version: 66.06
glider: 146
mission: 5
dive: 331
start: 10 4 110 15 36 49
data:
$ID,146
$MISSION,5
$DIVE,331
$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,-253903.34
$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,45
$R_STBD_OVSHOOT,49
$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
$GPS1,152225,2253.414,-15741.654,16,1.4,27,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.2
$GPS2,153554,2253.341,-15741.688,36,1.6,46,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.073,0.223
$KALMAN_X,-297849.8,-215.6,-226.9,348063.8,619.5
$KALMAN_Y,-467118.6,-235.4,-58.1,602164.9,-426.0
$MHEAD_RNG_PITCHd_Wd,331.7,8645,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.6,0.0,0.0,0,97,0.00,0.00,-78.97,0.000,2,0.000,0.000,479,1739,3242,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.1,-5.2,10,126,11.18,2.58,-4.68,0.000,4,0.137,0.041,2689,3342,3481,0,0,0,0,0,0
$GC,183,-1.31,-116.8,22.6,-16.0,21,191,0.10,2.55,0.00,0.000,6,0.087,0.033,2715,1790,3482,0,0,0,0,0,0
$GC,465,-1.22,-116.8,67.7,-14.8,50,469,0.00,2.45,0.00,0.000,4,0.000,0.024,2715,3346,3483,0,0,0,0,0,0
$GC,487,-1.15,-116.8,71.1,-14.5,51,492,0.15,2.53,0.00,0.000,6,0.103,0.028,2747,1776,3483,0,0,0,0,0,0
$GC,754,-1.15,-116.8,100.8,-10.2,75,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1775,3483,0,0,0,0,0,0
$GC,1016,-1.21,-116.8,126.5,-10.2,100,1020,0.00,2.45,0.00,0.000,4,0.000,0.030,2747,3346,3484,0,0,0,0,0,0
$GC,1062,-1.31,-116.8,130.6,-9.7,103,1067,0.15,2.47,0.00,0.000,6,0.062,0.029,2697,1785,3484,0,0,0,0,0,0
$GC,1326,-1.31,-116.8,163.0,-12.2,127,1331,0.00,2.70,0.00,0.000,4,0.000,0.064,2697,197,3484,0,0,0,0,0,0
$GC,1357,-1.25,-116.8,167.3,-14.2,129,1363,0.12,2.45,0.00,0.000,6,0.110,0.022,2723,1813,3484,0,0,0,0,0,0
$GC,1620,-1.25,-116.8,196.2,-10.5,153,1624,0.00,2.35,0.00,0.000,4,0.000,0.025,2723,3327,3484,0,0,0,0,0,0
$GC,1644,-1.30,-116.8,198.8,-10.3,154,1650,0.00,2.47,0.00,0.000,6,0.000,0.028,2723,1782,3485,0,0,0,0,0,0
$GC,1904,-1.30,-116.8,225.1,-10.1,162,1908,0.00,2.42,0.00,0.000,4,0.000,0.033,2723,3322,3485,0,0,0,0,0,0
$GC,1932,-1.36,-116.8,228.0,-9.9,162,1936,0.00,2.45,0.00,0.000,6,0.000,0.028,2723,1778,3485,0,0,0,0,0,0
$GC,2189,-1.41,-116.8,251.8,-9.4,169,2191,0.12,0.00,0.00,0.000,6,0.073,0.000,2679,1777,3484,0,0,0,0,0,0
$GC,2431,-1.41,-116.8,276.8,-10.3,175,2435,0.00,2.45,0.00,0.000,4,0.000,0.035,2679,3318,3484,0,0,0,0,0,0
$GC,2448,-1.41,-116.8,278.3,-9.8,175,2452,0.00,2.47,0.00,0.000,6,0.000,0.035,2679,1794,3484,0,0,0,0,0,0
$GC,2709,-1.41,-116.8,304.1,-9.9,182,2713,0.00,2.83,0.00,0.000,4,0.000,0.079,2679,192,3483,0,0,0,0,0,0
