2688,-1.37,-116.8,285.6,-10.4,195,2693,0.00,2.70,0.00,0.000,4,0.000,0.081,2683,189,3477,0,0,0,0,0,0
$GC,2704,-1.37,-116.8,287.3,-10.3,195,2708,0.00,2.35,0.00,0.000,6,0.000,0.018,2684,1734,3477,0,0,0,0,0,0
$GC,2972,-1.37,-116.8,314.6,-10.3,202,2977,0.00,2.55,0.00,0.000,4,0.000,0.040,2683,3333,3477,0,0,0,0,0,0
$GC,3030,-1.43,-116.8,320.8,-10.9,203,3034,0.00,2.60,0.00,0.000,6,0.000,0.046,2684,1765,3477,0,0,0,0,0,0
$GC,3297,-1.43,-116.8,347.7,-9.9,210,3302,0.00,2.80,0.00,0.000,4,0.000,0.091,2684,186,3476,0,0,0,0,0,0
$GC,3313,-1.43,-116.8,349.7,-9.7,210,3317,0.00,2.45,0.00,0.000,6,0.000,0.025,2684,1752,3476,0,0,0,0,0,0
$GC,3574,-1.43,-116.8,375.8,-10.0,217,3578,0.00,2.60,0.00,0.000,4,0.000,0.048,2684,3353,3475,0,0,0,0,0,0
$GC,3615,-1.48,-116.8,380.0,-10.8,218,3619,0.00,2.65,0.00,0.000,6,0.000,0.051,2684,1771,3475,0,0,0,0,0,0
$GC,3897,-1.48,-116.8,410.5,-11.0,225,3902,0.00,2.88,0.00,0.000,4,0.000,0.094,2684,184,3473,0,0,0,0,0,0
$GC,3936,-1.48,-116.8,415.0,-11.7,226,3941,0.00,2.53,0.00,0.000,6,0.000,0.027,2684,1763,3473,0,0,0,0,0,0
$GC,4221,-1.52,-116.8,445.5,-10.7,233,4226,0.00,2.65,0.00,0.000,4,0.000,0.051,2684,3360,3471,0,0,0,0,0,0
$GC,4277,-1.59,-116.8,451.3,-10.3,234,4282,0.12,2.72,0.00,0.000,6,0.072,0.061,2642,1768,3471,0,0,0,0,0,0
$GC,4544,-1.56,-116.8,479.3,-10.4,241,4549,0.00,2.95,0.00,0.000,4,0.000,0.109,2642,185,3469,0,0,0,0,0,0
$GC,4561,-1.50,-116.8,481.2,-10.2,241,4567,0.12,2.55,0.00,0.000,6,0.117,0.038,2670,1774,3469,0,0,0,0,0,0
$STATE,4779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4779,begin apogee
$GC,4786,-0.31,0.0,500.3,8.2,247,4885,1.17,0.00,95.60,0.912,6,0.077,0.000,2933,1832,3001,0,0,0,0,0,0
$STATE,4885,end apogee,CONTROL_FINISHED_OK
$STATE,4886,begin climb
$GC,4888,1.38,116.8,501.4,0.0,249,4997,1.55,2.72,101.03,0.888,4,0.041,0.063,3307,3392,2522,0,0,0,0,0,0
$GC,5023,1.30,158.1,498.3,7.7,253,5068,0.12,2.72,36.10,0.859,6,0.141,0.058,3285,1818,2355,0,0,0,0,0,0
$GC,5353,1.24,160.2,464.2,9.9,261,5357,0.00,2.65,0.00,0.000,4,0.000,0.047,3285,3405,2346,0,0,0,0,0,0
$GC,5458,1.26,172.5,453.8,9.3,263,5479,0.00,2.72,12.35,0.795,6,0.000,0.057,3286,1824,2297,0,0,0,0,0,0
$GC,5725,1.22,183.8,428.7,9.4,270,5743,0.00,2.62,11.35,0.785,4,0.000,0.041,3285,3405,2250,0,0,0,0,0,0
$GC,5756,1.19,199.9,425.6,9.1,270,5778,0.12,2.70,15.73,0.808,6,0.140,0.051,3263,1823,2185,0,0,0,0,0,0
$GC,6052,1.21,216.4,399.1,9.1,278,6073,0.00,2.62,15.38,0.804,4,0.000,0.037,3263,3401,2116,0,0,0,0,0,0
$GC,6092,1.21,218.7,395.2,9.9,279,6097,0.00,2.67,0.00,0.000,6,0.000,0.051,3263,1821,2115,0,0,0,0,0,0
$GC,6375,1.21,218.7,365.7,10.4,286,6379,0.00,2.58,0.00,0.000,4,0.000,0.038,3263,3404,2111,0,0,0,0,0,0
$GC,6443,1.27,218.7,358.6,10.4,287,6447,0.00,2.65,0.00,0.000,6,0.000,0.046,3263,1826,2110,0,0,0,0,0,0
$GC,6697,1.27,218.7,332.4,10.1,294,6702,0.00,2.55,0.00,0.000,4,0.000,0.033,3263,3401,2109,0,0,0,0,0,0
