version: 66.06
glider: 146
mission: 5
dive: 327
start: 10 4 110 3 33 15
data:
$ID,146
$MISSION,5
$DIVE,327
$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,-253770.05
$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,11
$R_STBD_OVSHOOT,24
$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
$GPS1,032407,2251.342,-15741.355,36,1.8,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.1
$GPS2,033222,2251.333,-15741.338,12,2.1,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.091,0.217
$KALMAN_X,-298854.4,292.4,-75.6,348999.7,740.6
$KALMAN_Y,-461753.4,-151.8,-187.4,593135.5,-376.3
$MHEAD_RNG_PITCHd_Wd,327.2,12399,-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,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,136,0.00,0.00,-117.18,0.000,6,0.000,0.000,476,1878,3479,0,0,0,0,0,0
$GC,140,-1.38,-116.8,4.7,-9.8,15,157,11.20,2.88,0.00,0.000,4,0.137,0.048,2693,172,3481,0,0,0,0,0,0
$GC,176,-0.40,-116.8,19.9,-41.4,19,184,0.95,2.55,0.00,0.000,6,0.086,0.021,2904,1814,3482,0,0,0,0,0,0
$GC,458,-0.70,-116.8,40.2,-4.8,50,463,0.25,2.38,0.00,0.000,4,0.043,0.025,2819,3334,3482,0,0,0,0,0,0
$GC,483,-0.92,-116.8,42.4,-7.1,51,492,0.00,2.55,0.00,0.000,6,0.000,0.027,2819,1756,3482,0,0,0,0,0,0
$GC,751,-1.03,-116.8,67.5,-9.5,76,756,0.20,2.65,0.00,0.000,4,0.053,0.054,2758,186,3483,0,0,0,0,0,0
$GC,808,-1.03,-116.8,74.9,-13.4,80,812,0.00,2.38,0.00,0.000,6,0.000,0.016,2758,1758,3482,0,0,0,0,0,0
$GC,1072,-1.08,-116.8,104.5,-11.5,104,1077,0.00,2.45,0.00,0.000,4,0.000,0.024,2758,3334,3482,0,0,0,0,0,0
$GC,1102,-1.15,-116.8,108.5,-12.3,106,1106,0.00,2.55,0.00,0.000,6,0.000,0.028,2758,1746,3482,0,0,0,0,0,0
$GC,1367,-1.23,-116.8,136.5,-8.9,130,1372,0.10,2.65,0.00,0.000,4,0.084,0.064,2718,190,3483,0,0,0,0,0,0
$GC,1396,-1.23,-116.8,140.0,-11.2,132,1400,0.00,2.38,0.00,0.000,6,0.000,0.021,2718,1776,3483,0,0,0,0,0,0
$GC,1658,-1.23,-116.8,166.2,-9.6,156,1663,0.00,2.38,0.00,0.000,4,0.000,0.028,2718,3308,3483,0,0,0,0,0,0
$GC,1694,-1.30,-116.8,169.8,-9.6,158,1700,0.00,2.50,0.00,0.000,6,0.000,0.035,2719,1750,3484,0,0,0,0,0,0
$GC,1957,-1.30,-116.8,199.1,-11.4,183,1961,0.00,2.62,0.00,0.000,4,0.000,0.067,2718,197,3483,0,0,0,0,0,0
$GC,1980,-1.30,-116.8,201.3,-11.3,184,1984,0.00,2.33,0.00,0.000,6,0.000,0.015,2719,1764,3484,0,0,0,0,0,0
$GC,2241,-1.30,-116.8,228.5,-9.5,191,2244,0.00,2.40,0.00,0.000,4,0.000,0.027,2719,3309,3483,0,0,0,0,0,0
$GC,2268,-1.36,-116.8,231.2,-9.3,191,2273,0.00,2.47,0.00,0.000,6,0.000,0.036,2718,1761,3483,0,0,0,0,0,0
$GC,2525,-1.41,-116.8,254.6,-9.3,198,2530,0.10,2.45,0.00,0.000,4,0.087,0.028,2680,3310,3483,0,0,0,0,0,0
$GC,2558,-1.41,-116.8,258.4,-11.3,198,2564,0.00,2.50,0.00,0.000,6,0.000,0.040,2680,1768,3483,0,0,0,0,0,0
$GC,2808,-1.41,-116.8,284.4,-10.5,205,2812,0.00,2.45,0.00,0.000,4,0.000,0.031,2680,3317,3482,0,0,0,0,0,0
$GC,2875,-1.41,-116.8,291.7,-10.4,206,2880,0.00,2.53,0.00,0.000,6,0.000,0.043,2680,1778,3482,0,0,0,0,0,0
