version: 66.06
glider: 146
mission: 5
dive: 340
start: 10 5 110 18 48 15
data:
$ID,146
$MISSION,5
$DIVE,340
$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,-254160.08
$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,49
$R_STBD_OVSHOOT,58
$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
$GPS1,183700,2253.500,-15744.952,38,1.5,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.0
$GPS2,184722,2253.412,-15744.910,10,2.1,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,0.023
$KALMAN_X,-292625.1,70.7,136.1,336634.8,1065.9
$KALMAN_Y,-476592.6,-333.4,253.4,611563.8,-759.2
$MHEAD_RNG_PITCHd_Wd,265.6,18685,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.25,0.000,2,0.000,0.000,473,1743,3246,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.3,-5.9,10,125,11.25,2.58,-4.53,0.000,4,0.137,0.042,2692,3332,3481,0,0,0,0,0,0
$GC,267,-1.29,-116.8,36.0,-14.5,31,272,0.12,2.50,0.00,0.000,6,0.117,0.029,2718,1787,3482,0,0,0,0,0,0
$GC,534,-1.22,-116.8,75.3,-13.4,55,538,0.00,2.45,0.00,0.000,4,0.000,0.024,2718,3342,3483,0,0,0,0,0,0
$GC,581,-1.22,-116.8,81.1,-11.2,58,585,0.00,2.47,0.00,0.000,6,0.000,0.028,2718,1796,3483,0,0,0,0,0,0
$GC,842,-1.22,-116.8,113.8,-11.7,82,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1796,3483,0,0,0,0,0,0
$GC,1098,-1.22,-116.8,140.7,-10.9,106,1102,0.00,2.72,0.00,0.000,4,0.000,0.062,2718,194,3484,0,0,0,0,0,0
$GC,1150,-1.22,-116.8,147.2,-12.2,110,1154,0.00,2.45,0.00,0.000,6,0.000,0.021,2718,1832,3484,0,0,0,0,0,0
$GC,1414,-1.22,-116.8,174.7,-10.3,134,1418,0.00,2.35,0.00,0.000,4,0.000,0.031,2718,3347,3484,0,0,0,0,0,0
$GC,1435,-1.22,-116.8,177.3,-9.9,135,1445,0.00,2.50,0.00,0.000,6,0.000,0.028,2718,1800,3484,0,0,0,0,0,0
$GC,1705,-1.22,-116.8,204.6,-10.2,158,1709,0.00,2.72,0.00,0.000,4,0.000,0.068,2718,197,3484,0,0,0,0,0,0
$GC,1739,-1.22,-116.8,208.2,-11.0,158,1744,0.00,2.45,0.00,0.000,6,0.000,0.022,2718,1812,3484,0,0,0,0,0,0
$GC,1989,-1.22,-116.8,233.0,-9.9,165,1993,0.00,2.38,0.00,0.000,4,0.000,0.031,2718,3328,3484,0,0,0,0,0,0
$GC,2022,-1.28,-116.8,236.4,-9.5,165,2027,0.00,2.45,0.00,0.000,6,0.000,0.029,2718,1805,3484,0,0,0,0,0,0
$GC,2274,-1.33,-116.8,257.8,-8.5,172,2277,0.00,2.40,0.00,0.000,4,0.000,0.027,2718,3330,3484,0,0,0,0,0,0
$GC,2307,-1.41,-116.8,260.9,-8.2,172,2312,0.10,2.45,0.00,0.000,6,0.087,0.035,2680,1813,3484,0,0,0,0,0,0
$GC,2557,-1.41,-116.8,284.9,-9.9,178,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1813,3483,0,0,0,0,0,0
$GC,2802,-1.41,-116.8,308.7,-9.5,184,2807,0.00,2.85,0.00,0.000,4,0.000,0.086,2680,196,3483,0,0,0,0,0,0
$GC,2818,-1.41,-116.8,310.7,-9.7,184,2823,0.00,2.50,0.00,0.000,6,0.000,0.020,2680,1794,3483,0,0,0,0,0,0
$GC,3079,-1.41,-116.8,338.4,-10.8,191,3083,0.00,2.50,0.00,0.000,4,0.000,0.038,2680,3351,3482,0,0,0,0,0,0
