version: 66.06
glider: 146
mission: 5
dive: 337
start: 10 5 110 9 43 47
data:
$ID,146
$MISSION,5
$DIVE,337
$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,-254079.34
$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,23
$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
$GPS1,092440,2256.452,-15742.451,32,2.3,51,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.3
$GPS2,094254,2256.361,-15742.418,31,1.2,48,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.233,-0.027
$KALMAN_X,-295710.3,354.5,486.5,343374.4,-201.8
$KALMAN_Y,-472725.3,-230.7,55.3,613249.3,-1213.3
$MHEAD_RNG_PITCHd_Wd,253.3,24954,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.60,0.000,6,0.000,0.000,481,1764,3478,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.4,-9.3,11,126,11.15,2.67,0.00,0.000,4,0.135,0.052,2691,183,3481,0,0,0,0,0,0
$GC,222,-1.22,-116.8,35.5,-18.5,25,227,0.20,2.47,0.00,0.000,6,0.109,0.016,2732,1787,3481,0,0,0,0,0,0
$GC,490,-1.18,-116.8,76.0,-14.1,49,495,0.00,2.42,0.00,0.000,4,0.000,0.025,2732,3345,3481,0,0,0,0,0,0
$GC,511,-1.18,-116.8,79.3,-13.3,50,516,0.00,2.53,0.00,0.000,6,0.000,0.027,2732,1769,3481,0,0,0,0,0,0
$GC,774,-1.18,-116.8,111.5,-11.5,74,778,0.00,2.67,0.00,0.000,4,0.000,0.063,2732,192,3482,0,0,0,0,0,0
$GC,808,-1.18,-116.8,115.6,-11.8,76,819,0.00,2.45,0.00,0.000,6,0.000,0.022,2732,1804,3482,0,0,0,0,0,0
$GC,1075,-1.18,-116.8,144.7,-11.8,101,1079,0.00,2.38,0.00,0.000,4,0.000,0.031,2732,3324,3482,0,0,0,0,0,0
$GC,1097,-1.23,-116.8,148.0,-11.6,102,1106,0.00,2.45,0.00,0.000,6,0.000,0.033,2732,1801,3482,0,0,0,0,0,0
$GC,1366,-1.28,-116.8,176.9,-11.2,127,1370,0.00,2.72,0.00,0.000,4,0.000,0.064,2732,197,3482,0,0,0,0,0,0
$GC,1388,-1.32,-116.8,180.4,-11.7,128,1394,0.00,2.42,0.00,0.000,6,0.000,0.021,2732,1802,3482,0,0,0,0,0,0
$GC,1658,-1.37,-116.8,208.6,-10.3,148,1663,0.15,2.40,0.00,0.000,4,0.160,0.025,2685,3323,3482,0,0,0,0,0,0
$GC,1702,-1.37,-116.8,213.7,-10.6,149,1706,0.00,2.45,0.00,0.000,6,0.000,0.029,2685,1792,3482,0,0,0,0,0,0
$GC,1979,-1.37,-116.8,243.7,-10.8,156,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1792,3482,0,0,0,0,0,0
$GC,2224,-1.37,-116.8,271.5,-11.4,162,2229,0.00,2.80,0.00,0.000,4,0.000,0.072,2685,190,3482,0,0,0,0,0,0
$GC,2240,-1.37,-116.8,273.6,-11.6,162,2244,0.00,2.42,0.00,0.000,6,0.000,0.018,2684,1766,3482,0,0,0,0,0,0
$GC,2501,-1.37,-116.8,300.8,-10.0,169,2505,0.00,2.50,0.00,0.000,4,0.000,0.036,2685,3339,3481,0,0,0,0,0,0
$GC,2546,-1.42,-116.8,305.5,-10.4,170,2551,0.00,2.53,0.00,0.000,6,0.000,0.044,2685,1802,3481,0,0,0,0,0,0
$GC,2823,-1.42,-116.8,333.9,-10.5,177,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1799,3480,0,0,0,0,0,0
