version: 66.06
glider: 146
mission: 5
dive: 339
start: 10 5 110 15 49 32
data:
$ID,146
$MISSION,5
$DIVE,339
$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,-254127.38
$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,52
$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
$GPS1,153206,2254.393,-15744.603,29,1.3,29,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.2
$GPS2,154838,2254.241,-15744.521,10,1.7,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.224,-0.071
$KALMAN_X,-293843.9,128.3,-242.4,338842.3,791.0
$KALMAN_Y,-475146.7,-398.2,-327.8,612293.5,3.7
$MHEAD_RNG_PITCHd_Wd,242.4,19926,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-85.22,0.000,6,0.000,0.000,473,1752,3480,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.7,-10.0,11,126,11.30,2.50,0.00,0.000,4,0.140,0.028,2691,3346,3482,0,0,0,0,0,0
$GC,171,-1.29,-116.8,26.9,-19.6,19,181,0.10,2.55,0.00,0.000,6,0.090,0.031,2716,1787,3482,0,0,0,0,0,0
$GC,449,-1.21,-116.8,69.4,-13.4,45,453,0.00,2.45,0.00,0.000,4,0.000,0.025,2716,3351,3483,0,0,0,0,0,0
$GC,507,-1.21,-116.8,77.1,-11.8,49,511,0.00,2.53,0.00,0.000,6,0.000,0.029,2716,1785,3483,0,0,0,0,0,0
$GC,774,-1.21,-116.8,109.4,-12.4,73,779,0.00,2.45,0.00,0.000,4,0.000,0.024,2716,3353,3483,0,0,0,0,0,0
$GC,796,-1.21,-116.8,113.1,-12.4,74,805,0.00,2.50,0.00,0.000,6,0.000,0.033,2716,1800,3483,0,0,0,0,0,0
$GC,1063,-1.21,-116.8,143.0,-10.0,99,1068,0.00,2.70,0.00,0.000,4,0.000,0.061,2716,197,3483,0,0,0,0,0,0
$GC,1104,-1.21,-116.8,148.2,-11.6,102,1109,0.00,2.45,0.00,0.000,6,0.000,0.022,2716,1827,3483,0,0,0,0,0,0
$GC,1367,-1.21,-116.8,173.5,-10.1,126,1371,0.00,2.38,0.00,0.000,4,0.000,0.033,2716,3342,3483,0,0,0,0,0,0
$GC,1388,-1.21,-116.8,175.5,-10.5,127,1393,0.00,2.47,0.00,0.000,6,0.000,0.034,2716,1796,3483,0,0,0,0,0,0
$GC,1672,-1.21,-116.8,204.8,-10.9,150,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1796,3484,0,0,0,0,0,0
$GC,1913,-1.21,-116.8,229.8,-9.9,156,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1796,3484,0,0,0,0,0,0
$GC,2157,-1.25,-116.8,251.8,-8.9,162,2161,0.00,2.45,0.00,0.000,4,0.000,0.031,2716,3341,3483,0,0,0,0,0,0
$GC,2191,-1.33,-116.8,255.1,-9.4,162,2197,0.00,2.47,0.00,0.000,6,0.000,0.040,2716,1813,3483,0,0,0,0,0,0
$GC,2442,-1.39,-116.8,277.5,-8.9,169,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1813,3482,0,0,0,0,0,0
$GC,2685,-1.44,-116.8,301.6,-10.0,175,2690,0.12,2.45,0.00,0.000,4,0.073,0.039,2670,3341,3482,0,0,0,0,0,0
$GC,2726,-1.44,-116.8,306.2,-11.5,176,2731,0.00,2.50,0.00,0.000,6,0.000,0.046,2670,1811,3481,0,0,0,0,0,0
$GC,3010,-1.44,-116.8,336.0,-9.9,183,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1808,3480,0,0,0,0,0,0
