version: 66.06
glider: 146
mission: 5
dive: 341
start: 10 5 110 21 48 46
data:
$ID,146
$MISSION,5
$DIVE,341
$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,-254193.41
$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,42
$R_STBD_OVSHOOT,50
$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
$GPS1,213428,2252.564,-15745.716,9,99.0,28,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-67.4
$GPS2,214753,2252.451,-15745.723,11,99.0,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.216,0.093
$KALMAN_X,-291894.0,8.7,409.1,334303.8,261.6
$KALMAN_Y,-478508.0,-214.4,76.7,611761.5,-1576.2
$MHEAD_RNG_PITCHd_Wd,283.3,16754,-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,-78.70,0.000,2,0.000,0.000,477,1749,3273,0,0,0,0,0,0
$GC,103,-1.38,-116.8,3.5,-6.3,10,129,11.18,2.58,-3.97,0.000,4,0.134,0.037,2696,3348,3480,0,0,0,0,0,0
$GC,283,-1.31,-116.8,38.3,-15.9,32,288,0.00,2.53,0.00,0.000,6,0.000,0.031,2695,1785,3481,0,0,0,0,0,0
$GC,546,-1.18,-116.8,84.0,-16.2,56,548,0.22,0.00,0.00,0.000,6,0.102,0.000,2743,1785,3481,0,0,0,0,0,0
$GC,802,-1.18,-116.8,114.1,-10.7,80,806,0.00,2.70,0.00,0.000,4,0.000,0.067,2743,194,3482,0,0,0,0,0,0
$GC,824,-1.18,-116.8,116.8,-10.9,81,830,0.00,2.45,0.00,0.000,6,0.000,0.020,2743,1823,3482,0,0,0,0,0,0
$GC,1087,-1.23,-116.8,142.8,-10.4,106,1092,0.00,2.80,0.00,0.000,4,0.000,0.061,2743,190,3482,0,0,0,0,0,0
$GC,1118,-1.23,-116.8,146.4,-12.0,108,1122,0.00,2.40,0.00,0.000,6,0.000,0.021,2743,1799,3482,0,0,0,0,0,0
$GC,1381,-1.30,-116.8,171.8,-8.6,132,1386,0.12,2.40,0.00,0.000,4,0.074,0.032,2699,3318,3483,0,0,0,0,0,0
$GC,1405,-1.30,-116.8,174.5,-10.0,133,1411,0.00,2.47,0.00,0.000,6,0.000,0.034,2699,1770,3483,0,0,0,0,0,0
$GC,1687,-1.30,-116.8,205.9,-11.5,157,1691,0.00,2.70,0.00,0.000,4,0.000,0.069,2699,193,3483,0,0,0,0,0,0
$GC,1708,-1.30,-116.8,208.7,-11.7,157,1712,0.00,2.38,0.00,0.000,6,0.000,0.021,2699,1766,3483,0,0,0,0,0,0
$GC,1965,-1.30,-116.8,237.4,-11.2,164,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1767,3483,0,0,0,0,0,0
$GC,2207,-1.30,-116.8,263.2,-10.5,170,2212,0.00,2.42,0.00,0.000,4,0.000,0.030,2699,3317,3483,0,0,0,0,0,0
$GC,2241,-1.34,-116.8,266.5,-10.0,170,2247,0.00,2.50,0.00,0.000,6,0.000,0.034,2699,1783,3483,0,0,0,0,0,0
$GC,2492,-1.34,-116.8,292.9,-11.2,177,2497,0.00,2.83,0.00,0.000,4,0.000,0.086,2699,190,3482,0,0,0,0,0,0
$GC,2541,-1.34,-116.8,299.2,-11.8,178,2546,0.00,2.42,0.00,0.000,6,0.000,0.021,2699,1748,3482,0,0,0,0,0,0
$GC,2815,-1.38,-116.8,327.3,-9.7,185,2819,0.00,2.58,0.00,0.000,4,0.000,0.039,2699,3357,3481,0,0,0,0,0,0
$GC,2866,-1.47,-116.8,331.8,-8.5,186,2870,0.00,2.60,0.00,0.000,6,0.000,0.042,2699,1787,3481,0,0,0,0,0,0