$GC,3130,-1.41,-116.8,319.9,-11.2,213,3134,0.00,2.45,0.00,0.000,4,0.000,0.032,2680,3306,3482,0,0,0,0,0,0
$GC,3151,-1.41,-116.8,322.3,-11.0,213,3155,0.00,2.53,0.00,0.000,6,0.000,0.046,2680,1776,3482,0,0,0,0,0,0
$GC,3408,-1.41,-116.8,349.1,-10.3,220,3412,0.00,2.47,0.00,0.000,4,0.000,0.040,2680,3310,3480,0,0,0,0,0,0
$GC,3424,-1.41,-116.8,351.0,-10.0,220,3428,0.00,2.53,0.00,0.000,6,0.000,0.050,2680,1790,3480,0,0,0,0,0,0
$GC,3684,-1.41,-116.8,375.8,-9.6,227,3689,0.00,2.90,0.00,0.000,4,0.000,0.093,2680,186,3479,0,0,0,0,0,0
$GC,3705,-1.41,-116.8,378.1,-10.5,227,3710,0.00,2.45,0.00,0.000,6,0.000,0.023,2680,1747,3479,0,0,0,0,0,0
$GC,3968,-1.41,-116.8,405.4,-10.7,234,3973,0.00,2.60,0.00,0.000,4,0.000,0.051,2680,3350,3477,0,0,0,0,0,0
$GC,3995,-1.41,-116.8,408.6,-11.6,234,4000,0.00,2.62,0.00,0.000,6,0.000,0.053,2680,1795,3477,0,0,0,0,0,0
$GC,4246,-1.41,-116.8,434.0,-10.2,240,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1795,3475,0,0,0,0,0,0
$GC,4491,-1.44,-116.8,459.5,-10.5,246,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1795,3473,0,0,0,0,0,0
$GC,4733,-1.48,-116.8,485.4,-10.5,252,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1795,3471,0,0,0,0,0,0
$STATE,4895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4895,begin apogee
$GC,4900,-0.31,0.0,501.8,10.1,256,5000,1.12,0.00,96.32,0.913,6,0.082,0.000,2931,1791,3001,0,0,0,0,0,0
$STATE,5001,end apogee,CONTROL_FINISHED_OK
$STATE,5001,begin climb
$GC,5003,1.38,116.8,504.5,0.0,258,5114,1.58,2.83,101.25,0.892,4,0.042,0.057,3309,3393,2522,0,0,0,0,0,0
$GC,5127,1.33,189.1,504.1,5.9,261,5196,0.00,2.72,62.80,0.874,6,0.000,0.058,3309,1820,2229,0,0,0,0,0,0
$GC,5465,1.23,189.1,468.0,11.1,270,5470,0.20,2.62,0.00,0.000,4,0.148,0.038,3270,3397,2218,0,0,0,0,0,0
$GC,5520,1.25,202.6,462.5,9.3,271,5539,0.00,2.70,11.35,0.787,6,0.000,0.056,3270,1826,2174,0,0,0,0,0,0
$GC,5791,1.27,221.6,438.2,8.9,278,5816,0.00,2.67,17.60,0.826,4,0.000,0.041,3270,3401,2096,0,0,0,0,0,0
$GC,5829,1.28,226.1,434.5,9.8,278,5840,0.00,2.70,5.38,0.637,6,0.000,0.051,3270,1828,2078,0,0,0,0,0,0
$GC,6118,1.28,226.1,404.8,10.4,286,6122,0.00,2.58,0.00,0.000,4,0.000,0.038,3270,3405,2073,0,0,0,0,0,0
$GC,6134,1.28,226.1,403.1,10.5,286,6139,0.00,2.67,0.00,0.000,6,0.000,0.048,3270,1822,2072,0,0,0,0,0,0
$GC,6395,1.28,226.1,375.2,10.8,293,6399,0.00,2.55,0.00,0.000,4,0.000,0.031,3270,3403,2071,0,0,0,0,0,0
$GC,6421,1.28,226.1,372.1,11.3,293,6426,0.00,2.62,0.00,0.000,6,0.000,0.041,3270,1835,2070,0,0,0,0,0,0
$GC,6671,1.28,226.1,345.5,10.5,299,6676,0.00,2.80,0.00,0.000,4,0.000,0.077,3270,236,2070,0,0,0,0,0,0
$GC,6694,1.28,226.1,343.0,11.5,299,6698,0.00,2.53,0.00,0.000,6,0.000,0.021,3270,1836,2068,0,0,0,0,0,0
$GC,6949,1.29,237.2,318.3,9.4,306,6963,0.00,2.58,9.38,0.729,4,0.000,0.037,3270,3407,2034,0,0,0,0,0,0
$GC,6986,1.35,246.3,314.7,9.5,306,7002,0.10,2.62,9.70,0.723,6,0.098,0.036,3295,1825,1997,0,0,0,0,0,0