$GC,3254,-1.44,-116.8,358.4,-9.2,189,3258,0.00,2.47,0.00,0.000,4,0.000,0.041,2670,3347,3479,0,0,0,0,0,0
$GC,3271,-1.44,-116.8,360.1,-9.4,189,3275,0.00,2.53,0.00,0.000,6,0.000,0.043,2671,1821,3479,0,0,0,0,0,0
$GC,3531,-1.44,-116.8,388.4,-11.1,196,3536,0.00,2.95,0.00,0.000,4,0.000,0.091,2670,188,3478,0,0,0,0,0,0
$GC,3575,-1.44,-116.8,394.2,-12.9,197,3579,0.00,2.55,0.00,0.000,6,0.000,0.031,2670,1796,3478,0,0,0,0,0,0
$GC,3855,-1.44,-116.8,424.9,-10.6,204,3859,0.00,2.58,0.00,0.000,4,0.000,0.052,2670,3361,3476,0,0,0,0,0,0
$GC,3876,-1.44,-116.8,427.2,-9.6,204,3880,0.00,2.60,0.00,0.000,6,0.000,0.051,2670,1822,3476,0,0,0,0,0,0
$GC,4131,-1.44,-116.8,451.6,-9.7,211,4136,0.00,3.03,0.00,0.000,4,0.000,0.110,2670,189,3473,0,0,0,0,0,0
$GC,4154,-1.44,-116.8,454.1,-11.0,211,4158,0.00,2.62,0.00,0.000,6,0.000,0.033,2670,1812,3474,0,0,0,0,0,0
$GC,4408,-1.44,-116.8,481.1,-10.5,218,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1812,3471,0,0,0,0,0,0
$STATE,4609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4609,begin apogee
$GC,4615,-0.31,0.0,502.6,10.4,223,4714,1.17,0.00,95.72,0.919,6,0.089,0.000,2932,1812,3000,0,0,0,0,0,0
$STATE,4715,end apogee,CONTROL_FINISHED_OK
$STATE,4715,begin climb
$GC,4719,1.38,116.8,504.6,0.0,225,4830,1.52,2.85,99.78,0.898,4,0.050,0.065,3304,3408,2522,0,0,0,0,0,0
$GC,4848,1.33,169.3,501.2,7.0,228,4899,0.00,2.72,45.75,0.872,6,0.000,0.058,3304,1820,2310,0,0,0,0,0,0
$GC,5166,1.24,169.3,466.7,10.8,236,5172,0.17,2.67,0.00,0.000,4,0.220,0.042,3271,3412,2300,0,0,0,0,0,0
$GC,5228,1.26,189.3,460.7,8.9,237,5252,0.00,2.72,17.17,0.827,6,0.000,0.054,3270,1822,2229,0,0,0,0,0,0
$GC,5538,1.28,205.0,432.7,9.1,245,5558,0.00,2.67,14.60,0.814,4,0.000,0.044,3270,3411,2164,0,0,0,0,0,0
$GC,5591,1.28,205.0,427.0,10.6,246,5596,0.00,2.72,0.00,0.000,6,0.000,0.055,3271,1821,2163,0,0,0,0,0,0
$GC,5859,1.28,205.0,398.9,10.6,253,5864,0.00,2.62,0.00,0.000,4,0.000,0.035,3271,3413,2159,0,0,0,0,0,0
$GC,5920,1.28,205.0,392.1,10.5,254,5924,0.00,2.67,0.00,0.000,6,0.000,0.049,3270,1828,2158,0,0,0,0,0,0
$GC,6181,1.30,221.4,367.8,9.1,261,6201,0.00,2.92,14.80,0.798,4,0.000,0.089,3270,231,2098,0,0,0,0,0,0
$GC,6242,1.25,221.4,361.9,10.3,262,6246,0.00,2.60,0.00,0.000,6,0.000,0.022,3270,1851,2095,0,0,0,0,0,0
$GC,6502,1.27,238.7,338.1,9.0,269,6526,0.00,2.55,16.33,0.788,4,0.000,0.039,3270,3397,2026,0,0,0,0,0,0
$GC,6568,1.34,238.7,331.6,10.3,270,6572,0.00,2.65,0.00,0.000,6,0.000,0.041,3270,1818,2025,0,0,0,0,0,0
$GC,6828,1.34,238.7,305.4,10.1,277,6832,0.00,2.58,0.00,0.000,4,0.000,0.037,3270,3400,2022,0,0,0,0,0,0
$GC,6850,1.39,240.4,303.2,9.9,277,6855,0.12,2.62,0.00,0.000,6,0.091,0.043,3303,1816,2021,0,0,0,0,0,0
$GC,7108,1.39,240.4,275.4,10.9,284,7112,0.00,2.58,0.00,0.000,4,0.000,0.031,3303,3407,2020,0,0,0,0,0,0
