version: 66.06
glider: 146
mission: 5
dive: 354
start: 10 7 110 13 6 40
data:
$ID,146
$MISSION,5
$DIVE,354
$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,-254500.28
$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,44
$R_STBD_OVSHOOT,60
$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
$GPS1,125936,2248.728,-15753.999,9,1.5,25,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-66.8
$GPS2,130544,2248.651,-15753.981,13,1.5,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.151,0.180
$KALMAN_X,-282882.0,-25.6,-299.5,311816.4,430.5
$KALMAN_Y,-500369.2,-83.7,-541.5,627059.7,-833.1
$MHEAD_RNG_PITCHd_Wd,310.0,2345,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-85.80,0.000,2,0.000,0.000,474,1739,3464,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.4,-9.1,11,125,11.40,2.53,-0.22,0.000,4,0.143,0.036,2691,3338,3479,0,0,0,0,0,0
$GC,258,-1.31,-116.8,38.5,-15.7,29,264,0.10,2.53,0.00,0.000,6,0.127,0.031,2713,1786,3481,0,0,0,0,0,0
$GC,527,-1.25,-116.8,79.8,-14.4,53,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1785,3481,0,0,0,0,0,0
$GC,787,-1.25,-116.8,112.9,-11.3,78,791,0.00,2.45,0.00,0.000,4,0.000,0.025,2713,3336,3482,0,0,0,0,0,0
$GC,832,-1.25,-116.8,117.3,-10.5,81,837,0.00,2.53,0.00,0.000,6,0.000,0.029,2713,1762,3482,0,0,0,0,0,0
$GC,1100,-1.25,-116.8,145.2,-10.2,105,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1760,3482,0,0,0,0,0,0
$GC,1364,-1.25,-116.8,173.2,-10.6,130,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1760,3483,0,0,0,0,0,0
$GC,1645,-1.25,-116.8,204.7,-11.0,154,1649,0.00,2.47,0.00,0.000,4,0.000,0.031,2713,3345,3483,0,0,0,0,0,0
$GC,1666,-1.25,-116.8,207.0,-10.3,154,1670,0.00,2.53,0.00,0.000,6,0.000,0.028,2713,1760,3483,0,0,0,0,0,0
$GC,1921,-1.25,-116.8,233.4,-10.3,161,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1759,3483,0,0,0,0,0,0
$GC,2166,-1.25,-116.8,256.1,-9.1,167,2170,0.00,2.50,0.00,0.000,4,0.000,0.032,2713,3336,3483,0,0,0,0,0,0
$GC,2194,-1.32,-116.8,258.8,-9.3,167,2199,0.00,2.55,0.00,0.000,6,0.000,0.038,2713,1765,3483,0,0,0,0,0,0
$GC,2445,-1.36,-116.8,280.4,-8.6,173,2449,0.00,2.75,0.00,0.000,4,0.000,0.077,2713,193,3483,0,0,0,0,0,0
$GC,2462,-1.36,-116.8,282.1,-9.1,173,2466,0.00,2.40,0.00,0.000,6,0.000,0.018,2713,1758,3482,0,0,0,0,0,0
$GC,2723,-1.42,-116.8,306.2,-9.2,180,2727,0.00,2.50,0.00,0.000,4,0.000,0.037,2713,3345,3482,0,0,0,0,0,0
$GC,2750,-1.49,-116.8,309.1,-10.3,180,2755,0.17,2.58,0.00,0.000,6,0.059,0.035,2659,1766,3482,0,0,0,0,0,0
$GC,3001,-1.46,-116.8,341.1,-13.4,186,3003,0.10,0.00,0.00,0.000,6,0.128,0.000,2680,1766,3482,0,0,0,0,0,0
