version: 66.06
glider: 146
mission: 5
dive: 338
start: 10 5 110 12 46 29
data:
$ID,146
$MISSION,5
$DIVE,338
$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,-254114.45
$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,51
$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
$GPS1,122824,2255.177,-15743.747,47,1.8,47,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.7
$GPS2,124536,2255.087,-15743.675,14,1.1,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.225,-0.066
$KALMAN_X,-295023.8,223.0,87.8,341058.9,-200.9
$KALMAN_Y,-474079.3,-405.7,-482.4,612961.0,-639.4
$MHEAD_RNG_PITCHd_Wd,243.5,21926,-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,-78.70,0.000,2,0.000,0.000,473,1749,3281,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.7,-7.0,10,126,11.23,2.58,-3.72,0.000,4,0.137,0.040,2692,3342,3481,0,0,0,0,0,0
$GC,292,-1.31,-116.8,40.9,-15.3,33,298,0.10,2.53,0.00,0.000,6,0.127,0.030,2713,1781,3482,0,0,0,0,0,0
$GC,561,-1.25,-116.8,80.5,-14.3,57,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1781,3482,0,0,0,0,0,0
$GC,821,-1.25,-116.8,115.0,-10.9,82,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1780,3483,0,0,0,0,0,0
$GC,1076,-1.25,-116.8,141.6,-10.4,106,1081,0.00,2.47,0.00,0.000,4,0.000,0.026,2713,3351,3482,0,0,0,0,0,0
$GC,1099,-1.25,-116.8,143.2,-9.2,107,1103,0.00,2.53,0.00,0.000,6,0.000,0.035,2713,1774,3483,0,0,0,0,0,0
$GC,1362,-1.25,-116.8,168.1,-9.8,131,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1774,3482,0,0,0,0,0,0
$GC,1615,-1.25,-116.8,197.4,-11.9,155,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1774,3483,0,0,0,0,0,0
$GC,1890,-1.25,-116.8,228.8,-10.9,164,1894,0.00,2.47,0.00,0.000,4,0.000,0.029,2713,3346,3482,0,0,0,0,0,0
$GC,1929,-1.31,-116.8,232.7,-9.9,165,1934,0.00,2.50,0.00,0.000,6,0.000,0.030,2713,1793,3483,0,0,0,0,0,0
$GC,2215,-1.35,-116.8,259.0,-9.3,172,2219,0.00,2.45,0.00,0.000,4,0.000,0.027,2713,3351,3482,0,0,0,0,0,0
$GC,2231,-1.40,-116.8,260.7,-9.5,172,2236,0.00,2.53,0.00,0.000,6,0.000,0.035,2713,1794,3482,0,0,0,0,0,0
$GC,2492,-1.45,-116.8,285.3,-9.4,179,2497,0.12,2.47,0.00,0.000,4,0.074,0.032,2673,3341,3481,0,0,0,0,0,0
$GC,2510,-1.45,-116.8,287.1,-9.6,179,2514,0.00,2.53,0.00,0.000,6,0.000,0.035,2673,1794,3481,0,0,0,0,0,0
$GC,2770,-1.45,-116.8,316.9,-11.3,186,2774,0.00,2.47,0.00,0.000,4,0.000,0.037,2673,3343,3481,0,0,0,0,0,0
$GC,2792,-1.45,-116.8,319.5,-10.9,186,2796,0.00,2.50,0.00,0.000,6,0.000,0.039,2673,1809,3481,0,0,0,0,0,0
$GC,3049,-1.45,-116.8,346.7,-10.7,193,3053,0.00,2.45,0.00,0.000,4,0.000,0.040,2673,3343,3480,0,0,0,0,0,0
$GC,3064,-1.45,-116.8,348.6,-10.2,193,3068,0.00,2.50,0.00,0.000,6,0.000,0.038,2673,1818,3480,0,0,0,0,0,0
