version: 66.06
glider: 146
mission: 5
dive: 332
start: 10 4 110 18 44 21
data:
$ID,146
$MISSION,5
$DIVE,332
$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,-253937.12
$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,32
$R_STBD_OVSHOOT,50
$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
$GPS1,182130,2254.293,-15741.749,50,1.5,50,10.1
$_CALLS,4
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.4
$GPS2,184325,2254.220,-15741.723,11,1.3,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.025,0.233
$KALMAN_X,-297649.2,-276.6,301.6,347334.1,147.3
$KALMAN_Y,-468247.1,39.8,209.8,604378.6,-865.6
$MHEAD_RNG_PITCHd_Wd,343.8,7017,-19.9,-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,15,-1.39,-115.8,0.0,0.0,0,103,0.00,0.00,-84.82,0.000,6,0.000,0.000,471,1758,3475,0,0,0,0,0,0
$GC,107,-1.39,-115.8,4.6,-10.1,11,125,11.25,2.53,0.00,0.000,4,0.137,0.025,2691,3353,3478,0,0,0,0,0,0
$GC,258,-1.32,-115.8,40.0,-14.7,28,262,0.00,2.58,0.00,0.000,6,0.000,0.032,2691,1771,3478,0,0,0,0,0,0
$GC,522,-1.21,-115.8,85.9,-14.5,52,527,0.20,2.67,0.00,0.000,4,0.103,0.064,2733,193,3478,0,0,0,0,0,0
$GC,546,-1.12,-115.8,89.2,-14.3,53,551,0.10,2.40,0.00,0.000,6,0.124,0.015,2754,1797,3477,0,0,0,0,0,0
$GC,816,-1.17,-115.8,118.1,-10.3,77,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1799,3478,0,0,0,0,0,0
$GC,1077,-1.26,-115.8,145.8,-10.5,102,1082,0.12,2.38,0.00,0.000,4,0.074,0.026,2713,3316,3479,0,0,0,0,0,0
$GC,1122,-1.32,-115.8,150.4,-11.4,105,1126,0.00,2.50,0.00,0.000,6,0.000,0.028,2713,1754,3479,0,0,0,0,0,0
$GC,1386,-1.32,-115.8,178.5,-10.2,129,1390,0.00,2.42,0.00,0.000,4,0.000,0.029,2713,3311,3479,0,0,0,0,0,0
$GC,1415,-1.32,-115.9,181.6,-10.0,131,1419,0.00,2.45,0.00,0.000,6,0.000,0.028,2713,1767,3479,0,0,0,0,0,0
$GC,1695,-1.32,-116.8,208.8,-9.9,151,1699,0.00,2.42,0.00,0.000,4,0.000,0.031,2713,3320,3479,0,0,0,0,0,0
$GC,1739,-1.38,-116.8,213.6,-10.4,152,1743,0.00,2.47,0.00,0.000,6,0.000,0.034,2713,1769,3478,0,0,0,0,0,0
$GC,2016,-1.38,-116.8,241.5,-10.4,159,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1769,3478,0,0,0,0,0,0
$GC,2262,-1.42,-116.8,265.5,-9.5,165,2267,0.10,2.47,0.00,0.000,4,0.086,0.035,2679,3313,3478,0,0,0,0,0,0
$GC,2301,-1.42,-116.8,269.6,-10.1,166,2306,0.00,2.47,0.00,0.000,6,0.000,0.041,2679,1794,3478,0,0,0,0,0,0
$GC,2584,-1.42,-116.8,298.7,-10.5,173,2589,0.00,2.85,0.00,0.000,4,0.000,0.090,2679,190,3477,0,0,0,0,0,0
$GC,2618,-1.42,-116.8,302.5,-12.1,173,2624,0.00,2.42,0.00,0.000,6,0.000,0.028,2679,1740,3477,0,0,0,0,0,0
$GC,2868,-1.42,-116.8,328.8,-10.6,180,2872,0.00,2.60,0.00,0.000,4,0.000,0.045,2679,3350,3476,0,0,0,0,0,0
