version: 66.06
glider: 146
mission: 5
dive: 336
start: 10 5 110 6 38 56
data:
$ID,146
$MISSION,5
$DIVE,336
$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,-254029
$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,41
$R_STBD_OVSHOOT,71
$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
$GPS1,062801,2257.334,-15741.837,60,1.8,60,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-65.5
$GPS2,063801,2257.307,-15741.752,8,1.7,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,-0.024
$KALMAN_X,-296556.8,341.6,181.8,345690.9,348.9
$KALMAN_Y,-471700.8,-13.1,316.3,613491.4,-1018.6
$MHEAD_RNG_PITCHd_Wd,254.1,26842,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,103,0.00,0.00,-85.68,0.000,6,0.000,0.000,480,1745,3479,0,0,0,0,0,0
$GC,106,-1.38,-116.8,4.5,-9.4,11,124,11.25,2.60,0.00,0.000,4,0.139,0.051,2690,207,3482,0,0,0,0,0,0
$GC,183,-1.22,-116.8,27.0,-18.1,21,193,0.15,2.40,0.00,0.000,6,0.091,0.016,2726,1760,3483,0,0,0,0,0,0
$GC,460,-1.14,-116.8,69.4,-14.4,47,465,0.12,2.50,0.00,0.000,4,0.120,0.024,2750,3335,3483,0,0,0,0,0,0
$GC,472,-1.09,-116.8,72.2,-14.8,47,481,0.00,2.50,0.00,0.000,6,0.000,0.025,2750,1782,3483,0,0,0,0,0,0
$GC,735,-1.13,-116.8,101.9,-10.3,72,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1782,3483,0,0,0,0,0,0
$GC,990,-1.18,-116.8,128.2,-9.8,96,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1782,3484,0,0,0,0,0,0
$GC,1245,-1.26,-116.8,149.7,-7.5,120,1250,0.10,2.47,0.00,0.000,4,0.081,0.025,2708,3336,3485,0,0,0,0,0,0
$GC,1278,-1.26,-116.8,153.1,-9.9,122,1284,0.00,2.53,0.00,0.000,6,0.000,0.033,2708,1760,3485,0,0,0,0,0,0
$GC,1543,-1.26,-116.8,180.4,-11.3,147,1547,0.00,2.47,0.00,0.000,4,0.000,0.030,2708,3340,3485,0,0,0,0,0,0
$GC,1576,-1.26,-116.8,184.4,-10.6,149,1581,0.00,2.53,0.00,0.000,6,0.000,0.028,2708,1767,3485,0,0,0,0,0,0
$GC,1843,-1.26,-116.8,213.3,-10.7,166,1848,0.00,2.45,0.00,0.000,4,0.000,0.025,2708,3336,3485,0,0,0,0,0,0
$GC,1859,-1.26,-116.8,215.4,-10.3,166,1864,0.00,2.50,0.00,0.000,6,0.000,0.030,2708,1770,3485,0,0,0,0,0,0
$GC,2121,-1.26,-116.8,241.8,-10.2,173,2125,0.00,2.47,0.00,0.000,4,0.000,0.032,2708,3335,3485,0,0,0,0,0,0
$GC,2143,-1.26,-116.8,244.0,-10.0,173,2148,0.00,2.50,0.00,0.000,6,0.000,0.031,2708,1783,3485,0,0,0,0,0,0
$GC,2398,-1.26,-116.8,269.4,-10.0,180,2402,0.00,2.45,0.00,0.000,4,0.000,0.035,2709,3331,3485,0,0,0,0,0,0
$GC,2419,-1.26,-116.8,271.7,-10.8,180,2423,0.00,2.50,0.00,0.000,6,0.000,0.035,2708,1783,3485,0,0,0,0,0,0
$GC,2677,-1.26,-116.8,295.2,-8.8,187,2681,0.00,2.47,0.00,0.000,4,0.000,0.031,2708,3336,3484,0,0,0,0,0,0
$GC,2716,-1.34,-116.8,298.6,-8.2,188,2721,0.00,2.53,0.00,0.000,6,0.000,0.041,2708,1792,3484,0,0,0,0,0,0