$GC,3129,-1.41,-116.8,343.7,-10.1,192,3133,0.00,2.50,0.00,0.000,6,0.000,0.042,2680,1830,3482,0,0,0,0,0,0
$GC,3403,-1.41,-116.8,369.9,-9.5,199,3408,0.00,2.92,0.00,0.000,4,0.000,0.090,2680,192,3480,0,0,0,0,0,0
$GC,3419,-1.41,-116.8,371.7,-9.2,199,3424,0.00,2.55,0.00,0.000,6,0.000,0.026,2680,1813,3480,0,0,0,0,0,0
$GC,3681,-1.41,-116.8,396.8,-9.9,206,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1814,3478,0,0,0,0,0,0
$GC,3923,-1.41,-116.8,421.8,-10.2,212,3927,0.00,2.50,0.00,0.000,4,0.000,0.048,2680,3355,3477,0,0,0,0,0,0
$GC,3950,-1.41,-116.8,424.5,-9.6,212,3954,0.00,2.58,0.00,0.000,6,0.000,0.056,2680,1828,3477,0,0,0,0,0,0
$GC,4200,-1.41,-116.8,447.7,-9.3,218,4205,0.00,3.03,0.00,0.000,4,0.000,0.107,2680,195,3474,0,0,0,0,0,0
$GC,4230,-1.41,-116.8,450.5,-9.4,218,4235,0.00,2.58,0.00,0.000,6,0.000,0.031,2680,1810,3474,0,0,0,0,0,0
$GC,4480,-1.41,-116.8,472.8,-8.7,224,4485,0.00,2.55,0.00,0.000,4,0.000,0.054,2680,3360,3473,0,0,0,0,0,0
$GC,4503,-1.45,-116.8,474.9,-8.7,224,4507,0.00,2.58,0.00,0.000,6,0.000,0.056,2680,1829,3472,0,0,0,0,0,0
$GC,4759,-1.45,-116.8,497.3,-8.8,231,4764,0.00,3.08,0.00,0.000,4,0.000,0.117,2680,194,3470,0,0,0,0,0,0
$GC,4781,-1.45,-116.8,499.5,-8.9,231,4785,0.00,2.65,0.00,0.000,6,0.000,0.039,2680,1828,3471,0,0,0,0,0,0
$STATE,4789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4789,begin apogee
$GC,4795,-0.31,0.0,500.5,10.1,232,4894,1.12,0.00,95.88,0.923,6,0.081,0.000,2931,1828,3001,0,0,0,0,0,0
$STATE,4895,end apogee,CONTROL_FINISHED_OK
$STATE,4895,begin climb
$GC,4899,1.38,116.8,501.9,0.0,234,5009,1.58,2.75,99.78,0.897,4,0.048,0.063,3308,3404,2523,0,0,0,0,0,0
$GC,5015,1.34,182.0,499.6,6.3,237,5079,0.00,2.72,56.47,0.876,6,0.000,0.051,3308,1826,2258,0,0,0,0,0,0
$GC,5363,1.24,182.0,458.7,12.3,246,5368,0.20,2.62,0.00,0.000,4,0.160,0.038,3269,3418,2249,0,0,0,0,0,0
$GC,5407,1.24,182.0,453.7,10.7,247,5411,0.00,2.72,0.00,0.000,6,0.000,0.053,3269,1817,2248,0,0,0,0,0,0
$GC,5693,1.29,227.2,430.6,7.4,254,5737,0.00,2.70,38.65,0.861,4,0.000,0.039,3269,3407,2074,0,0,0,0,0,0
$GC,5773,1.35,240.7,424.0,9.3,255,5793,0.10,2.72,13.43,0.795,6,0.102,0.054,3293,1822,2018,0,0,0,0,0,0
$GC,6067,1.35,240.7,390.3,12.2,263,6071,0.00,2.60,0.00,0.000,4,0.000,0.038,3293,3414,2012,0,0,0,0,0,0
$GC,6127,1.35,240.7,381.5,14.2,264,6132,0.00,2.67,0.00,0.000,6,0.000,0.052,3293,1831,2010,0,0,0,0,0,0
$GC,6394,1.35,240.7,346.2,12.9,271,6399,0.00,2.85,0.00,0.000,4,0.000,0.081,3293,235,2009,0,0,0,0,0,0
$GC,6417,1.28,240.7,343.2,13.7,271,6422,0.00,2.58,0.00,0.000,6,0.000,0.021,3294,1858,2008,0,0,0,0,0,0
$GC,6673,1.28,240.7,313.7,11.0,278,6677,0.00,2.47,0.00,0.000,4,0.000,0.035,3293,3400,2007,0,0,0,0,0,0
$GC,6750,1.28,240.7,305.7,10.4,279,6756,0.00,2.60,0.00,0.000,6,0.000,0.038,3293,1827,2006,0,0,0,0,0,0