$GC,2894,-1.42,-116.8,331.7,-10.6,180,2899,0.00,2.55,0.00,0.000,6,0.000,0.048,2678,1791,3476,0,0,0,0,0,0
$GC,3146,-1.42,-116.8,357.3,-10.4,186,3150,0.00,2.50,0.00,0.000,4,0.000,0.039,2679,3353,3474,0,0,0,0,0,0
$GC,3190,-1.48,-116.8,362.0,-10.0,187,3195,0.00,2.58,0.00,0.000,6,0.000,0.051,2678,1798,3474,0,0,0,0,0,0
$GC,3467,-1.48,-116.8,389.8,-10.1,194,3472,0.00,2.92,0.00,0.000,4,0.000,0.097,2679,186,3472,0,0,0,0,0,0
$GC,3501,-1.48,-116.8,393.3,-11.6,194,3507,0.00,2.53,0.00,0.000,6,0.000,0.025,2679,1787,3472,0,0,0,0,0,0
$GC,3751,-1.48,-116.8,417.8,-9.6,201,3756,0.00,2.58,0.00,0.000,4,0.000,0.051,2679,3361,3470,0,0,0,0,0,0
$GC,3779,-1.48,-116.8,420.5,-9.6,201,3783,0.00,2.62,0.00,0.000,6,0.000,0.055,2679,1796,3470,0,0,0,0,0,0
$GC,4031,-1.48,-116.8,444.3,-9.6,207,4035,0.00,2.97,0.00,0.000,4,0.000,0.106,2679,184,3468,0,0,0,0,0,0
$GC,4063,-1.48,-116.8,447.7,-10.1,207,4069,0.00,2.55,0.00,0.000,6,0.000,0.034,2679,1782,3468,0,0,0,0,0,0
$GC,4313,-1.48,-116.8,468.1,-7.9,214,4318,0.00,2.60,0.00,0.000,4,0.000,0.053,2679,3357,3466,0,0,0,0,0,0
$GC,4337,-1.52,-116.8,470.0,-7.9,214,4342,0.00,2.67,0.00,0.000,6,0.000,0.055,2679,1785,3466,0,0,0,0,0,0
$GC,4592,-1.52,-116.8,490.4,-8.0,221,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1784,3464,0,0,0,0,0,0
$STATE,4711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4711,begin apogee
$GC,4717,-0.31,0.0,501.0,8.7,224,4815,1.12,0.00,94.30,0.918,6,0.077,0.000,2931,1854,3000,0,0,0,0,0,0
$STATE,4816,end apogee,CONTROL_FINISHED_OK
$STATE,4816,begin climb
$GC,4820,1.39,116.8,502.2,0.0,226,4924,1.58,0.00,99.45,0.896,6,0.043,0.000,3309,1854,2524,0,0,0,0,0,0
$GC,5158,1.29,133.6,479.7,9.1,235,5178,0.15,2.60,14.02,0.818,4,0.143,0.051,3281,3378,2455,0,0,0,0,0,0
$GC,5197,1.27,167.9,476.4,8.0,235,5233,0.00,2.67,31.02,0.860,6,0.000,0.058,3281,1820,2316,0,0,0,0,0,0
$GC,5486,1.24,176.7,448.4,9.5,243,5500,0.00,2.65,8.05,0.744,4,0.000,0.045,3281,3378,2279,0,0,0,0,0,0
$GC,5604,1.25,183.9,436.9,9.6,245,5620,0.00,2.62,7.88,0.740,6,0.000,0.051,3281,1828,2250,0,0,0,0,0,0
$GC,5864,1.26,194.7,412.3,9.4,252,5877,0.00,0.00,10.43,0.779,6,0.000,0.000,3281,1828,2207,0,0,0,0,0,0
$GC,6108,1.26,194.7,385.8,11.2,258,6112,0.00,2.55,0.00,0.000,4,0.000,0.040,3281,3387,2202,0,0,0,0,0,0
$GC,6193,1.26,194.7,376.3,11.3,260,6198,0.00,2.65,0.00,0.000,6,0.000,0.047,3281,1816,2201,0,0,0,0,0,0
$GC,6477,1.26,194.7,347.1,10.1,267,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1816,2199,0,0,0,0,0,0
$GC,6721,1.27,198.5,323.2,9.8,273,6725,0.00,2.53,0.00,0.000,4,0.000,0.036,3281,3386,2198,0,0,0,0,0,0
$GC,6771,1.27,198.5,318.0,10.1,274,6776,0.00,2.60,0.00,0.000,6,0.000,0.040,3281,1809,2198,0,0,0,0,0,0
