version: 66.06
glider: 146
mission: 5
dive: 347
start: 10 6 110 16 9 55
data:
$ID,146
$MISSION,5
$DIVE,347
$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,-254369
$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,34
$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
$GPS1,154934,2250.049,-15750.810,12,4.9,31,10.1
$_CALLS,3
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.8
$GPS2,160901,2249.962,-15750.703,11,1.7,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,0.018
$KALMAN_X,-287578.8,153.1,-338.1,322008.6,1299.0
$KALMAN_Y,-487800.6,-213.5,-122.7,616631.7,-295.0
$MHEAD_RNG_PITCHd_Wd,264.2,7386,-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,-84.88,0.000,6,0.000,0.000,479,1746,3479,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.4,-9.3,11,125,11.15,2.55,0.00,0.000,4,0.136,0.028,2688,3370,3481,0,0,0,0,0,0
$GC,273,-1.31,-116.8,39.6,-16.4,31,278,0.12,2.55,0.00,0.000,6,0.112,0.030,2715,1786,3482,0,0,0,0,0,0
$GC,540,-1.22,-116.8,82.0,-15.4,55,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1786,3482,0,0,0,0,0,0
$GC,802,-1.22,-116.8,116.9,-11.8,80,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1786,3482,0,0,0,0,0,0
$GC,1055,-1.22,-116.8,145.1,-11.1,104,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1786,3483,0,0,0,0,0,0
$GC,1312,-1.22,-116.8,174.4,-11.3,128,1316,0.00,2.50,0.00,0.000,4,0.000,0.028,2715,3368,3483,0,0,0,0,0,0
$GC,1334,-1.22,-116.8,176.9,-11.0,129,1344,0.00,2.58,0.00,0.000,6,0.000,0.033,2715,1781,3483,0,0,0,0,0,0
$GC,1617,-1.22,-116.8,203.7,-8.8,153,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1780,3483,0,0,0,0,0,0
$GC,1860,-1.22,-116.8,226.8,-9.6,159,1864,0.00,2.50,0.00,0.000,4,0.000,0.026,2714,3364,3483,0,0,0,0,0,0
$GC,1876,-1.22,-116.8,228.6,-10.0,159,1880,0.00,2.50,0.00,0.000,6,0.000,0.035,2715,1793,3483,0,0,0,0,0,0
$GC,2136,-1.22,-116.8,254.9,-10.5,166,2141,0.00,2.78,0.00,0.000,4,0.000,0.071,2714,185,3482,0,0,0,0,0,0
$GC,2170,-1.22,-116.8,258.7,-11.9,166,2176,0.00,2.50,0.00,0.000,6,0.000,0.017,2715,1806,3482,0,0,0,0,0,0
$GC,2420,-1.27,-116.8,285.1,-10.5,173,2425,0.00,2.42,0.00,0.000,4,0.000,0.030,2715,3346,3481,0,0,0,0,0,0
$GC,2448,-1.35,-116.8,287.9,-9.2,173,2453,0.00,2.53,0.00,0.000,6,0.000,0.033,2715,1777,3481,0,0,0,0,0,0
$GC,2700,-1.42,-116.8,313.4,-10.3,179,2705,0.10,2.50,0.00,0.000,4,0.087,0.032,2680,3345,3481,0,0,0,0,0,0
$GC,2722,-1.45,-116.8,316.0,-10.6,179,2726,0.00,2.55,0.00,0.000,6,0.000,0.039,2680,1783,3481,0,0,0,0,0,0
$GC,2977,-1.45,-116.8,343.2,-10.6,186,2981,0.00,2.50,0.00,0.000,4,0.000,0.039,2680,3338,3480,0,0,0,0,0,0