$GC,6725,1.33,218.7,329.6,10.3,294,6730,0.10,2.58,0.00,0.000,6,0.104,0.041,3289,1837,2108,0,0,0,0,0,0
$GC,6976,1.34,227.6,305.4,9.5,300,6988,0.00,0.00,9.68,0.722,6,0.000,0.000,3289,1836,2073,0,0,0,0,0,0
$GC,7219,1.36,245.7,283.3,9.0,306,7243,0.00,2.62,17.42,0.753,4,0.000,0.032,3289,3401,1998,0,0,0,0,0,0
$GC,7261,1.37,251.6,279.2,9.7,307,7275,0.00,2.60,6.90,0.641,6,0.000,0.037,3289,1835,1974,0,0,0,0,0,0
$GC,7550,1.37,254.4,250.6,9.9,314,7554,0.00,2.80,0.00,0.000,4,0.000,0.075,3289,236,1971,0,0,0,0,0,0
$GC,7565,1.38,258.8,248.6,9.8,314,7580,0.00,2.55,7.45,0.647,6,0.000,0.025,3289,1859,1945,0,0,0,0,0,0
$GC,7831,1.38,258.8,221.8,10.1,321,7835,0.00,2.45,0.00,0.000,4,0.000,0.031,3289,3387,1943,0,0,0,0,0,0
$GC,7904,1.44,258.8,214.1,10.5,322,7909,0.10,2.53,0.00,0.000,6,0.097,0.041,3315,1845,1942,0,0,0,0,0,0
$GC,8163,1.44,258.8,184.4,11.8,337,8168,0.00,2.47,0.00,0.000,4,0.000,0.030,3315,3387,1941,0,0,0,0,0,0
$GC,8216,1.44,258.8,177.7,12.7,341,8221,0.00,2.50,0.00,0.000,6,0.000,0.036,3314,1860,1940,0,0,0,0,0,0
$GC,8479,1.44,258.8,149.2,10.4,365,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1860,1940,0,0,0,0,0,0
$GC,8737,1.46,276.2,123.7,9.0,389,8763,0.00,2.83,15.88,0.615,4,0.000,0.065,3315,244,1875,0,0,0,0,0,0
$GC,8814,1.41,276.2,115.3,11.9,395,8818,0.00,2.53,0.00,0.000,6,0.000,0.019,3315,1861,1873,0,0,0,0,0,0
$GC,9082,1.47,323.7,90.9,7.3,419,9127,0.00,0.00,41.83,0.603,6,0.000,0.000,3315,1864,1680,0,0,0,0,0,0
$GC,9387,1.59,361.5,65.3,7.9,448,9427,0.12,2.50,32.15,0.569,4,0.083,0.028,3350,3376,1525,0,0,0,0,0,0
$GC,9452,1.64,361.5,58.6,12.0,453,9456,0.00,2.50,0.00,0.000,6,0.000,0.034,3350,1852,1524,0,0,0,0,0,0
$GC,9727,1.64,361.5,23.3,13.9,480,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1852,1523,0,0,0,0,0,0
$STATE,9886,end climb,SURFACE_DEPTH_REACHED
$STATE,9886,begin surface coast
$FINISH,0.4,1.009983
$STATE,9933,end surface coast,CONTROL_FINISHED_OK
$STATE,9933,begin surface
$SM_CCo,9955,53.78,0.425,1,0,1288,420.20
$SM_GC,0.91,0.00,0.00,53.78,0.000,0.000,0.425,481,1755,1288,-11.59,-0.42,420.20
$IRIDIUM_FIX,2246.36,-15745.85,281299,050504
$TT8_MAMPS,0.026078
$HUMID,49.80
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.50
$XPDR_PINGS,56
$24V_AH,23.5,45.302
$10V_AH,10.2,44.564
$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,27.225,124.825,418.825,53.775,0.000,28.750,30.570,154.615,14.000,0.000,13.322,1023.735,6359.814,546.708,1928.480,500.797,33.366,1274.714,0.000,1935.135,0.000,0.535,0.000
$DEVICE_MAMPS,141.128,124.254,911.963,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.492,289.482,396.910,747.688,1130.932,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,41537,509
$CAP_FILE_SIZE,105895,0
$CFSIZE,260165632,163102720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031010,111513,2250.850,-15745.102,13,1.9,30,10.1