$GC,3243,-1.46,-116.8,368.1,-10.7,192,3247,0.00,2.55,0.00,0.000,4,0.000,0.040,2680,3336,3481,0,0,0,0,0,0
$GC,3284,-1.50,-116.8,372.3,-10.7,193,3289,0.00,2.60,0.00,0.000,6,0.000,0.053,2680,1784,3481,0,0,0,0,0,0
$GC,3568,-1.50,-116.8,401.3,-10.2,200,3573,0.00,2.50,0.00,0.000,4,0.000,0.039,2680,3335,3479,0,0,0,0,0,0
$GC,3613,-1.55,-116.8,406.0,-10.0,201,3618,0.00,2.62,0.00,0.000,6,0.000,0.054,2680,1784,3479,0,0,0,0,0,0
$GC,3892,-1.55,-116.8,433.5,-10.2,208,3897,0.00,2.92,0.00,0.000,4,0.000,0.104,2680,185,3477,0,0,0,0,0,0
$GC,3918,-1.55,-116.8,436.9,-11.7,208,3923,0.00,2.53,0.00,0.000,6,0.000,0.031,2680,1769,3477,0,0,0,0,0,0
$GC,4169,-1.55,-116.8,465.6,-11.5,214,4173,0.00,2.62,0.00,0.000,4,0.000,0.052,2680,3357,3475,0,0,0,0,0,0
$GC,4208,-1.62,-116.8,470.1,-11.6,215,4213,0.15,2.67,0.00,0.000,6,0.068,0.061,2633,1787,3475,0,0,0,0,0,0
$STATE,4448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4448,begin apogee
$GC,4456,-0.31,0.0,501.2,12.8,221,4556,1.33,0.00,96.55,0.917,6,0.080,0.000,2930,1786,3000,0,0,0,0,0,0
$STATE,4557,end apogee,CONTROL_FINISHED_OK
$STATE,4557,begin climb
$GC,4559,1.38,116.8,504.4,0.0,223,4664,1.58,0.00,100.65,0.894,6,0.043,0.000,3308,1786,2524,0,0,0,0,0,0
$GC,4897,1.28,143.5,485.6,8.5,232,4927,0.15,2.80,22.70,0.853,4,0.130,0.047,3280,3396,2415,0,0,0,0,0,0
$GC,4996,1.27,165.3,477.1,8.8,234,5022,0.00,2.72,20.23,0.842,6,0.000,0.054,3279,1822,2327,0,0,0,0,0,0
$GC,5268,1.24,180.2,452.2,9.2,240,5288,0.00,2.67,14.02,0.818,4,0.000,0.045,3280,3404,2266,0,0,0,0,0,0
$GC,5305,1.28,211.6,448.6,8.2,240,5340,0.00,2.70,28.77,0.849,6,0.000,0.054,3280,1836,2138,0,0,0,0,0,0
$GC,5598,1.28,212.1,419.6,10.0,248,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1836,2130,0,0,0,0,0,0
$GC,5840,1.29,221.2,395.9,9.5,254,5854,0.00,2.65,8.48,0.742,4,0.000,0.035,3280,3410,2098,0,0,0,0,0,0
$GC,5866,1.29,224.2,393.3,9.9,254,5876,0.00,2.67,4.40,0.576,6,0.000,0.043,3280,1831,2087,0,0,0,0,0,0
$GC,6123,1.30,232.1,368.6,9.6,260,6137,0.00,2.62,8.32,0.732,4,0.000,0.033,3279,3404,2054,0,0,0,0,0,0
$GC,6154,1.30,232.4,365.2,10.0,260,6159,0.00,2.65,0.00,0.000,6,0.000,0.045,3280,1833,2053,0,0,0,0,0,0
$GC,6404,1.30,232.4,339.6,10.3,266,6408,0.00,2.58,0.00,0.000,4,0.000,0.032,3280,3412,2050,0,0,0,0,0,0
$GC,6472,1.35,237.1,332.6,9.8,267,6483,0.00,2.60,5.43,0.634,6,0.000,0.043,3279,1841,2034,0,0,0,0,0,0
$GC,6727,1.36,245.4,308.0,9.6,273,6738,0.00,0.00,9.02,0.720,6,0.000,0.000,3280,1841,2000,0,0,0,0,0,0
$GC,6970,1.36,245.4,282.8,10.6,279,6975,0.00,2.55,0.00,0.000,4,0.000,0.032,3279,3408,1996,0,0,0,0,0,0
