version: 66.06
glider: 146
mission: 5
dive: 352
start: 10 7 110 7 15 15
data:
$ID,146
$MISSION,5
$DIVE,352
$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,-254467.3
$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,40
$R_STBD_OVSHOOT,25
$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
$GPS1,070000,2248.658,-15753.650,34,1.0,38,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.6
$GPS2,071419,2248.527,-15753.531,8,1.7,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.111,0.207
$KALMAN_X,-283847.1,-124.8,342.4,313016.8,835.1
$KALMAN_Y,-497064.6,-173.6,414.8,622668.8,-1873.8
$MHEAD_RNG_PITCHd_Wd,321.8,3089,-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,15,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-79.03,0.000,2,0.000,0.000,480,1742,3279,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.6,-7.4,10,126,11.20,2.62,-3.80,0.000,4,0.137,0.037,2691,3368,3481,0,0,0,0,0,0
$GC,196,-1.31,-116.8,27.0,-16.4,23,206,0.08,2.60,0.00,0.000,6,0.089,0.031,2711,1786,3482,0,0,0,0,0,0
$GC,475,-1.21,-116.8,71.0,-15.1,49,484,0.12,0.00,0.00,0.000,6,0.121,0.000,2736,1786,3483,0,0,0,0,0,0
$GC,738,-1.21,-116.8,104.8,-11.5,74,742,0.00,2.70,0.00,0.000,4,0.000,0.066,2736,189,3482,0,0,0,0,0,0
$GC,791,-1.21,-116.8,111.8,-13.0,78,796,0.00,2.50,0.00,0.000,6,0.000,0.015,2736,1838,3482,0,0,0,0,0,0
$GC,1055,-1.24,-116.8,137.4,-9.3,102,1059,0.00,2.80,0.00,0.000,4,0.000,0.064,2736,186,3483,0,0,0,0,0,0
$GC,1085,-1.24,-116.8,140.5,-11.0,104,1089,0.00,2.47,0.00,0.000,6,0.000,0.015,2736,1825,3483,0,0,0,0,0,0
$GC,1348,-1.30,-116.8,164.9,-9.3,128,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1828,3484,0,0,0,0,0,0
$GC,1604,-1.36,-116.8,188.3,-8.8,152,1609,0.15,2.80,0.00,0.000,4,0.171,0.061,2689,192,3484,0,0,0,0,0,0
$GC,1626,-1.36,-116.8,191.3,-10.5,153,1635,0.00,2.47,0.00,0.000,6,0.000,0.016,2689,1811,3484,0,0,0,0,0,0
$GC,1909,-1.36,-116.8,224.0,-11.7,166,1913,0.00,2.38,0.00,0.000,4,0.000,0.032,2688,3327,3484,0,0,0,0,0,0
$GC,1931,-1.36,-116.8,226.5,-10.9,166,1936,0.00,2.53,0.00,0.000,6,0.000,0.035,2688,1758,3484,0,0,0,0,0,0
$GC,2187,-1.36,-116.8,255.0,-11.1,173,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1758,3484,0,0,0,0,0,0
$GC,2430,-1.36,-116.8,280.4,-10.6,179,2435,0.00,2.47,0.00,0.000,4,0.000,0.028,2688,3326,3483,0,0,0,0,0,0
$GC,2465,-1.36,-116.8,283.7,-10.0,179,2471,0.00,2.53,0.00,0.000,6,0.000,0.038,2689,1774,3483,0,0,0,0,0,0
$GC,2715,-1.36,-116.8,310.8,-11.3,186,2719,0.00,2.78,0.00,0.000,4,0.000,0.077,2689,189,3483,0,0,0,0,0,0
$GC,2747,-1.36,-116.8,315.0,-13.0,186,2753,0.00,2.42,0.00,0.000,6,0.000,0.028,2688,1743,3483,0,0,0,0,0,0
$GC,2999,-1.36,-116.8,341.0,-9.9,193,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1743,3482,0,0,0,0,0,0
