version: 66.06
glider: 146
mission: 5
dive: 323
start: 10 3 110 14 17 43
data:
$ID,146
$MISSION,5
$DIVE,323
$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,-253668.28
$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,36
$R_STBD_OVSHOOT,47
$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
$GPS1,140807,2249.929,-15743.740,46,1.0,46,10.1
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.2
$GPS2,141649,2249.870,-15743.768,10,1.5,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.050
$KALMAN_X,-300242.4,-184.1,-150.5,346768.0,586.2
$KALMAN_Y,-456538.5,-68.0,132.7,584798.3,-1027.6
$MHEAD_RNG_PITCHd_Wd,92.1,3421,-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,-116.8,0.0,0.0,0,105,0.00,0.00,-86.05,0.000,2,0.000,0.000,476,1752,3463,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.2,-8.2,11,126,11.23,2.53,-0.22,0.000,4,0.137,0.038,2691,3357,3478,0,0,0,0,0,0
$GC,138,-0.21,-116.8,17.5,-38.1,14,148,1.12,2.60,0.00,0.000,6,0.075,0.032,2947,1782,3479,0,0,0,0,0,0
$GC,438,-0.60,-116.8,37.4,-4.7,50,444,0.30,2.67,0.00,0.000,4,0.041,0.054,2850,187,3480,0,0,0,0,0,0
$GC,461,-0.93,-116.8,38.8,-5.7,51,466,0.22,2.45,0.00,0.000,6,0.048,0.017,2778,1805,3480,0,0,0,0,0,0
$GC,731,-0.97,-116.8,69.5,-11.4,75,735,0.00,2.35,0.00,0.000,4,0.000,0.024,2778,3317,3480,0,0,0,0,0,0
$GC,777,-1.11,-116.8,74.3,-9.1,78,781,0.00,2.45,0.00,0.000,6,0.000,0.028,2777,1782,3480,0,0,0,0,0,0
$GC,1042,-1.20,-116.8,96.0,-6.9,102,1047,0.17,2.67,0.00,0.000,4,0.057,0.062,2722,197,3481,0,0,0,0,0,0
$GC,1099,-1.20,-116.8,102.2,-10.6,106,1109,0.00,2.40,0.00,0.000,6,0.000,0.020,2722,1773,3481,0,0,0,0,0,0
$GC,1367,-1.20,-116.8,130.6,-11.9,131,1371,0.00,2.45,0.00,0.000,4,0.000,0.026,2722,3318,3482,0,0,0,0,0,0
$GC,1400,-1.24,-116.8,135.0,-12.2,133,1405,0.00,2.45,0.00,0.000,6,0.000,0.033,2722,1779,3482,0,0,0,0,0,0
$GC,1668,-1.24,-116.8,169.0,-12.2,157,1673,0.00,2.70,0.00,0.000,4,0.000,0.061,2722,195,3483,0,0,0,0,0,0
$GC,1721,-1.29,-116.8,176.6,-12.8,161,1725,0.00,2.35,0.00,0.000,6,0.000,0.021,2722,1772,3482,0,0,0,0,0,0
$GC,1981,-1.29,-116.8,205.8,-11.1,182,1985,0.00,2.40,0.00,0.000,4,0.000,0.025,2722,3316,3483,0,0,0,0,0,0
$GC,2015,-1.37,-116.8,209.7,-11.2,182,2020,0.00,2.45,0.00,0.000,6,0.000,0.035,2722,1778,3482,0,0,0,0,0,0
$GC,2265,-1.41,-116.8,234.6,-10.1,189,2270,0.12,2.42,0.00,0.000,4,0.069,0.029,2679,3315,3482,0,0,0,0,0,0
$GC,2282,-1.41,-116.8,236.3,-9.8,189,2287,0.00,2.45,0.00,0.000,6,0.000,0.035,2678,1780,3483,0,0,0,0,0,0
$GC,2543,-1.41,-116.8,264.7,-10.9,196,2548,0.00,2.72,0.00,0.000,4,0.000,0.071,2678,196,3482,0,0,0,0,0,0
$GC,2587,-1.33,-116.8,270.2,-12.6,197,2592,0.12,2.40,0.00,0.000,6,0.117,0.017,2705,1768,3482,0,0,0,0,0,0
$GC,2867,-1.37,-116.8,297.7,-9.6,204,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1769,3482,0,0,0,0,0,0