$GC,6999,1.36,245.4,279.7,11.0,279,7004,0.00,2.60,0.00,0.000,6,0.000,0.041,3280,1836,1996,0,0,0,0,0,0
$GC,7249,1.36,245.4,253.0,10.5,285,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1836,1994,0,0,0,0,0,0
$GC,7493,1.43,269.1,231.1,8.7,291,7522,0.12,2.65,21.55,0.730,4,0.084,0.033,3313,3412,1903,0,0,0,0,0,0
$GC,7546,1.43,269.5,226.3,10.0,292,7551,0.00,2.60,0.00,0.000,6,0.000,0.039,3314,1842,1902,0,0,0,0,0,0
$GC,7819,1.44,276.2,200.0,9.7,299,7833,0.00,2.62,7.43,0.617,4,0.000,0.035,3314,3417,1874,0,0,0,0,0,0
$GC,7881,1.44,276.2,193.4,10.9,301,7886,0.00,2.58,0.00,0.000,6,0.000,0.040,3313,1851,1872,0,0,0,0,0,0
$GC,8143,1.44,276.2,164.9,10.8,326,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1851,1872,0,0,0,0,0,0
$GC,8396,1.44,276.2,136.5,10.7,350,8400,0.00,2.53,0.00,0.000,4,0.000,0.029,3313,3419,1871,0,0,0,0,0,0
$GC,8420,1.44,276.2,134.6,11.0,351,8424,0.00,2.58,0.00,0.000,6,0.000,0.036,3314,1844,1870,0,0,0,0,0,0
$GC,8686,1.44,276.2,104.7,11.3,375,8690,0.00,2.53,0.00,0.000,4,0.000,0.035,3314,3422,1870,0,0,0,0,0,0
$GC,8745,1.49,276.2,97.7,11.1,379,8751,0.00,2.58,0.00,0.000,6,0.000,0.035,3313,1842,1870,0,0,0,0,0,0
$GC,9012,1.57,293.5,72.5,9.0,404,9031,0.12,0.00,15.95,0.573,6,0.084,0.000,3347,1842,1803,0,0,0,0,0,0
$GC,9287,1.59,315.5,47.3,8.8,430,9313,0.00,2.55,19.58,0.554,4,0.000,0.027,3348,3416,1714,0,0,0,0,0,0
$GC,9379,1.67,315.5,38.3,10.6,437,9384,0.00,2.55,0.00,0.000,6,0.000,0.034,3348,1849,1713,0,0,0,0,0,0
$GC,9699,1.67,315.5,4.0,10.7,478,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1849,1712,0,0,0,0,0,0
$STATE,9716,end climb,SURFACE_DEPTH_REACHED
$STATE,9716,begin surface coast
$FINISH,0.3,1.009875
$STATE,9765,end surface coast,CONTROL_FINISHED_OK
$STATE,9765,begin surface
$SM_CCo,9789,91.15,0.469,1,0,1288,420.20
$SM_GC,0.89,0.00,0.00,91.15,0.000,0.000,0.469,476,1752,1288,-11.62,-0.51,420.20
$IRIDIUM_FIX,2241.69,-15754.99,010100,101058
$TT8_MAMPS,0.026078
$HUMID,49.33
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.40
$XPDR_PINGS,45
$24V_AH,23.5,49.762
$10V_AH,10.2,48.375
$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,26.850,109.025,383.075,91.150,0.000,24.132,32.613,175.970,11.250,0.000,14.850,984.510,6416.942,551.427,1797.351,507.242,33.364,1206.646,0.000,1804.966,0.000,0.535,0.000
$DEVICE_MAMPS,143.429,104.312,916.565,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.519,280.934,377.354,726.713,1100.682,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,38434,487
$CAP_FILE_SIZE,99702,0
$CFSIZE,260165632,161320960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,155237,2249.128,-15754.429,31,1.3,31,10.1