version: 66.06
glider: 146
mission: 5
dive: 348
start: 10 6 110 19 13 10
data:
$ID,146
$MISSION,5
$DIVE,348
$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,-254389.05
$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,41
$R_STBD_OVSHOOT,33
$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
$GPS1,185707,2249.302,-15751.170,41,1.2,41,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.1
$GPS2,191214,2249.249,-15751.053,14,1.8,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.174,0.158
$KALMAN_X,-286583.0,197.9,345.4,319688.4,910.6
$KALMAN_Y,-489762.2,-182.8,355.5,616773.2,-1514.0
$MHEAD_RNG_PITCHd_Wd,302.0,6755,-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,-78.43,0.000,2,0.000,0.000,479,1751,3267,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.5,-7.2,10,126,11.10,2.58,-4.03,0.000,4,0.134,0.041,2691,3361,3480,0,0,0,0,0,0
$GC,281,-1.31,-116.8,39.5,-15.9,32,291,0.08,2.58,0.00,0.000,6,0.091,0.032,2712,1786,3481,0,0,0,0,0,0
$GC,547,-1.20,-116.8,79.9,-14.6,57,552,0.12,2.75,0.00,0.000,4,0.119,0.066,2738,187,3481,0,0,0,0,0,0
$GC,584,-1.13,-116.8,85.2,-14.8,59,589,0.00,2.45,0.00,0.000,6,0.000,0.015,2738,1806,3481,0,0,0,0,0,0
$GC,850,-1.13,-116.8,119.2,-11.3,83,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1807,3481,0,0,0,0,0,0
$GC,1113,-1.19,-116.8,146.9,-9.7,108,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1807,3482,0,0,0,0,0,0
$GC,1368,-1.25,-116.8,173.4,-9.9,132,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1808,3482,0,0,0,0,0,0
$GC,1623,-1.32,-116.8,196.5,-8.3,156,1625,0.12,0.00,0.00,0.000,6,0.073,0.000,2697,1808,3483,0,0,0,0,0,0
$GC,1866,-1.32,-116.8,223.1,-11.2,165,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1808,3482,0,0,0,0,0,0
$GC,2110,-1.32,-116.8,250.1,-11.0,171,2114,0.00,2.78,0.00,0.000,4,0.000,0.074,2697,192,3482,0,0,0,0,0,0
$GC,2132,-1.32,-116.8,252.4,-10.7,171,2136,0.00,2.35,0.00,0.000,6,0.000,0.022,2697,1735,3482,0,0,0,0,0,0
$GC,2392,-1.32,-116.8,278.9,-10.2,178,2397,0.00,2.53,0.00,0.000,4,0.000,0.029,2697,3331,3482,0,0,0,0,0,0
$GC,2420,-1.37,-116.8,281.7,-9.8,178,2425,0.00,2.58,0.00,0.000,6,0.000,0.039,2697,1739,3482,0,0,0,0,0,0
$GC,2671,-1.37,-116.8,306.9,-10.2,184,2676,0.00,2.53,0.00,0.000,4,0.000,0.036,2697,3333,3482,0,0,0,0,0,0
$GC,2750,-1.44,-116.8,314.9,-9.5,185,2756,0.00,2.58,0.00,0.000,6,0.000,0.043,2697,1750,3482,0,0,0,0,0,0
$GC,3001,-1.48,-116.8,339.3,-9.9,192,3005,0.00,2.55,0.00,0.000,4,0.000,0.040,2697,3329,3480,0,0,0,0,0,0
$GC,3058,-1.54,-116.8,345.0,-10.0,193,3063,0.15,2.58,0.00,0.000,6,0.064,0.047,2650,1772,3480,0,0,0,0,0,0
$GC,3325,-1.49,-116.8,378.6,-12.7,200,3327,0.12,0.00,0.00,0.000,6,0.117,0.000,2676,1772,3478,0,0,0,0,0,0
$GC,3569,-1.49,-116.8,402.7,-9.5,206,3573,0.00,2.88,0.00,0.000,4,0.000,0.100,2676,182,3477,0,0,0,0,0,0
$GC,3613,-1.49,-116.8,407.5,-10.9,207,3618,0.00,2.45,0.00,0.000,6,0.000,0.028,2676,1727,3477,0,0,0,0,0,0
$GC,3892,-1.49,-116.8,433.9,-9.9,214,3896,0.00,2.67,0.00,0.000,4,0.000,0.054,2676,3354,3475,0,0,0,0,0,0
$GC,3937,-1.54,-116.8,438.4,-9.8,215,3942,0.00,2.70,0.00,0.000,6,0.000,0.058,2676,1764,3474,0,0,0,0,0,0
$GC,4215,-1.54,-116.8,467.8,-10.8,222,4219,0.00,2.62,0.00,0.000,4,0.000,0.048,2676,3349,3472,0,0,0,0,0,0
$GC,4258,-1.60,-116.8,472.6,-10.7,223,4264,0.10,2.70,0.00,0.000,6,0.087,0.064,2643,1778,3472,0,0,0,0,0,0
$STATE,4534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4534,begin apogee
$GC,4542,-0.31,0.0,504.0,11.5,230,4641,1.30,0.00,95.62,0.920,6,0.081,0.000,2933,1836,3001,0,0,0,0,0,0
$STATE,4642,end apogee,CONTROL_FINISHED_OK
$STATE,4642,begin climb
$GC,4644,1.38,116.8,506.3,0.0,232,4758,1.52,3.15,100.00,0.896,4,0.054,0.112,3305,233,2522,0,0,0,0,0,0
