version: 66.06
glider: 146
mission: 5
dive: 350
start: 10 7 110 1 14 45
data:
$ID,146
$MISSION,5
$DIVE,350
$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,-254435.3
$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,54
$R_STBD_OVSHOOT,55
$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
$GPS1,010728,2248.808,-15752.435,8,2.4,27,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-64.0
$GPS2,011352,2248.776,-15752.445,8,2.5,27,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.195,0.131
$KALMAN_X,-285561.2,68.9,-348.3,317095.8,198.8
$KALMAN_Y,-493398.8,-182.9,-603.5,620483.9,-774.4
$MHEAD_RNG_PITCHd_Wd,293.8,4563,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,136,0.00,0.00,-116.62,0.000,6,0.000,0.000,478,1737,3479,0,0,0,0,0,0
$GC,139,-1.38,-116.8,4.8,-10.1,15,157,11.25,2.53,0.00,0.000,4,0.139,0.031,2690,3342,3481,0,0,0,0,0,0
$GC,324,-1.31,-116.8,44.0,-15.7,36,329,0.10,2.50,0.00,0.000,6,0.127,0.031,2713,1792,3482,0,0,0,0,0,0
$GC,588,-1.24,-116.8,85.3,-15.2,60,592,0.00,2.70,0.00,0.000,4,0.000,0.059,2713,192,3481,0,0,0,0,0,0
$GC,601,-1.16,-116.8,87.5,-14.1,60,611,0.12,2.45,0.00,0.000,6,0.096,0.015,2743,1809,3481,0,0,0,0,0,0
$GC,869,-1.16,-116.8,113.8,-8.7,85,873,0.00,2.75,0.00,0.000,4,0.000,0.057,2743,194,3482,0,0,0,0,0,0
$GC,885,-1.16,-116.8,116.2,-9.2,86,890,0.00,2.35,0.00,0.000,6,0.000,0.019,2743,1757,3482,0,0,0,0,0,0
$GC,1158,-1.22,-116.8,140.8,-9.0,111,1162,0.00,2.40,0.00,0.000,4,0.000,0.025,2742,3317,3483,0,0,0,0,0,0
$GC,1201,-1.34,-116.8,145.1,-8.9,114,1206,0.15,2.47,0.00,0.000,6,0.061,0.034,2691,1764,3482,0,0,0,0,0,0
$GC,1462,-1.34,-116.8,175.9,-12.2,138,1466,0.00,2.45,0.00,0.000,4,0.000,0.025,2690,3318,3483,0,0,0,0,0,0
$GC,1492,-1.34,-116.8,179.4,-12.1,140,1497,0.00,2.42,0.00,0.000,6,0.000,0.030,2690,1789,3483,0,0,0,0,0,0
$GC,1760,-1.34,-116.8,210.1,-11.0,159,1764,0.00,2.38,0.00,0.000,4,0.000,0.032,2690,3310,3483,0,0,0,0,0,0
$GC,1792,-1.34,-116.8,213.8,-11.4,159,1798,0.00,2.40,0.00,0.000,6,0.000,0.035,2690,1805,3483,0,0,0,0,0,0
$GC,2044,-1.34,-116.8,239.8,-10.1,166,2048,0.00,2.78,0.00,0.000,4,0.000,0.072,2690,193,3483,0,0,0,0,0,0
$GC,2087,-1.34,-116.8,244.7,-10.8,167,2092,0.00,2.42,0.00,0.000,6,0.000,0.016,2690,1776,3483,0,0,0,0,0,0
$GC,2365,-1.34,-116.8,272.8,-10.4,174,2370,0.00,2.45,0.00,0.000,4,0.000,0.037,2690,3332,3483,0,0,0,0,0,0
$GC,2411,-1.39,-116.8,277.9,-11.1,175,2416,0.00,2.45,0.00,0.000,6,0.000,0.039,2690,1810,3482,0,0,0,0,0,0
$GC,2689,-1.39,-116.8,306.7,-10.3,182,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1807,3482,0,0,0,0,0,0
$GC,2933,-1.39,-116.8,330.8,-9.9,188,2938,0.00,2.85,0.00,0.000,4,0.000,0.080,2690,192,3481,0,0,0,0,0,0
