version: 66.06
glider: 146
mission: 5
dive: 322
start: 10 3 110 11 23 38
data:
$ID,146
$MISSION,5
$DIVE,322
$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,-253651.11
$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,38
$R_STBD_OVSHOOT,57
$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
$GPS1,111513,2250.850,-15745.102,13,1.9,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.5
$GPS2,112244,2250.782,-15745.144,13,1.9,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.221,-0.079
$KALMAN_X,-300363.2,-112.3,-270.9,344566.6,243.3
$KALMAN_Y,-455297.2,20.8,-296.0,585588.8,-706.0
$MHEAD_RNG_PITCHd_Wd,99.6,6300,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.20,0.000,2,0.000,0.000,480,1753,3214,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.0,-5.4,10,126,11.15,0.00,-5.20,0.000,6,0.136,0.000,2689,1753,3479,0,0,0,0,0,0
$GC,407,-1.22,-116.8,63.9,-16.8,44,412,0.20,2.53,0.00,0.000,4,0.110,0.025,2731,3344,3481,0,0,0,0,0,0
$GC,442,-1.17,-116.8,69.6,-15.9,46,447,0.00,2.53,0.00,0.000,6,0.000,0.029,2731,1776,3481,0,0,0,0,0,0
$GC,705,-1.17,-116.8,101.9,-10.6,70,709,0.00,2.67,0.00,0.000,4,0.000,0.064,2731,196,3482,0,0,0,0,0,0
$GC,738,-1.17,-116.8,106.0,-11.7,72,748,0.00,2.42,0.00,0.000,6,0.000,0.019,2731,1790,3482,0,0,0,0,0,0
$GC,1005,-1.17,-116.8,134.2,-11.7,97,1009,0.00,2.70,0.00,0.000,4,0.000,0.057,2731,194,3482,0,0,0,0,0,0
$GC,1038,-1.17,-116.8,138.9,-12.5,99,1043,0.00,2.33,0.00,0.000,6,0.000,0.017,2731,1757,3483,0,0,0,0,0,0
$GC,1306,-1.21,-116.8,167.2,-10.4,124,1311,0.00,2.65,0.00,0.000,4,0.000,0.064,2731,193,3483,0,0,0,0,0,0
$GC,1350,-1.25,-116.8,171.9,-10.2,127,1354,0.00,2.35,0.00,0.000,6,0.000,0.016,2731,1751,3483,0,0,0,0,0,0
$GC,1618,-1.31,-116.8,196.1,-8.5,151,1622,0.00,2.47,0.00,0.000,4,0.000,0.027,2731,3323,3483,0,0,0,0,0,0
$GC,1637,-1.36,-116.8,198.1,-8.5,152,1642,0.12,2.53,0.00,0.000,6,0.069,0.028,2687,1749,3484,0,0,0,0,0,0
$GC,1908,-1.36,-116.8,228.4,-11.2,160,1912,0.00,2.45,0.00,0.000,4,0.000,0.032,2687,3314,3483,0,0,0,0,0,0
$GC,1942,-1.36,-116.8,232.2,-11.5,160,1948,0.00,2.53,0.00,0.000,6,0.000,0.031,2687,1754,3483,0,0,0,0,0,0
$GC,2192,-1.36,-116.8,259.4,-10.8,167,2196,0.00,2.67,0.00,0.000,4,0.000,0.071,2687,196,3483,0,0,0,0,0,0
$GC,2213,-1.36,-116.8,262.0,-11.8,167,2217,0.00,2.33,0.00,0.000,6,0.000,0.024,2687,1737,3483,0,0,0,0,0,0
$GC,2476,-1.36,-116.8,292.8,-12.2,174,2480,0.00,2.53,0.00,0.000,4,0.000,0.036,2687,3325,3483,0,0,0,0,0,0
$GC,2525,-1.42,-116.8,299.1,-12.1,175,2530,0.00,2.55,0.00,0.000,6,0.000,0.044,2687,1772,3483,0,0,0,0,0,0
$GC,2797,-1.42,-116.8,329.6,-11.0,182,2801,0.00,2.80,0.00,0.000,4,0.000,0.085,2687,189,3482,0,0,0,0,0,0
