version: 66.06
glider: 146
mission: 5
dive: 334
start: 10 5 110 0 46 24
data:
$ID,146
$MISSION,5
$DIVE,334
$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,-253968.44
$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,69
$R_STBD_OVSHOOT,45
$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
$GPS1,003207,2255.470,-15741.659,37,1.4,37,10.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-65.2
$GPS2,004531,2255.493,-15741.678,17,1.4,17,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.053,0.229
$KALMAN_X,-297090.5,5.7,-212.3,347083.7,350.7
$KALMAN_Y,-470340.1,310.0,-260.7,609027.7,-777.9
$MHEAD_RNG_PITCHd_Wd,336.8,4675,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.45,0.000,2,0.000,0.000,479,1720,3257,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.4,-6.5,10,127,11.20,2.62,-4.15,0.000,4,0.137,0.043,2690,3348,3482,0,0,0,0,0,0
$GC,281,-1.30,-116.8,40.2,-15.7,32,289,0.08,2.50,0.00,0.000,6,0.092,0.030,2711,1812,3483,0,0,0,0,0,0
$GC,550,-1.21,-116.8,81.7,-13.6,57,556,0.12,2.78,0.00,0.000,4,0.122,0.062,2735,190,3483,0,0,0,0,0,0
$GC,593,-1.14,-116.8,88.9,-15.2,60,597,0.00,2.40,0.00,0.000,6,0.000,0.015,2736,1798,3483,0,0,0,0,0,0
$GC,856,-1.14,-116.8,117.0,-10.2,84,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1800,3483,0,0,0,0,0,0
$GC,1122,-1.18,-116.8,145.5,-11.2,109,1126,0.00,2.35,0.00,0.000,4,0.000,0.028,2735,3314,3484,0,0,0,0,0,0
$GC,1145,-1.24,-116.8,148.4,-11.0,110,1154,0.00,2.50,0.00,0.000,6,0.000,0.028,2735,1767,3484,0,0,0,0,0,0
$GC,1408,-1.29,-116.8,175.5,-9.7,135,1412,0.00,2.65,0.00,0.000,4,0.000,0.064,2735,197,3484,0,0,0,0,0,0
$GC,1442,-1.29,-116.8,179.4,-11.0,137,1448,0.00,2.35,0.00,0.000,6,0.000,0.023,2736,1763,3485,0,0,0,0,0,0
$GC,1702,-1.35,-116.8,205.1,-10.1,159,1707,0.12,2.42,0.00,0.000,4,0.077,0.032,2692,3312,3484,0,0,0,0,0,0
$GC,1745,-1.35,-116.8,210.3,-11.8,160,1750,0.00,2.50,0.00,0.000,6,0.000,0.029,2692,1759,3484,0,0,0,0,0,0
$GC,2025,-1.35,-116.8,241.3,-11.0,167,2029,0.00,2.45,0.00,0.000,4,0.000,0.028,2692,3319,3484,0,0,0,0,0,0
$GC,2048,-1.35,-116.8,243.8,-10.6,167,2052,0.00,2.50,0.00,0.000,6,0.000,0.031,2692,1772,3484,0,0,0,0,0,0
$GC,2302,-1.35,-116.8,272.1,-11.2,174,2307,0.00,2.42,0.00,0.000,4,0.000,0.035,2692,3313,3484,0,0,0,0,0,0
$GC,2344,-1.40,-116.8,276.8,-10.9,175,2348,0.00,2.47,0.00,0.000,6,0.000,0.036,2692,1782,3484,0,0,0,0,0,0
$GC,2627,-1.40,-116.8,306.0,-10.0,182,2631,0.00,2.45,0.00,0.000,4,0.000,0.031,2692,3307,3483,0,0,0,0,0,0
$GC,2667,-1.44,-116.8,309.5,-8.9,183,2671,0.00,2.50,0.00,0.000,6,0.000,0.044,2692,1792,3483,0,0,0,0,0,0
$GC,2952,-1.44,-116.8,336.8,-10.0,190,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1789,3483,0,0,0,0,0,0