$GC,3109,-1.42,-116.8,320.0,-9.1,210,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1769,3481,0,0,0,0,0,0
$GC,3353,-1.47,-116.8,341.8,-8.9,216,3358,0.12,2.55,0.00,0.000,4,0.071,0.046,2659,3328,3480,0,0,0,0,0,0
$GC,3387,-1.47,-116.8,345.6,-11.6,216,3393,0.00,2.55,0.00,0.000,6,0.000,0.050,2659,1794,3480,0,0,0,0,0,0
$GC,3637,-1.47,-116.8,374.8,-11.8,223,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1792,3479,0,0,0,0,0,0
$GC,3880,-1.47,-116.8,404.4,-12.3,229,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1792,3478,0,0,0,0,0,0
$GC,4126,-1.47,-116.8,434.2,-12.0,235,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1792,3476,0,0,0,0,0,0
$GC,4369,-1.47,-116.8,461.1,-10.9,241,4374,0.00,2.55,0.00,0.000,4,0.000,0.048,2659,3318,3475,0,0,0,0,0,0
$GC,4402,-1.47,-116.8,464.9,-10.8,241,4408,0.00,2.60,0.00,0.000,6,0.000,0.061,2659,1795,3475,0,0,0,0,0,0
$GC,4652,-1.47,-116.8,490.7,-10.4,248,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1794,3473,0,0,0,0,0,0
$STATE,4771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4771,begin apogee
$GC,4777,-0.31,0.0,503.5,10.5,251,4877,1.23,0.00,96.32,0.914,6,0.082,0.000,2931,1794,3001,0,0,0,0,0,0
$STATE,4878,end apogee,CONTROL_FINISHED_OK
$STATE,4878,begin climb
$GC,4882,1.38,116.8,505.8,0.0,253,4990,1.58,2.72,100.20,0.890,4,0.044,0.056,3309,3370,2523,0,0,0,0,0,0
$GC,5015,1.33,179.2,504.0,6.4,257,5075,0.00,2.72,54.03,0.873,6,0.000,0.058,3309,1812,2270,0,0,0,0,0,0
$GC,5337,1.23,179.2,469.1,11.3,265,5342,0.20,2.60,0.00,0.000,4,0.120,0.044,3270,3371,2261,0,0,0,0,0,0
$GC,5369,1.23,179.2,465.3,10.1,265,5375,0.00,2.67,0.00,0.000,6,0.000,0.058,3270,1822,2259,0,0,0,0,0,0
$GC,5621,1.23,179.2,440.1,10.2,272,5625,0.00,2.58,0.00,0.000,4,0.000,0.039,3270,3382,2257,0,0,0,0,0,0
$GC,5677,1.23,179.2,433.9,10.6,273,5682,0.00,2.65,0.00,0.000,6,0.000,0.054,3270,1831,2256,0,0,0,0,0,0
$GC,5944,1.23,184.9,407.6,9.7,280,5948,0.00,2.53,0.00,0.000,4,0.000,0.041,3270,3379,2254,0,0,0,0,0,0
$GC,6001,1.25,193.4,402.4,9.5,281,6017,0.00,2.62,11.18,0.778,6,0.000,0.047,3270,1831,2212,0,0,0,0,0,0
$GC,6268,1.27,213.5,378.1,8.9,288,6292,0.00,2.60,18.77,0.811,4,0.000,0.038,3270,3376,2130,0,0,0,0,0,0
$GC,6326,1.28,220.3,372.6,9.6,289,6341,0.00,2.60,7.43,0.699,6,0.000,0.048,3270,1838,2103,0,0,0,0,0,0
$GC,6598,1.28,220.3,345.1,10.4,296,6603,0.00,2.83,0.00,0.000,4,0.000,0.082,3270,235,2099,0,0,0,0,0,0
$GC,6614,1.28,220.3,343.2,10.7,296,6618,0.00,2.53,0.00,0.000,6,0.000,0.023,3270,1828,2098,0,0,0,0,0,0
$GC,6874,1.28,221.4,317.1,10.0,303,6879,0.00,2.53,0.00,0.000,4,0.000,0.037,3270,3392,2097,0,0,0,0,0,0
$GC,6921,1.35,221.4,312.2,10.9,304,6926,0.10,2.58,0.00,0.000,6,0.098,0.036,3296,1835,2095,0,0,0,0,0,0
