version: 66.06
glider: 146
mission: 5
dive: 328
start: 10 4 110 6 35 14
data:
$ID,146
$MISSION,5
$DIVE,328
$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,-253802.62
$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,38
$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
$GPS1,062237,2251.855,-15741.486,39,1.7,39,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.6
$GPS2,063419,2251.778,-15741.466,12,1.6,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.015,0.234
$KALMAN_X,-298621.8,264.4,415.7,348093.6,-255.3
$KALMAN_Y,-463181.0,-270.0,57.4,595259.6,-1025.8
$MHEAD_RNG_PITCHd_Wd,353.6,11558,-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,-116.8,0.0,0.0,0,103,0.00,0.00,-85.47,0.000,6,0.000,0.000,479,1749,3479,0,0,0,0,0,0
$GC,106,-1.38,-116.8,4.5,-8.8,11,124,11.18,2.55,0.00,0.000,4,0.136,0.025,2690,3363,3481,0,0,0,0,0,0
$GC,195,-1.29,-116.8,29.5,-15.6,23,205,0.10,2.60,0.00,0.000,6,0.087,0.032,2716,1785,3482,0,0,0,0,0,0
$GC,462,-1.18,-116.8,69.8,-16.3,48,467,0.12,2.75,0.00,0.000,4,0.118,0.059,2742,183,3482,0,0,0,0,0,0
$GC,498,-1.08,-116.8,75.3,-15.6,50,503,0.10,2.45,0.00,0.000,6,0.121,0.015,2762,1810,3482,0,0,0,0,0,0
$GC,761,-1.13,-116.8,105.2,-10.6,74,765,0.00,2.33,0.00,0.000,4,0.000,0.023,2762,3318,3482,0,0,0,0,0,0
$GC,796,-1.22,-116.8,109.1,-10.8,76,807,0.10,2.55,0.00,0.000,6,0.039,0.030,2716,1750,3482,0,0,0,0,0,0
$GC,1063,-1.22,-116.8,141.7,-11.4,101,1068,0.00,2.62,0.00,0.000,4,0.000,0.065,2716,186,3483,0,0,0,0,0,0
$GC,1099,-1.18,-116.8,145.5,-11.8,103,1104,0.12,2.35,0.00,0.000,6,0.109,0.016,2742,1766,3483,0,0,0,0,0,0
$GC,1364,-1.25,-116.8,171.4,-9.4,127,1368,0.00,2.40,0.00,0.000,4,0.000,0.031,2742,3317,3483,0,0,0,0,0,0
$GC,1399,-1.36,-116.8,175.4,-10.6,129,1409,0.12,2.55,0.00,0.000,6,0.035,0.035,2688,1746,3484,0,0,0,0,0,0
$GC,1690,-1.33,-116.8,210.7,-11.7,151,1692,0.10,0.00,0.00,0.000,6,0.116,0.000,2710,1746,3483,0,0,0,0,0,0
$GC,1932,-1.33,-116.8,236.0,-10.2,157,1936,0.00,2.45,0.00,0.000,4,0.000,0.025,2709,3317,3484,0,0,0,0,0,0
$GC,1973,-1.39,-116.8,239.9,-9.7,158,1977,0.00,2.50,0.00,0.000,6,0.000,0.035,2710,1764,3484,0,0,0,0,0,0
$GC,2256,-1.39,-116.8,266.7,-9.4,165,2260,0.00,2.72,0.00,0.000,4,0.000,0.080,2709,189,3484,0,0,0,0,0,0
$GC,2277,-1.39,-116.8,268.8,-9.5,165,2281,0.00,2.35,0.00,0.000,6,0.000,0.020,2710,1740,3484,0,0,0,0,0,0
$GC,2535,-1.43,-116.8,291.9,-8.9,172,2539,0.00,2.53,0.00,0.000,4,0.000,0.037,2710,3335,3483,0,0,0,0,0,0
$GC,2596,-1.52,-116.8,297.3,-8.9,173,2601,0.17,2.55,0.00,0.000,6,0.058,0.042,2653,1772,3483,0,0,0,0,0,0
$GC,2859,-1.47,-116.8,326.6,-11.4,180,2864,0.12,2.50,0.00,0.000,4,0.111,0.035,2680,3331,3482,0,0,0,0,0,0