$GC,3194,-1.44,-116.8,360.1,-9.5,196,3198,0.00,2.45,0.00,0.000,4,0.000,0.041,2692,3307,3481,0,0,0,0,0,0
$GC,3215,-1.49,-116.8,362.5,-10.3,196,3220,0.00,2.53,0.00,0.000,6,0.000,0.047,2691,1791,3481,0,0,0,0,0,0
$GC,3473,-1.53,-116.8,388.7,-10.3,203,3474,0.10,0.00,0.00,0.000,6,0.088,0.000,2656,1791,3479,0,0,0,0,0,0
$GC,3714,-1.53,-116.8,415.4,-10.9,209,3719,0.00,2.45,0.00,0.000,4,0.000,0.038,2656,3306,3478,0,0,0,0,0,0
$GC,3736,-1.53,-116.8,417.8,-10.5,209,3741,0.00,2.58,0.00,0.000,6,0.000,0.058,2656,1789,3478,0,0,0,0,0,0
$GC,3993,-1.53,-116.8,445.4,-11.1,216,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1789,3476,0,0,0,0,0,0
$GC,4235,-1.53,-116.8,473.9,-11.8,222,4240,0.00,2.50,0.00,0.000,4,0.000,0.051,2656,3300,3474,0,0,0,0,0,0
$GC,4285,-1.53,-116.8,480.2,-12.6,223,4289,0.00,2.58,0.00,0.000,6,0.000,0.067,2656,1803,3474,0,0,0,0,0,0
$STATE,4474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4474,begin apogee
$GC,4481,-0.31,0.0,503.7,12.3,228,4580,1.23,0.00,95.65,0.925,6,0.082,0.000,2929,1803,3001,0,0,0,0,0,0
$STATE,4581,end apogee,CONTROL_FINISHED_OK
$STATE,4581,begin climb
$GC,4583,1.38,116.8,507.8,0.0,230,4688,1.58,0.00,100.05,0.901,6,0.044,0.000,3307,1803,2524,0,0,0,0,0,0
$GC,4921,1.31,164.3,494.1,7.3,239,4967,0.10,2.65,40.28,0.883,4,0.144,0.052,3288,3344,2331,0,0,0,0,0,0
$GC,5040,1.28,171.3,483.3,9.6,241,5054,0.00,2.62,7.25,0.726,6,0.000,0.062,3288,1835,2302,0,0,0,0,0,0
$GC,5335,1.23,180.8,455.3,9.5,249,5349,0.00,2.58,9.12,0.775,4,0.000,0.043,3288,3362,2263,0,0,0,0,0,0
$GC,5424,1.24,188.4,446.8,9.6,251,5438,0.00,2.62,8.43,0.759,6,0.000,0.058,3288,1835,2231,0,0,0,0,0,0
$GC,5713,1.20,199.4,420.2,9.4,258,5729,0.12,2.53,10.38,0.790,4,0.133,0.038,3264,3357,2187,0,0,0,0,0,0
$GC,5787,1.24,204.4,412.9,9.7,259,5799,0.00,2.58,6.03,0.686,6,0.000,0.050,3264,1844,2167,0,0,0,0,0,0
$GC,6043,1.25,211.3,388.2,9.6,266,6057,0.00,3.00,7.20,0.725,4,0.000,0.090,3264,236,2139,0,0,0,0,0,0
$GC,6065,1.25,211.3,386.0,10.2,266,6069,0.00,2.53,0.00,0.000,6,0.000,0.025,3264,1820,2137,0,0,0,0,0,0
$GC,6325,1.26,213.5,359.8,9.9,273,6330,0.00,2.60,0.00,0.000,4,0.000,0.036,3265,3403,2135,0,0,0,0,0,0
$GC,6347,1.26,213.5,357.4,10.1,273,6351,0.00,2.60,0.00,0.000,6,0.000,0.047,3264,1845,2134,0,0,0,0,0,0
$GC,6602,1.27,223.6,332.9,9.5,280,6621,0.00,2.60,11.57,0.767,4,0.000,0.036,3264,3397,2088,0,0,0,0,0,0
$GC,6632,1.31,223.6,329.6,10.1,280,6637,0.00,2.58,0.00,0.000,6,0.000,0.042,3264,1856,2088,0,0,0,0,0,0
$GC,6882,1.31,223.6,304.8,10.1,286,6886,0.00,2.50,0.00,0.000,4,0.000,0.038,3264,3397,2085,0,0,0,0,0,0
$GC,6916,1.37,227.8,301.5,9.8,286,6927,0.15,2.53,4.68,0.588,6,0.088,0.037,3301,1867,2072,0,0,0,0,0,0
