version: 66.06
glider: 146
mission: 5
dive: 349
start: 10 6 110 22 20 10
data:
$ID,146
$MISSION,5
$DIVE,349
$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,-254404.47
$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,24
$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
$GPS1,220136,2248.870,-15751.823,28,1.0,28,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-63.6
$GPS2,221914,2248.688,-15751.798,13,1.3,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.085,0.219
$KALMAN_X,-286178.0,170.3,442.2,317940.1,-384.9
$KALMAN_Y,-491851.9,-156.6,-156.7,618309.3,-1846.2
$MHEAD_RNG_PITCHd_Wd,328.7,5670,-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,-116.8,0.0,0.0,0,128,0.00,0.00,-109.95,0.000,2,0.000,0.000,480,1745,3305,0,0,0,0,0,0
$GC,131,-1.38,-116.8,3.5,-6.6,14,157,11.25,2.62,-3.33,0.000,4,0.139,0.038,2694,3372,3480,0,0,0,0,0,0
$GC,288,-1.32,-116.8,35.3,-15.2,34,297,0.00,2.60,0.00,0.000,6,0.000,0.031,2695,1782,3481,0,0,0,0,0,0
$GC,554,-1.20,-116.8,76.1,-14.1,59,563,0.20,0.00,0.00,0.000,6,0.106,0.000,2736,1781,3480,0,0,0,0,0,0
$GC,817,-1.20,-116.8,104.7,-9.9,84,821,0.00,2.53,0.00,0.000,4,0.000,0.031,2736,3376,3481,0,0,0,0,0,0
$GC,874,-1.29,-116.8,110.7,-9.3,88,884,0.00,2.60,0.00,0.000,6,0.000,0.035,2737,1769,3481,0,0,0,0,0,0
$GC,1142,-1.33,-116.8,139.3,-11.1,113,1147,0.12,2.53,0.00,0.000,4,0.075,0.029,2696,3369,3481,0,0,0,0,0,0
$GC,1161,-1.33,-116.8,142.1,-11.0,114,1166,0.00,2.53,0.00,0.000,6,0.000,0.032,2696,1784,3481,0,0,0,0,0,0
$GC,1424,-1.33,-116.8,171.4,-11.3,138,1428,0.00,2.67,0.00,0.000,4,0.000,0.068,2696,198,3481,0,0,0,0,0,0
$GC,1447,-1.29,-116.8,173.6,-11.5,139,1452,0.10,2.47,0.00,0.000,6,0.128,0.022,2717,1850,3481,0,0,0,0,0,0
$GC,1712,-1.29,-116.8,199.6,-9.0,163,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1852,3480,0,0,0,0,0,0
$GC,1964,-1.29,-116.8,222.9,-9.5,170,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1852,3480,0,0,0,0,0,0
$GC,2206,-1.33,-116.8,247.8,-10.4,176,2211,0.00,2.85,0.00,0.000,4,0.000,0.066,2716,190,3480,0,0,0,0,0,0
$GC,2250,-1.41,-116.8,252.8,-10.9,177,2255,0.10,2.50,0.00,0.000,6,0.085,0.018,2681,1827,3479,0,0,0,0,0,0
$GC,2529,-1.41,-116.8,283.5,-10.6,184,2533,0.00,2.45,0.00,0.000,4,0.000,0.037,2681,3372,3479,0,0,0,0,0,0
$GC,2584,-1.41,-116.8,289.4,-9.6,185,2588,0.00,2.55,0.00,0.000,6,0.000,0.032,2681,1799,3479,0,0,0,0,0,0
$GC,2850,-1.41,-116.8,317.5,-10.6,192,2855,0.00,2.80,0.00,0.000,4,0.000,0.081,2681,191,3478,0,0,0,0,0,0
$GC,2912,-1.41,-116.8,324.3,-10.9,193,2916,0.00,2.50,0.00,0.000,6,0.000,0.020,2681,1792,3478,0,0,0,0,0,0
$GC,3173,-1.41,-116.8,350.2,-9.8,200,3177,0.00,2.50,0.00,0.000,4,0.000,0.039,2681,3353,3476,0,0,0,0,0,0
