version: 66.06
glider: 146
mission: 5
dive: 324
start: 10 3 110 17 17 47
data:
$ID,146
$MISSION,5
$DIVE,324
$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,-253700.98
$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,44
$R_STBD_OVSHOOT,58
$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
$GPS1,170852,2249.153,-15742.001,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.8
$GPS2,171652,2249.096,-15742.005,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.003,0.235
$KALMAN_X,-299975.1,-134.8,275.2,349056.7,243.8
$KALMAN_Y,-457566.2,-142.8,292.8,584304.9,-1357.0
$MHEAD_RNG_PITCHd_Wd,349.2,16491,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-86.18,0.000,2,0.000,0.000,476,1747,3475,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.2,-7.9,11,124,11.20,2.50,0.00,0.000,4,0.137,0.024,2690,3345,3477,0,0,0,0,0,0
$GC,175,-1.28,-116.8,25.5,-20.2,20,185,0.10,2.55,0.00,0.000,6,0.086,0.033,2717,1786,3478,0,0,0,0,0,0
$GC,450,-1.19,-116.8,74.8,-16.8,46,455,0.10,2.70,0.00,0.000,4,0.126,0.058,2738,193,3478,0,0,0,0,0,0
$GC,484,-1.13,-116.8,80.7,-16.4,48,489,0.00,2.40,0.00,0.000,6,0.000,0.015,2738,1786,3478,0,0,0,0,0,0
$GC,748,-1.13,-116.8,115.8,-11.9,72,752,0.00,2.42,0.00,0.000,4,0.000,0.031,2738,3331,3478,0,0,0,0,0,0
$GC,777,-1.13,-116.8,119.4,-11.3,74,782,0.00,2.50,0.00,0.000,6,0.000,0.028,2738,1763,3479,0,0,0,0,0,0
$GC,1041,-1.17,-116.8,146.0,-9.8,98,1045,0.00,2.62,0.00,0.000,4,0.000,0.064,2738,197,3480,0,0,0,0,0,0
$GC,1075,-1.17,-116.8,150.2,-11.5,100,1084,0.00,2.42,0.00,0.000,6,0.000,0.017,2738,1788,3480,0,0,0,0,0,0
$GC,1338,-1.22,-116.8,175.8,-9.6,125,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1791,3480,0,0,0,0,0,0
$GC,1592,-1.28,-116.8,200.9,-10.6,149,1596,0.00,2.38,0.00,0.000,4,0.000,0.031,2738,3319,3480,0,0,0,0,0,0
$GC,1643,-1.40,-116.8,206.2,-9.6,150,1648,0.20,2.45,0.00,0.000,6,0.051,0.029,2676,1776,3480,0,0,0,0,0,0
$GC,1916,-1.35,-116.8,240.4,-12.6,157,1918,0.12,0.00,0.00,0.000,6,0.112,0.000,2703,1776,3480,0,0,0,0,0,0
$GC,2158,-1.35,-116.8,266.2,-10.3,163,2162,0.00,2.42,0.00,0.000,4,0.000,0.035,2703,3313,3480,0,0,0,0,0,0
$GC,2203,-1.41,-116.8,270.8,-10.3,164,2207,0.00,2.45,0.00,0.000,6,0.000,0.038,2703,1792,3480,0,0,0,0,0,0
$GC,2481,-1.41,-116.8,298.9,-10.3,171,2486,0.00,2.80,0.00,0.000,4,0.000,0.079,2703,190,3480,0,0,0,0,0,0
$GC,2508,-1.41,-116.8,302.2,-11.3,171,2512,0.00,2.42,0.00,0.000,6,0.000,0.021,2703,1742,3480,0,0,0,0,0,0
$GC,2758,-1.45,-116.8,328.2,-10.2,177,2763,0.00,2.60,0.00,0.000,4,0.000,0.046,2703,3350,3479,0,0,0,0,0,0
$GC,2786,-1.52,-116.8,331.2,-10.8,177,2791,0.15,2.60,0.00,0.000,6,0.064,0.046,2653,1778,3479,0,0,0,0,0,0
