version: 66.06
glider: 146
mission: 5
dive: 329
start: 10 4 110 9 32 39
data:
$ID,146
$MISSION,5
$DIVE,329
$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,-253836.42
$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,46
$R_STBD_OVSHOOT,65
$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
$GPS1,092019,2252.173,-15741.368,9,1.9,26,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.1
$GPS2,093146,2252.081,-15741.332,11,2.1,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.024,0.234
$KALMAN_X,-298174.7,192.8,100.2,348259.9,-371.7
$KALMAN_Y,-464601.2,-395.6,-136.5,597558.9,-1066.8
$MHEAD_RNG_PITCHd_Wd,355.8,11021,-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,-116.8,0.0,0.0,0,98,0.00,0.00,-78.53,0.000,2,0.000,0.000,476,1736,3259,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.5,-6.5,10,127,11.23,2.58,-4.22,0.000,4,0.137,0.045,2691,3326,3481,0,0,0,0,0,0
$GC,232,-1.29,-116.8,34.2,-16.4,27,241,0.08,2.50,0.00,0.000,6,0.093,0.031,2712,1797,3482,0,0,0,0,0,0
$GC,500,-1.19,-116.8,77.6,-15.5,52,505,0.12,2.78,0.00,0.000,4,0.122,0.061,2738,186,3483,0,0,0,0,0,0
$GC,533,-1.13,-116.8,83.8,-16.4,54,537,0.00,2.42,0.00,0.000,6,0.000,0.015,2738,1787,3482,0,0,0,0,0,0
$GC,795,-1.13,-116.8,116.7,-12.7,78,800,0.00,2.72,0.00,0.000,4,0.000,0.064,2738,182,3483,0,0,0,0,0,0
$GC,840,-1.13,-116.8,122.0,-12.6,81,845,0.00,2.40,0.00,0.000,6,0.000,0.015,2738,1781,3483,0,0,0,0,0,0
$GC,1107,-1.17,-116.8,149.2,-9.9,105,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1783,3484,0,0,0,0,0,0
$GC,1374,-1.23,-116.8,175.8,-10.1,130,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1784,3484,0,0,0,0,0,0
$GC,1655,-1.29,-116.8,204.7,-9.7,154,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1784,3484,0,0,0,0,0,0
$GC,1898,-1.36,-116.8,228.4,-9.8,160,1903,0.15,2.38,0.00,0.000,4,0.064,0.030,2690,3301,3484,0,0,0,0,0,0
$GC,1939,-1.36,-116.8,232.8,-11.1,161,1944,0.00,2.50,0.00,0.000,6,0.000,0.038,2690,1740,3484,0,0,0,0,0,0
$GC,2223,-1.36,-116.8,263.4,-10.6,168,2227,0.00,2.45,0.00,0.000,4,0.000,0.026,2689,3304,3484,0,0,0,0,0,0
$GC,2251,-1.36,-116.8,266.1,-9.6,168,2256,0.00,2.53,0.00,0.000,6,0.000,0.039,2690,1754,3484,0,0,0,0,0,0
$GC,2501,-1.36,-116.8,287.8,-8.5,174,2505,0.00,2.45,0.00,0.000,4,0.000,0.035,2689,3309,3484,0,0,0,0,0,0
$GC,2523,-1.36,-116.8,289.8,-8.8,174,2528,0.00,2.55,0.00,0.000,6,0.000,0.041,2690,1756,3484,0,0,0,0,0,0
$GC,2778,-1.36,-116.8,312.5,-9.3,181,2782,0.00,2.45,0.00,0.000,4,0.000,0.037,2690,3301,3483,0,0,0,0,0,0
$GC,2801,-1.36,-116.8,314.7,-10.2,181,2805,0.00,2.55,0.00,0.000,6,0.000,0.042,2689,1757,3483,0,0,0,0,0,0
