version: 66.06
glider: 146
mission: 5
dive: 335
start: 10 5 110 3 44 53
data:
$ID,146
$MISSION,5
$DIVE,335
$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,-254013.3
$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,35
$R_STBD_OVSHOOT,40
$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
$GPS1,033552,2256.342,-15741.798,10,99.0,29,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-65.4
$GPS2,034400,2256.347,-15741.810,35,1.4,42,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.087,0.219
$KALMAN_X,-296922.2,235.7,-305.0,346552.7,706.5
$KALMAN_Y,-471140.1,176.8,-27.9,611309.6,-690.9
$MHEAD_RNG_PITCHd_Wd,328.2,3078,-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,-116.8,0.0,0.0,0,105,0.00,0.00,-85.60,0.000,6,0.000,0.000,476,1745,3478,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.6,-9.7,11,126,11.27,2.55,0.00,0.000,4,0.139,0.021,2693,3361,3480,0,0,0,0,0,0
$GC,259,-1.32,-116.8,39.7,-14.4,28,263,0.00,2.58,0.00,0.000,6,0.000,0.031,2693,1775,3481,0,0,0,0,0,0
$GC,527,-1.21,-116.8,81.3,-14.2,52,536,0.20,0.00,0.00,0.000,6,0.104,0.000,2735,1775,3481,0,0,0,0,0,0
$GC,794,-1.21,-116.8,112.3,-9.9,77,798,0.00,2.50,0.00,0.000,4,0.000,0.024,2734,3359,3482,0,0,0,0,0,0
$GC,827,-1.25,-116.8,115.5,-9.6,79,832,0.00,2.53,0.00,0.000,6,0.000,0.027,2735,1771,3483,0,0,0,0,0,0
$GC,1094,-1.25,-116.8,140.5,-9.2,103,1098,0.00,2.47,0.00,0.000,4,0.000,0.031,2734,3356,3483,0,0,0,0,0,0
$GC,1117,-1.30,-116.8,143.2,-9.7,104,1126,0.00,2.55,0.00,0.000,6,0.000,0.030,2735,1780,3482,0,0,0,0,0,0
$GC,1380,-1.35,-116.8,169.0,-10.4,129,1385,0.12,2.70,0.00,0.000,4,0.077,0.068,2692,197,3483,0,0,0,0,0,0
$GC,1403,-1.35,-116.8,172.3,-13.0,130,1408,0.00,2.45,0.00,0.000,6,0.000,0.022,2692,1821,3483,0,0,0,0,0,0
$GC,1664,-1.31,-116.8,205.1,-12.7,152,1666,0.10,0.00,0.00,0.000,6,0.123,0.000,2713,1823,3483,0,0,0,0,0,0
$GC,1906,-1.31,-116.8,231.8,-10.7,158,1910,0.00,2.80,0.00,0.000,4,0.000,0.064,2713,199,3483,0,0,0,0,0,0
$GC,1946,-1.31,-116.8,236.0,-10.7,159,1950,0.00,2.45,0.00,0.000,6,0.000,0.016,2713,1811,3483,0,0,0,0,0,0
$GC,2229,-1.31,-116.8,262.1,-8.9,166,2233,0.00,2.35,0.00,0.000,4,0.000,0.029,2713,3325,3483,0,0,0,0,0,0
$GC,2263,-1.38,-116.8,265.3,-9.5,166,2268,0.00,2.47,0.00,0.000,6,0.000,0.035,2713,1793,3483,0,0,0,0,0,0
$GC,2514,-1.43,-116.8,290.2,-10.1,173,2516,0.10,0.00,0.00,0.000,6,0.085,0.000,2679,1793,3482,0,0,0,0,0,0
$GC,2756,-1.43,-116.8,317.3,-11.1,179,2760,0.00,2.45,0.00,0.000,4,0.000,0.041,2679,3321,3482,0,0,0,0,0,0