$GC,7198,1.35,221.4,282.8,10.3,311,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1835,2096,0,0,0,0,0,0
$GC,7444,1.35,221.4,258.5,10.2,317,7449,0.00,2.78,0.00,0.000,4,0.000,0.072,3295,240,2094,0,0,0,0,0,0
$GC,7501,1.28,221.4,252.2,11.7,318,7505,0.00,2.50,0.00,0.000,6,0.000,0.025,3295,1827,2093,0,0,0,0,0,0
$GC,7767,1.29,233.3,226.8,9.4,325,7780,0.00,0.00,11.35,0.682,6,0.000,0.000,3296,1828,2050,0,0,0,0,0,0
$GC,8012,1.31,249.7,204.3,9.1,331,8033,0.00,2.55,15.77,0.681,4,0.000,0.035,3295,3390,1982,0,0,0,0,0,0
$GC,8103,1.38,263.9,195.8,9.2,333,8122,0.00,2.60,13.93,0.660,6,0.000,0.041,3296,1828,1925,0,0,0,0,0,0
$GC,8377,1.39,273.9,169.5,9.5,359,8389,0.00,0.00,10.02,0.617,6,0.000,0.000,3295,1829,1884,0,0,0,0,0,0
$GC,8643,1.39,273.9,144.5,10.1,384,8647,0.00,2.53,0.00,0.000,4,0.000,0.030,3296,3396,1880,0,0,0,0,0,0
$GC,8677,1.46,273.9,140.7,11.0,386,8686,0.00,2.60,0.00,0.000,6,0.000,0.040,3296,1824,1879,0,0,0,0,0,0
$GC,8946,1.53,290.8,115.8,9.1,411,8971,0.15,2.58,15.60,0.601,4,0.077,0.028,3335,3390,1813,0,0,0,0,0,0
$GC,9034,1.59,290.8,105.8,11.5,418,9038,0.00,2.53,0.00,0.000,6,0.000,0.041,3335,1842,1812,0,0,0,0,0,0
$GC,9300,1.59,290.8,78.3,10.8,442,9304,0.00,2.70,0.00,0.000,4,0.000,0.065,3334,242,1810,0,0,0,0,0,0
$GC,9321,1.59,290.8,75.8,10.8,443,9326,0.00,2.50,0.00,0.000,6,0.000,0.018,3335,1863,1810,0,0,0,0,0,0
$GC,9590,1.64,302.3,52.0,9.4,467,9608,0.00,2.50,10.82,0.523,4,0.000,0.027,3335,3391,1767,0,0,0,0,0,0
$GC,9645,1.72,302.3,45.8,10.4,471,9655,0.12,2.53,0.00,0.000,6,0.052,0.033,3375,1863,1767,0,0,0,0,0,0
$GC,9948,1.67,302.3,12.5,10.1,507,9957,0.00,2.45,0.00,0.000,4,0.000,0.030,3375,3381,1767,0,0,0,0,0,0
$GC,9987,1.67,302.3,8.2,10.5,512,9997,0.00,2.50,0.00,0.000,6,0.000,0.035,3375,1867,1767,0,0,0,0,0,0
$STATE,10025,end climb,SURFACE_DEPTH_REACHED
$STATE,10025,begin surface coast
$FINISH,0.5,1.023418
$STATE,10067,end surface coast,CONTROL_FINISHED_OK
$STATE,10068,begin surface
$SM_CCo,10091,102.28,0.471,1,0,1288,420.20
$SM_GC,1.03,0.00,0.00,102.28,0.000,0.000,0.471,476,1748,1288,-11.61,-0.62,420.20
$IRIDIUM_FIX,2244.02,-15746.73,281299,111105
$TT8_MAMPS,0.026078
$HUMID,47.95
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.90
$XPDR_PINGS,47
$24V_AH,23.5,45.548
$10V_AH,10.2,44.791
$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,28.575,127.900,365.425,102.275,0.000,25.186,30.841,327.340,11.750,0.000,16.547,1048.502,6445.081,563.511,1974.990,689.178,33.364,1263.929,0.000,1987.813,0.000,0.536,0.000
$DEVICE_MAMPS,137.293,82.069,914.264,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.409,303.422,410.257,817.994,1237.162,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,41413,523
$CAP_FILE_SIZE,109502,0
$CFSIZE,260165632,162992128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031010,170852,2249.153,-15742.001,9,99.0,28,10.1