version: 66.06
glider: 146
mission: 5
dive: 351
start: 10 7 110 4 10 20
data:
$ID,146
$MISSION,5
$DIVE,351
$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,-254451.31
$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,51
$R_STBD_OVSHOOT,49
$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
$GPS1,040325,2248.985,-15753.125,39,1.1,39,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-68.6
$GPS2,040926,2248.965,-15753.078,13,1.1,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.216,0.091
$KALMAN_X,-284553.2,-53.7,-403.3,315171.4,1351.7
$KALMAN_Y,-494925.4,-176.4,-34.3,621784.4,-667.8
$MHEAD_RNG_PITCHd_Wd,282.8,3428,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.03,0.000,2,0.000,0.000,476,1742,3210,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-5.9,10,127,11.25,2.58,-5.25,0.000,4,0.139,0.040,2689,3345,3479,0,0,0,0,0,0
$GC,293,-1.30,-116.8,39.6,-14.6,34,298,0.12,2.53,0.00,0.000,6,0.116,0.030,2715,1786,3480,0,0,0,0,0,0
$GC,561,-1.21,-116.8,78.5,-13.2,58,570,0.10,0.00,0.00,0.000,6,0.130,0.000,2734,1786,3481,0,0,0,0,0,0
$GC,826,-1.21,-116.8,112.0,-12.1,83,830,0.00,2.70,0.00,0.000,4,0.000,0.064,2734,194,3481,0,0,0,0,0,0
$GC,857,-1.21,-116.8,115.8,-12.7,85,861,0.00,2.40,0.00,0.000,6,0.000,0.015,2734,1813,3481,0,0,0,0,0,0
$GC,1125,-1.26,-116.8,145.0,-10.7,109,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1814,3482,0,0,0,0,0,0
$GC,1388,-1.31,-116.8,170.5,-9.7,134,1392,0.00,2.33,0.00,0.000,4,0.000,0.029,2734,3302,3483,0,0,0,0,0,0
$GC,1408,-1.36,-116.8,172.4,-9.3,135,1413,0.12,2.42,0.00,0.000,6,0.072,0.033,2689,1771,3483,0,0,0,0,0,0
$GC,1688,-1.32,-116.8,205.6,-13.0,158,1693,0.10,2.42,0.00,0.000,4,0.119,0.031,2710,3310,3483,0,0,0,0,0,0
$GC,1717,-1.32,-116.8,209.0,-11.4,158,1721,0.00,2.42,0.00,0.000,6,0.000,0.028,2710,1785,3483,0,0,0,0,0,0
$GC,1967,-1.32,-116.8,235.9,-10.6,164,1971,0.00,2.40,0.00,0.000,4,0.000,0.025,2709,3301,3483,0,0,0,0,0,0
$GC,1994,-1.36,-116.8,238.7,-10.3,164,1998,0.00,2.42,0.00,0.000,6,0.000,0.030,2710,1795,3483,0,0,0,0,0,0
$GC,2245,-1.36,-116.8,261.6,-9.1,170,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1795,3483,0,0,0,0,0,0
$GC,2488,-1.40,-116.8,286.5,-10.3,176,2492,0.00,2.40,0.00,0.000,4,0.000,0.028,2709,3302,3482,0,0,0,0,0,0
$GC,2521,-1.46,-116.8,289.9,-9.9,176,2527,0.12,2.42,0.00,0.000,6,0.073,0.041,2666,1802,3483,0,0,0,0,0,0
$GC,2773,-1.42,-116.8,319.5,-12.0,183,2778,0.10,2.88,0.00,0.000,4,0.127,0.084,2687,183,3483,0,0,0,0,0,0
$GC,2812,-1.42,-116.8,324.4,-11.6,184,2817,0.00,2.45,0.00,0.000,6,0.000,0.026,2687,1755,3483,0,0,0,0,0,0
$GC,3096,-1.42,-116.8,350.0,-8.7,191,3101,0.00,2.58,0.00,0.000,4,0.000,0.042,2687,3354,3482,0,0,0,0,0,0