$GC,3000,-1.39,-116.8,322.5,-8.8,195,3005,0.00,2.47,0.00,0.000,4,0.000,0.032,2708,3335,3483,0,0,0,0,0,0
$GC,3024,-1.47,-116.8,324.6,-9.1,195,3029,0.12,2.53,0.00,0.000,6,0.074,0.041,2663,1792,3483,0,0,0,0,0,0
$GC,3279,-1.47,-116.8,353.4,-11.6,202,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1792,3482,0,0,0,0,0,0
$GC,3523,-1.47,-116.8,381.2,-11.4,208,3527,0.00,2.47,0.00,0.000,4,0.000,0.038,2663,3330,3481,0,0,0,0,0,0
$GC,3551,-1.47,-116.8,384.5,-11.8,208,3556,0.00,2.55,0.00,0.000,6,0.000,0.054,2663,1810,3481,0,0,0,0,0,0
$GC,3801,-1.47,-116.8,412.6,-11.3,214,3806,0.00,2.97,0.00,0.000,4,0.000,0.103,2662,185,3479,0,0,0,0,0,0
$GC,3828,-1.42,-116.8,416.0,-12.5,214,3833,0.12,2.53,0.00,0.000,6,0.121,0.025,2688,1770,3479,0,0,0,0,0,0
$GC,4080,-1.46,-116.8,441.9,-10.0,220,4084,0.00,2.62,0.00,0.000,4,0.000,0.054,2688,3363,3478,0,0,0,0,0,0
$GC,4114,-1.53,-116.8,445.5,-10.1,220,4120,0.00,2.62,0.00,0.000,6,0.000,0.054,2688,1808,3477,0,0,0,0,0,0
$GC,4365,-1.57,-116.8,469.5,-9.5,227,4366,0.12,0.00,0.00,0.000,6,0.074,0.000,2645,1807,3476,0,0,0,0,0,0
$GC,4609,-1.57,-116.8,496.2,-11.3,233,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1807,3474,0,0,0,0,0,0
$STATE,4646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4646,begin apogee
$GC,4651,-0.31,0.0,500.6,11.2,234,4751,1.30,0.00,95.90,0.923,6,0.097,0.000,2932,1807,3000,0,0,0,0,0,0
$STATE,4752,end apogee,CONTROL_FINISHED_OK
$STATE,4752,begin climb
$GC,4754,1.38,116.8,503.0,0.0,236,4862,1.58,2.80,99.15,0.900,4,0.044,0.052,3310,3396,2522,0,0,0,0,0,0
$GC,4885,1.33,187.1,501.1,6.0,239,4951,0.00,2.75,60.20,0.882,6,0.000,0.059,3310,1816,2238,0,0,0,0,0,0
$GC,5213,1.23,187.1,467.6,10.8,248,5218,0.20,2.65,0.00,0.000,4,0.120,0.044,3271,3402,2228,0,0,0,0,0,0
$GC,5264,1.23,187.1,461.8,10.5,249,5268,0.00,2.72,0.00,0.000,6,0.000,0.059,3271,1824,2226,0,0,0,0,0,0
$GC,5535,1.23,187.1,433.6,10.5,256,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1825,2224,0,0,0,0,0,0
$GC,5779,1.25,203.3,410.7,9.1,262,5798,0.00,2.67,12.77,0.802,4,0.000,0.036,3271,3405,2171,0,0,0,0,0,0
$GC,5812,1.27,220.0,407.7,9.1,262,5836,0.00,2.70,16.33,0.814,6,0.000,0.048,3271,1827,2104,0,0,0,0,0,0
$GC,6110,1.29,231.9,379.7,9.4,270,6129,0.00,2.92,11.55,0.781,4,0.000,0.091,3271,233,2054,0,0,0,0,0,0
$GC,6159,1.23,231.9,374.4,11.3,271,6164,0.00,2.58,0.00,0.000,6,0.000,0.021,3271,1843,2051,0,0,0,0,0,0
$GC,6437,1.23,232.3,346.6,10.0,278,6442,0.00,2.53,0.00,0.000,4,0.000,0.039,3271,3400,2049,0,0,0,0,0,0
$GC,6459,1.26,232.3,344.1,11.0,278,6464,0.00,2.65,0.00,0.000,6,0.000,0.046,3271,1816,2048,0,0,0,0,0,0
$GC,6715,1.26,232.3,317.3,10.4,285,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1816,2047,0,0,0,0,0,0
