version: 66.06
glider: 146
mission: 5
dive: 330
start: 10 4 110 12 35 44
data:
$ID,146
$MISSION,5
$DIVE,330
$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,-253854.69
$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,41
$R_STBD_OVSHOOT,67
$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
$GPS1,122037,2252.636,-15741.407,34,1.6,34,10.1
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.7
$GPS2,123450,2252.502,-15741.439,16,1.9,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.042,0.231
$KALMAN_X,-297910.5,10.6,-399.8,348497.3,265.2
$KALMAN_Y,-465974.2,-414.5,-274.6,599866.7,-654.1
$MHEAD_RNG_PITCHd_Wd,339.5,10226,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,99,0.00,0.00,-79.00,0.000,2,0.000,0.000,478,1747,3264,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.4,-6.2,10,128,11.20,2.55,-4.07,0.000,4,0.137,0.044,2690,3329,3481,0,0,0,0,0,0
$GC,200,-1.31,-116.8,26.4,-15.8,23,208,0.08,2.53,0.00,0.000,6,0.093,0.031,2710,1790,3481,0,0,0,0,0,0
$GC,472,-1.23,-116.8,69.9,-14.4,49,482,0.10,0.00,0.00,0.000,6,0.131,0.000,2730,1790,3482,0,0,0,0,0,0
$GC,735,-1.23,-116.8,101.3,-11.1,74,740,0.00,2.70,0.00,0.000,4,0.000,0.064,2730,190,3482,0,0,0,0,0,0
$GC,755,-1.23,-116.8,103.3,-10.5,75,759,0.00,2.40,0.00,0.000,6,0.000,0.015,2730,1800,3482,0,0,0,0,0,0
$GC,1023,-1.23,-116.8,129.7,-9.7,99,1027,0.00,2.35,0.00,0.000,4,0.000,0.026,2730,3316,3482,0,0,0,0,0,0
$GC,1058,-1.31,-116.8,133.8,-9.9,101,1064,0.00,2.45,0.00,0.000,6,0.000,0.035,2730,1789,3483,0,0,0,0,0,0
$GC,1321,-1.36,-116.8,158.1,-9.6,126,1326,0.12,2.75,0.00,0.000,4,0.167,0.062,2688,193,3483,0,0,0,0,0,0
$GC,1357,-1.28,-116.8,162.4,-12.7,128,1363,0.15,2.40,0.00,0.000,6,0.106,0.017,2719,1786,3483,0,0,0,0,0,0
$GC,1621,-1.28,-116.8,189.5,-10.0,153,1626,0.00,2.38,0.00,0.000,4,0.000,0.029,2719,3316,3483,0,0,0,0,0,0
$GC,1657,-1.35,-116.8,193.0,-8.7,155,1663,0.00,2.42,0.00,0.000,6,0.000,0.034,2719,1800,3483,0,0,0,0,0,0
$GC,1941,-1.35,-116.8,219.8,-9.5,168,1945,0.00,2.35,0.00,0.000,4,0.000,0.028,2719,3311,3483,0,0,0,0,0,0
$GC,1968,-1.41,-116.8,222.3,-8.9,168,1973,0.12,2.40,0.00,0.000,6,0.071,0.031,2675,1803,3483,0,0,0,0,0,0
$GC,2220,-1.36,-116.8,250.2,-11.3,174,2222,0.12,0.00,0.00,0.000,6,0.111,0.000,2701,1804,3482,0,0,0,0,0,0
$GC,2462,-1.36,-116.8,274.9,-10.2,180,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1803,3482,0,0,0,0,0,0
$GC,2705,-1.36,-116.8,299.9,-10.4,186,2710,0.00,2.83,0.00,0.000,4,0.000,0.077,2701,193,3482,0,0,0,0,0,0
$GC,2739,-1.36,-116.8,304.0,-12.8,186,2745,0.00,2.45,0.00,0.000,6,0.000,0.025,2701,1775,3482,0,0,0,0,0,0
$GC,2989,-1.40,-116.8,330.0,-10.1,193,2994,0.00,2.53,0.00,0.000,4,0.000,0.038,2701,3349,3481,0,0,0,0,0,0