$GC,3114,-1.42,-116.8,351.5,-8.8,191,3119,0.00,2.58,0.00,0.000,6,0.000,0.048,2687,1797,3482,0,0,0,0,0,0
$GC,3376,-1.42,-116.8,375.4,-9.5,198,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1797,3480,0,0,0,0,0,0
$GC,3619,-1.42,-116.8,397.5,-9.0,204,3624,0.00,2.53,0.00,0.000,4,0.000,0.039,2687,3349,3479,0,0,0,0,0,0
$GC,3671,-1.49,-116.8,402.1,-9.0,205,3676,0.00,2.60,0.00,0.000,6,0.000,0.049,2687,1801,3479,0,0,0,0,0,0
$GC,3944,-1.49,-116.8,425.9,-8.9,212,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1801,3477,0,0,0,0,0,0
$GC,4188,-1.53,-116.8,448.6,-9.5,218,4192,0.00,2.55,0.00,0.000,4,0.000,0.045,2687,3342,3475,0,0,0,0,0,0
$GC,4223,-1.60,-116.8,451.8,-9.8,218,4229,0.15,2.60,0.00,0.000,6,0.065,0.054,2639,1814,3475,0,0,0,0,0,0
$GC,4473,-1.56,-116.8,481.2,-12.1,225,4478,0.10,3.05,0.00,0.000,4,0.130,0.115,2659,183,3473,0,0,0,0,0,0
$GC,4489,-1.51,-116.8,483.4,-12.1,225,4494,0.00,2.60,0.00,0.000,6,0.000,0.035,2659,1792,3473,0,0,0,0,0,0
$STATE,4666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4666,begin apogee
$GC,4673,-0.31,0.0,503.9,11.5,230,4773,1.23,0.00,96.05,0.921,6,0.086,0.000,2932,1792,3001,0,0,0,0,0,0
$STATE,4774,end apogee,CONTROL_FINISHED_OK
$STATE,4774,begin climb
$GC,4776,1.38,116.8,506.8,0.0,232,4881,1.55,0.00,100.95,0.898,6,0.043,0.000,3307,1791,2524,0,0,0,0,0,0
$GC,5115,1.29,146.3,488.6,8.3,241,5146,0.12,2.80,25.50,0.862,4,0.133,0.061,3284,3404,2402,0,0,0,0,0,0
$GC,5214,1.25,153.3,479.2,9.6,243,5229,0.00,2.72,7.03,0.718,6,0.000,0.056,3284,1824,2376,0,0,0,0,0,0
$GC,5487,1.19,153.3,451.5,10.2,250,5489,0.12,0.00,0.00,0.000,6,0.135,0.000,3261,1823,2370,0,0,0,0,0,0
$GC,5729,1.22,173.3,429.4,8.9,256,5754,0.00,2.70,18.30,0.834,4,0.000,0.042,3261,3409,2293,0,0,0,0,0,0
$GC,5794,1.23,180.2,423.3,9.6,257,5808,0.00,2.70,7.62,0.727,6,0.000,0.054,3261,1830,2265,0,0,0,0,0,0
$GC,6060,1.25,202.5,399.5,8.7,264,6086,0.00,2.65,20.45,0.828,4,0.000,0.034,3261,3418,2174,0,0,0,0,0,0
$GC,6108,1.26,205.1,394.6,9.9,265,6113,0.00,2.65,0.00,0.000,6,0.000,0.049,3261,1841,2172,0,0,0,0,0,0
$GC,6382,1.27,218.4,369.2,9.3,272,6402,0.00,2.62,14.80,0.795,4,0.000,0.034,3261,3420,2109,0,0,0,0,0,0
$GC,6477,1.34,226.5,359.9,9.6,274,6491,0.12,2.62,8.60,0.728,6,0.089,0.044,3293,1863,2076,0,0,0,0,0,0
$GC,6754,1.34,226.5,329.7,10.9,281,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1863,2071,0,0,0,0,0,0
$GC,6997,1.35,239.4,306.2,9.3,287,7015,0.00,2.60,11.70,0.743,4,0.000,0.037,3293,3412,2024,0,0,0,0,0,0
$GC,7022,1.35,239.4,303.8,10.1,287,7026,0.00,2.58,0.00,0.000,6,0.000,0.040,3293,1856,2024,0,0,0,0,0,0
$GC,7278,1.35,240.8,278.9,10.0,294,7283,0.00,2.85,0.00,0.000,4,0.000,0.077,3293,235,2021,0,0,0,0,0,0