$GC,7044,1.28,210.6,292.1,9.3,281,7060,0.00,0.00,13.70,0.754,6,0.000,0.000,3281,1809,2142,0,0,0,0,0,0
$GC,7330,1.32,240.6,267.8,8.3,288,7359,0.00,0.00,27.80,0.762,6,0.000,0.000,3281,1808,2019,0,0,0,0,0,0
$GC,7572,1.34,261.0,246.1,8.9,294,7596,0.00,2.65,18.65,0.727,4,0.000,0.038,3281,3388,1935,0,0,0,0,0,0
$GC,7630,1.44,275.3,240.9,9.2,295,7650,0.12,2.62,13.93,0.698,6,0.084,0.038,3313,1806,1878,0,0,0,0,0,0
$GC,7902,1.44,275.3,210.8,11.3,302,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1806,1872,0,0,0,0,0,0
$GC,8152,1.44,275.3,182.3,11.2,317,8156,0.00,2.58,0.00,0.000,4,0.000,0.036,3314,3396,1870,0,0,0,0,0,0
$GC,8198,1.48,275.3,176.8,11.7,320,8203,0.00,2.60,0.00,0.000,6,0.000,0.038,3314,1815,1869,0,0,0,0,0,0
$GC,8464,1.48,275.3,145.9,12.3,345,8469,0.00,2.67,0.00,0.000,4,0.000,0.063,3314,240,1869,0,0,0,0,0,0
$GC,8481,1.48,275.3,143.1,12.4,346,8486,0.00,2.45,0.00,0.000,6,0.000,0.021,3314,1824,1868,0,0,0,0,0,0
$GC,8746,1.49,283.9,115.8,9.5,370,8760,0.00,2.53,7.40,0.550,4,0.000,0.029,3314,3376,1842,0,0,0,0,0,0
$GC,8835,1.57,283.9,106.5,11.1,377,8840,0.12,2.55,0.00,0.000,6,0.086,0.037,3345,1817,1841,0,0,0,0,0,0
$GC,9101,1.58,291.6,80.2,9.6,401,9116,0.00,2.55,7.95,0.527,4,0.000,0.028,3346,3378,1811,0,0,0,0,0,0
$GC,9153,1.65,314.3,75.7,8.7,405,9181,0.00,2.50,21.17,0.579,6,0.000,0.031,3346,1827,1718,0,0,0,0,0,0
$GC,9437,1.66,322.8,49.8,9.5,431,9447,0.00,0.00,8.10,0.496,6,0.000,0.000,3346,1827,1685,0,0,0,0,0,0
$GC,9723,1.68,339.2,20.7,9.1,463,9751,0.00,2.55,15.35,0.514,4,0.000,0.030,3346,3379,1617,0,0,0,0,0,0
$GC,9782,1.76,339.2,13.8,12.0,470,9791,0.12,2.55,0.00,0.000,6,0.056,0.035,3385,1834,1617,0,0,0,0,0,0
$STATE,9852,end climb,SURFACE_DEPTH_REACHED
$STATE,9852,begin surface coast
$FINISH,0.4,1.023056
$STATE,9890,end surface coast,CONTROL_FINISHED_OK
$STATE,9890,begin surface
$SM_CCo,9913,72.30,0.450,1,0,1288,420.20
$SM_GC,1.00,0.00,0.00,72.30,0.000,0.000,0.450,479,1754,1288,-11.60,-0.45,420.20
$IRIDIUM_FIX,2244.02,-15743.68,291299,181823
$TT8_MAMPS,0.025311
$HUMID,50.11
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.60
$XPDR_PINGS,53
$24V_AH,23.5,46.796
$10V_AH,10.2,45.856
$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,26.825,118.575,399.200,72.300,0.000,113.049,145.764,694.870,13.250,0.000,33.152,993.875,6706.563,527.667,1806.256,1275.690,33.366,1223.327,0.000,1793.324,0.000,0.535,0.000
$DEVICE_MAMPS,143.429,117.351,918.099,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.563,287.694,368.385,692.566,1047.529,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,38392,485
$CAP_FILE_SIZE,116578,0
$CFSIZE,260165632,162484224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041010,213207,2254.833,-15741.625,34,1.3,34,10.1