version: 66.06
glider: 146
mission: 5
dive: 345
start: 10 6 110 10 11 0
data:
$ID,146
$MISSION,5
$DIVE,345
$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,619.13721
$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,-254321.58
$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,53
$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
$GPS1,094910,2250.236,-15749.394,9,99.0,28,10.1
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,6
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.0
$GPS2,101007,2250.033,-15749.262,65,1.1,65,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.127,0.198
$KALMAN_X,-289283.7,30.6,461.4,325530.2,-148.3
$KALMAN_Y,-485454.4,-151.5,71.4,614171.2,-2110.5
$MHEAD_RNG_PITCHd_Wd,317.2,9845,-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,-78.60,0.000,2,0.000,0.000,475,1748,3267,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.5,-6.6,10,126,11.20,2.58,-4.10,0.000,4,0.137,0.040,2691,3343,3481,0,0,0,0,0,0
$GC,229,-1.30,-116.8,32.4,-17.3,27,235,0.12,2.53,0.00,0.000,6,0.111,0.032,2717,1790,3481,0,0,0,0,0,0
$GC,498,-1.21,-116.8,73.4,-15.3,51,502,0.00,2.70,0.00,0.000,4,0.000,0.058,2717,193,3482,0,0,0,0,0,0
$GC,557,-1.13,-116.8,83.9,-15.1,55,564,0.15,2.42,0.00,0.000,6,0.113,0.015,2750,1806,3482,0,0,0,0,0,0
$GC,822,-1.18,-116.8,113.9,-9.9,80,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1808,3482,0,0,0,0,0,0
$GC,1088,-1.26,-116.8,141.2,-9.8,105,1093,0.10,2.35,0.00,0.000,4,0.082,0.029,2709,3312,3483,0,0,0,0,0,0
$GC,1134,-1.30,-116.8,146.6,-10.8,108,1143,0.00,2.53,0.00,0.000,6,0.000,0.029,2709,1754,3483,0,0,0,0,0,0
$GC,1401,-1.30,-116.8,174.6,-10.2,133,1405,0.00,2.62,0.00,0.000,4,0.000,0.068,2708,196,3483,0,0,0,0,0,0
$GC,1465,-1.30,-116.8,182.2,-10.8,138,1469,0.00,2.33,0.00,0.000,6,0.000,0.017,2708,1751,3483,0,0,0,0,0,0
$GC,1733,-1.30,-116.8,209.9,-10.8,157,1737,0.00,2.42,0.00,0.000,4,0.000,0.026,2708,3311,3483,0,0,0,0,0,0
$GC,1778,-1.35,-116.8,214.7,-10.8,158,1782,0.00,2.50,0.00,0.000,6,0.000,0.029,2708,1760,3483,0,0,0,0,0,0
$GC,2055,-1.35,-116.8,244.6,-10.3,165,2059,0.00,2.45,0.00,0.000,4,0.000,0.025,2708,3310,3483,0,0,0,0,0,0
$GC,2078,-1.40,-116.8,246.8,-9.9,165,2082,0.00,2.50,0.00,0.000,6,0.000,0.037,2708,1765,3482,0,0,0,0,0,0
$GC,2335,-1.44,-116.8,270.9,-9.4,172,2340,0.10,2.45,0.00,0.000,4,0.088,0.036,2672,3307,3482,0,0,0,0,0,0
$GC,2362,-1.44,-116.8,273.9,-10.4,172,2366,0.00,2.47,0.00,0.000,6,0.000,0.035,2671,1783,3482,0,0,0,0,0,0
$GC,2612,-1.44,-116.8,300.4,-10.7,178,2616,0.00,2.42,0.00,0.000,4,0.000,0.031,2672,3300,3481,0,0,0,0,0,0
$GC,2640,-1.44,-116.8,303.6,-11.2,178,2645,0.00,2.50,0.00,0.000,6,0.000,0.040,2671,1786,3481,0,0,0,0,0,0