$GC,7129,1.39,240.4,272.7,11.4,284,7133,0.00,2.60,0.00,0.000,6,0.000,0.040,3303,1830,2020,0,0,0,0,0,0
$GC,7385,1.39,240.9,246.4,10.0,291,7389,0.00,2.55,0.00,0.000,4,0.000,0.032,3303,3408,2019,0,0,0,0,0,0
$GC,7425,1.39,240.9,242.3,11.4,292,7430,0.00,2.58,0.00,0.000,6,0.000,0.037,3303,1844,2019,0,0,0,0,0,0
$GC,7709,1.41,254.2,215.3,9.3,299,7728,0.00,2.58,13.85,0.694,4,0.000,0.033,3304,3393,1964,0,0,0,0,0,0
$GC,7752,1.41,254.2,210.9,10.2,300,7757,0.00,2.55,0.00,0.000,6,0.000,0.037,3303,1853,1962,0,0,0,0,0,0
$GC,8019,1.41,257.2,184.8,9.9,316,8030,0.00,2.80,3.72,0.443,4,0.000,0.064,3303,240,1952,0,0,0,0,0,0
$GC,8047,1.37,257.2,181.0,11.5,318,8056,0.00,2.58,0.00,0.000,6,0.000,0.026,3303,1860,1951,0,0,0,0,0,0
$GC,8314,1.39,276.1,155.0,8.9,343,8338,0.00,2.53,18.20,0.651,4,0.000,0.035,3303,3390,1874,0,0,0,0,0,0
$GC,8412,1.49,289.7,146.2,9.3,351,8437,0.00,2.50,12.77,0.618,6,0.000,0.041,3303,1854,1819,0,0,0,0,0,0
$GC,8691,1.53,289.7,118.6,10.8,377,8697,0.12,2.78,0.00,0.000,4,0.208,0.061,3336,244,1816,0,0,0,0,0,0
$GC,8756,1.46,289.7,109.6,13.4,382,8760,0.00,2.53,0.00,0.000,6,0.000,0.022,3336,1863,1815,0,0,0,0,0,0
$GC,9020,1.46,289.7,80.1,10.4,406,9024,0.00,2.42,0.00,0.000,4,0.000,0.029,3336,3386,1815,0,0,0,0,0,0
$GC,9073,1.53,289.7,74.9,10.8,410,9077,0.00,2.45,0.00,0.000,6,0.000,0.032,3336,1865,1814,0,0,0,0,0,0
$GC,9341,1.61,320.1,54.0,8.3,434,9373,0.00,2.45,26.90,0.563,4,0.000,0.025,3336,3383,1695,0,0,0,0,0,0
$GC,9439,1.70,320.1,45.1,10.1,441,9444,0.15,2.45,0.00,0.000,6,0.074,0.032,3377,1872,1693,0,0,0,0,0,0
$GC,9745,1.70,320.1,9.1,10.9,477,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1872,1692,0,0,0,0,0,0
$STATE,9795,end climb,SURFACE_DEPTH_REACHED
$STATE,9795,begin surface coast
$FINISH,0.4,1.000301
$STATE,9852,end surface coast,CONTROL_FINISHED_OK
$STATE,9852,begin surface
$SM_CCo,9875,88.40,0.461,1,0,1287,420.20
$SM_GC,1.19,0.00,0.00,88.40,0.000,0.000,0.461,473,1744,1287,-11.62,-0.74,420.20
$IRIDIUM_FIX,2244.02,-15743.68,301299,151532
$TT8_MAMPS,0.026078
$HUMID,48.18
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.90
$XPDR_PINGS,51
$24V_AH,23.5,47.713
$10V_AH,10.1,46.651
$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,26.675,134.825,379.600,88.400,0.000,111.610,128.575,402.297,12.750,0.000,12.293,1006.845,6568.114,530.495,1879.217,976.050,33.368,1257.578,0.000,1884.885,0.000,0.536,0.000
$DEVICE_MAMPS,220.129,109.681,918.866,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.670,275.639,377.444,709.334,1072.918,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38419,492
$CAP_FILE_SIZE,116355,0
$CFSIZE,260165632,162115584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,183700,2253.500,-15744.952,38,1.5,38,10.1