$GC,6958,1.26,232.3,292.4,10.1,291,6962,0.00,2.58,0.00,0.000,4,0.000,0.034,3271,3405,2047,0,0,0,0,0,0
$GC,6999,1.33,234.5,288.6,9.9,292,7004,0.00,2.60,0.00,0.000,6,0.000,0.036,3271,1830,2045,0,0,0,0,0,0
$GC,7284,1.41,267.6,264.2,8.1,299,7325,0.15,2.60,31.17,0.772,4,0.078,0.029,3310,3400,1908,0,0,0,0,0,0
$GC,7347,1.41,267.6,258.0,10.2,300,7351,0.00,2.60,0.00,0.000,6,0.000,0.038,3310,1834,1906,0,0,0,0,0,0
$GC,7610,1.41,267.6,228.6,11.8,307,7614,0.00,2.55,0.00,0.000,4,0.000,0.031,3310,3405,1903,0,0,0,0,0,0
$GC,7625,1.41,267.6,226.3,12.8,307,7630,0.00,2.55,0.00,0.000,6,0.000,0.034,3310,1854,1902,0,0,0,0,0,0
$GC,7886,1.41,267.6,197.2,10.6,314,7891,0.00,2.50,0.00,0.000,4,0.000,0.030,3310,3398,1902,0,0,0,0,0,0
$GC,7922,1.41,269.1,194.4,10.0,316,7926,0.00,2.53,0.00,0.000,6,0.000,0.038,3310,1863,1901,0,0,0,0,0,0
$GC,8190,1.41,269.1,167.7,10.4,340,8194,0.00,2.45,0.00,0.000,4,0.000,0.035,3310,3400,1900,0,0,0,0,0,0
$GC,8257,1.45,269.1,159.4,11.1,345,8266,0.00,2.50,0.00,0.000,6,0.000,0.036,3310,1886,1900,0,0,0,0,0,0
$GC,8519,1.45,269.1,129.8,11.0,370,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1886,1900,0,0,0,0,0,0
$GC,8773,1.48,290.2,103.3,8.8,394,8794,0.00,0.00,19.38,0.614,6,0.000,0.000,3310,1886,1817,0,0,0,0,0,0
$GC,9055,1.58,323.3,79.0,8.1,420,9097,0.15,2.90,29.05,0.594,4,0.136,0.059,3349,244,1682,0,0,0,0,0,0
$GC,9265,1.58,323.3,55.2,11.3,436,9274,0.00,2.58,0.00,0.000,6,0.000,0.019,3350,1875,1679,0,0,0,0,0,0
$GC,9536,1.58,323.3,25.7,12.3,463,9546,0.00,2.45,0.00,0.000,4,0.000,0.028,3350,3398,1678,0,0,0,0,0,0
$STATE,9705,end climb,SURFACE_DEPTH_REACHED
$STATE,9705,begin surface coast
$FINISH,0.4,1.023378
$STATE,9737,end surface coast,CONTROL_FINISHED_OK
$STATE,9737,begin surface
$SM_CCo,9760,85.00,0.465,1,0,1288,420.20
$SM_GC,1.07,0.00,0.00,85.00,0.000,0.000,0.465,482,1765,1288,-11.58,-0.14,420.20
$IRIDIUM_FIX,2248.70,-15742.79,301299,060651
$TT8_MAMPS,0.026078
$HUMID,49.56
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.30
$XPDR_PINGS,49
$24V_AH,23.5,47.298
$10V_AH,10.1,46.305
$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,27.100,123.675,375.500,85.000,0.000,50.583,65.124,278.132,12.250,0.000,15.081,984.616,6442.384,533.477,1806.796,687.038,33.363,1222.869,0.000,1810.847,0.000,0.535,0.000
$DEVICE_MAMPS,138.827,102.778,922.701,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.568,274.988,378.176,702.903,1063.289,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,38448,491
$CAP_FILE_SIZE,105479,0
$CFSIZE,260165632,162287616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,092440,2256.452,-15742.451,32,2.3,51,10.1