$GC,2797,-1.47,-116.8,321.4,-10.3,180,2801,0.00,2.53,0.00,0.000,6,0.000,0.043,2679,1798,3482,0,0,0,0,0,0
$GC,3082,-1.47,-116.8,349.8,-9.9,187,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1795,3482,0,0,0,0,0,0
$GC,3324,-1.47,-116.8,375.8,-10.9,193,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1795,3481,0,0,0,0,0,0
$GC,3567,-1.47,-116.8,404.2,-11.9,199,3571,0.00,2.50,0.00,0.000,4,0.000,0.040,2679,3321,3479,0,0,0,0,0,0
$GC,3594,-1.47,-116.8,407.4,-11.2,199,3598,0.00,2.60,0.00,0.000,6,0.000,0.056,2678,1793,3479,0,0,0,0,0,0
$GC,3845,-1.47,-116.8,434.6,-10.8,205,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1793,3477,0,0,0,0,0,0
$GC,4088,-1.47,-116.8,459.4,-10.0,211,4092,0.00,2.50,0.00,0.000,4,0.000,0.046,2678,3318,3476,0,0,0,0,0,0
$GC,4109,-1.47,-116.8,461.6,-10.1,211,4113,0.00,2.62,0.00,0.000,6,0.000,0.065,2678,1795,3475,0,0,0,0,0,0
$GC,4365,-1.47,-116.8,485.1,-9.3,218,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1795,3473,0,0,0,0,0,0
$STATE,4564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4564,begin apogee
$GC,4570,-0.31,0.0,503.4,9.0,223,4669,1.12,0.00,95.32,0.928,6,0.094,0.000,2929,1795,3000,0,0,0,0,0,0
$STATE,4670,end apogee,CONTROL_FINISHED_OK
$STATE,4670,begin climb
$GC,4672,1.38,116.8,504.8,0.0,225,4776,1.58,0.00,99.78,0.903,6,0.051,0.000,3308,1795,2523,0,0,0,0,0,0
$GC,5013,1.28,140.1,484.0,8.7,234,5039,0.15,2.70,19.73,0.852,4,0.242,0.054,3280,3359,2428,0,0,0,0,0,0
$GC,5107,1.26,157.2,475.9,9.1,236,5128,0.00,2.65,15.77,0.831,6,0.000,0.055,3280,1835,2360,0,0,0,0,0,0
$GC,5381,1.25,184.5,452.9,8.5,243,5411,0.00,2.60,24.75,0.860,4,0.000,0.041,3280,3372,2247,0,0,0,0,0,0
$GC,5422,1.24,209.1,449.1,8.6,244,5451,0.00,2.65,22.38,0.844,6,0.000,0.052,3280,1835,2148,0,0,0,0,0,0
$GC,5704,1.24,209.1,420.3,10.7,251,5708,0.00,2.50,0.00,0.000,4,0.000,0.038,3280,3366,2142,0,0,0,0,0,0
$GC,5764,1.24,209.1,413.3,10.8,252,5769,0.00,2.58,0.00,0.000,6,0.000,0.048,3280,1848,2140,0,0,0,0,0,0
$GC,6025,1.24,209.1,385.0,10.8,259,6029,0.00,2.47,0.00,0.000,4,0.000,0.038,3280,3373,2138,0,0,0,0,0,0
$GC,6047,1.24,209.1,382.6,11.1,259,6052,0.00,2.55,0.00,0.000,6,0.000,0.045,3280,1851,2138,0,0,0,0,0,0
$GC,6302,1.24,209.1,356.0,10.3,266,6306,0.00,2.45,0.00,0.000,4,0.000,0.038,3281,3368,2137,0,0,0,0,0,0
$GC,6324,1.24,209.1,353.5,10.6,266,6328,0.00,2.53,0.00,0.000,6,0.000,0.043,3280,1858,2136,0,0,0,0,0,0
$GC,6579,1.25,218.8,329.3,9.5,273,6593,0.00,2.50,7.72,0.717,4,0.000,0.031,3280,3368,2108,0,0,0,0,0,0
$GC,6629,1.29,218.8,324.2,10.2,274,6633,0.00,2.50,0.00,0.000,6,0.000,0.045,3280,1871,2107,0,0,0,0,0,0