$GC,3138,-1.52,-116.8,354.7,-8.6,193,3140,0.12,0.00,0.00,0.000,6,0.078,0.000,2658,1787,3480,0,0,0,0,0,0
$GC,3381,-1.52,-116.8,384.0,-12.9,199,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1787,3478,0,0,0,0,0,0
$GC,3626,-1.52,-116.8,416.0,-13.1,205,3631,0.00,2.58,0.00,0.000,4,0.000,0.044,2658,3350,3476,0,0,0,0,0,0
$GC,3653,-1.52,-116.8,419.6,-12.9,205,3658,0.00,2.65,0.00,0.000,6,0.000,0.058,2658,1787,3476,0,0,0,0,0,0
$GC,3909,-1.52,-116.8,447.1,-10.6,212,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1787,3474,0,0,0,0,0,0
$GC,4152,-1.52,-116.8,472.8,-10.7,218,4157,0.00,2.60,0.00,0.000,4,0.000,0.054,2658,3338,3472,0,0,0,0,0,0
$GC,4175,-1.52,-116.8,475.3,-10.9,218,4180,0.00,2.65,0.00,0.000,6,0.000,0.062,2657,1786,3472,0,0,0,0,0,0
$STATE,4428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4428,begin apogee
$GC,4433,-0.31,0.0,502.6,10.7,225,4533,1.23,0.00,95.82,0.921,6,0.094,0.000,2930,1786,3000,0,0,0,0,0,0
$STATE,4534,end apogee,CONTROL_FINISHED_OK
$STATE,4534,begin climb
$GC,4536,1.38,116.8,504.9,0.0,227,4645,1.58,2.80,100.28,0.897,4,0.044,0.054,3306,3390,2523,0,0,0,0,0,0
$GC,4672,1.32,168.3,501.6,7.1,231,4722,0.00,2.75,45.00,0.874,6,0.000,0.061,3306,1816,2313,0,0,0,0,0,0
$GC,4995,1.22,168.3,466.0,11.3,239,5000,0.20,2.65,0.00,0.000,4,0.120,0.040,3267,3398,2304,0,0,0,0,0,0
$GC,5062,1.25,188.4,459.8,8.9,240,5086,0.00,2.72,17.20,0.831,6,0.000,0.061,3267,1814,2232,0,0,0,0,0,0
$GC,5368,1.27,211.4,433.5,8.7,248,5394,0.00,2.65,20.83,0.842,4,0.000,0.042,3267,3393,2138,0,0,0,0,0,0
$GC,5451,1.29,220.1,425.3,9.5,250,5466,0.00,2.67,8.82,0.752,6,0.000,0.049,3267,1830,2103,0,0,0,0,0,0
$GC,5741,1.30,231.8,397.7,9.4,257,5759,0.00,2.58,11.38,0.785,4,0.000,0.038,3267,3394,2054,0,0,0,0,0,0
$GC,5800,1.35,231.8,391.8,10.1,258,5805,0.12,2.65,0.00,0.000,6,0.095,0.051,3297,1834,2052,0,0,0,0,0,0
$GC,6067,1.31,231.8,362.7,11.1,265,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1833,2051,0,0,0,0,0,0
$GC,6311,1.31,231.8,334.9,11.5,271,6316,0.00,2.55,0.00,0.000,4,0.000,0.035,3297,3405,2048,0,0,0,0,0,0
$GC,6406,1.31,231.8,324.6,10.5,273,6410,0.00,2.62,0.00,0.000,6,0.000,0.043,3297,1830,2047,0,0,0,0,0,0
$GC,6680,1.31,231.8,296.5,10.3,280,6685,0.00,2.78,0.00,0.000,4,0.000,0.074,3297,237,2047,0,0,0,0,0,0
$GC,6713,1.22,231.8,292.7,11.4,280,6719,0.15,2.53,0.00,0.000,6,0.127,0.027,3268,1839,2045,0,0,0,0,0,0
$GC,6963,1.30,255.1,270.9,8.7,287,6989,0.00,2.88,20.75,0.766,4,0.000,0.067,3267,233,1959,0,0,0,0,0,0
$GC,7003,1.30,255.1,266.8,10.5,288,7007,0.00,2.53,0.00,0.000,6,0.000,0.027,3267,1820,1958,0,0,0,0,0,0
