version: 66.06
glider: 146
mission: 5
dive: 342
start: 10 6 110 0 52 26
data:
$ID,146
$MISSION,5
$DIVE,342
$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,-254206.22
$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,39
$R_STBD_OVSHOOT,59
$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
$GPS1,003236,2251.750,-15746.993,25,1.4,25,10.1
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-69.2
$GPS2,005132,2251.656,-15747.075,10,1.3,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.231,0.040
$KALMAN_X,-291488.7,-27.8,-127.4,332145.5,112.5
$KALMAN_Y,-480353.3,-108.2,-568.0,612669.0,-1038.7
$MHEAD_RNG_PITCHd_Wd,269.6,14105,-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,17,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-84.72,0.000,6,0.000,0.000,478,1753,3479,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.3,-8.6,11,125,11.23,2.53,0.00,0.000,4,0.138,0.031,2691,3341,3481,0,0,0,0,0,0
$GC,306,-1.31,-116.8,46.1,-15.6,33,311,0.10,2.53,0.00,0.000,6,0.126,0.031,2713,1783,3481,0,0,0,0,0,0
$GC,572,-1.24,-116.8,85.7,-13.6,57,577,0.00,2.45,0.00,0.000,4,0.000,0.024,2713,3336,3481,0,0,0,0,0,0
$GC,607,-1.20,-116.8,90.2,-12.4,59,612,0.12,2.50,0.00,0.000,6,0.111,0.027,2740,1776,3481,0,0,0,0,0,0
$GC,874,-1.20,-116.8,120.3,-11.4,83,879,0.00,2.65,0.00,0.000,4,0.000,0.061,2740,196,3482,0,0,0,0,0,0
$GC,890,-1.20,-116.8,123.0,-11.3,84,895,0.00,2.42,0.00,0.000,6,0.000,0.020,2740,1826,3482,0,0,0,0,0,0
$GC,1155,-1.26,-116.8,148.7,-8.2,108,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1828,3482,0,0,0,0,0,0
$GC,1422,-1.32,-116.8,171.5,-9.2,133,1427,0.12,2.40,0.00,0.000,4,0.073,0.034,2700,3345,3482,0,0,0,0,0,0
$GC,1456,-1.32,-116.8,175.7,-11.1,135,1466,0.00,2.55,0.00,0.000,6,0.000,0.035,2699,1773,3482,0,0,0,0,0,0
$GC,1745,-1.32,-116.8,209.5,-11.7,157,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1773,3482,0,0,0,0,0,0
$GC,1988,-1.32,-116.8,235.5,-10.4,163,1993,0.00,2.45,0.00,0.000,4,0.000,0.032,2699,3336,3482,0,0,0,0,0,0
$GC,2011,-1.32,-116.8,237.9,-10.7,163,2016,0.00,2.53,0.00,0.000,6,0.000,0.031,2699,1773,3482,0,0,0,0,0,0
$GC,2267,-1.32,-116.8,266.4,-11.4,170,2271,0.00,2.45,0.00,0.000,4,0.000,0.030,2699,3333,3481,0,0,0,0,0,0
$GC,2311,-1.39,-116.8,271.5,-11.3,171,2315,0.00,2.50,0.00,0.000,6,0.000,0.035,2699,1794,3481,0,0,0,0,0,0
$GC,2590,-1.39,-116.8,301.0,-10.5,178,2594,0.00,2.85,0.00,0.000,4,0.000,0.087,2699,184,3480,0,0,0,0,0,0
$GC,2610,-1.39,-116.8,303.4,-10.1,178,2615,0.00,2.47,0.00,0.000,6,0.000,0.027,2699,1774,3480,0,0,0,0,0,0
$GC,2872,-1.39,-116.8,328.0,-9.6,185,2876,0.00,2.75,0.00,0.000,4,0.000,0.069,2699,185,3479,0,0,0,0,0,0
$GC,2900,-1.39,-116.8,331.1,-11.3,185,2904,0.00,2.53,0.00,0.000,6,0.000,0.022,2699,1798,3479,0,0,0,0,0,0