$GC,2890,-1.44,-116.8,332.1,-11.5,184,2894,0.00,2.83,0.00,0.000,4,0.000,0.087,2671,187,3480,0,0,0,0,0,0
$GC,2911,-1.44,-116.8,334.9,-12.1,184,2915,0.00,2.42,0.00,0.000,6,0.000,0.026,2671,1747,3480,0,0,0,0,0,0
$GC,3167,-1.44,-116.8,364.2,-11.6,191,3171,0.00,2.58,0.00,0.000,4,0.000,0.043,2671,3346,3479,0,0,0,0,0,0
$GC,3223,-1.44,-116.8,370.2,-10.5,192,3227,0.00,2.60,0.00,0.000,6,0.000,0.052,2671,1792,3478,0,0,0,0,0,0
$GC,3489,-1.44,-116.8,398.9,-10.9,199,3493,0.00,2.92,0.00,0.000,4,0.000,0.100,2671,186,3476,0,0,0,0,0,0
$GC,3521,-1.44,-116.8,402.5,-10.9,199,3527,0.00,2.55,0.00,0.000,6,0.000,0.031,2671,1785,3476,0,0,0,0,0,0
$GC,3773,-1.44,-116.8,426.4,-9.5,206,3777,0.00,2.58,0.00,0.000,4,0.000,0.050,2671,3357,3475,0,0,0,0,0,0
$GC,3800,-1.44,-116.8,429.1,-9.1,206,3805,0.00,2.65,0.00,0.000,6,0.000,0.055,2671,1796,3474,0,0,0,0,0,0
$GC,4050,-1.44,-116.8,454.0,-10.2,212,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1796,3472,0,0,0,0,0,0
$GC,4295,-1.44,-116.8,479.6,-10.6,218,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1795,3470,0,0,0,0,0,0
$STATE,4494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4494,begin apogee
$GC,4500,-0.31,0.0,500.5,10.3,223,4599,1.17,0.00,95.62,0.918,6,0.083,0.000,2932,1795,3001,0,0,0,0,0,0
$STATE,4600,end apogee,CONTROL_FINISHED_OK
$STATE,4600,begin climb
$GC,4602,1.38,116.8,502.9,0.0,225,4715,1.52,2.85,99.85,0.893,4,0.052,0.054,3304,3397,2523,0,0,0,0,0,0
$GC,4755,1.31,144.7,499.5,8.4,228,4785,0.00,2.75,24.33,0.851,6,0.000,0.061,3303,1821,2411,0,0,0,0,0,0
$GC,5056,1.20,144.7,468.8,10.6,236,5058,0.20,0.00,0.00,0.000,6,0.140,0.000,3265,1821,2402,0,0,0,0,0,0
$GC,5296,1.25,181.4,448.8,7.9,242,5337,0.00,2.72,31.92,0.860,4,0.000,0.044,3265,3403,2260,0,0,0,0,0,0
$GC,5394,1.28,209.9,440.9,8.4,244,5426,0.00,2.72,25.77,0.844,6,0.000,0.054,3264,1814,2145,0,0,0,0,0,0
$GC,5671,1.30,222.7,415.5,9.3,251,5685,0.00,0.00,11.73,0.785,6,0.000,0.000,3264,1814,2093,0,0,0,0,0,0
$GC,5913,1.31,232.4,392.7,9.5,257,5925,0.00,0.00,9.90,0.761,6,0.000,0.000,3265,1814,2053,0,0,0,0,0,0
$GC,6156,1.31,232.4,368.8,10.1,263,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1814,2049,0,0,0,0,0,0
$GC,6402,1.33,249.6,346.0,9.0,269,6424,0.10,2.62,15.95,0.793,4,0.100,0.030,3290,3410,1983,0,0,0,0,0,0
$GC,6435,1.33,249.6,342.3,10.1,269,6441,0.00,2.70,0.00,0.000,6,0.000,0.047,3290,1809,1982,0,0,0,0,0,0
$GC,6685,1.33,249.6,315.7,10.6,276,6689,0.00,2.80,0.00,0.000,4,0.000,0.082,3290,232,1979,0,0,0,0,0,0
$GC,6713,1.27,249.6,312.3,12.6,276,6718,0.00,2.53,0.00,0.000,6,0.000,0.025,3290,1830,1978,0,0,0,0,0,0
$GC,6963,1.27,249.6,284.1,11.2,282,6967,0.00,2.50,0.00,0.000,4,0.000,0.037,3290,3392,1978,0,0,0,0,0,0