$GC,7286,1.38,267.2,239.5,9.3,295,7305,0.12,2.62,11.43,0.700,4,0.091,0.035,3301,3386,1910,0,0,0,0,0,0
$GC,7348,1.43,268.7,233.3,10.0,296,7352,0.00,2.62,0.00,0.000,6,0.000,0.036,3301,1806,1908,0,0,0,0,0,0
$GC,7614,1.43,268.7,205.4,10.7,303,7618,0.00,2.55,0.00,0.000,4,0.000,0.035,3301,3386,1907,0,0,0,0,0,0
$GC,7640,1.43,268.7,202.2,11.5,303,7645,0.00,2.58,0.00,0.000,6,0.000,0.041,3301,1816,1906,0,0,0,0,0,0
$GC,7903,1.43,268.7,173.3,11.0,324,7907,0.00,2.53,0.00,0.000,4,0.000,0.035,3301,3388,1906,0,0,0,0,0,0
$GC,7936,1.47,268.7,169.2,11.6,326,7942,0.00,2.55,0.00,0.000,6,0.000,0.038,3301,1830,1906,0,0,0,0,0,0
$GC,8205,1.48,272.3,141.7,9.8,351,8216,0.00,2.75,5.07,0.507,4,0.000,0.064,3301,243,1890,0,0,0,0,0,0
$GC,8235,1.48,272.3,137.6,11.2,353,8241,0.00,2.47,0.00,0.000,6,0.000,0.026,3301,1832,1889,0,0,0,0,0,0
$GC,8498,1.54,290.5,114.5,9.0,378,8523,0.15,2.53,17.52,0.615,4,0.077,0.031,3340,3385,1815,0,0,0,0,0,0
$GC,8602,1.54,290.5,102.7,11.3,386,8611,0.00,2.60,0.00,0.000,6,0.000,0.035,3341,1823,1813,0,0,0,0,0,0
$GC,8869,1.56,303.7,74.2,9.3,411,8886,0.00,2.55,12.57,0.559,4,0.000,0.029,3341,3387,1761,0,0,0,0,0,0
$GC,8950,1.65,311.7,66.5,9.6,417,8963,0.00,2.55,8.27,0.515,6,0.000,0.034,3340,1846,1730,0,0,0,0,0,0
$GC,9226,1.65,311.7,40.8,10.1,442,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1846,1727,0,0,0,0,0,0
$GC,9535,1.68,311.7,10.5,11.0,481,9545,0.10,2.50,0.00,0.000,4,0.097,0.033,3370,3378,1727,0,0,0,0,0,0
$GC,9557,1.73,311.7,8.5,10.3,483,9566,0.00,2.47,0.00,0.000,6,0.000,0.035,3370,1853,1726,0,0,0,0,0,0
$STATE,9594,end climb,SURFACE_DEPTH_REACHED
$STATE,9595,begin surface coast
$FINISH,0.4,1.009265
$STATE,9637,end surface coast,CONTROL_FINISHED_OK
$STATE,9637,begin surface
$SM_CCo,9659,99.40,0.469,1,0,1287,420.20
$SM_GC,1.10,0.00,0.00,99.40,0.000,0.000,0.469,479,1753,1287,-11.60,-0.48,420.20
$IRIDIUM_FIX,2244.02,-15746.73,301299,212139
$TT8_MAMPS,0.025311
$HUMID,48.93
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.70
$XPDR_PINGS,49
$24V_AH,23.5,47.968
$10V_AH,10.1,46.881
$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,27.125,124.575,374.950,99.400,0.000,79.880,107.805,330.546,12.250,0.000,32.696,997.235,6303.016,548.489,1901.240,817.161,33.365,1250.570,0.000,1881.489,0.000,0.536,0.000
$DEVICE_MAMPS,134.225,85.904,921.167,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.647,286.211,383.392,734.905,1111.701,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38496,494
$CAP_FILE_SIZE,110375,0
$CFSIZE,260165632,162013184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,003236,2251.750,-15746.993,25,1.4,25,10.1