$GC,3150,-1.43,-116.8,357.5,-10.2,191,3154,0.00,2.50,0.00,0.000,4,0.000,0.041,2699,3353,3478,0,0,0,0,0,0
$GC,3205,-1.50,-116.8,362.6,-9.0,192,3211,0.12,2.58,0.00,0.000,6,0.078,0.048,2659,1802,3478,0,0,0,0,0,0
$GC,3473,-1.50,-116.8,391.4,-11.1,199,3478,0.00,2.90,0.00,0.000,4,0.000,0.091,2659,186,3476,0,0,0,0,0,0
$GC,3495,-1.45,-116.8,394.3,-12.0,199,3500,0.12,2.55,0.00,0.000,6,0.120,0.025,2685,1792,3476,0,0,0,0,0,0
$GC,3750,-1.45,-116.8,423.4,-11.2,206,3754,0.00,2.55,0.00,0.000,4,0.000,0.053,2685,3352,3474,0,0,0,0,0,0
$GC,3773,-1.49,-116.8,426.0,-11.1,206,3778,0.00,2.62,0.00,0.000,6,0.000,0.054,2685,1799,3474,0,0,0,0,0,0
$GC,4029,-1.53,-116.8,452.2,-10.0,213,4033,0.00,2.55,0.00,0.000,4,0.000,0.045,2685,3350,3472,0,0,0,0,0,0
$GC,4070,-1.59,-116.8,456.1,-9.7,214,4075,0.15,2.62,0.00,0.000,6,0.067,0.060,2641,1810,3472,0,0,0,0,0,0
$GC,4354,-1.56,-116.8,488.3,-11.3,221,4358,0.00,3.05,0.00,0.000,4,0.000,0.111,2641,185,3470,0,0,0,0,0,0
$GC,4386,-1.47,-116.8,492.8,-13.5,221,4393,0.17,2.62,0.00,0.000,6,0.114,0.033,2677,1801,3469,0,0,0,0,0,0
$STATE,4471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4471,begin apogee
$GC,4478,-0.31,0.0,502.6,11.5,224,4578,1.12,0.00,95.70,0.917,6,0.080,0.000,2930,1801,3000,0,0,0,0,0,0
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4579,begin climb
$GC,4581,1.38,116.8,505.4,0.0,226,4692,1.55,2.88,99.68,0.895,4,0.054,0.062,3306,3407,2522,0,0,0,0,0,0
$GC,4700,1.37,207.4,505.1,4.8,228,4787,0.00,2.72,77.93,0.878,6,0.000,0.052,3305,1818,2154,0,0,0,0,0,0
$GC,5031,1.29,207.4,469.0,12.0,237,5036,0.12,3.00,0.00,0.000,4,0.130,0.107,3282,234,2145,0,0,0,0,0,0
$GC,5054,1.19,207.4,466.1,12.7,237,5060,0.12,2.60,0.00,0.000,6,0.137,0.035,3259,1831,2143,0,0,0,0,0,0
$GC,5310,1.19,207.4,439.5,10.3,244,5314,0.00,2.65,0.00,0.000,4,0.000,0.055,3259,3411,2142,0,0,0,0,0,0
$GC,5359,1.23,207.4,434.0,11.0,245,5364,0.00,2.70,0.00,0.000,6,0.000,0.054,3259,1831,2141,0,0,0,0,0,0
$GC,5632,1.24,212.7,407.4,9.7,252,5637,0.00,2.60,0.00,0.000,4,0.000,0.040,3259,3423,2138,0,0,0,0,0,0
$GC,5672,1.31,230.9,403.6,9.0,253,5697,0.10,2.70,19.27,0.821,6,0.107,0.047,3283,1829,2059,0,0,0,0,0,0
$GC,5954,1.31,230.9,374.0,10.8,260,5959,0.00,2.90,0.00,0.000,4,0.000,0.087,3283,226,2054,0,0,0,0,0,0
$GC,5976,1.25,230.9,371.2,11.8,260,5980,0.00,2.60,0.00,0.000,6,0.000,0.027,3283,1857,2053,0,0,0,0,0,0
$GC,6231,1.25,230.9,342.8,10.9,267,6235,0.00,2.50,0.00,0.000,4,0.000,0.039,3283,3405,2052,0,0,0,0,0,0
$GC,6247,1.25,230.9,341.2,10.6,267,6252,0.00,2.62,0.00,0.000,6,0.000,0.046,3283,1833,2051,0,0,0,0,0,0
$GC,6508,1.26,244.2,316.7,9.3,274,6527,0.00,2.92,12.00,0.752,4,0.000,0.076,3283,237,2004,0,0,0,0,0,0
$GC,6539,1.26,244.2,313.2,11.3,274,6544,0.00,2.55,0.00,0.000,6,0.000,0.025,3283,1839,2003,0,0,0,0,0,0
$GC,6791,1.26,244.2,285.3,11.2,280,6795,0.00,2.50,0.00,0.000,4,0.000,0.039,3283,3392,2001,0,0,0,0,0,0