$GC,6906,1.29,218.8,294.1,10.8,281,6910,0.00,2.42,0.00,0.000,4,0.000,0.037,3280,3370,2106,0,0,0,0,0,0
$GC,6947,1.34,218.8,289.8,11.0,282,6951,0.00,2.47,0.00,0.000,6,0.000,0.036,3280,1871,2105,0,0,0,0,0,0
$GC,7230,1.38,251.0,264.3,8.2,289,7264,0.00,2.47,29.10,0.774,4,0.000,0.032,3280,3368,1976,0,0,0,0,0,0
$GC,7294,1.48,285.4,259.3,8.1,290,7333,0.17,2.47,31.23,0.759,6,0.073,0.040,3322,1872,1836,0,0,0,0,0,0
$GC,7603,1.48,285.4,223.7,12.1,298,7607,0.00,2.42,0.00,0.000,4,0.000,0.035,3322,3372,1829,0,0,0,0,0,0
$GC,7624,1.48,285.4,220.4,13.3,298,7628,0.00,2.47,0.00,0.000,6,0.000,0.040,3322,1867,1828,0,0,0,0,0,0
$GC,7885,1.48,285.4,187.8,13.0,311,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1867,1827,0,0,0,0,0,0
$GC,8138,1.48,285.4,156.1,12.0,335,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1867,1826,0,0,0,0,0,0
$GC,8399,1.48,285.4,127.1,10.7,359,8403,0.00,2.38,0.00,0.000,4,0.000,0.029,3322,3371,1825,0,0,0,0,0,0
$GC,8455,1.53,285.4,120.9,11.1,363,8460,0.00,2.42,0.00,0.000,6,0.000,0.036,3322,1889,1824,0,0,0,0,0,0
$GC,8722,1.55,301.1,94.2,9.1,387,8747,0.00,2.90,12.77,0.586,4,0.000,0.060,3322,236,1771,0,0,0,0,0,0
$GC,8754,1.56,310.3,90.8,9.5,389,8773,0.00,2.58,9.55,0.554,6,0.000,0.019,3322,1884,1734,0,0,0,0,0,0
$GC,9029,1.66,325.9,64.5,9.1,415,9054,0.15,0.00,14.65,0.562,6,0.075,0.000,3362,1884,1670,0,0,0,0,0,0
$GC,9309,1.66,325.9,32.1,13.3,441,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1884,1668,0,0,0,0,0,0
$STATE,9528,end climb,SURFACE_DEPTH_REACHED
$STATE,9529,begin surface coast
$FINISH,0.5,1.023287
$STATE,9571,end surface coast,CONTROL_FINISHED_OK
$STATE,9571,begin surface
$SM_CCo,9593,88.82,0.471,1,0,1286,420.20
$SM_GC,1.09,0.00,0.00,88.82,0.000,0.000,0.471,481,1744,1286,-11.59,-0.74,420.20
$IRIDIUM_FIX,2248.70,-15743.68,301299,000023
$TT8_MAMPS,0.025311
$HUMID,49.09
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.30
$XPDR_PINGS,40
$24V_AH,23.5,47.174
$10V_AH,10.2,46.194
$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,26.775,101.500,382.750,88.825,0.000,29.938,30.814,263.207,10.000,0.000,44.225,952.665,6313.175,547.915,1769.000,590.557,33.372,1194.333,0.000,1745.286,0.000,0.535,0.000
$DEVICE_MAMPS,242.372,68.263,928.070,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.284,274.520,364.857,690.155,1044.062,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38313,478
$CAP_FILE_SIZE,97310,0
$CFSIZE,260165632,162344960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,062801,2257.334,-15741.837,60,1.8,60,10.1