version: 66.06
glider: 146
mission: 5
dive: 390
start: 10 11 110 22 48 8
data:
$ID,146
$MISSION,5
$DIVE,390
$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,-255212.94
$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,39
$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
$GPS1,223625,2256.229,-15753.791,60,1.3,60,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.7
$GPS2,224714,2256.154,-15753.749,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.048
$KALMAN_X,-263583.2,83.3,47.4,292466.1,395.8
$KALMAN_Y,-559575.6,130.7,381.8,699034.6,-1286.4
$MHEAD_RNG_PITCHd_Wd,91.6,24037,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,100,0.00,0.00,-78.75,0.000,2,0.000,0.000,474,1741,3253,0,0,0,0,0,0
$GC,103,-1.38,-116.8,3.4,-6.3,10,128,11.50,0.00,-4.43,0.000,6,0.149,0.000,2690,1741,3481,0,0,0,0,0,0
$GC,412,-1.25,-116.8,58.4,-14.1,45,417,0.17,2.55,0.00,0.000,4,0.132,0.025,2723,3356,3483,0,0,0,0,0,0
$GC,435,-1.17,-116.8,62.8,-14.9,46,444,0.00,2.55,0.00,0.000,6,0.000,0.028,2723,1777,3483,0,0,0,0,0,0
$GC,701,-1.17,-116.8,91.6,-10.3,71,707,0.10,0.00,0.00,0.000,6,0.131,0.000,2743,1776,3484,0,0,0,0,0,0
$GC,965,-1.24,-116.8,116.7,-8.3,96,969,0.00,2.67,0.00,0.000,4,0.000,0.061,2743,189,3485,0,0,0,0,0,0
$GC,989,-1.31,-116.8,118.9,-8.8,97,995,0.12,2.45,0.00,0.000,6,0.072,0.023,2698,1810,3485,0,0,0,0,0,0
$GC,1251,-1.31,-116.8,145.2,-10.2,122,1256,0.00,2.75,0.00,0.000,4,0.000,0.059,2698,187,3485,0,0,0,0,0,0
$GC,1286,-1.31,-116.8,149.0,-10.8,124,1295,0.00,2.40,0.00,0.000,6,0.000,0.021,2698,1752,3485,0,0,0,0,0,0
$GC,1548,-1.31,-116.8,175.8,-11.6,149,1552,0.00,2.47,0.00,0.000,4,0.000,0.029,2698,3320,3485,0,0,0,0,0,0
$GC,1599,-1.36,-116.8,182.1,-11.7,153,1603,0.00,2.47,0.00,0.000,6,0.000,0.035,2698,1769,3485,0,0,0,0,0,0
$GC,1877,-1.36,-116.8,214.8,-11.8,170,1881,0.00,2.45,0.00,0.000,4,0.000,0.025,2698,3321,3485,0,0,0,0,0,0
$GC,1892,-1.36,-116.8,216.8,-11.0,170,1896,0.00,2.47,0.00,0.000,6,0.000,0.034,2698,1780,3485,0,0,0,0,0,0
$GC,2153,-1.36,-116.8,243.3,-10.2,177,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1780,3485,0,0,0,0,0,0
$GC,2399,-1.36,-116.8,267.8,-10.0,183,2403,0.00,2.45,0.00,0.000,4,0.000,0.034,2698,3320,3484,0,0,0,0,0,0
$GC,2432,-1.42,-116.8,271.0,-8.8,183,2437,0.00,2.47,0.00,0.000,6,0.000,0.033,2698,1789,3484,0,0,0,0,0,0
$GC,2682,-1.42,-116.8,292.4,-8.4,190,2686,0.00,2.78,0.00,0.000,4,0.000,0.079,2698,191,3484,0,0,0,0,0,0
$GC,2727,-1.42,-116.8,296.4,-9.3,191,2732,0.00,2.42,0.00,0.000,6,0.000,0.027,2698,1749,3483,0,0,0,0,0,0
$GC,3006,-1.46,-116.8,319.5,-8.4,198,3010,0.00,2.67,0.00,0.000,4,0.000,0.074,2698,194,3482,0,0,0,0,0,0