$GC,7277,1.35,246.3,285.5,10.1,314,7282,0.00,2.55,0.00,0.000,4,0.000,0.031,3296,3400,1993,0,0,0,0,0,0
$GC,7317,1.39,246.3,281.2,10.5,315,7321,0.00,2.58,0.00,0.000,6,0.000,0.037,3295,1833,1992,0,0,0,0,0,0
$GC,7601,1.40,252.6,253.5,9.7,322,7615,0.00,2.55,6.60,0.637,4,0.000,0.030,3296,3400,1971,0,0,0,0,0,0
$GC,7621,1.40,252.6,251.2,10.1,322,7625,0.00,2.58,0.00,0.000,6,0.000,0.038,3296,1833,1970,0,0,0,0,0,0
$GC,7882,1.40,252.6,223.0,11.1,329,7886,0.00,2.53,0.00,0.000,4,0.000,0.037,3296,3400,1968,0,0,0,0,0,0
$GC,7944,1.45,252.6,215.7,11.9,330,7949,0.00,2.55,0.00,0.000,6,0.000,0.038,3296,1844,1968,0,0,0,0,0,0
$GC,8199,1.47,270.1,190.3,9.0,342,8223,0.10,2.58,16.52,0.680,4,0.096,0.031,3323,3394,1899,0,0,0,0,0,0
$GC,8287,1.47,270.1,181.7,10.6,349,8291,0.00,2.50,0.00,0.000,6,0.000,0.041,3323,1865,1897,0,0,0,0,0,0
$GC,8553,1.47,270.1,152.4,11.4,373,8558,0.00,2.80,0.00,0.000,4,0.000,0.064,3323,242,1895,0,0,0,0,0,0
$GC,8563,1.47,270.1,150.5,11.4,373,8569,0.00,2.60,0.00,0.000,6,0.000,0.025,3323,1914,1894,0,0,0,0,0,0
$GC,8825,1.47,270.1,120.7,10.3,398,8830,0.00,2.88,0.00,0.000,4,0.000,0.059,3323,240,1894,0,0,0,0,0,0
$GC,8845,1.47,270.1,118.9,10.3,399,8850,0.00,2.58,0.00,0.000,6,0.000,0.021,3323,1900,1893,0,0,0,0,0,0
$GC,9113,1.50,291.4,94.2,8.8,423,9138,0.00,2.88,18.85,0.594,4,0.000,0.059,3323,240,1812,0,0,0,0,0,0
$GC,9144,1.51,300.4,90.8,9.5,425,9164,0.00,2.60,9.48,0.542,6,0.000,0.019,3323,1910,1775,0,0,0,0,0,0
$GC,9418,1.63,353.7,67.5,7.0,451,9473,0.12,2.42,44.70,0.580,4,0.216,0.026,3357,3397,1559,0,0,0,0,0,0
$GC,9517,1.71,353.7,57.1,12.5,458,9526,0.00,2.55,0.00,0.000,6,0.000,0.035,3358,1870,1557,0,0,0,0,0,0
$GC,9791,1.72,360.6,26.4,9.6,485,9810,0.00,2.85,6.97,0.458,4,0.000,0.058,3357,236,1529,0,0,0,0,0,0
$GC,9821,1.72,360.6,23.1,10.4,488,9830,0.00,2.62,0.00,0.000,6,0.000,0.019,3357,1898,1528,0,0,0,0,0,0
$STATE,9962,end climb,SURFACE_DEPTH_REACHED
$STATE,9962,begin surface coast
$FINISH,0.4,1.010877
$STATE,10001,end surface coast,CONTROL_FINISHED_OK
$STATE,10001,begin surface
$SM_CCo,10022,54.45,0.426,1,0,1288,420.20
$SM_GC,1.18,0.00,0.00,54.45,0.000,0.000,0.426,479,1749,1288,-11.60,-0.59,420.20
$IRIDIUM_FIX,2239.35,-15744.57,281299,232325
$TT8_MAMPS,0.025311
$HUMID,49.37
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.60
$XPDR_PINGS,56
$24V_AH,23.5,46.121
$10V_AH,10.1,45.286
$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,27.775,155.175,416.900,54.450,0.000,29.975,32.611,265.524,14.000,0.000,33.341,1032.604,6359.678,560.540,1978.489,638.096,33.374,1324.522,0.000,1965.173,0.000,0.535,0.000
$DEVICE_MAMPS,215.527,92.807,912.730,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.337,297.952,400.866,794.787,1202.423,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,41561,513
$CAP_FILE_SIZE,113149,0
$CFSIZE,260165632,162750464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041010,062237,2251.855,-15741.486,39,1.7,39,10.1