$GC,3241,-1.40,-116.8,364.0,-9.4,199,3246,0.00,2.60,0.00,0.000,4,0.000,0.043,2688,3345,3481,0,0,0,0,0,0
$GC,3263,-1.40,-116.8,366.2,-9.3,199,3268,0.00,2.65,0.00,0.000,6,0.000,0.052,2689,1763,3481,0,0,0,0,0,0
$GC,3519,-1.40,-116.8,390.1,-9.5,206,3523,0.00,2.58,0.00,0.000,4,0.000,0.038,2688,3347,3479,0,0,0,0,0,0
$GC,3548,-1.46,-116.8,392.8,-10.0,206,3552,0.00,2.67,0.00,0.000,6,0.000,0.055,2688,1765,3479,0,0,0,0,0,0
$GC,3798,-1.51,-116.8,416.7,-9.4,212,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1765,3478,0,0,0,0,0,0
$GC,4042,-1.55,-116.8,438.7,-9.1,218,4047,0.12,2.62,0.00,0.000,4,0.077,0.043,2647,3346,3475,0,0,0,0,0,0
$GC,4076,-1.55,-116.8,442.2,-10.2,218,4082,0.00,2.67,0.00,0.000,6,0.000,0.055,2647,1775,3475,0,0,0,0,0,0
$GC,4326,-1.55,-116.8,468.6,-10.7,225,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1775,3473,0,0,0,0,0,0
$GC,4569,-1.55,-116.8,495.0,-10.8,231,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1775,3471,0,0,0,0,0,0
$STATE,4648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4648,begin apogee
$GC,4656,-0.31,0.0,503.8,10.8,233,4755,1.27,0.00,95.90,0.922,6,0.084,0.000,2929,1775,3001,0,0,0,0,0,0
$STATE,4756,end apogee,CONTROL_FINISHED_OK
$STATE,4756,begin climb
$GC,4758,1.38,116.8,506.6,0.0,235,4864,1.55,0.00,100.47,0.900,6,0.046,0.000,3307,1774,2524,0,0,0,0,0,0
$GC,5087,1.28,146.1,489.0,8.3,243,5118,0.12,2.80,25.15,0.864,4,0.258,0.053,3282,3389,2403,0,0,0,0,0,0
$GC,5208,1.27,170.2,478.2,8.6,245,5237,0.00,2.72,21.98,0.852,6,0.000,0.063,3282,1821,2306,0,0,0,0,0,0
$GC,5504,1.23,176.4,450.6,9.7,253,5517,0.00,2.62,6.25,0.699,4,0.000,0.042,3282,3393,2279,0,0,0,0,0,0
$GC,5546,1.24,180.8,446.1,9.8,254,5557,0.00,2.70,5.32,0.652,6,0.000,0.057,3282,1823,2264,0,0,0,0,0,0
$GC,5832,1.20,185.5,418.1,9.8,261,5842,0.00,2.60,5.35,0.660,4,0.000,0.041,3282,3396,2243,0,0,0,0,0,0
$GC,5864,1.20,185.5,414.5,10.1,261,5870,0.00,2.67,0.00,0.000,6,0.000,0.053,3282,1827,2243,0,0,0,0,0,0
$GC,6114,1.21,194.0,390.4,9.5,268,6129,0.00,2.62,8.73,0.759,4,0.000,0.038,3282,3394,2210,0,0,0,0,0,0
$GC,6160,1.21,197.3,386.3,9.9,269,6170,0.00,2.65,4.68,0.607,6,0.000,0.052,3282,1833,2196,0,0,0,0,0,0
$GC,6445,1.22,204.2,358.6,9.6,276,6459,0.00,2.62,7.43,0.722,4,0.000,0.038,3282,3397,2167,0,0,0,0,0,0
$GC,6494,1.22,204.2,353.2,10.4,277,6499,0.00,2.60,0.00,0.000,6,0.000,0.048,3282,1849,2167,0,0,0,0,0,0
$GC,6772,1.24,218.9,326.7,9.2,284,6791,0.00,2.58,14.25,0.784,4,0.000,0.038,3282,3400,2107,0,0,0,0,0,0
$GC,6815,1.26,237.5,322.8,9.0,285,6839,0.00,2.60,18.15,0.786,6,0.000,0.044,3282,1851,2031,0,0,0,0,0,0
$GC,7103,1.27,242.1,294.5,9.8,292,7109,0.00,0.00,4.72,0.582,6,0.000,0.000,3282,1850,2013,0,0,0,0,0,0
$GC,7344,1.27,242.1,269.8,10.2,298,7349,0.00,2.85,0.00,0.000,4,0.000,0.076,3282,236,2010,0,0,0,0,0,0