$GC,2742,-1.41,-116.8,307.8,-10.9,182,2748,0.00,2.42,0.00,0.000,6,0.000,0.025,2679,1755,3483,0,0,0,0,0,0
$GC,2992,-1.41,-116.8,336.6,-11.7,189,2996,0.00,2.58,0.00,0.000,4,0.000,0.047,2679,3351,3482,0,0,0,0,0,0
$GC,3041,-1.45,-116.8,342.4,-10.9,190,3046,0.00,2.60,0.00,0.000,6,0.000,0.050,2679,1798,3482,0,0,0,0,0,0
$GC,3314,-1.45,-116.8,372.0,-10.6,197,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1794,3481,0,0,0,0,0,0
$GC,3557,-1.45,-116.8,395.4,-9.5,203,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1794,3479,0,0,0,0,0,0
$GC,3801,-1.45,-116.8,419.2,-10.0,209,3805,0.00,2.92,0.00,0.000,4,0.000,0.097,2679,186,3478,0,0,0,0,0,0
$GC,3818,-1.45,-116.8,421.1,-10.1,209,3822,0.00,2.55,0.00,0.000,6,0.000,0.024,2679,1790,3478,0,0,0,0,0,0
$GC,4078,-1.45,-116.8,447.9,-10.2,216,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1790,3476,0,0,0,0,0,0
$GC,4322,-1.45,-116.8,472.0,-9.7,222,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1789,3474,0,0,0,0,0,0
$GC,4566,-1.49,-116.8,496.1,-9.9,228,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1790,3472,0,0,0,0,0,0
$STATE,4603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4604,begin apogee
$GC,4611,-0.31,0.0,500.4,10.0,229,4711,1.12,0.00,96.32,0.912,6,0.093,0.000,2931,1789,3001,0,0,0,0,0,0
$STATE,4711,end apogee,CONTROL_FINISHED_OK
$STATE,4711,begin climb
$GC,4714,1.38,116.8,503.2,0.0,231,4825,1.58,2.80,99.35,0.890,4,0.051,0.061,3309,3396,2524,0,0,0,0,0,0
$GC,4836,1.38,216.6,503.9,4.3,234,4930,0.00,2.75,85.80,0.877,6,0.000,0.056,3308,1814,2115,0,0,0,0,0,0
$GC,5172,1.31,216.6,467.0,11.9,243,5177,0.12,2.65,0.00,0.000,4,0.131,0.046,3286,3409,2106,0,0,0,0,0,0
$GC,5200,1.31,216.6,463.6,11.4,243,5205,0.00,2.75,0.00,0.000,6,0.000,0.058,3286,1821,2105,0,0,0,0,0,0
$GC,5450,1.31,216.6,434.6,11.6,249,5454,0.00,2.62,0.00,0.000,4,0.000,0.044,3286,3411,2103,0,0,0,0,0,0
$GC,5467,1.31,216.6,432.7,11.4,249,5471,0.00,2.70,0.00,0.000,6,0.000,0.054,3286,1829,2103,0,0,0,0,0,0
$GC,5729,1.31,216.6,401.7,12.0,256,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1829,2101,0,0,0,0,0,0
$GC,5971,1.31,216.6,374.7,10.8,262,5975,0.00,2.58,0.00,0.000,4,0.000,0.038,3286,3411,2100,0,0,0,0,0,0
$GC,5998,1.31,216.6,371.6,11.2,262,6002,0.00,2.65,0.00,0.000,6,0.000,0.051,3286,1836,2099,0,0,0,0,0,0
$GC,6249,1.31,217.6,346.5,10.0,268,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1836,2098,0,0,0,0,0,0
$GC,6491,1.32,224.0,322.9,9.7,274,6501,0.00,2.55,4.22,0.550,4,0.000,0.034,3286,3411,2087,0,0,0,0,0,0
$GC,6546,1.32,224.0,317.4,10.4,275,6551,0.00,2.60,0.00,0.000,6,0.000,0.040,3286,1831,2086,0,0,0,0,0,0
$GC,6820,1.32,225.8,289.8,9.9,282,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1831,2085,0,0,0,0,0,0