$GC,2956,-1.39,-116.8,333.1,-10.4,188,2960,0.00,2.50,0.00,0.000,6,0.000,0.021,2690,1790,3481,0,0,0,0,0,0
$GC,3211,-1.42,-116.8,357.9,-9.6,195,3215,0.00,2.50,0.00,0.000,4,0.000,0.040,2690,3346,3480,0,0,0,0,0,0
$GC,3233,-1.47,-116.8,360.1,-9.4,195,3237,0.00,2.55,0.00,0.000,6,0.000,0.051,2690,1812,3480,0,0,0,0,0,0
$GC,3490,-1.51,-116.8,384.2,-9.3,202,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1812,3478,0,0,0,0,0,0
$GC,3732,-1.55,-116.8,406.8,-9.3,208,3737,0.12,2.53,0.00,0.000,4,0.077,0.039,2651,3346,3477,0,0,0,0,0,0
$GC,3781,-1.55,-116.8,412.3,-11.2,209,3786,0.00,2.60,0.00,0.000,6,0.000,0.054,2650,1802,3476,0,0,0,0,0,0
$GC,4055,-1.55,-116.8,443.4,-11.5,216,4059,0.00,2.53,0.00,0.000,4,0.000,0.043,2651,3343,3474,0,0,0,0,0,0
$GC,4076,-1.55,-116.8,446.0,-11.1,216,4080,0.00,2.62,0.00,0.000,6,0.000,0.055,2650,1799,3474,0,0,0,0,0,0
$GC,4332,-1.55,-116.8,474.8,-11.3,223,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1798,3472,0,0,0,0,0,0
$STATE,4573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4573,begin apogee
$GC,4580,-0.31,0.0,503.3,11.9,229,4680,1.25,0.00,96.00,0.917,6,0.081,0.000,2929,1798,3001,0,0,0,0,0,0
$STATE,4681,end apogee,CONTROL_FINISHED_OK
$STATE,4681,begin climb
$GC,4683,1.38,116.8,506.8,0.0,231,4789,1.58,0.00,101.62,0.895,6,0.048,0.000,3306,1798,2524,0,0,0,0,0,0
$GC,5020,1.32,169.3,491.9,7.0,240,5071,0.00,2.75,45.50,0.877,4,0.000,0.052,3306,3390,2309,0,0,0,0,0,0
$GC,5138,1.25,169.3,480.3,10.8,242,5144,0.17,2.75,0.00,0.000,6,0.125,0.064,3273,1814,2304,0,0,0,0,0,0
$GC,5388,1.26,178.3,456.3,9.5,249,5402,0.00,2.67,7.97,0.742,4,0.000,0.045,3273,3387,2274,0,0,0,0,0,0
$GC,5415,1.26,180.0,453.7,9.9,249,5419,0.00,2.70,0.00,0.000,6,0.000,0.058,3273,1824,2272,0,0,0,0,0,0
$GC,5670,1.28,196.9,430.1,9.1,256,5689,0.00,0.00,17.33,0.826,6,0.000,0.000,3273,1823,2198,0,0,0,0,0,0
$GC,5951,1.29,205.7,403.9,9.5,263,5965,0.00,2.62,8.65,0.748,4,0.000,0.036,3272,3392,2162,0,0,0,0,0,0
$GC,6006,1.29,205.7,398.1,10.7,264,6010,0.00,2.65,0.00,0.000,6,0.000,0.047,3272,1825,2159,0,0,0,0,0,0
$GC,6278,1.29,205.7,370.0,10.2,271,6282,0.00,2.55,0.00,0.000,4,0.000,0.034,3273,3393,2157,0,0,0,0,0,0
$GC,6329,1.34,205.7,365.0,10.1,272,6333,0.00,2.65,0.00,0.000,6,0.000,0.048,3272,1819,2157,0,0,0,0,0,0
$GC,6600,1.37,233.6,340.9,8.4,279,6628,0.10,0.00,25.38,0.810,6,0.100,0.000,3299,1819,2048,0,0,0,0,0,0
$GC,6844,1.38,240.0,317.4,9.7,285,6852,0.00,0.00,6.35,0.659,6,0.000,0.000,3299,1819,2022,0,0,0,0,0,0
$GC,7089,1.38,240.0,292.1,10.7,291,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1819,2019,0,0,0,0,0,0
$GC,7331,1.38,240.0,262.8,12.2,297,7335,0.00,2.55,0.00,0.000,4,0.000,0.031,3299,3396,2018,0,0,0,0,0,0