$GC,3067,-1.42,-116.8,358.8,-10.2,183,3072,0.00,2.88,0.00,0.000,4,0.000,0.088,2685,189,3479,0,0,0,0,0,0
$GC,3095,-1.42,-116.8,361.9,-11.8,183,3100,0.00,2.50,0.00,0.000,6,0.000,0.030,2685,1769,3479,0,0,0,0,0,0
$GC,3345,-1.42,-116.8,386.9,-10.0,189,3349,0.00,2.60,0.00,0.000,4,0.000,0.050,2685,3353,3477,0,0,0,0,0,0
$GC,3378,-1.47,-116.8,390.3,-10.5,189,3383,0.00,2.62,0.00,0.000,6,0.000,0.049,2685,1791,3477,0,0,0,0,0,0
$GC,3629,-1.47,-116.8,416.6,-10.7,196,3634,0.00,2.92,0.00,0.000,4,0.000,0.098,2684,184,3475,0,0,0,0,0,0
$GC,3661,-1.47,-116.8,420.8,-12.3,196,3667,0.00,2.55,0.00,0.000,6,0.000,0.030,2684,1777,3475,0,0,0,0,0,0
$GC,3912,-1.51,-116.8,446.4,-9.9,203,3917,0.00,2.88,0.00,0.000,4,0.000,0.088,2685,179,3473,0,0,0,0,0,0
$GC,3928,-1.51,-116.8,448.0,-9.1,203,3932,0.00,2.58,0.00,0.000,6,0.000,0.031,2685,1773,3473,0,0,0,0,0,0
$GC,4190,-1.55,-116.8,470.1,-8.4,210,4195,0.00,2.65,0.00,0.000,4,0.000,0.058,2685,3366,3471,0,0,0,0,0,0
$GC,4206,-1.59,-116.8,471.7,-8.8,210,4212,0.15,2.72,0.00,0.000,6,0.067,0.060,2641,1767,3471,0,0,0,0,0,0
$GC,4469,-1.59,-116.8,499.9,-11.1,217,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1767,3469,0,0,0,0,0,0
$STATE,4505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4506,begin apogee
$GC,4512,-0.31,0.0,504.5,11.3,218,4611,1.30,0.00,95.18,0.928,6,0.084,0.000,2929,1850,3001,0,0,0,0,0,0
$STATE,4611,end apogee,CONTROL_FINISHED_OK
$STATE,4612,begin climb
$GC,4614,1.38,116.8,507.5,0.0,220,4725,1.58,2.65,99.80,0.905,4,0.046,0.053,3305,3368,2523,0,0,0,0,0,0
$GC,4737,1.37,210.5,507.2,4.6,223,4823,0.00,2.70,80.40,0.890,6,0.000,0.054,3305,1817,2142,0,0,0,0,0,0
$GC,5077,1.29,210.5,473.6,10.8,232,5082,0.12,2.60,0.00,0.000,4,0.130,0.044,3283,3377,2131,0,0,0,0,0,0
$GC,5126,1.29,210.5,467.9,10.9,233,5131,0.00,2.70,0.00,0.000,6,0.000,0.058,3283,1827,2130,0,0,0,0,0,0
$GC,5398,1.29,210.5,438.6,10.9,240,5403,0.00,2.58,0.00,0.000,4,0.000,0.038,3282,3387,2128,0,0,0,0,0,0
$GC,5443,1.29,210.5,433.9,10.4,241,5448,0.00,2.67,0.00,0.000,6,0.000,0.058,3282,1831,2127,0,0,0,0,0,0
$GC,5721,1.29,213.2,406.1,9.9,248,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1832,2126,0,0,0,0,0,0
$GC,5964,1.29,213.2,381.0,10.4,254,5969,0.00,2.90,0.00,0.000,4,0.000,0.087,3282,227,2124,0,0,0,0,0,0
$GC,5981,1.24,213.2,379.3,10.4,254,5986,0.00,2.55,0.00,0.000,6,0.000,0.025,3283,1831,2123,0,0,0,0,0,0
$GC,6242,1.24,213.2,352.2,10.2,261,6246,0.00,2.53,0.00,0.000,4,0.000,0.037,3282,3396,2122,0,0,0,0,0,0
$GC,6281,1.24,213.2,348.1,10.4,262,6285,0.00,2.62,0.00,0.000,6,0.000,0.048,3283,1826,2122,0,0,0,0,0,0
$GC,6565,1.26,235.1,321.7,8.8,269,6589,0.00,2.60,19.23,0.801,4,0.000,0.038,3282,3394,2041,0,0,0,0,0,0