$GC,4764,1.30,178.3,503.6,6.5,234,4825,0.10,2.60,53.30,0.876,6,0.146,0.038,3287,1806,2274,0,0,0,0,0,0
$GC,5099,1.24,178.3,468.8,11.0,243,5104,0.00,2.70,0.00,0.000,4,0.000,0.061,3288,3402,2264,0,0,0,0,0,0
$GC,5183,1.24,178.3,459.1,10.9,245,5188,0.00,2.70,0.00,0.000,6,0.000,0.053,3287,1825,2262,0,0,0,0,0,0
$GC,5466,1.20,178.3,428.1,10.8,252,5471,0.12,2.60,0.00,0.000,4,0.133,0.042,3264,3410,2260,0,0,0,0,0,0
$GC,5523,1.21,184.6,422.5,9.7,253,5533,0.00,2.67,4.40,0.590,6,0.000,0.052,3264,1838,2248,0,0,0,0,0,0
$GC,5789,1.25,218.9,400.3,8.1,260,5822,0.00,0.00,31.73,0.848,6,0.000,0.000,3264,1838,2108,0,0,0,0,0,0
$GC,6033,1.27,235.1,378.6,9.1,266,6054,0.00,2.95,14.93,0.799,4,0.000,0.094,3264,236,2042,0,0,0,0,0,0
$GC,6098,1.27,235.1,371.2,12.1,267,6103,0.00,2.62,0.00,0.000,6,0.000,0.021,3264,1874,2039,0,0,0,0,0,0
$GC,6354,1.31,235.1,344.1,10.8,274,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1874,2037,0,0,0,0,0,0
$GC,6598,1.35,235.1,316.4,11.3,280,6600,0.12,0.00,0.00,0.000,6,0.087,0.000,3296,1875,2035,0,0,0,0,0,0
$GC,6841,1.35,235.1,291.1,10.1,286,6846,0.00,2.85,0.00,0.000,4,0.000,0.071,3296,234,2034,0,0,0,0,0,0
$GC,6868,1.27,235.1,287.8,12.0,286,6873,0.00,2.60,0.00,0.000,6,0.000,0.025,3295,1876,2032,0,0,0,0,0,0
$GC,7120,1.28,239.6,262.3,9.8,292,7124,0.00,2.47,0.00,0.000,4,0.000,0.032,3296,3417,2032,0,0,0,0,0,0
$GC,7261,1.33,251.8,249.8,9.3,295,7281,0.00,2.55,14.40,0.729,6,0.000,0.042,3295,1865,1974,0,0,0,0,0,0
$GC,7533,1.34,261.2,224.3,9.5,302,7547,0.00,2.88,9.43,0.667,4,0.000,0.067,3296,242,1936,0,0,0,0,0,0
$GC,7575,1.29,261.2,219.4,11.6,303,7580,0.00,2.62,0.00,0.000,6,0.000,0.023,3296,1896,1934,0,0,0,0,0,0
$GC,7836,1.29,261.2,191.9,10.9,314,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1898,1934,0,0,0,0,0,0
$GC,8093,1.29,261.2,163.3,11.0,338,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1898,1934,0,0,0,0,0,0
$GC,8347,1.34,271.4,138.7,9.5,362,8364,0.00,2.95,10.10,0.606,4,0.000,0.064,3296,238,1893,0,0,0,0,0,0
$GC,8401,1.36,282.0,133.7,9.4,366,8419,0.00,2.65,10.88,0.601,6,0.000,0.020,3296,1908,1850,0,0,0,0,0,0
$GC,8675,1.44,284.9,108.9,9.9,392,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1907,1847,0,0,0,0,0,0
$GC,8931,1.58,316.1,85.6,8.2,416,8970,0.20,2.50,29.62,0.597,4,0.066,0.035,3348,3422,1712,0,0,0,0,0,0
$GC,9024,1.62,316.1,75.8,12.3,423,9028,0.00,2.58,0.00,0.000,6,0.000,0.036,3348,1849,1710,0,0,0,0,0,0
$GC,9292,1.62,321.3,47.6,9.7,447,9307,0.00,2.80,5.30,0.441,4,0.000,0.058,3348,239,1691,0,0,0,0,0,0
$GC,9349,1.58,321.3,40.2,12.1,451,9359,0.00,2.60,0.00,0.000,6,0.000,0.019,3348,1885,1691,0,0,0,0,0,0
$GC,9664,1.58,321.3,7.2,10.8,491,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1887,1691,0,0,0,0,0,0
$STATE,9700,end climb,SURFACE_DEPTH_REACHED
$STATE,9700,begin surface coast
$FINISH,0.5,1.008541
$STATE,9763,end surface coast,CONTROL_FINISHED_OK
$STATE,9763,begin surface
$SM_CCo,9787,244.85,0.494,1,0,477,619.14
$SM_GC,0.88,0.00,0.00,244.85,0.000,0.000,0.494,480,1745,477,-11.59,-0.71,619.14
$IRIDIUM_FIX,2239.35,-15747.62,311299,191917
$TT8_MAMPS,0.025311
$HUMID,46.14
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.60
$XPDR_PINGS,42
$24V_AH,23.5,48.998
$10V_AH,10.1,47.702
$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,26.850,101.150,379.700,244.850,0.000,131.330,400.399,0.000,10.500,0.000,19.424,1006.587,6523.474,677.195,1925.921,814.098,33.371,1379.792,0.000,1932.998,0.000,0.536,0.000
$DEVICE_MAMPS,145.730,122.720,920.400,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.466,291.167,395.914,746.934,1130.906,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,38400,505
$CAP_FILE_SIZE,100659,0
$CFSIZE,260165632,161624064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,220136,2248.870,-15751.823,28,1.0,28,10.1