$GC,7002,1.28,240.7,280.8,10.1,286,7006,0.00,2.53,0.00,0.000,4,0.000,0.033,3293,3400,2005,0,0,0,0,0,0
$GC,7023,1.28,240.7,278.4,10.1,286,7027,0.00,2.58,0.00,0.000,6,0.000,0.040,3293,1834,2005,0,0,0,0,0,0
$GC,7278,1.29,244.6,253.5,9.8,293,7282,0.00,2.53,0.00,0.000,4,0.000,0.033,3293,3398,2004,0,0,0,0,0,0
$GC,7295,1.29,244.6,251.8,10.2,293,7299,0.00,2.58,0.00,0.000,6,0.000,0.039,3293,1833,2004,0,0,0,0,0,0
$GC,7555,1.29,244.6,224.2,10.7,300,7559,0.00,2.53,0.00,0.000,4,0.000,0.035,3293,3398,2004,0,0,0,0,0,0
$GC,7610,1.34,244.6,218.3,10.1,301,7614,0.00,2.53,0.00,0.000,6,0.000,0.040,3293,1858,2003,0,0,0,0,0,0
$GC,7873,1.37,265.5,195.5,8.8,310,7902,0.00,2.55,20.30,0.700,4,0.000,0.035,3293,3394,1917,0,0,0,0,0,0
$GC,7908,1.38,280.8,191.7,9.2,313,7928,0.00,2.53,14.62,0.669,6,0.000,0.035,3293,1858,1857,0,0,0,0,0,0
$GC,8196,1.38,280.8,162.6,10.5,340,8200,0.00,2.80,0.00,0.000,4,0.000,0.067,3293,243,1852,0,0,0,0,0,0
$GC,8212,1.38,280.8,160.2,11.1,341,8217,0.00,2.58,0.00,0.000,6,0.000,0.024,3293,1887,1851,0,0,0,0,0,0
$GC,8481,1.44,293.1,134.8,9.3,365,8505,0.00,2.95,11.73,0.612,4,0.000,0.061,3293,233,1803,0,0,0,0,0,0
$GC,8522,1.44,293.1,129.7,11.0,368,8531,0.00,2.58,0.00,0.000,6,0.000,0.021,3293,1850,1802,0,0,0,0,0,0
$GC,8788,1.51,296.1,104.4,9.9,393,8800,0.15,2.50,3.88,0.413,4,0.095,0.030,3333,3402,1793,0,0,0,0,0,0
$GC,8854,1.57,296.1,96.1,12.1,398,8863,0.00,2.58,0.00,0.000,6,0.000,0.035,3333,1849,1792,0,0,0,0,0,0
$GC,9122,1.64,318.8,70.8,8.7,423,9151,0.10,2.53,21.17,0.578,4,0.094,0.028,3361,3396,1699,0,0,0,0,0,0
$GC,9232,1.69,318.8,59.7,11.0,431,9236,0.00,2.50,0.00,0.000,6,0.000,0.034,3361,1854,1699,0,0,0,0,0,0
$GC,9500,1.69,318.8,31.1,10.7,455,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1854,1697,0,0,0,0,0,0
$STATE,9736,end climb,SURFACE_DEPTH_REACHED
$STATE,9736,begin surface coast
$FINISH,0.4,1.023188
$STATE,9786,end surface coast,CONTROL_FINISHED_OK
$STATE,9786,begin surface
$SM_CCo,9808,88.95,0.465,1,0,1287,420.20
$SM_GC,0.96,0.00,0.00,88.95,0.000,0.000,0.465,477,1749,1287,-11.61,-0.57,420.20
$IRIDIUM_FIX,2244.02,-15746.73,301299,181803
$TT8_MAMPS,0.025311
$HUMID,49.13
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.70
$XPDR_PINGS,59
$24V_AH,23.5,47.837
$10V_AH,10.1,46.765
$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,26.400,145.700,375.900,88.950,0.000,60.102,72.438,261.165,14.750,0.000,32.072,1008.104,6351.689,538.536,1925.484,701.137,33.369,1273.557,0.000,1906.921,0.000,0.537,0.000
$DEVICE_MAMPS,160.303,117.351,922.701,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.543,279.930,384.504,731.668,1106.763,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38434,496
$CAP_FILE_SIZE,111657,0
$CFSIZE,260165632,162062336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,213428,2252.564,-15745.716,9,99.0,28,10.1