$GC,7398,1.38,240.0,254.6,11.8,298,7403,0.00,2.58,0.00,0.000,6,0.000,0.035,3299,1826,2017,0,0,0,0,0,0
$GC,7661,1.38,241.5,227.7,10.0,305,7666,0.00,2.72,0.00,0.000,4,0.000,0.069,3299,243,2016,0,0,0,0,0,0
$GC,7694,1.31,241.5,224.0,10.9,305,7700,0.00,2.50,0.00,0.000,6,0.000,0.025,3299,1835,2014,0,0,0,0,0,0
$GC,7944,1.32,249.4,200.3,9.6,312,7958,0.00,2.55,8.65,0.642,4,0.000,0.037,3299,3389,1983,0,0,0,0,0,0
$GC,8016,1.38,249.4,192.6,10.6,315,8025,0.00,2.55,0.00,0.000,6,0.000,0.039,3299,1850,1982,0,0,0,0,0,0
$GC,8282,1.38,254.8,166.4,9.7,340,8293,0.00,2.47,5.93,0.557,4,0.000,0.035,3299,3394,1963,0,0,0,0,0,0
$GC,8359,1.47,271.2,158.7,9.1,346,8380,0.00,2.50,16.15,0.649,6,0.000,0.037,3299,1864,1895,0,0,0,0,0,0
$GC,8635,1.50,293.0,132.9,8.8,372,8660,0.12,2.55,19.65,0.632,4,0.097,0.034,3333,3394,1805,0,0,0,0,0,0
$GC,8701,1.50,293.0,126.4,11.7,377,8705,0.00,2.50,0.00,0.000,6,0.000,0.036,3333,1870,1803,0,0,0,0,0,0
$GC,8967,1.50,293.0,97.8,10.1,401,8972,0.00,2.78,0.00,0.000,4,0.000,0.065,3333,236,1801,0,0,0,0,0,0
$GC,9002,1.45,293.0,93.3,11.3,403,9008,0.00,2.58,0.00,0.000,6,0.000,0.019,3333,1879,1800,0,0,0,0,0,0
$GC,9269,1.52,312.0,68.8,8.9,428,9297,0.00,2.88,16.67,0.566,4,0.000,0.058,3333,242,1728,0,0,0,0,0,0
$GC,9352,1.52,312.0,60.8,10.6,434,9356,0.00,2.53,0.00,0.000,6,0.000,0.018,3333,1873,1726,0,0,0,0,0,0
$GC,9619,1.60,336.1,37.5,8.6,458,9647,0.00,2.45,21.33,0.542,4,0.000,0.027,3333,3394,1629,0,0,0,0,0,0
$GC,9692,1.71,343.1,30.7,9.6,463,9708,0.17,2.53,7.18,0.464,6,0.068,0.033,3381,1853,1602,0,0,0,0,0,0
$STATE,9900,end climb,SURFACE_DEPTH_REACHED
$STATE,9901,begin surface coast
$FINISH,0.4,1.023356
$STATE,9943,end surface coast,CONTROL_FINISHED_OK
$STATE,9943,begin surface
$SM_CCo,9966,68.50,0.447,1,0,1287,420.20
$SM_GC,0.95,0.00,0.00,68.50,0.000,0.000,0.447,476,1742,1287,-11.61,-0.79,420.20
$IRIDIUM_FIX,2241.69,-15754.11,311299,222252
$TT8_MAMPS,0.025311
$HUMID,49.52
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.70
$XPDR_PINGS,51
$24V_AH,23.5,49.278
$10V_AH,10.1,47.931
$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,27.000,123.250,404.350,68.500,0.000,25.171,42.704,166.599,12.750,0.000,30.202,1001.852,6488.113,560.991,1855.611,517.466,33.367,1262.513,0.000,1841.133,0.000,0.535,0.000
$DEVICE_MAMPS,138.827,79.768,917.332,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.435,287.045,382.455,725.334,1097.175,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,38244,499
$CAP_FILE_SIZE,103760,0
$CFSIZE,260165632,161529856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,040325,2248.985,-15753.125,39,1.1,39,10.1