$GC,7209,1.39,238.4,273.1,9.4,294,7221,0.00,0.00,10.85,0.729,6,0.000,0.000,3301,1866,2029,0,0,0,0,0,0
$GC,7452,1.39,238.4,248.5,10.4,300,7456,0.00,2.47,0.00,0.000,4,0.000,0.034,3301,3398,2025,0,0,0,0,0,0
$GC,7530,1.42,238.5,240.2,10.0,301,7535,0.00,2.53,0.00,0.000,6,0.000,0.041,3301,1864,2024,0,0,0,0,0,0
$GC,7780,1.44,254.1,216.8,9.1,308,7800,0.00,2.88,14.70,0.706,4,0.000,0.067,3301,240,1965,0,0,0,0,0,0
$GC,7819,1.40,254.1,213.2,10.4,309,7824,0.00,2.60,0.00,0.000,6,0.000,0.020,3301,1880,1963,0,0,0,0,0,0
$GC,8081,1.41,262.8,188.1,9.5,322,8095,0.00,2.90,9.02,0.637,4,0.000,0.062,3301,234,1928,0,0,0,0,0,0
$GC,8108,1.41,263.7,185.2,10.0,324,8118,0.00,2.62,0.00,0.000,6,0.000,0.022,3301,1874,1927,0,0,0,0,0,0
$GC,8375,1.42,273.6,159.7,9.5,349,8390,0.00,0.00,10.98,0.629,6,0.000,0.000,3301,1876,1884,0,0,0,0,0,0
$GC,8653,1.42,273.6,131.9,10.5,375,8657,0.00,2.45,0.00,0.000,4,0.000,0.031,3301,3410,1881,0,0,0,0,0,0
$GC,8686,1.49,273.6,128.3,10.5,377,8691,0.10,2.50,0.00,0.000,6,0.099,0.039,3327,1876,1880,0,0,0,0,0,0
$GC,8950,1.49,273.6,100.1,10.1,401,8955,0.00,2.45,0.00,0.000,4,0.000,0.031,3326,3410,1880,0,0,0,0,0,0
$GC,8969,1.50,283.1,98.1,9.5,402,8984,0.00,2.47,9.05,0.558,6,0.000,0.031,3327,1871,1846,0,0,0,0,0,0
$GC,9241,1.52,298.7,72.5,9.1,427,9268,0.00,2.53,14.68,0.568,4,0.000,0.027,3327,3401,1782,0,0,0,0,0,0
$GC,9324,1.62,301.8,64.8,9.9,433,9339,0.10,2.45,4.32,0.412,6,0.091,0.032,3354,1885,1769,0,0,0,0,0,0
$GC,9595,1.62,301.8,35.9,13.0,458,9599,0.00,2.42,0.00,0.000,4,0.000,0.028,3354,3402,1768,0,0,0,0,0,0
$GC,9617,1.62,301.8,33.8,10.5,459,9621,0.00,2.42,0.00,0.000,6,0.000,0.029,3354,1885,1768,0,0,0,0,0,0
$STATE,9897,end climb,SURFACE_DEPTH_REACHED
$STATE,9897,begin surface coast
$FINISH,0.4,1.016154
$STATE,9960,end surface coast,CONTROL_FINISHED_OK
$STATE,9960,begin surface
$SM_CCo,9983,108.15,0.478,1,0,1288,420.20
$SM_GC,1.00,0.00,0.00,108.15,0.000,0.000,0.478,477,1745,1288,-11.61,-0.71,420.20
$IRIDIUM_FIX,2248.70,-15740.63,301299,000059
$TT8_MAMPS,0.025311
$HUMID,47.55
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.60
$XPDR_PINGS,48
$24V_AH,23.5,47.051
$10V_AH,10.2,46.087
$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,26.725,127.350,374.225,108.150,0.000,83.989,100.721,346.713,12.000,0.000,19.048,1029.346,6563.385,577.617,1895.847,835.613,33.366,1279.658,0.000,1894.705,0.000,0.535,0.000
$DEVICE_MAMPS,144.196,89.739,925.002,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.861,299.521,390.935,737.310,1115.274,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,38527,506
$CAP_FILE_SIZE,112884,0
$CFSIZE,260165632,162381824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,033552,2256.342,-15741.798,10,99.0,29,10.1