$GC,3193,-1.41,-116.8,352.6,-10.7,200,3198,0.00,2.62,0.00,0.000,6,0.000,0.048,2681,1772,3476,0,0,0,0,0,0
$GC,3450,-1.41,-116.8,377.7,-10.0,207,3455,0.00,2.88,0.00,0.000,4,0.000,0.094,2681,182,3475,0,0,0,0,0,0
$GC,3471,-1.41,-116.8,380.3,-10.5,207,3476,0.00,2.50,0.00,0.000,6,0.000,0.028,2681,1764,3475,0,0,0,0,0,0
$GC,3727,-1.41,-116.8,405.0,-9.9,214,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1764,3473,0,0,0,0,0,0
$GC,3973,-1.41,-116.8,427.7,-9.3,220,3977,0.00,2.60,0.00,0.000,4,0.000,0.051,2681,3355,3471,0,0,0,0,0,0
$GC,3994,-1.41,-116.8,430.0,-9.2,220,3998,0.00,2.67,0.00,0.000,6,0.000,0.056,2680,1775,3471,0,0,0,0,0,0
$GC,4249,-1.41,-116.8,453.1,-9.2,227,4253,0.00,2.58,0.00,0.000,4,0.000,0.044,2680,3354,3468,0,0,0,0,0,0
$GC,4290,-1.46,-116.8,457.1,-9.8,228,4295,0.00,2.67,0.00,0.000,6,0.000,0.054,2681,1782,3468,0,0,0,0,0,0
$GC,4576,-1.50,-116.8,486.1,-10.1,235,4580,0.00,2.58,0.00,0.000,4,0.000,0.051,2681,3349,3465,0,0,0,0,0,0
$GC,4603,-1.55,-116.8,489.0,-10.4,235,4608,0.00,2.67,0.00,0.000,6,0.000,0.056,2681,1785,3465,0,0,0,0,0,0
$STATE,4728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4728,begin apogee
$GC,4735,-0.31,0.0,501.7,10.0,238,4834,1.12,0.00,95.32,0.922,6,0.078,0.000,2932,1785,3001,0,0,0,0,0,0
$STATE,4835,end apogee,CONTROL_FINISHED_OK
$STATE,4835,begin climb
$GC,4838,1.38,116.8,504.0,0.0,240,4947,1.55,3.00,101.35,0.897,4,0.044,0.111,3308,232,2522,0,0,0,0,0,0
$GC,4953,1.32,187.2,502.1,6.0,243,5022,0.00,2.62,61.30,0.875,6,0.000,0.031,3308,1817,2237,0,0,0,0,0,0
$GC,5295,1.23,187.2,460.7,12.8,252,5300,0.20,2.70,0.00,0.000,4,0.208,0.051,3269,3407,2226,0,0,0,0,0,0
$GC,5391,1.23,187.2,449.9,10.9,254,5396,0.00,2.70,0.00,0.000,6,0.000,0.048,3269,1824,2224,0,0,0,0,0,0
$GC,5663,1.25,203.9,424.2,9.1,261,5682,0.00,2.67,13.50,0.805,4,0.000,0.042,3269,3404,2168,0,0,0,0,0,0
$GC,5699,1.26,213.7,420.7,9.5,261,5715,0.00,2.70,10.27,0.765,6,0.000,0.051,3269,1827,2129,0,0,0,0,0,0
$GC,5989,1.27,224.2,393.7,9.4,269,6001,0.00,0.00,10.15,0.767,6,0.000,0.000,3269,1827,2086,0,0,0,0,0,0
$GC,6231,1.27,224.2,367.8,10.9,275,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1827,2082,0,0,0,0,0,0
$GC,6474,1.27,224.2,340.9,11.0,281,6479,0.00,2.83,0.00,0.000,4,0.000,0.079,3269,229,2080,0,0,0,0,0,0
$GC,6497,1.27,224.2,338.2,12.3,281,6501,0.00,2.60,0.00,0.000,6,0.000,0.022,3269,1869,2079,0,0,0,0,0,0
$GC,6752,1.29,240.5,313.1,9.1,288,6772,0.00,2.92,14.70,0.769,4,0.000,0.074,3268,230,2019,0,0,0,0,0,0
$GC,6811,1.29,240.5,307.4,10.1,289,6816,0.00,2.55,0.00,0.000,6,0.000,0.021,3269,1833,2017,0,0,0,0,0,0
$GC,7075,1.37,267.8,285.0,8.5,296,7106,0.12,2.58,25.20,0.770,4,0.084,0.034,3303,3392,1907,0,0,0,0,0,0