$GC,3037,-1.48,-116.8,360.4,-11.7,183,3039,0.12,0.00,0.00,0.000,6,0.115,0.000,2679,1778,3478,0,0,0,0,0,0
$GC,3280,-1.48,-116.8,383.7,-9.4,189,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1775,3476,0,0,0,0,0,0
$GC,3523,-1.48,-116.8,407.9,-10.0,195,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1775,3475,0,0,0,0,0,0
$GC,3769,-1.48,-116.8,432.4,-10.0,201,3773,0.00,2.60,0.00,0.000,4,0.000,0.051,2679,3342,3474,0,0,0,0,0,0
$GC,3801,-1.53,-116.8,436.0,-10.2,201,3807,0.00,2.67,0.00,0.000,6,0.000,0.063,2679,1783,3474,0,0,0,0,0,0
$GC,4051,-1.53,-116.8,461.0,-9.9,208,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1783,3471,0,0,0,0,0,0
$GC,4296,-1.53,-116.8,484.9,-9.6,214,4301,0.00,2.60,0.00,0.000,4,0.000,0.054,2679,3347,3470,0,0,0,0,0,0
$GC,4320,-1.58,-116.8,487.3,-9.9,214,4325,0.10,2.67,0.00,0.000,6,0.081,0.067,2644,1789,3470,0,0,0,0,0,0
$STATE,4451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4451,begin apogee
$GC,4457,-0.31,0.0,501.1,10.4,218,4556,1.27,0.00,95.75,0.916,6,0.080,0.000,2929,1789,3001,0,0,0,0,0,0
$STATE,4557,end apogee,CONTROL_FINISHED_OK
$STATE,4557,begin climb
$GC,4561,1.38,116.8,502.9,0.0,220,4672,1.55,2.75,99.45,0.890,4,0.044,0.050,3304,3390,2522,0,0,0,0,0,0
$GC,4678,1.36,196.5,500.0,5.4,222,4753,0.00,2.72,68.72,0.876,6,0.000,0.056,3304,1819,2198,0,0,0,0,0,0
$GC,5010,1.29,196.5,462.6,11.9,231,5011,0.12,0.00,0.00,0.000,6,0.131,0.000,3281,1819,2189,0,0,0,0,0,0
$GC,5255,1.30,207.1,438.9,9.4,237,5269,0.00,2.67,8.65,0.750,4,0.000,0.046,3281,3390,2155,0,0,0,0,0,0
$GC,5304,1.31,213.2,434.1,9.7,238,5319,0.00,2.70,7.00,0.705,6,0.000,0.051,3280,1822,2131,0,0,0,0,0,0
$GC,5587,1.31,213.2,405.0,10.5,245,5591,0.00,2.58,0.00,0.000,4,0.000,0.035,3280,3397,2128,0,0,0,0,0,0
$GC,5603,1.31,213.2,403.0,10.9,245,5608,0.00,2.65,0.00,0.000,6,0.000,0.048,3280,1824,2126,0,0,0,0,0,0
$GC,5865,1.31,213.2,374.3,11.1,252,5870,0.00,2.58,0.00,0.000,4,0.000,0.038,3280,3406,2126,0,0,0,0,0,0
$GC,5892,1.31,213.2,370.8,11.9,252,5897,0.00,2.65,0.00,0.000,6,0.000,0.051,3280,1828,2125,0,0,0,0,0,0
$GC,6142,1.31,213.2,343.4,10.9,258,6147,0.00,2.55,0.00,0.000,4,0.000,0.033,3280,3398,2124,0,0,0,0,0,0
$GC,6176,1.31,213.2,339.8,10.1,258,6182,0.00,2.60,0.00,0.000,6,0.000,0.041,3280,1837,2123,0,0,0,0,0,0
$GC,6426,1.32,223.7,315.8,9.4,265,6440,0.00,2.85,9.40,0.725,4,0.000,0.077,3280,239,2088,0,0,0,0,0,0
$GC,6480,1.25,223.7,310.0,11.0,266,6484,0.00,2.55,0.00,0.000,6,0.000,0.026,3280,1841,2087,0,0,0,0,0,0
$GC,6753,1.26,234.1,284.2,9.4,273,6769,0.00,2.55,10.65,0.719,4,0.000,0.037,3280,3398,2045,0,0,0,0,0,0
$GC,6780,1.26,234.1,281.2,10.2,273,6784,0.00,2.58,0.00,0.000,6,0.000,0.035,3280,1835,2044,0,0,0,0,0,0