$GC,3055,-1.36,-116.8,340.5,-10.1,188,3059,0.00,2.45,0.00,0.000,4,0.000,0.034,2690,3295,3482,0,0,0,0,0,0
$GC,3096,-1.41,-116.8,344.5,-9.8,189,3100,0.00,2.55,0.00,0.000,6,0.000,0.048,2690,1768,3482,0,0,0,0,0,0
$GC,3380,-1.41,-116.8,372.4,-9.9,196,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1765,3480,0,0,0,0,0,0
$GC,3622,-1.41,-116.8,397.6,-10.5,202,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1765,3479,0,0,0,0,0,0
$GC,3866,-1.45,-116.8,420.3,-9.1,208,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1765,3477,0,0,0,0,0,0
$GC,4112,-1.50,-116.8,440.5,-8.2,214,4116,0.00,2.50,0.00,0.000,4,0.000,0.043,2689,3291,3475,0,0,0,0,0,0
$GC,4156,-1.58,-116.8,444.4,-8.4,215,4161,0.15,2.60,0.00,0.000,6,0.065,0.062,2643,1771,3475,0,0,0,0,0,0
$GC,4434,-1.54,-116.8,472.9,-10.6,222,4440,0.10,3.00,0.00,0.000,4,0.129,0.112,2663,183,3473,0,0,0,0,0,0
$GC,4463,-1.54,-116.8,476.1,-10.9,222,4467,0.00,2.45,0.00,0.000,6,0.000,0.035,2663,1705,3473,0,0,0,0,0,0
$STATE,4710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4711,begin apogee
$GC,4717,-0.31,0.0,500.7,9.8,228,4816,1.20,0.00,95.97,0.919,6,0.081,0.000,2931,1764,3001,0,0,0,0,0,0
$STATE,4817,end apogee,CONTROL_FINISHED_OK
$STATE,4817,begin climb
$GC,4821,1.38,116.8,502.9,0.0,230,4932,1.55,2.85,99.53,0.896,4,0.043,0.091,3306,226,2522,0,0,0,0,0,0
$GC,4961,1.19,158.1,500.7,7.7,233,5002,0.22,2.50,35.80,0.867,6,0.122,0.034,3263,1759,2356,0,0,0,0,0,0
$GC,5270,1.23,189.8,475.4,8.2,241,5304,0.00,2.78,27.67,0.858,4,0.000,0.057,3263,3332,2226,0,0,0,0,0,0
$GC,5379,1.23,192.4,465.1,9.9,243,5383,0.00,2.58,0.00,0.000,6,0.000,0.051,3263,1823,2222,0,0,0,0,0,0
$GC,5641,1.24,194.7,439.4,9.9,250,5651,0.00,3.00,4.55,0.599,4,0.000,0.106,3263,233,2207,0,0,0,0,0,0
$GC,5662,1.24,194.7,436.9,10.1,250,5666,0.00,2.47,0.00,0.000,6,0.000,0.025,3263,1769,2205,0,0,0,0,0,0
$GC,5919,1.25,207.5,413.1,9.3,257,5938,0.00,2.67,12.70,0.805,4,0.000,0.047,3263,3346,2154,0,0,0,0,0,0
$GC,6000,1.31,218.6,405.4,9.4,258,6017,0.10,2.58,11.10,0.781,6,0.107,0.051,3287,1830,2110,0,0,0,0,0,0
$GC,6291,1.31,218.6,375.2,10.7,266,6296,0.00,2.88,0.00,0.000,4,0.000,0.088,3287,236,2105,0,0,0,0,0,0
$GC,6307,1.24,218.6,373.0,11.2,266,6311,0.00,2.45,0.00,0.000,6,0.000,0.020,3287,1802,2103,0,0,0,0,0,0
$GC,6567,1.24,218.6,344.6,10.8,273,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1803,2103,0,0,0,0,0,0
$GC,6811,1.24,218.6,317.0,11.3,279,6815,0.00,2.58,0.00,0.000,4,0.000,0.034,3287,3397,2102,0,0,0,0,0,0
$GC,6890,1.24,218.6,307.8,11.9,280,6895,0.00,2.58,0.00,0.000,6,0.000,0.038,3287,1845,2101,0,0,0,0,0,0
$GC,7140,1.25,226.5,282.4,9.6,287,7148,0.00,0.00,7.00,0.668,6,0.000,0.000,3287,1845,2077,0,0,0,0,0,0