$GC,3045,-1.46,-116.8,323.3,-10.2,199,3049,0.00,2.47,0.00,0.000,6,0.000,0.027,2698,1769,3482,0,0,0,0,0,0
$GC,3330,-1.50,-116.8,349.7,-9.6,206,3335,0.10,2.55,0.00,0.000,4,0.087,0.044,2660,3350,3481,0,0,0,0,0,0
$GC,3391,-1.50,-116.8,356.8,-11.0,207,3395,0.00,2.58,0.00,0.000,6,0.000,0.044,2660,1782,3481,0,0,0,0,0,0
$GC,3659,-1.50,-116.8,384.3,-10.1,214,3663,0.00,2.55,0.00,0.000,4,0.000,0.041,2660,3356,3479,0,0,0,0,0,0
$GC,3680,-1.50,-116.8,386.6,-9.7,214,3684,0.00,2.60,0.00,0.000,6,0.000,0.051,2660,1787,3479,0,0,0,0,0,0
$GC,3935,-1.50,-116.8,409.0,-8.6,221,3939,0.00,2.53,0.00,0.000,4,0.000,0.041,2660,3346,3477,0,0,0,0,0,0
$GC,3952,-1.50,-116.8,410.4,-8.4,221,3957,0.00,2.62,0.00,0.000,6,0.000,0.049,2660,1788,3477,0,0,0,0,0,0
$GC,4214,-1.50,-116.8,435.8,-9.9,228,4218,0.00,2.55,0.00,0.000,4,0.000,0.039,2660,3345,3475,0,0,0,0,0,0
$GC,4254,-1.50,-116.8,439.9,-10.4,229,4259,0.00,2.60,0.00,0.000,6,0.000,0.059,2660,1802,3475,0,0,0,0,0,0
$GC,4539,-1.50,-116.8,469.5,-10.4,236,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1802,3473,0,0,0,0,0,0
$GC,4782,-1.50,-116.8,493.4,-9.7,242,4786,0.00,2.58,0.00,0.000,4,0.000,0.053,2660,3347,3471,0,0,0,0,0,0
$STATE,4851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4851,begin apogee
$GC,4860,-0.31,0.0,500.1,8.9,243,4960,1.20,0.00,96.93,0.927,6,0.092,0.000,2924,1816,3001,0,0,0,0,0,0
$STATE,4961,end apogee,CONTROL_FINISHED_OK
$STATE,4961,begin climb
$GC,4965,1.38,116.8,501.6,0.0,246,5071,1.60,0.00,102.03,0.904,6,0.041,0.000,3310,1816,2524,0,0,0,0,0,0
$GC,5315,1.28,142.8,479.5,8.5,255,5345,0.15,2.72,22.67,0.863,4,0.129,0.045,3282,3391,2416,0,0,0,0,0,0
$GC,5399,1.26,174.9,472.8,8.2,256,5434,0.00,2.70,29.55,0.868,6,0.000,0.054,3282,1818,2286,0,0,0,0,0,0
$GC,5686,1.23,187.8,446.6,9.3,264,5705,0.00,2.70,11.73,0.803,4,0.000,0.039,3281,3398,2234,0,0,0,0,0,0
$GC,5740,1.24,195.3,441.4,9.6,265,5755,0.00,2.70,8.57,0.757,6,0.000,0.056,3282,1820,2203,0,0,0,0,0,0
$GC,6017,1.22,207.5,415.5,9.3,272,6036,0.00,2.62,11.73,0.802,4,0.000,0.035,3281,3400,2154,0,0,0,0,0,0
$GC,6047,1.23,213.6,412.5,9.7,272,6061,0.00,2.67,6.97,0.710,6,0.000,0.050,3281,1825,2129,0,0,0,0,0,0
$GC,6348,1.24,226.6,383.6,9.3,280,6363,0.00,0.00,12.75,0.799,6,0.000,0.000,3281,1825,2077,0,0,0,0,0,0
$GC,6590,1.25,233.4,360.4,9.6,286,6604,0.00,2.95,7.30,0.716,4,0.000,0.087,3281,234,2048,0,0,0,0,0,0
$GC,6641,1.15,233.4,354.7,12.3,287,6646,0.15,2.55,0.00,0.000,6,0.128,0.020,3252,1838,2047,0,0,0,0,0,0
$GC,6919,1.23,255.3,329.1,8.8,294,6947,0.00,2.90,21.05,0.805,4,0.000,0.071,3252,232,1959,0,0,0,0,0,0
$GC,7041,1.23,255.3,317.2,10.9,296,7045,0.00,2.53,0.00,0.000,6,0.000,0.028,3252,1809,1956,0,0,0,0,0,0