$GC,7301,1.31,240.8,276.0,11.1,294,7306,0.00,2.60,0.00,0.000,6,0.000,0.024,3293,1880,2020,0,0,0,0,0,0
$GC,7557,1.34,267.7,253.5,8.5,301,7588,0.00,2.53,25.95,0.749,4,0.000,0.033,3293,3413,1908,0,0,0,0,0,0
$GC,7612,1.39,270.4,248.3,9.9,302,7617,0.00,2.60,0.00,0.000,6,0.000,0.038,3293,1854,1905,0,0,0,0,0,0
$GC,7879,1.39,270.4,220.2,10.8,309,7883,0.00,2.53,0.00,0.000,4,0.000,0.036,3293,3413,1902,0,0,0,0,0,0
$GC,7907,1.44,270.4,217.0,11.7,309,7912,0.00,2.55,0.00,0.000,6,0.000,0.041,3293,1863,1901,0,0,0,0,0,0
$GC,8162,1.44,270.4,189.0,10.8,321,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1863,1901,0,0,0,0,0,0
$GC,8416,1.44,270.4,160.4,11.3,345,8420,0.00,2.50,0.00,0.000,4,0.000,0.035,3293,3423,1900,0,0,0,0,0,0
$GC,8438,1.50,270.4,157.9,10.9,346,8444,0.15,2.58,0.00,0.000,6,0.080,0.035,3332,1847,1900,0,0,0,0,0,0
$GC,8706,1.51,279.1,132.2,9.5,371,8725,0.00,0.00,9.82,0.594,6,0.000,0.000,3332,1847,1862,0,0,0,0,0,0
$GC,8984,1.52,287.6,103.5,9.5,397,8998,0.00,2.58,8.95,0.559,4,0.000,0.028,3332,3419,1827,0,0,0,0,0,0
$GC,9022,1.57,287.6,99.0,10.4,400,9031,0.00,2.60,0.00,0.000,6,0.000,0.035,3333,1852,1826,0,0,0,0,0,0
$GC,9290,1.59,305.2,74.1,9.0,425,9318,0.00,2.83,16.25,0.571,4,0.000,0.062,3332,241,1755,0,0,0,0,0,0
$GC,9325,1.62,327.5,70.4,8.8,427,9351,0.00,2.60,20.58,0.570,6,0.000,0.019,3332,1881,1665,0,0,0,0,0,0
$GC,9619,1.68,327.5,43.7,10.2,454,9624,0.15,2.47,0.00,0.000,4,0.077,0.028,3372,3424,1660,0,0,0,0,0,0
$GC,9691,1.68,327.5,35.5,11.8,459,9695,0.00,2.55,0.00,0.000,6,0.000,0.032,3372,1856,1659,0,0,0,0,0,0
$STATE,9955,end climb,SURFACE_DEPTH_REACHED
$STATE,9955,begin surface coast
$FINISH,0.3,1.009839
$STATE,9991,end surface coast,CONTROL_FINISHED_OK
$STATE,9991,begin surface
$SM_CCo,10015,80.75,0.461,1,0,1287,420.20
$SM_GC,1.07,0.00,0.00,80.75,0.000,0.000,0.461,481,1742,1287,-11.59,-0.76,420.20
$IRIDIUM_FIX,2239.35,-15749.78,010100,010125
$TT8_MAMPS,0.026078
$HUMID,49.80
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.50
$XPDR_PINGS,53
$24V_AH,23.5,49.394
$10V_AH,10.1,48.042
$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,27.400,119.000,392.550,80.750,0.000,30.974,34.708,160.359,13.250,0.000,15.393,1010.651,6555.221,552.929,1829.464,513.773,33.362,1231.075,0.000,1838.526,0.000,0.535,0.000
$DEVICE_MAMPS,138.827,115.050,921.167,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.414,288.294,383.595,725.341,1097.101,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38261,499
$CAP_FILE_SIZE,105095,0
$CFSIZE,260165632,161476608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,070000,2248.658,-15753.650,34,1.0,38,10.1