$GC,2882,-1.47,-116.8,329.4,-11.3,180,2886,0.00,2.55,0.00,0.000,6,0.000,0.042,2679,1781,3482,0,0,0,0,0,0
$GC,3136,-1.47,-116.8,358.0,-11.4,187,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1777,3481,0,0,0,0,0,0
$GC,3382,-1.47,-116.8,382.9,-10.1,193,3386,0.00,2.50,0.00,0.000,4,0.000,0.038,2679,3328,3479,0,0,0,0,0,0
$GC,3409,-1.47,-116.8,385.8,-9.8,193,3413,0.00,2.60,0.00,0.000,6,0.000,0.057,2679,1783,3479,0,0,0,0,0,0
$GC,3659,-1.47,-116.8,409.9,-9.7,199,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1783,3478,0,0,0,0,0,0
$GC,3902,-1.47,-116.8,435.4,-10.5,205,3906,0.00,2.53,0.00,0.000,4,0.000,0.048,2679,3324,3476,0,0,0,0,0,0
$GC,3936,-1.51,-116.8,439.1,-11.5,205,3942,0.00,2.62,0.00,0.000,6,0.000,0.059,2679,1783,3476,0,0,0,0,0,0
$GC,4186,-1.51,-116.8,465.7,-10.5,212,4191,0.00,3.00,0.00,0.000,4,0.000,0.113,2679,185,3474,0,0,0,0,0,0
$GC,4218,-1.51,-116.8,469.5,-11.7,212,4224,0.00,2.50,0.00,0.000,6,0.000,0.037,2679,1747,3474,0,0,0,0,0,0
$GC,4470,-1.55,-116.8,494.9,-10.1,219,4475,0.00,2.72,0.00,0.000,4,0.000,0.064,2679,3354,3472,0,0,0,0,0,0
$GC,4503,-1.61,-116.8,498.5,-10.0,219,4509,0.12,2.70,0.00,0.000,6,0.074,0.064,2638,1780,3472,0,0,0,0,0,0
$STATE,4547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4547,begin apogee
$GC,4553,-0.31,0.0,503.5,10.8,221,4654,1.33,0.00,96.25,0.917,6,0.081,0.000,2933,1845,3001,0,0,0,0,0,0
$STATE,4654,end apogee,CONTROL_FINISHED_OK
$STATE,4654,begin climb
$GC,4658,1.38,116.8,506.2,0.0,223,4768,1.55,2.60,99.60,0.894,4,0.050,0.049,3308,3379,2524,0,0,0,0,0,0
$GC,4792,1.31,175.4,505.2,6.7,227,4851,0.12,2.70,50.88,0.874,6,0.140,0.055,3285,1820,2285,0,0,0,0,0,0
$GC,5118,1.25,175.4,472.8,10.1,235,5122,0.00,2.60,0.00,0.000,4,0.000,0.045,3286,3389,2275,0,0,0,0,0,0
$GC,5224,1.26,184.9,462.7,9.5,237,5238,0.00,2.70,7.97,0.740,6,0.000,0.055,3286,1828,2247,0,0,0,0,0,0
$GC,5490,1.23,193.9,437.4,9.5,244,5502,0.00,0.00,9.27,0.767,6,0.000,0.000,3286,1828,2209,0,0,0,0,0,0
$GC,5734,1.19,193.9,412.9,10.1,250,5739,0.12,2.58,0.00,0.000,4,0.135,0.038,3262,3389,2205,0,0,0,0,0,0
$GC,5768,1.20,203.3,409.5,9.5,250,5782,0.00,2.65,9.12,0.762,6,0.000,0.049,3262,1827,2172,0,0,0,0,0,0
$GC,6061,1.23,223.5,382.5,8.9,258,6082,0.00,0.00,19.23,0.821,6,0.000,0.000,3262,1827,2089,0,0,0,0,0,0
$GC,6305,1.25,242.9,360.8,8.9,264,6325,0.00,0.00,18.10,0.803,6,0.000,0.000,3262,1827,2009,0,0,0,0,0,0
$GC,6550,1.26,253.0,337.9,9.5,270,6564,0.00,0.00,9.93,0.742,6,0.000,0.000,3262,1827,1968,0,0,0,0,0,0
$GC,6840,1.31,253.0,307.4,10.9,277,6845,0.10,2.83,0.00,0.000,4,0.094,0.077,3289,232,1965,0,0,0,0,0,0
$GC,6856,1.31,253.0,305.1,11.2,277,6860,0.00,2.53,0.00,0.000,6,0.000,0.027,3289,1827,1964,0,0,0,0,0,0