$GC,3040,-1.49,-116.8,334.6,-9.5,194,3045,0.12,2.50,0.00,0.000,6,0.073,0.041,2659,1829,3481,0,0,0,0,0,0
$GC,3313,-1.49,-116.8,364.6,-11.1,201,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1826,3479,0,0,0,0,0,0
$GC,3555,-1.49,-116.8,393.8,-12.1,207,3559,0.00,2.47,0.00,0.000,4,0.000,0.044,2659,3353,3478,0,0,0,0,0,0
$GC,3570,-1.49,-116.8,396.0,-12.5,207,3575,0.00,2.55,0.00,0.000,6,0.000,0.053,2660,1826,3478,0,0,0,0,0,0
$GC,3833,-1.49,-116.8,425.1,-11.1,214,3838,0.00,3.00,0.00,0.000,4,0.000,0.104,2659,197,3476,0,0,0,0,0,0
$GC,3882,-1.49,-116.8,431.0,-11.6,215,3887,0.00,2.58,0.00,0.000,6,0.000,0.034,2659,1798,3476,0,0,0,0,0,0
$GC,4155,-1.49,-116.8,457.3,-9.4,222,4159,0.00,2.60,0.00,0.000,4,0.000,0.058,2659,3360,3474,0,0,0,0,0,0
$GC,4183,-1.49,-116.8,459.9,-9.4,222,4187,0.00,2.58,0.00,0.000,6,0.000,0.054,2659,1829,3474,0,0,0,0,0,0
$GC,4433,-1.49,-116.8,484.2,-9.9,228,4438,0.00,3.05,0.00,0.000,4,0.000,0.114,2659,201,3472,0,0,0,0,0,0
$GC,4488,-1.49,-116.8,490.6,-11.7,229,4493,0.00,2.58,0.00,0.000,6,0.000,0.038,2659,1799,3471,0,0,0,0,0,0
$STATE,4590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4590,begin apogee
$GC,4597,-0.31,0.0,501.7,10.5,232,4697,1.23,0.00,95.90,0.914,6,0.084,0.000,2931,1798,3001,0,0,0,0,0,0
$STATE,4697,end apogee,CONTROL_FINISHED_OK
$STATE,4698,begin climb
$GC,4700,1.38,116.8,504.0,0.0,234,4805,1.58,0.00,100.47,0.891,6,0.043,0.000,3308,1798,2524,0,0,0,0,0,0
$GC,5037,1.30,157.7,486.7,7.7,243,5079,0.12,2.78,35.03,0.865,4,0.135,0.062,3286,3405,2356,0,0,0,0,0,0
$GC,5157,1.32,171.2,476.3,9.3,245,5177,0.00,2.67,12.68,0.800,6,0.000,0.056,3286,1847,2302,0,0,0,0,0,0
$GC,5459,1.29,188.3,449.3,9.1,253,5476,0.00,0.00,15.77,0.821,6,0.000,0.000,3286,1847,2233,0,0,0,0,0,0
$GC,5699,1.28,210.8,427.6,8.7,259,5725,0.00,2.62,20.83,0.834,4,0.000,0.041,3286,3415,2140,0,0,0,0,0,0
$GC,5753,1.30,225.9,422.6,9.2,260,5773,0.00,2.70,14.40,0.798,6,0.000,0.049,3285,1841,2080,0,0,0,0,0,0
$GC,6025,1.30,225.9,393.8,10.8,267,6029,0.00,2.95,0.00,0.000,4,0.000,0.092,3285,232,2073,0,0,0,0,0,0
$GC,6074,1.20,225.9,387.1,13.9,268,6079,0.12,2.58,0.00,0.000,6,0.135,0.027,3263,1847,2071,0,0,0,0,0,0
$GC,6348,1.20,225.9,356.1,11.4,275,6352,0.00,2.53,0.00,0.000,4,0.000,0.035,3263,3408,2070,0,0,0,0,0,0
$GC,6363,1.20,225.9,354.0,11.4,275,6368,0.00,2.62,0.00,0.000,6,0.000,0.046,3263,1820,2070,0,0,0,0,0,0
$GC,6624,1.20,226.5,327.4,10.0,282,6628,0.00,2.55,0.00,0.000,4,0.000,0.035,3263,3407,2069,0,0,0,0,0,0
$GC,6670,1.28,229.8,323.0,9.8,283,6675,0.00,2.60,0.00,0.000,6,0.000,0.040,3263,1836,2068,0,0,0,0,0,0
$GC,6949,1.35,256.0,298.9,8.5,290,6978,0.12,0.00,26.25,0.781,6,0.085,0.000,3296,1836,1957,0,0,0,0,0,0