$GC,3035,-1.50,-116.8,348.8,-9.9,187,3040,0.00,2.55,0.00,0.000,6,0.000,0.048,2680,1805,3480,0,0,0,0,0,0
$GC,3302,-1.50,-116.8,377.4,-10.8,194,3306,0.00,2.92,0.00,0.000,4,0.000,0.091,2680,185,3478,0,0,0,0,0,0
$GC,3334,-1.50,-116.8,381.2,-11.8,194,3340,0.00,2.55,0.00,0.000,6,0.000,0.025,2680,1794,3478,0,0,0,0,0,0
$GC,3585,-1.50,-116.8,406.8,-10.2,201,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1794,3476,0,0,0,0,0,0
$GC,3827,-1.50,-116.8,431.5,-10.2,207,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1795,3475,0,0,0,0,0,0
$GC,4072,-1.50,-116.8,455.3,-9.6,213,4076,0.00,2.60,0.00,0.000,4,0.000,0.058,2680,3354,3473,0,0,0,0,0,0
$GC,4121,-1.56,-116.8,460.1,-9.3,214,4126,0.00,2.62,0.00,0.000,6,0.000,0.062,2679,1815,3472,0,0,0,0,0,0
$GC,4395,-1.60,-116.8,483.9,-8.7,221,4400,0.12,2.55,0.00,0.000,4,0.079,0.048,2641,3355,3470,0,0,0,0,0,0
$GC,4417,-1.60,-116.8,486.3,-9.3,221,4422,0.00,2.62,0.00,0.000,6,0.000,0.063,2641,1820,3470,0,0,0,0,0,0
$STATE,4589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4589,begin apogee
$GC,4596,-0.31,0.0,502.8,9.6,226,4696,1.30,0.00,95.82,0.917,6,0.083,0.000,2928,1820,3001,0,0,0,0,0,0
$STATE,4696,end apogee,CONTROL_FINISHED_OK
$STATE,4696,begin climb
$GC,4699,1.38,116.8,504.1,0.0,228,4804,1.55,0.00,100.65,0.893,6,0.046,0.000,3301,1820,2524,0,0,0,0,0,0
$GC,5027,1.29,133.4,481.1,9.1,236,5046,0.00,2.70,14.02,0.817,4,0.000,0.051,3302,3400,2457,0,0,0,0,0,0
$GC,5254,1.23,156.3,461.0,8.7,241,5281,0.17,2.65,20.92,0.846,6,0.130,0.052,3268,1841,2363,0,0,0,0,0,0
$GC,5535,1.27,190.2,438.6,8.1,248,5571,0.00,2.62,30.62,0.858,4,0.000,0.038,3268,3401,2224,0,0,0,0,0,0
$GC,5629,1.28,194.3,429.6,9.8,249,5638,0.00,2.62,4.53,0.591,6,0.000,0.051,3268,1858,2209,0,0,0,0,0,0
$GC,5901,1.28,194.3,400.6,10.8,256,5906,0.00,2.95,0.00,0.000,4,0.000,0.090,3268,226,2204,0,0,0,0,0,0
$GC,5911,1.28,194.3,399.3,10.6,256,5916,0.00,2.60,0.00,0.000,6,0.000,0.022,3268,1860,2203,0,0,0,0,0,0
$GC,6178,1.32,231.4,376.7,7.9,263,6219,0.00,2.97,32.95,0.836,4,0.000,0.073,3268,233,2056,0,0,0,0,0,0
$GC,6248,1.27,231.4,370.4,10.3,264,6253,0.00,2.58,0.00,0.000,6,0.000,0.029,3268,1839,2054,0,0,0,0,0,0
$GC,6503,1.27,231.4,345.2,10.2,271,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1840,2050,0,0,0,0,0,0
$GC,6748,1.27,231.4,320.3,10.2,277,6753,0.00,2.55,0.00,0.000,4,0.000,0.041,3268,3409,2049,0,0,0,0,0,0
$GC,6794,1.34,234.2,315.8,9.9,278,6799,0.10,2.62,0.00,0.000,6,0.105,0.041,3293,1829,2047,0,0,0,0,0,0
$GC,7072,1.34,234.2,286.9,10.5,285,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1829,2046,0,0,0,0,0,0