$GC,7174,1.41,267.8,273.9,11.4,298,7178,0.00,2.60,0.00,0.000,6,0.000,0.043,3303,1825,1904,0,0,0,0,0,0
$GC,7441,1.41,267.8,242.9,11.8,305,7446,0.00,2.53,0.00,0.000,4,0.000,0.032,3303,3393,1900,0,0,0,0,0,0
$GC,7481,1.46,267.8,238.3,11.8,306,7486,0.00,2.53,0.00,0.000,6,0.000,0.038,3302,1852,1900,0,0,0,0,0,0
$GC,7765,1.46,267.8,207.5,10.8,313,7769,0.00,2.80,0.00,0.000,4,0.000,0.073,3303,239,1899,0,0,0,0,0,0
$GC,7788,1.42,267.8,204.9,12.2,313,7792,0.00,2.55,0.00,0.000,6,0.000,0.021,3303,1861,1898,0,0,0,0,0,0
$GC,8053,1.44,287.6,177.8,8.9,335,8077,0.00,2.47,16.83,0.671,4,0.000,0.035,3303,3390,1827,0,0,0,0,0,0
$GC,8137,1.52,299.7,170.1,9.3,342,8155,0.12,2.50,11.93,0.638,6,0.089,0.035,3334,1857,1778,0,0,0,0,0,0
$GC,8417,1.52,299.7,137.9,12.5,368,8421,0.00,2.78,0.00,0.000,4,0.000,0.067,3334,243,1773,0,0,0,0,0,0
$GC,8438,1.47,299.7,135.8,12.1,369,8443,0.00,2.53,0.00,0.000,6,0.000,0.021,3334,1856,1772,0,0,0,0,0,0
$GC,8705,1.47,299.7,105.1,11.5,393,8709,0.00,2.42,0.00,0.000,4,0.000,0.030,3334,3385,1771,0,0,0,0,0,0
$GC,8794,1.54,299.7,95.0,10.6,400,8798,0.00,2.47,0.00,0.000,6,0.000,0.035,3334,1854,1771,0,0,0,0,0,0
$GC,9062,1.56,316.7,71.3,9.1,424,9089,0.00,2.55,15.07,0.568,4,0.000,0.033,3334,3392,1708,0,0,0,0,0,0
$GC,9133,1.67,320.1,64.4,9.8,429,9148,0.12,2.50,4.47,0.419,6,0.084,0.041,3368,1859,1695,0,0,0,0,0,0
$GC,9404,1.67,320.1,33.0,12.0,454,9409,0.00,2.75,0.00,0.000,4,0.000,0.058,3368,235,1693,0,0,0,0,0,0
$GC,9427,1.62,320.1,30.3,12.6,455,9431,0.00,2.53,0.00,0.000,6,0.000,0.019,3368,1874,1692,0,0,0,0,0,0
$STATE,9646,end climb,SURFACE_DEPTH_REACHED
$STATE,9646,begin surface coast
$FINISH,0.3,1.023426
$STATE,9696,end surface coast,CONTROL_FINISHED_OK
$STATE,9696,begin surface
$SM_CCo,9719,244.15,0.499,1,0,477,619.14
$SM_GC,0.97,0.00,0.00,244.15,0.000,0.000,0.499,478,1736,477,-11.60,-0.96,619.14
$IRIDIUM_FIX,2239.35,-15751.94,311299,222226
$TT8_MAMPS,0.026078
$HUMID,46.92
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.30
$XPDR_PINGS,56
$24V_AH,23.5,49.163
$10V_AH,10.1,47.821
$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,26.775,131.025,380.100,244.150,0.000,115.998,126.598,474.635,14.000,0.000,14.805,1001.584,6408.530,722.869,1866.627,1029.230,33.371,1438.989,0.000,1869.088,0.000,0.536,0.000
$DEVICE_MAMPS,207.857,111.215,921.934,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.897,285.935,380.439,723.979,1095.932,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,38347,493
$CAP_FILE_SIZE,116809,0
$CFSIZE,260165632,161574912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,010728,2248.808,-15752.435,8,2.4,27,10.1