$GC,7002,1.31,249.6,279.5,11.9,283,7007,0.00,2.60,0.00,0.000,6,0.000,0.043,3290,1820,1976,0,0,0,0,0,0
$GC,7288,1.31,249.6,249.3,10.3,290,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1819,1976,0,0,0,0,0,0
$GC,7530,1.31,249.6,224.4,10.3,296,7534,0.00,2.55,0.00,0.000,4,0.000,0.035,3290,3392,1975,0,0,0,0,0,0
$GC,7546,1.32,251.3,222.6,9.9,296,7550,0.00,2.58,0.00,0.000,6,0.000,0.035,3290,1815,1974,0,0,0,0,0,0
$GC,7808,1.32,251.3,196.2,10.2,303,7812,0.00,2.53,0.00,0.000,4,0.000,0.035,3290,3396,1974,0,0,0,0,0,0
$GC,7848,1.39,251.3,191.9,10.2,306,7853,0.00,2.58,0.00,0.000,6,0.000,0.041,3290,1825,1974,0,0,0,0,0,0
$GC,8113,1.43,284.6,167.9,8.1,330,8150,0.00,2.83,30.38,0.683,4,0.000,0.070,3290,244,1839,0,0,0,0,0,0
$GC,8180,1.43,284.6,161.4,10.5,336,8185,0.00,2.50,0.00,0.000,6,0.000,0.025,3290,1831,1837,0,0,0,0,0,0
$GC,8445,1.49,301.5,137.0,9.1,360,8469,0.15,2.55,15.50,0.627,4,0.072,0.030,3331,3385,1769,0,0,0,0,0,0
$GC,8493,1.49,301.5,131.6,11.0,364,8498,0.00,2.55,0.00,0.000,6,0.000,0.034,3331,1832,1768,0,0,0,0,0,0
$GC,8758,1.49,301.5,101.9,10.8,388,8762,0.00,2.50,0.00,0.000,4,0.000,0.028,3331,3393,1767,0,0,0,0,0,0
$GC,8825,1.55,301.5,94.7,11.0,393,8830,0.00,2.53,0.00,0.000,6,0.000,0.039,3331,1848,1766,0,0,0,0,0,0
$GC,9092,1.60,308.6,67.8,9.6,417,9107,0.00,2.50,7.12,0.505,4,0.000,0.027,3331,3380,1741,0,0,0,0,0,0
$GC,9162,1.71,308.6,60.7,10.1,422,9167,0.17,2.47,0.00,0.000,6,0.074,0.032,3377,1861,1741,0,0,0,0,0,0
$GC,9428,1.71,308.6,30.7,12.6,446,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1861,1740,0,0,0,0,0,0
$STATE,9660,end climb,SURFACE_DEPTH_REACHED
$STATE,9660,begin surface coast
$FINISH,0.3,1.010433
$STATE,9703,end surface coast,CONTROL_FINISHED_OK
$STATE,9703,begin surface
$SM_CCo,9724,253.82,0.497,1,0,477,619.14
$SM_GC,0.92,0.00,0.00,253.82,0.000,0.000,0.497,480,1735,477,-11.59,-0.99,619.14
$IRIDIUM_FIX,2241.69,-15748.90,311299,101031
$TT8_MAMPS,0.026078
$HUMID,47.67
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,22.20
$XPDR_PINGS,45
$24V_AH,23.5,48.570
$10V_AH,10.1,47.354
$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,26.775,118.500,368.075,253.825,0.000,129.169,227.327,434.094,11.250,0.000,66.513,971.735,6618.033,690.520,1848.787,1113.180,33.367,1367.160,0.000,1802.136,0.000,0.538,0.000
$DEVICE_MAMPS,140.361,100.477,918.099,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.830,275.007,375.340,702.958,1063.271,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38324,485
$CAP_FILE_SIZE,111898,0
$CFSIZE,260165632,161792000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,125834,2250.198,-15750.099,8,99.0,27,10.1