$GC,2813,-1.42,-116.8,331.7,-10.5,182,2818,0.00,2.40,0.00,0.000,6,0.000,0.027,2687,1738,3483,0,0,0,0,0,0
$GC,3075,-1.42,-116.8,358.2,-9.9,189,3079,0.00,2.62,0.00,0.000,4,0.000,0.044,2687,3352,3481,0,0,0,0,0,0
$GC,3114,-1.47,-116.8,361.9,-9.2,190,3119,0.00,2.65,0.00,0.000,6,0.000,0.049,2687,1758,3481,0,0,0,0,0,0
$GC,3399,-1.47,-116.8,386.9,-8.7,197,3403,0.00,2.58,0.00,0.000,4,0.000,0.044,2687,3351,3480,0,0,0,0,0,0
$GC,3415,-1.47,-116.8,388.5,-8.8,197,3419,0.00,2.67,0.00,0.000,6,0.000,0.051,2687,1766,3480,0,0,0,0,0,0
$GC,3676,-1.47,-116.8,411.7,-9.0,204,3680,0.00,2.58,0.00,0.000,4,0.000,0.045,2687,3345,3478,0,0,0,0,0,0
$GC,3693,-1.51,-116.8,413.4,-9.0,204,3698,0.00,2.65,0.00,0.000,6,0.000,0.056,2687,1778,3478,0,0,0,0,0,0
$GC,3954,-1.56,-116.8,436.4,-8.8,211,3959,0.12,2.60,0.00,0.000,4,0.073,0.044,2645,3345,3476,0,0,0,0,0,0
$GC,3978,-1.56,-116.8,438.7,-10.0,211,3982,0.00,2.70,0.00,0.000,6,0.000,0.060,2645,1779,3476,0,0,0,0,0,0
$GC,4234,-1.56,-116.8,465.6,-10.4,218,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1779,3474,0,0,0,0,0,0
$GC,4476,-1.56,-116.8,493.1,-11.6,224,4480,0.00,2.62,0.00,0.000,4,0.000,0.055,2645,3349,3472,0,0,0,0,0,0
$STATE,4529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4529,begin apogee
$GC,4537,-0.31,0.0,500.1,12.7,225,4637,1.25,0.00,96.18,0.917,6,0.084,0.000,2925,1820,3001,0,0,0,0,0,0
$STATE,4638,end apogee,CONTROL_FINISHED_OK
$STATE,4638,begin climb
$GC,4642,1.38,116.8,503.6,0.0,227,4746,1.58,0.00,100.53,0.896,6,0.042,0.000,3307,1820,2524,0,0,0,0,0,0
$GC,4972,1.32,173.7,493.6,6.7,236,5027,0.00,2.72,49.25,0.884,4,0.000,0.054,3306,3396,2291,0,0,0,0,0,0
$GC,5139,1.26,173.7,478.4,10.3,239,5145,0.15,2.72,0.00,0.000,6,0.131,0.058,3277,1821,2286,0,0,0,0,0,0
$GC,5389,1.22,174.5,453.6,10.0,246,5394,0.00,2.62,0.00,0.000,4,0.000,0.042,3277,3398,2282,0,0,0,0,0,0
$GC,5435,1.22,174.5,448.7,10.4,247,5439,0.00,2.70,0.00,0.000,6,0.000,0.054,3277,1828,2281,0,0,0,0,0,0
$GC,5712,1.24,188.7,422.1,9.2,254,5731,0.00,2.65,12.55,0.804,4,0.000,0.043,3278,3388,2231,0,0,0,0,0,0
$GC,5766,1.24,194.0,417.0,9.7,255,5777,0.00,2.67,6.00,0.676,6,0.000,0.051,3277,1830,2210,0,0,0,0,0,0
$GC,6040,1.27,216.5,392.9,8.7,262,6067,0.00,2.60,21.08,0.827,4,0.000,0.038,3277,3397,2117,0,0,0,0,0,0
$GC,6083,1.28,226.2,388.5,9.5,263,6099,0.00,2.67,10.18,0.754,6,0.000,0.049,3277,1830,2077,0,0,0,0,0,0
$GC,6362,1.28,226.2,360.1,10.3,270,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1830,2072,0,0,0,0,0,0
$GC,6604,1.28,226.2,334.0,10.7,276,6608,0.00,2.55,0.00,0.000,4,0.000,0.032,3277,3400,2070,0,0,0,0,0,0
$GC,6643,1.28,226.2,329.9,10.4,277,6647,0.00,2.60,0.00,0.000,6,0.000,0.040,3277,1835,2069,0,0,0,0,0,0