$GC,7317,1.34,234.2,261.0,10.3,291,7322,0.00,2.55,0.00,0.000,4,0.000,0.032,3293,3404,2045,0,0,0,0,0,0
$GC,7454,1.41,256.1,248.8,8.8,294,7482,0.00,2.55,21.25,0.744,6,0.000,0.040,3293,1849,1955,0,0,0,0,0,0
$GC,7735,1.43,272.4,223.5,9.1,301,7756,0.00,2.85,15.07,0.702,4,0.000,0.072,3293,243,1889,0,0,0,0,0,0
$GC,7794,1.43,272.4,216.6,12.7,302,7799,0.00,2.60,0.00,0.000,6,0.000,0.025,3293,1879,1886,0,0,0,0,0,0
$GC,8048,1.43,272.4,188.6,11.4,314,8053,0.00,2.45,0.00,0.000,4,0.000,0.031,3294,3408,1885,0,0,0,0,0,0
$GC,8097,1.51,272.4,183.2,10.7,317,8103,0.15,2.53,0.00,0.000,6,0.081,0.036,3333,1869,1884,0,0,0,0,0,0
$GC,8360,1.47,272.4,153.1,11.1,342,8364,0.00,2.47,0.00,0.000,4,0.000,0.029,3333,3414,1884,0,0,0,0,0,0
$GC,8383,1.47,272.4,151.0,11.2,343,8387,0.00,2.50,0.00,0.000,6,0.000,0.038,3333,1883,1883,0,0,0,0,0,0
$GC,8649,1.47,272.4,121.4,10.2,367,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1883,1883,0,0,0,0,0,0
$GC,8912,1.49,288.6,96.5,9.1,392,8935,0.00,2.53,14.35,0.589,4,0.000,0.027,3333,3410,1823,0,0,0,0,0,0
$GC,8953,1.57,309.8,93.3,8.8,395,8977,0.00,2.50,19.65,0.591,6,0.000,0.032,3333,1880,1737,0,0,0,0,0,0
$GC,9234,1.65,334.8,68.8,8.6,421,9266,0.12,0.00,21.90,0.571,6,0.084,0.000,3369,1880,1634,0,0,0,0,0,0
$GC,9522,1.65,334.8,37.1,11.5,448,9526,0.00,2.78,0.00,0.000,4,0.000,0.058,3369,241,1631,0,0,0,0,0,0
$GC,9542,1.60,334.8,34.4,12.1,449,9547,0.00,2.60,0.00,0.000,6,0.000,0.018,3369,1919,1630,0,0,0,0,0,0
$STATE,9797,end climb,SURFACE_DEPTH_REACHED
$STATE,9797,begin surface coast
$FINISH,0.4,1.010513
$STATE,9846,end surface coast,CONTROL_FINISHED_OK
$STATE,9847,begin surface
$SM_CCo,9868,75.30,0.454,1,0,1288,420.20
$SM_GC,1.18,0.00,0.00,75.30,0.000,0.000,0.454,480,1751,1288,-11.59,-0.54,420.20
$IRIDIUM_FIX,2244.02,-15751.94,311299,161643
$TT8_MAMPS,0.025311
$HUMID,49.84
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.80
$XPDR_PINGS,42
$24V_AH,23.5,48.852
$10V_AH,10.1,47.583
$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,26.775,109.400,391.750,75.300,0.000,87.147,114.166,683.862,10.500,0.000,18.290,991.670,6566.409,516.919,1853.386,1190.445,33.374,1215.280,0.000,1853.051,0.000,0.536,0.000
$DEVICE_MAMPS,135.759,90.506,917.332,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.254,281.564,374.444,706.207,1068.060,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,38332,490
$CAP_FILE_SIZE,111614,0
$CFSIZE,260165632,161685504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,185707,2249.302,-15751.170,41,1.2,41,10.1