$GC,7388,1.23,242.1,264.6,11.7,299,7393,0.00,2.60,0.00,0.000,6,0.000,0.021,3282,1877,2009,0,0,0,0,0,0
$GC,7668,1.24,255.7,239.2,9.3,306,7687,0.00,2.95,13.10,0.718,4,0.000,0.071,3282,237,1957,0,0,0,0,0,0
$GC,7704,1.24,255.7,235.4,10.3,306,7710,0.00,2.60,0.00,0.000,6,0.000,0.021,3282,1873,1955,0,0,0,0,0,0
$GC,7955,1.32,282.7,213.8,8.5,313,7984,0.00,2.50,24.55,0.719,4,0.000,0.032,3282,3400,1848,0,0,0,0,0,0
$GC,8014,1.44,305.6,208.7,8.7,314,8041,0.12,2.55,20.90,0.700,6,0.087,0.037,3314,1860,1755,0,0,0,0,0,0
$GC,8302,1.44,305.6,176.0,12.8,334,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1860,1749,0,0,0,0,0,0
$GC,8567,1.44,305.6,141.1,13.1,359,8571,0.00,2.47,0.00,0.000,4,0.000,0.031,3314,3404,1747,0,0,0,0,0,0
$GC,8588,1.44,305.6,137.7,13.3,360,8597,0.00,2.50,0.00,0.000,6,0.000,0.033,3314,1883,1747,0,0,0,0,0,0
$GC,8856,1.44,305.6,106.6,12.3,385,8861,0.00,2.80,0.00,0.000,4,0.000,0.065,3314,242,1746,0,0,0,0,0,0
$GC,8879,1.44,305.6,103.0,12.9,386,8888,0.00,2.60,0.00,0.000,6,0.000,0.019,3314,1892,1745,0,0,0,0,0,0
$GC,9147,1.52,326.9,77.3,8.8,411,9175,0.00,2.92,18.42,0.584,4,0.000,0.059,3314,243,1666,0,0,0,0,0,0
$GC,9204,1.52,326.9,71.5,10.4,415,9208,0.00,2.58,0.00,0.000,6,0.000,0.019,3314,1883,1665,0,0,0,0,0,0
$GC,9473,1.62,336.4,48.3,9.5,439,9488,0.17,2.42,9.45,0.518,4,0.156,0.027,3360,3401,1627,0,0,0,0,0,0
$GC,9506,1.67,336.4,44.6,10.6,441,9510,0.00,2.50,0.00,0.000,6,0.000,0.032,3360,1872,1626,0,0,0,0,0,0
$GC,9814,1.67,336.4,9.5,11.9,478,9823,0.00,2.80,0.00,0.000,4,0.000,0.063,3360,240,1625,0,0,0,0,0,0
$GC,9834,1.63,336.4,6.7,12.9,480,9843,0.00,2.60,0.00,0.000,6,0.000,0.019,3360,1899,1624,0,0,0,0,0,0
$STATE,9857,end climb,SURFACE_DEPTH_REACHED
$STATE,9857,begin surface coast
$FINISH,0.4,1.023600
$STATE,9893,end surface coast,CONTROL_FINISHED_OK
$STATE,9893,begin surface
$SM_CCo,9917,75.28,0.460,1,0,1288,420.20
$SM_GC,1.08,0.00,0.00,75.28,0.000,0.000,0.460,480,1745,1288,-11.59,-0.71,420.20
$IRIDIUM_FIX,2241.69,-15809.75,010100,070742
$TT8_MAMPS,0.026078
$HUMID,49.37
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.30
$XPDR_PINGS,49
$24V_AH,23.5,49.530
$10V_AH,10.1,48.155
$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,26.625,126.150,404.800,75.275,0.000,90.237,120.803,360.402,12.250,0.000,15.360,991.836,6610.000,548.012,1818.015,891.646,33.365,1261.248,0.000,1821.719,0.000,0.536,0.000
$DEVICE_MAMPS,258.479,76.700,921.934,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.569,270.457,371.106,699.790,1058.219,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,38340,488
$CAP_FILE_SIZE,112006,0
$CFSIZE,260165632,161415168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,100307,2248.452,-15754.012,34,0.9,34,10.1