$GC,3331,-1.45,-116.8,378.4,-12.0,200,3335,0.00,2.92,0.00,0.000,4,0.000,0.088,2672,186,3478,0,0,0,0,0,0
$GC,3371,-1.45,-116.8,383.6,-13.8,201,3376,0.00,2.58,0.00,0.000,6,0.000,0.025,2672,1811,3478,0,0,0,0,0,0
$GC,3655,-1.45,-116.8,415.1,-10.7,208,3659,0.00,2.53,0.00,0.000,4,0.000,0.049,2673,3355,3476,0,0,0,0,0,0
$GC,3676,-1.45,-116.8,417.4,-10.5,208,3680,0.00,2.58,0.00,0.000,6,0.000,0.055,2672,1819,3476,0,0,0,0,0,0
$GC,3932,-1.45,-116.8,443.5,-10.3,215,3937,0.00,3.03,0.00,0.000,4,0.000,0.103,2673,181,3474,0,0,0,0,0,0
$GC,3953,-1.45,-116.8,446.0,-10.5,215,3958,0.00,2.62,0.00,0.000,6,0.000,0.029,2672,1825,3474,0,0,0,0,0,0
$GC,4209,-1.45,-116.8,473.0,-10.5,222,4214,0.00,2.95,0.00,0.000,4,0.000,0.095,2672,187,3472,0,0,0,0,0,0
$GC,4225,-1.45,-116.8,474.8,-10.9,222,4229,0.00,2.65,0.00,0.000,6,0.000,0.038,2673,1819,3471,0,0,0,0,0,0
$STATE,4483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4483,begin apogee
$GC,4490,-0.31,0.0,502.5,10.5,229,4589,1.15,0.00,95.10,0.921,6,0.082,0.000,2929,1819,3001,0,0,0,0,0,0
$STATE,4590,end apogee,CONTROL_FINISHED_OK
$STATE,4590,begin climb
$GC,4592,1.38,116.8,505.0,0.0,231,4696,1.58,0.00,100.00,0.897,6,0.052,0.000,3305,1819,2524,0,0,0,0,0,0
$GC,4931,1.29,143.7,486.4,8.5,240,4961,0.12,2.78,22.73,0.855,4,0.249,0.060,3283,3399,2414,0,0,0,0,0,0
$GC,5051,1.26,160.5,475.7,9.1,242,5072,0.00,2.70,15.73,0.828,6,0.000,0.051,3283,1830,2346,0,0,0,0,0,0
$GC,5349,1.25,195.1,451.9,8.0,250,5384,0.00,0.00,31.15,0.864,6,0.000,0.000,3283,1830,2203,0,0,0,0,0,0
$GC,5629,1.25,195.1,423.0,10.8,257,5633,0.00,2.60,0.00,0.000,4,0.000,0.035,3283,3414,2196,0,0,0,0,0,0
$GC,5644,1.25,195.1,421.0,11.4,257,5649,0.00,2.70,0.00,0.000,6,0.000,0.051,3283,1823,2196,0,0,0,0,0,0
$GC,5907,1.25,195.1,392.1,11.0,264,5911,0.00,2.60,0.00,0.000,4,0.000,0.034,3283,3418,2195,0,0,0,0,0,0
$GC,5967,1.25,195.1,385.4,10.6,265,5972,0.00,2.67,0.00,0.000,6,0.000,0.048,3283,1835,2193,0,0,0,0,0,0
$GC,6229,1.28,216.6,361.7,8.8,272,6249,0.00,0.00,18.25,0.812,6,0.000,0.000,3283,1835,2118,0,0,0,0,0,0
$GC,6474,1.29,223.7,338.3,9.6,278,6488,0.00,2.92,7.32,0.702,4,0.000,0.078,3283,233,2087,0,0,0,0,0,0
$GC,6500,1.24,226.7,335.5,9.9,278,6509,0.00,2.60,4.15,0.544,6,0.000,0.025,3283,1866,2076,0,0,0,0,0,0
$GC,6760,1.25,231.9,310.0,9.7,285,6771,0.00,2.50,6.12,0.655,4,0.000,0.033,3283,3397,2054,0,0,0,0,0,0
$GC,6789,1.27,247.3,307.3,9.2,285,6810,0.00,2.60,15.12,0.764,6,0.000,0.037,3283,1833,1992,0,0,0,0,0,0
$GC,7084,1.27,248.0,278.5,10.0,293,7088,0.00,2.53,0.00,0.000,4,0.000,0.031,3283,3390,1988,0,0,0,0,0,0
$GC,7113,1.31,248.0,275.3,11.3,293,7117,0.00,2.55,0.00,0.000,6,0.000,0.038,3283,1849,1987,0,0,0,0,0,0