$GC,7030,1.27,238.6,256.4,9.8,279,7040,0.00,2.55,5.05,0.575,4,0.000,0.034,3280,3396,2028,0,0,0,0,0,0
$GC,7121,1.37,274.7,248.8,8.0,281,7160,0.00,2.50,33.40,0.746,6,0.000,0.038,3280,1858,1880,0,0,0,0,0,0
$GC,7448,1.45,300.8,221.8,8.5,289,7478,0.15,2.90,23.12,0.709,4,0.075,0.069,3320,244,1773,0,0,0,0,0,0
$GC,7500,1.37,300.8,215.7,13.0,290,7505,0.00,2.55,0.00,0.000,6,0.000,0.021,3320,1861,1771,0,0,0,0,0,0
$GC,7761,1.37,300.8,184.4,12.7,304,7765,0.00,2.45,0.00,0.000,4,0.000,0.030,3319,3390,1769,0,0,0,0,0,0
$GC,7783,1.37,300.8,181.0,13.1,305,7789,0.00,2.50,0.00,0.000,6,0.000,0.040,3320,1854,1767,0,0,0,0,0,0
$GC,8046,1.37,300.8,151.3,10.4,330,8050,0.00,2.47,0.00,0.000,4,0.000,0.031,3320,3394,1767,0,0,0,0,0,0
$GC,8076,1.37,300.8,148.1,11.2,332,8080,0.00,2.53,0.00,0.000,6,0.000,0.041,3320,1858,1766,0,0,0,0,0,0
$GC,8338,1.37,300.8,117.6,11.6,356,8343,0.00,2.75,0.00,0.000,4,0.000,0.061,3320,242,1766,0,0,0,0,0,0
$GC,8359,1.37,300.8,115.4,11.4,357,8364,0.00,2.53,0.00,0.000,6,0.000,0.025,3319,1865,1765,0,0,0,0,0,0
$GC,8628,1.42,303.6,86.8,9.9,381,8632,0.00,2.40,0.00,0.000,4,0.000,0.035,3320,3383,1765,0,0,0,0,0,0
$GC,8697,1.55,324.8,79.5,8.8,386,8723,0.00,2.50,20.77,0.578,6,0.000,0.033,3320,1865,1676,0,0,0,0,0,0
$GC,8985,1.65,348.1,55.2,8.7,412,9014,0.15,2.83,20.48,0.554,4,0.074,0.055,3360,233,1581,0,0,0,0,0,0
$GC,9032,1.59,348.1,49.1,12.9,415,9041,0.00,2.60,0.00,0.000,6,0.000,0.019,3360,1874,1580,0,0,0,0,0,0
$GC,9326,1.59,348.1,12.5,14.2,449,9335,0.00,2.42,0.00,0.000,4,0.000,0.026,3360,3389,1578,0,0,0,0,0,0
$GC,9359,1.59,348.1,8.2,13.0,453,9368,0.00,2.47,0.00,0.000,6,0.000,0.034,3360,1882,1578,0,0,0,0,0,0
$STATE,9396,end climb,SURFACE_DEPTH_REACHED
$STATE,9396,begin surface coast
$FINISH,0.5,1.023393
$STATE,9432,end surface coast,CONTROL_FINISHED_OK
$STATE,9432,begin surface
$SM_CCo,9455,65.53,0.443,1,0,1288,420.20
$SM_GC,1.04,0.00,0.00,65.53,0.000,0.000,0.443,478,1730,1288,-11.60,-1.13,420.20
$IRIDIUM_FIX,2241.69,-15741.52,281299,141455
$TT8_MAMPS,0.026078
$HUMID,48.89
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.50
$XPDR_PINGS,50
$24V_AH,23.5,45.670
$10V_AH,10.1,44.896
$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,27.200,128.900,402.450,65.525,0.000,23.987,43.053,262.736,12.500,0.000,32.080,953.306,6175.952,513.865,1757.327,607.185,33.362,1213.585,0.000,1740.982,0.000,0.536,0.000
$DEVICE_MAMPS,136.526,79.001,915.798,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,312.633,264.565,354.901,664.609,1005.260,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,35214,463
$CAP_FILE_SIZE,105056,0
$CFSIZE,260165632,162951168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031010,195801,2249.602,-15741.893,48,1.0,48,10.1