$GC,7192,1.36,262.3,275.9,9.7,296,7206,0.00,2.85,6.45,0.637,4,0.000,0.072,3296,233,1930,0,0,0,0,0,0
$GC,7241,1.30,262.3,270.3,12.4,297,7246,0.00,2.55,0.00,0.000,6,0.000,0.027,3296,1839,1929,0,0,0,0,0,0
$GC,7519,1.30,262.3,241.6,10.6,304,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1840,1927,0,0,0,0,0,0
$GC,7762,1.30,262.3,215.6,10.4,310,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1841,1926,0,0,0,0,0,0
$GC,8015,1.30,262.3,190.3,11.0,322,8019,0.00,2.47,0.00,0.000,4,0.000,0.032,3296,3390,1926,0,0,0,0,0,0
$GC,8071,1.36,262.3,183.3,11.7,326,8077,0.00,2.58,0.00,0.000,6,0.000,0.036,3296,1807,1925,0,0,0,0,0,0
$GC,8333,1.36,262.3,154.1,10.5,351,8338,0.00,2.53,0.00,0.000,4,0.000,0.035,3296,3392,1924,0,0,0,0,0,0
$GC,8358,1.41,262.3,151.5,10.3,352,8365,0.00,2.55,0.00,0.000,6,0.000,0.040,3296,1820,1924,0,0,0,0,0,0
$GC,8624,1.44,288.1,126.2,8.6,377,8652,0.00,2.58,22.67,0.631,4,0.000,0.031,3296,3397,1825,0,0,0,0,0,0
$GC,8695,1.55,305.0,119.7,9.1,382,8718,0.12,2.60,15.93,0.603,6,0.052,0.035,3334,1832,1757,0,0,0,0,0,0
$GC,8983,1.56,312.0,89.7,9.6,409,8997,0.00,2.58,6.80,0.510,4,0.000,0.029,3334,3394,1728,0,0,0,0,0,0
$GC,9011,1.57,324.3,87.3,9.3,411,9035,0.00,2.55,12.77,0.562,6,0.000,0.033,3334,1828,1676,0,0,0,0,0,0
$GC,9290,1.61,324.3,58.1,11.0,437,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1827,1673,0,0,0,0,0,0
$GC,9557,1.65,324.4,31.7,10.0,462,9562,0.10,2.53,0.00,0.000,4,0.092,0.027,3362,3394,1673,0,0,0,0,0,0
$GC,9612,1.65,324.4,24.4,13.2,468,9621,0.00,2.55,0.00,0.000,6,0.000,0.034,3362,1844,1672,0,0,0,0,0,0
$STATE,9778,end climb,SURFACE_DEPTH_REACHED
$STATE,9778,begin surface coast
$FINISH,0.5,1.023286
$STATE,9822,end surface coast,CONTROL_FINISHED_OK
$STATE,9822,begin surface
$SM_CCo,9844,83.95,0.463,1,0,1288,420.20
$SM_GC,0.90,0.00,0.00,83.95,0.000,0.000,0.463,480,1739,1288,-11.60,-0.85,420.20
$IRIDIUM_FIX,2244.02,-15743.68,291299,121239
$TT8_MAMPS,0.025311
$HUMID,49.72
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.30
$XPDR_PINGS,46
$24V_AH,23.5,46.513
$10V_AH,10.1,45.624
$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,27.100,119.000,385.950,83.950,0.000,86.242,98.320,400.493,11.500,0.000,17.633,1000.548,6518.950,568.368,1815.775,883.774,33.361,1238.250,0.000,1823.901,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,113.516,914.264,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.841,289.428,386.690,727.631,1100.661,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,38440,499
$CAP_FILE_SIZE,110476,0
$CFSIZE,260165632,162598912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041010,152225,2253.414,-15741.654,16,1.4,27,10.1