$GC,6812,1.26,244.2,282.6,11.8,280,6816,0.00,2.53,0.00,0.000,6,0.000,0.041,3283,1841,2000,0,0,0,0,0,0
$GC,7067,1.26,244.2,255.8,10.3,287,7072,0.00,2.50,0.00,0.000,4,0.000,0.036,3283,3400,1999,0,0,0,0,0,0
$GC,7130,1.33,244.2,249.7,10.4,288,7135,0.00,2.53,0.00,0.000,6,0.000,0.041,3283,1852,1999,0,0,0,0,0,0
$GC,7391,1.36,274.8,226.8,8.3,295,7420,0.00,0.00,27.83,0.729,6,0.000,0.000,3283,1852,1880,0,0,0,0,0,0
$GC,7635,1.42,287.8,204.5,9.3,301,7654,0.10,2.58,12.25,0.667,4,0.099,0.030,3311,3394,1826,0,0,0,0,0,0
$GC,7707,1.47,287.8,196.0,12.1,304,7713,0.00,2.55,0.00,0.000,6,0.000,0.036,3311,1854,1824,0,0,0,0,0,0
$GC,7970,1.47,287.8,165.7,11.1,329,7974,0.00,2.47,0.00,0.000,4,0.000,0.031,3311,3393,1823,0,0,0,0,0,0
$GC,8004,1.47,287.8,162.3,12.1,331,8009,0.00,2.53,0.00,0.000,6,0.000,0.037,3311,1859,1823,0,0,0,0,0,0
$GC,8271,1.47,287.8,130.2,11.6,355,8275,0.00,2.45,0.00,0.000,4,0.000,0.032,3311,3395,1822,0,0,0,0,0,0
$GC,8292,1.50,287.8,127.1,11.2,356,8301,0.00,2.50,0.00,0.000,6,0.000,0.040,3311,1879,1822,0,0,0,0,0,0
$GC,8560,1.55,299.2,101.9,9.4,381,8577,0.12,2.45,10.65,0.571,4,0.084,0.026,3343,3400,1780,0,0,0,0,0,0
$GC,8595,1.55,299.7,97.8,10.0,383,8600,0.00,2.47,0.00,0.000,6,0.000,0.035,3343,1889,1779,0,0,0,0,0,0
$GC,8862,1.55,299.7,69.9,10.2,408,8867,0.00,2.42,0.00,0.000,4,0.000,0.028,3343,3404,1778,0,0,0,0,0,0
$GC,8896,1.61,299.7,66.0,10.8,410,8900,0.00,2.47,0.00,0.000,6,0.000,0.033,3343,1886,1778,0,0,0,0,0,0
$GC,9165,1.62,310.6,39.3,9.4,434,9184,0.00,0.00,11.18,0.518,6,0.000,0.000,3343,1886,1733,0,0,0,0,0,0
$GC,9484,1.62,310.6,8.0,11.4,477,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1886,1732,0,0,0,0,0,0
$STATE,9521,end climb,SURFACE_DEPTH_REACHED
$STATE,9521,begin surface coast
$FINISH,0.5,1.023167
$STATE,9563,end surface coast,CONTROL_FINISHED_OK
$STATE,9563,begin surface
$SM_CCo,9587,95.93,0.468,1,0,1287,420.20
$SM_GC,1.16,0.00,0.00,95.93,0.000,0.000,0.468,475,1734,1287,-11.62,-1.02,420.20
$IRIDIUM_FIX,2241.69,-15748.90,311299,000028
$TT8_MAMPS,0.025311
$HUMID,48.58
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.70
$XPDR_PINGS,54
$24V_AH,23.5,48.120
$10V_AH,10.1,47.000
$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,27.050,140.200,366.475,95.925,0.000,85.297,114.458,669.021,13.500,0.000,12.190,1003.208,6250.651,545.747,1850.694,1173.486,33.371,1248.733,0.000,1851.879,0.000,0.536,0.000
$DEVICE_MAMPS,138.060,111.215,916.565,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.041,292.163,379.354,731.768,1106.953,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355776
$DATA_FILE_SIZE,38395,488
$CAP_FILE_SIZE,118059,0
$CFSIZE,260165632,161951744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,033552,2251.450,-15748.091,57,3.3,76,10.1