$GC,7383,1.29,254.1,261.4,8.5,293,7415,0.00,2.85,25.67,0.756,4,0.000,0.071,3287,240,1964,0,0,0,0,0,0
$GC,7440,1.24,254.1,256.3,10.2,294,7444,0.00,2.58,0.00,0.000,6,0.000,0.024,3287,1858,1962,0,0,0,0,0,0
$GC,7706,1.25,265.8,231.4,9.4,301,7722,0.00,2.47,11.10,0.687,4,0.000,0.036,3287,3389,1916,0,0,0,0,0,0
$GC,7748,1.31,271.6,227.7,9.7,302,7761,0.00,2.53,6.72,0.615,6,0.000,0.039,3287,1846,1893,0,0,0,0,0,0
$GC,8035,1.34,271.6,198.1,10.5,309,8039,0.00,2.50,0.00,0.000,4,0.000,0.031,3287,3396,1889,0,0,0,0,0,0
$GC,8068,1.42,271.6,194.2,11.3,311,8074,0.10,2.53,0.00,0.000,6,0.097,0.040,3313,1861,1888,0,0,0,0,0,0
$GC,8332,1.42,271.6,163.8,11.1,336,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1861,1888,0,0,0,0,0,0
$GC,8597,1.42,271.6,133.4,12.3,361,8602,0.00,2.78,0.00,0.000,4,0.000,0.067,3314,236,1887,0,0,0,0,0,0
$GC,8615,1.42,271.6,130.9,11.9,362,8619,0.00,2.55,0.00,0.000,6,0.000,0.025,3314,1869,1886,0,0,0,0,0,0
$GC,8877,1.42,271.6,102.1,10.9,386,8882,0.00,2.42,0.00,0.000,4,0.000,0.035,3313,3394,1886,0,0,0,0,0,0
$GC,8898,1.46,271.6,100.2,10.6,387,8903,0.00,2.53,0.00,0.000,6,0.000,0.034,3314,1843,1885,0,0,0,0,0,0
$GC,9167,1.51,276.8,72.6,9.7,411,9182,0.00,2.78,5.40,0.469,4,0.000,0.058,3314,243,1870,0,0,0,0,0,0
$GC,9187,1.53,294.4,69.9,9.0,412,9211,0.00,2.53,16.60,0.568,6,0.000,0.019,3313,1854,1799,0,0,0,0,0,0
$GC,9467,1.64,315.6,45.2,8.8,438,9495,0.17,2.47,19.15,0.550,4,0.160,0.026,3360,3377,1712,0,0,0,0,0,0
$GC,9512,1.64,315.6,40.5,10.4,441,9517,0.00,2.50,0.00,0.000,6,0.000,0.032,3360,1849,1711,0,0,0,0,0,0
$STATE,9820,end climb,SURFACE_DEPTH_REACHED
$STATE,9820,begin surface coast
$FINISH,0.4,1.010058
$STATE,9883,end surface coast,CONTROL_FINISHED_OK
$STATE,9883,begin surface
$SM_CCo,9905,91.57,0.469,1,0,1288,420.20
$SM_GC,1.03,0.00,0.00,91.57,0.000,0.000,0.469,479,1747,1288,-11.60,-0.65,420.20
$IRIDIUM_FIX,2244.02,-15739.35,291299,090907
$TT8_MAMPS,0.025311
$HUMID,48.93
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.40
$XPDR_PINGS,49
$24V_AH,23.5,46.379
$10V_AH,10.2,45.509
$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,26.900,118.900,378.975,91.575,0.000,55.412,71.011,338.807,12.250,0.000,33.167,990.818,6583.062,527.661,1835.276,754.252,33.372,1224.774,0.000,1820.342,0.000,0.538,0.000
$DEVICE_MAMPS,160.303,125.788,918.866,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.826,282.675,372.141,702.091,1062.001,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,38346,489
$CAP_FILE_SIZE,107668,0
$CFSIZE,260165632,162652160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041010,122037,2252.636,-15741.407,34,1.6,34,10.1