$GC,6929,1.28,226.2,300.4,10.2,284,6933,0.00,2.53,0.00,0.000,4,0.000,0.038,3277,3405,2068,0,0,0,0,0,0
$GC,6944,1.29,231.2,298.6,9.7,284,6954,0.00,2.58,3.97,0.524,6,0.000,0.041,3277,1843,2059,0,0,0,0,0,0
$GC,7211,1.32,257.1,274.9,8.5,291,7239,0.00,0.00,25.05,0.763,6,0.000,0.000,3277,1843,1951,0,0,0,0,0,0
$GC,7499,1.39,282.3,250.6,8.6,298,7529,0.10,2.90,22.62,0.736,4,0.154,0.073,3304,245,1849,0,0,0,0,0,0
$GC,7570,1.32,282.3,242.2,13.9,299,7574,0.00,2.58,0.00,0.000,6,0.000,0.023,3304,1864,1846,0,0,0,0,0,0
$GC,7826,1.32,282.3,212.7,11.5,306,7830,0.00,2.42,0.00,0.000,4,0.000,0.037,3304,3391,1845,0,0,0,0,0,0
$GC,7858,1.36,282.3,208.7,11.0,306,7864,0.00,2.53,0.00,0.000,6,0.000,0.035,3304,1857,1843,0,0,0,0,0,0
$GC,8119,1.36,282.3,178.1,12.0,325,8124,0.00,2.45,0.00,0.000,4,0.000,0.030,3304,3396,1842,0,0,0,0,0,0
$GC,8166,1.41,282.3,172.8,12.5,328,8170,0.00,2.50,0.00,0.000,6,0.000,0.035,3304,1869,1842,0,0,0,0,0,0
$GC,8429,1.41,282.3,140.0,12.6,352,8433,0.00,2.80,0.00,0.000,4,0.000,0.062,3304,234,1841,0,0,0,0,0,0
$GC,8464,1.35,282.3,135.3,12.9,354,8473,0.00,2.60,0.00,0.000,6,0.000,0.024,3304,1878,1841,0,0,0,0,0,0
$GC,8729,1.35,282.3,104.4,11.3,379,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1880,1841,0,0,0,0,0,0
$GC,8993,1.45,320.6,79.3,7.8,404,9033,0.00,2.88,32.55,0.595,4,0.000,0.061,3304,234,1694,0,0,0,0,0,0
$GC,9050,1.47,339.4,74.7,9.0,408,9078,0.00,2.58,17.58,0.568,6,0.000,0.019,3304,1873,1615,0,0,0,0,0,0
$GC,9334,1.63,375.5,50.8,7.9,434,9376,0.22,2.53,31.00,0.559,4,0.082,0.038,3361,3388,1468,0,0,0,0,0,0
$GC,9406,1.67,375.5,43.1,11.5,439,9410,0.00,2.53,0.00,0.000,6,0.000,0.031,3361,1847,1468,0,0,0,0,0,0
$STATE,9683,end climb,SURFACE_DEPTH_REACHED
$STATE,9683,begin surface coast
$FINISH,0.5,1.023242
$STATE,9712,end surface coast,CONTROL_FINISHED_OK
$STATE,9712,begin surface
$SM_CCo,9734,42.50,0.401,1,0,1287,420.20
$SM_GC,1.07,0.00,0.00,42.50,0.000,0.000,0.401,477,1753,1287,-11.61,-0.48,420.20
$IRIDIUM_FIX,2241.69,-15748.90,281299,080821
$TT8_MAMPS,0.026078
$HUMID,50.55
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.00
$XPDR_PINGS,56
$24V_AH,23.5,45.425
$10V_AH,10.1,44.669
$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,26.675,134.800,428.525,42.500,0.000,27.787,33.436,254.976,14.000,0.000,14.807,982.031,6344.993,532.102,1778.879,595.211,33.366,1244.006,0.000,1779.687,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,85.137,917.332,401.141,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.206,273.666,361.076,669.742,1013.695,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,38312,477
$CAP_FILE_SIZE,105994,0
$CFSIZE,260165632,163053568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031010,140807,2249.929,-15743.740,46,1.0,46,10.1