$GC,7363,1.31,251.5,250.3,9.8,299,7372,0.00,2.85,4.38,0.537,4,0.000,0.076,3282,238,1975,0,0,0,0,0,0
$GC,7411,1.31,251.5,244.6,11.8,300,7415,0.00,2.55,0.00,0.000,6,0.000,0.026,3283,1850,1974,0,0,0,0,0,0
$GC,7685,1.33,264.1,218.3,9.3,307,7705,0.00,2.55,12.60,0.693,4,0.000,0.036,3283,3391,1924,0,0,0,0,0,0
$GC,7762,1.42,270.8,210.8,9.6,308,7777,0.10,2.53,7.65,0.627,6,0.101,0.035,3308,1846,1895,0,0,0,0,0,0
$GC,8042,1.42,270.8,180.8,11.9,325,8046,0.00,2.78,0.00,0.000,4,0.000,0.067,3308,240,1893,0,0,0,0,0,0
$GC,8063,1.37,270.8,177.5,12.4,326,8069,0.00,2.55,0.00,0.000,6,0.000,0.027,3308,1859,1891,0,0,0,0,0,0
$GC,8331,1.37,270.8,148.7,10.1,351,8335,0.00,2.45,0.00,0.000,4,0.000,0.035,3308,3388,1891,0,0,0,0,0,0
$GC,8396,1.43,270.8,140.8,11.3,356,8401,0.00,2.53,0.00,0.000,6,0.000,0.041,3307,1849,1890,0,0,0,0,0,0
$GC,8659,1.43,270.8,114.1,10.6,380,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1849,1890,0,0,0,0,0,0
$GC,8914,1.54,324.6,91.6,6.9,404,8967,0.12,2.50,46.50,0.614,4,0.079,0.026,3342,3391,1676,0,0,0,0,0,0
$GC,9016,1.59,324.6,81.9,10.6,412,9021,0.00,2.55,0.00,0.000,6,0.000,0.038,3342,1848,1673,0,0,0,0,0,0
$GC,9283,1.60,327.3,54.8,9.9,436,9287,0.00,2.47,0.00,0.000,4,0.000,0.028,3342,3397,1671,0,0,0,0,0,0
$GC,9355,1.68,327.3,47.3,10.4,441,9360,0.10,2.53,0.00,0.000,6,0.096,0.035,3369,1856,1670,0,0,0,0,0,0
$GC,9656,1.68,327.3,10.9,14.1,476,9665,0.00,2.78,0.00,0.000,4,0.000,0.061,3369,247,1670,0,0,0,0,0,0
$GC,9676,1.62,327.3,8.1,14.6,478,9685,0.00,2.55,0.00,0.000,6,0.000,0.022,3369,1873,1669,0,0,0,0,0,0
$STATE,9706,end climb,SURFACE_DEPTH_REACHED
$STATE,9706,begin surface coast
$FINISH,0.4,1.010327
$STATE,9749,end surface coast,CONTROL_FINISHED_OK
$STATE,9749,begin surface
$SM_CCo,9772,88.90,0.468,1,0,1287,420.20
$SM_GC,0.98,0.00,0.00,88.90,0.000,0.000,0.468,474,1753,1287,-11.62,-0.48,420.20
$IRIDIUM_FIX,2246.36,-15745.85,301299,121248
$TT8_MAMPS,0.026078
$HUMID,49.44
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.20
$XPDR_PINGS,52
$24V_AH,23.5,47.576
$10V_AH,10.1,46.535
$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,26.375,124.900,386.800,88.900,0.000,113.855,149.579,397.967,13.000,0.000,34.492,992.309,6534.100,568.083,1822.209,982.380,33.364,1229.035,0.000,1806.816,0.000,0.536,0.000
$DEVICE_MAMPS,248.508,102.778,921.167,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.241,274.259,373.277,702.927,1063.260,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,38470,488
$CAP_FILE_SIZE,110033,0
$CFSIZE,260165632,162177024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,153206,2254.393,-15744.603,29,1.3,29,10.1