$GC,7062,1.33,237.3,266.6,9.4,288,7082,0.00,2.85,12.98,0.719,4,0.000,0.072,3286,243,2032,0,0,0,0,0,0
$GC,7099,1.33,237.3,262.6,10.8,288,7105,0.00,2.55,0.00,0.000,6,0.000,0.026,3286,1848,2031,0,0,0,0,0,0
$GC,7350,1.35,253.4,239.4,9.1,295,7370,0.00,2.85,15.38,0.712,4,0.000,0.065,3286,232,1968,0,0,0,0,0,0
$GC,7389,1.35,253.4,235.7,10.1,296,7394,0.00,2.55,0.00,0.000,6,0.000,0.026,3286,1836,1966,0,0,0,0,0,0
$GC,7673,1.43,281.6,211.2,8.4,303,7705,0.10,2.53,25.88,0.704,4,0.099,0.036,3313,3389,1852,0,0,0,0,0,0
$GC,7729,1.43,287.0,206.1,9.7,304,7740,0.00,2.60,6.18,0.568,6,0.000,0.035,3313,1822,1829,0,0,0,0,0,0
$GC,7998,1.43,287.0,176.6,12.1,325,8003,0.00,2.55,0.00,0.000,4,0.000,0.035,3313,3397,1826,0,0,0,0,0,0
$GC,8056,1.49,287.0,168.9,13.2,329,8062,0.00,2.55,0.00,0.000,6,0.000,0.041,3313,1849,1824,0,0,0,0,0,0
$GC,8320,1.49,287.0,138.1,10.7,354,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1849,1824,0,0,0,0,0,0
$GC,8587,1.49,287.0,110.4,10.2,379,8591,0.00,2.47,0.00,0.000,4,0.000,0.028,3313,3390,1823,0,0,0,0,0,0
$GC,8650,1.57,287.0,103.4,10.5,384,8655,0.12,2.47,0.00,0.000,6,0.219,0.035,3344,1864,1822,0,0,0,0,0,0
$GC,8918,1.57,287.0,73.9,11.6,408,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1864,1822,0,0,0,0,0,0
$GC,9182,1.59,302.4,47.1,9.1,433,9201,0.00,2.47,13.55,0.536,4,0.000,0.025,3344,3400,1768,0,0,0,0,0,0
$GC,9232,1.64,302.4,42.4,11.0,436,9236,0.00,2.50,0.00,0.000,6,0.000,0.032,3344,1867,1767,0,0,0,0,0,0
$GC,9542,1.66,317.8,11.2,9.1,474,9560,0.00,0.00,14.65,0.508,6,0.000,0.000,3344,1867,1704,0,0,0,0,0,0
$STATE,9621,end climb,SURFACE_DEPTH_REACHED
$STATE,9621,begin surface coast
$FINISH,0.4,1.012498
$STATE,9670,end surface coast,CONTROL_FINISHED_OK
$STATE,9673,begin surface
$SM_CCo,9695,89.65,0.464,1,0,1287,420.20
$SM_GC,0.98,0.00,0.00,89.65,0.000,0.000,0.464,472,1758,1287,-11.63,-0.34,420.20
$IRIDIUM_FIX,2241.69,-15741.52,291299,121247
$TT8_MAMPS,0.025311
$HUMID,47.91
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.70
$XPDR_PINGS,43
$24V_AH,23.5,46.641
$10V_AH,10.2,45.739
$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,26.650,108.450,374.300,89.650,0.000,84.522,145.657,288.836,10.750,0.000,48.036,976.811,6486.908,516.696,1820.506,798.443,33.362,1178.976,0.000,1793.333,0.000,0.537,0.000
$DEVICE_MAMPS,218.595,96.642,911.963,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.617,285.124,380.368,740.445,1119.988,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,38418,492
$CAP_FILE_SIZE,101249,0
$CFSIZE,260165632,162553856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041010,182130,2254.293,-15741.749,50,1.5,50,10.1