$GC,7119,1.31,253.0,274.6,11.5,284,7123,0.00,2.53,0.00,0.000,4,0.000,0.036,3289,3396,1963,0,0,0,0,0,0
$GC,7134,1.31,253.0,272.5,11.6,284,7139,0.00,2.60,0.00,0.000,6,0.000,0.039,3289,1813,1962,0,0,0,0,0,0
$GC,7395,1.31,253.0,245.2,10.1,291,7400,0.00,2.75,0.00,0.000,4,0.000,0.071,3288,237,1962,0,0,0,0,0,0
$GC,7418,1.31,253.0,242.8,11.4,291,7422,0.00,2.50,0.00,0.000,6,0.000,0.021,3288,1827,1960,0,0,0,0,0,0
$GC,7673,1.32,261.3,217.9,9.6,298,7687,0.00,2.55,7.50,0.637,4,0.000,0.036,3289,3382,1934,0,0,0,0,0,0
$GC,7727,1.40,262.8,212.5,9.9,299,7731,0.00,2.53,0.00,0.000,6,0.000,0.040,3289,1836,1933,0,0,0,0,0,0
$GC,7989,1.41,275.9,188.3,9.3,313,8010,0.00,2.55,14.07,0.673,4,0.000,0.031,3289,3394,1876,0,0,0,0,0,0
$GC,8030,1.50,288.5,183.9,9.3,316,8050,0.15,2.55,12.65,0.651,6,0.077,0.041,3327,1849,1824,0,0,0,0,0,0
$GC,8314,1.50,288.5,151.1,11.9,343,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1850,1819,0,0,0,0,0,0
$GC,8575,1.50,288.5,119.4,11.4,368,8579,0.00,2.75,0.00,0.000,4,0.000,0.061,3327,242,1818,0,0,0,0,0,0
$GC,8621,1.45,288.5,114.5,12.5,371,8625,0.00,2.50,0.00,0.000,6,0.000,0.025,3328,1843,1817,0,0,0,0,0,0
$GC,8887,1.45,288.5,85.4,10.8,395,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1845,1817,0,0,0,0,0,0
$GC,9153,1.56,330.2,61.6,7.6,420,9195,0.00,2.83,35.75,0.578,4,0.000,0.057,3327,241,1653,0,0,0,0,0,0
$GC,9212,1.58,352.2,56.8,8.8,424,9242,0.00,2.53,19.52,0.550,6,0.000,0.019,3327,1853,1563,0,0,0,0,0,0
$GC,9502,1.58,352.2,26.0,13.2,452,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1853,1559,0,0,0,0,0,0
$STATE,9696,end climb,SURFACE_DEPTH_REACHED
$STATE,9697,begin surface coast
$FINISH,0.4,1.022051
$STATE,9747,end surface coast,CONTROL_FINISHED_OK
$STATE,9748,begin surface
$SM_CCo,9771,61.55,0.438,1,0,1288,420.20
$SM_GC,1.16,0.00,0.00,61.55,0.000,0.000,0.438,477,1736,1288,-11.61,-0.96,420.20
$IRIDIUM_FIX,2244.02,-15743.68,291299,060635
$TT8_MAMPS,0.026078
$HUMID,48.97
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.90
$XPDR_PINGS,47
$24V_AH,23.5,46.251
$10V_AH,10.2,45.398
$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,27.350,119.025,409.850,61.550,0.000,58.865,74.878,346.046,11.750,0.000,31.950,981.453,6439.986,532.298,1813.996,773.567,33.362,1231.487,0.000,1802.983,0.000,0.536,0.000
$DEVICE_MAMPS,140.361,117.351,917.332,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.501,279.768,372.431,706.178,1068.167,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,38375,487
$CAP_FILE_SIZE,108331,0
$CFSIZE,260165632,162705408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041010,092019,2252.173,-15741.368,9,1.9,26,10.1