$GC,6609,1.29,252.3,317.6,9.0,270,6633,0.00,2.62,16.75,0.776,6,0.000,0.038,3282,1826,1972,0,0,0,0,0,0
$GC,6894,1.29,252.3,287.6,10.5,277,6899,0.00,2.55,0.00,0.000,4,0.000,0.031,3282,3394,1966,0,0,0,0,0,0
$GC,6951,1.34,252.3,281.6,11.0,278,6956,0.00,2.60,0.00,0.000,6,0.000,0.044,3282,1833,1965,0,0,0,0,0,0
$GC,7218,1.34,254.7,254.7,9.9,285,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1834,1964,0,0,0,0,0,0
$GC,7461,1.35,261.7,231.6,9.6,291,7476,0.00,2.83,8.27,0.663,4,0.000,0.068,3282,247,1934,0,0,0,0,0,0
$GC,7489,1.35,261.7,228.8,10.7,291,7493,0.00,2.55,0.00,0.000,6,0.000,0.022,3283,1859,1933,0,0,0,0,0,0
$GC,7744,1.40,265.5,203.4,9.8,298,7755,0.10,2.47,5.00,0.548,4,0.098,0.037,3308,3395,1918,0,0,0,0,0,0
$GC,7801,1.44,265.5,197.4,11.0,300,7810,0.00,2.58,0.00,0.000,6,0.000,0.036,3308,1851,1917,0,0,0,0,0,0
$GC,8068,1.44,265.5,167.8,11.3,325,8072,0.00,2.47,0.00,0.000,4,0.000,0.036,3308,3391,1916,0,0,0,0,0,0
$GC,8119,1.48,265.5,161.2,11.4,329,8124,0.00,2.50,0.00,0.000,6,0.000,0.035,3308,1860,1916,0,0,0,0,0,0
$GC,8387,1.53,304.0,136.8,7.8,353,8431,0.10,0.00,34.25,0.654,6,0.104,0.000,3335,1860,1760,0,0,0,0,0,0
$GC,8685,1.53,304.0,104.5,11.9,381,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1860,1756,0,0,0,0,0,0
$GC,8950,1.53,304.0,73.5,11.3,406,8954,0.00,2.45,0.00,0.000,4,0.000,0.027,3335,3389,1755,0,0,0,0,0,0
$GC,9020,1.58,304.0,65.6,11.4,411,9025,0.00,2.50,0.00,0.000,6,0.000,0.034,3335,1855,1754,0,0,0,0,0,0
$GC,9289,1.63,305.3,38.8,10.0,435,9293,0.00,2.42,0.00,0.000,4,0.000,0.028,3335,3391,1755,0,0,0,0,0,0
$GC,9370,1.71,306.7,30.4,10.0,441,9375,0.15,2.47,0.00,0.000,6,0.078,0.033,3377,1866,1755,0,0,0,0,0,0
$STATE,9617,end climb,SURFACE_DEPTH_REACHED
$STATE,9617,begin surface coast
$FINISH,1.0,1.023152
$STATE,9659,end surface coast,CONTROL_FINISHED_OK
$STATE,9660,begin surface
$SM_CCo,9683,100.30,0.476,1,0,1287,420.20
$SM_GC,1.07,0.00,0.00,100.30,0.000,0.000,0.476,474,1750,1287,-11.62,-0.57,420.20
$IRIDIUM_FIX,2248.70,-15740.63,301299,090956
$TT8_MAMPS,0.026078
$HUMID,49.40
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.30
$XPDR_PINGS,52
$24V_AH,23.5,47.438
$10V_AH,10.1,46.420
$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,26.875,129.575,358.875,100.300,0.000,108.546,192.607,418.698,13.000,0.000,49.714,983.298,6495.347,531.952,1844.587,1028.087,33.371,1223.266,0.000,1812.314,0.000,0.535,0.000
$DEVICE_MAMPS,160.303,131.924,928.070,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.729,280.933,368.193,696.533,1053.565,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38443,483
$CAP_FILE_SIZE,112069,0
$CFSIZE,260165632,162226176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,122824,2255.177,-15743.747,47,1.8,47,10.1