$GC,7291,1.35,294.4,297.4,7.8,302,7334,0.17,2.83,35.47,0.795,4,0.069,0.074,3297,226,1798,0,0,0,0,0,0
$GC,7429,1.29,294.4,279.7,14.1,305,7433,0.00,2.47,0.00,0.000,6,0.000,0.026,3297,1784,1794,0,0,0,0,0,0
$GC,7706,1.29,294.4,248.1,10.8,312,7710,0.00,2.58,0.00,0.000,4,0.000,0.032,3297,3392,1792,0,0,0,0,0,0
$GC,7721,1.29,294.4,246.2,10.8,312,7726,0.00,2.70,0.00,0.000,6,0.000,0.038,3297,1762,1790,0,0,0,0,0,0
$GC,7982,1.29,299.2,220.7,9.8,319,7987,0.00,2.65,0.00,0.000,4,0.000,0.037,3297,3396,1789,0,0,0,0,0,0
$GC,7998,1.29,299.2,218.9,10.2,319,8003,0.00,2.70,0.00,0.000,6,0.000,0.041,3297,1764,1788,0,0,0,0,0,0
$GC,8257,1.29,299.2,190.0,11.9,331,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1764,1788,0,0,0,0,0,0
$GC,8519,1.29,299.2,159.6,10.5,356,8523,0.00,2.65,0.00,0.000,4,0.000,0.035,3297,3400,1787,0,0,0,0,0,0
$GC,8536,1.34,299.2,157.7,10.1,357,8540,0.00,2.67,0.00,0.000,6,0.000,0.038,3297,1764,1787,0,0,0,0,0,0
$GC,8804,1.34,299.2,130.7,11.2,381,8808,0.00,2.62,0.00,0.000,4,0.000,0.031,3297,3398,1787,0,0,0,0,0,0
$GC,8848,1.43,299.2,124.6,11.4,384,8858,0.00,2.67,0.00,0.000,6,0.000,0.037,3297,1790,1786,0,0,0,0,0,0
$GC,9115,1.49,299.2,93.7,10.7,409,9121,0.12,0.00,0.00,0.000,6,0.081,0.000,3333,1790,1786,0,0,0,0,0,0
$GC,9382,1.52,327.4,67.9,8.4,434,9411,0.00,0.00,27.65,0.592,6,0.000,0.000,3333,1790,1666,0,0,0,0,0,0
$GC,9671,1.64,379.8,44.7,7.0,461,9724,0.10,0.00,45.10,0.568,6,0.094,0.000,3361,1790,1451,0,0,0,0,0,0
$GC,10017,1.64,379.8,5.7,13.3,504,10028,0.00,2.60,0.00,0.000,4,0.000,0.026,3361,3395,1447,0,0,0,0,0,0
$STATE,10036,end climb,SURFACE_DEPTH_REACHED
$STATE,10036,begin surface coast
$FINISH,1.7,1.023172
$STATE,10045,end surface coast,CONTROL_FINISHED_OK
$STATE,10045,begin surface
$SM_CCo,10070,39.55,0.392,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,39.55,0.000,0.000,0.392,474,1758,1288,-11.62,-0.34,420.20
$IRIDIUM_FIX,2246.36,-15756.28,050100,222216
$TT8_MAMPS,0.026078
$HUMID,53.30
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.70
$XPDR_PINGS,61
$24V_AH,23.5,54.542
$10V_AH,10.0,52.486
$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,27.225,125.275,439.500,39.550,0.000,51.435,67.587,327.974,15.250,0.000,13.381,1022.009,6535.939,544.566,1920.542,742.491,33.368,1283.734,0.000,1923.890,0.000,0.534,0.000
$DEVICE_MAMPS,148.798,87.438,926.536,391.937,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.368,303.017,389.821,747.666,1130.929,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,41565,507
$CAP_FILE_SIZE,109342,0
$CFSIZE,260165632,159387648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121010,013752,2254.867,-15752.177,8,99.0,27,10.1