version: 66.06
glider: 146
mission: 5
dive: 408
start: 10 14 110 4 50 18
data:
$ID,146
$MISSION,5
$DIVE,408
$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,-255741.66
$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,48
$R_STBD_OVSHOOT,57
$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
$GPS1,044007,2257.703,-15741.932,30,1.2,30,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.1
$GPS2,044920,2257.717,-15741.933,11,1.1,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.216,-0.092
$KALMAN_X,-263590.5,272.2,159.2,312506.0,-532.6
$KALMAN_Y,-572042.5,175.4,-200.6,714922.2,-899.8
$MHEAD_RNG_PITCHd_Wd,236.8,27002,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-86.10,0.000,2,0.000,0.000,477,1743,3448,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.0,-7.7,11,125,11.77,2.55,-0.50,0.000,4,0.158,0.036,2691,3350,3478,0,0,0,0,0,0
$GC,261,-1.34,-116.8,37.4,-14.1,30,270,0.00,2.55,0.00,0.000,6,0.000,0.031,2691,1793,3480,0,0,0,0,0,0
$GC,527,-1.23,-116.8,78.1,-15.0,55,532,0.20,2.72,0.00,0.000,4,0.119,0.062,2731,190,3480,0,0,0,0,0,0
$GC,551,-1.16,-116.8,81.2,-12.7,56,556,0.00,2.42,0.00,0.000,6,0.000,0.015,2731,1806,3481,0,0,0,0,0,0
$GC,814,-1.21,-116.8,108.0,-10.9,80,818,0.00,2.35,0.00,0.000,4,0.000,0.026,2731,3310,3481,0,0,0,0,0,0
$GC,867,-1.31,-116.8,114.3,-11.2,84,872,0.00,2.50,0.00,0.000,6,0.000,0.029,2731,1757,3482,0,0,0,0,0,0
$GC,1132,-1.38,-116.8,140.2,-8.9,108,1137,0.15,2.45,0.00,0.000,4,0.065,0.025,2681,3302,3482,0,0,0,0,0,0
$GC,1189,-1.38,-116.8,146.1,-9.6,112,1200,0.00,2.50,0.00,0.000,6,0.000,0.035,2681,1765,3482,0,0,0,0,0,0
$GC,1454,-1.38,-116.8,174.1,-11.5,137,1458,0.00,2.42,0.00,0.000,4,0.000,0.023,2681,3303,3483,0,0,0,0,0,0
$GC,1506,-1.38,-116.8,180.5,-11.3,141,1510,0.00,2.45,0.00,0.000,6,0.000,0.035,2681,1781,3483,0,0,0,0,0,0
$GC,1775,-1.38,-116.8,208.7,-10.6,160,1779,0.00,2.38,0.00,0.000,4,0.000,0.025,2681,3302,3483,0,0,0,0,0,0
$GC,1860,-1.42,-116.8,218.2,-10.8,162,1864,0.00,2.40,0.00,0.000,6,0.000,0.032,2681,1807,3483,0,0,0,0,0,0
$GC,2145,-1.42,-116.8,246.9,-9.9,169,2149,0.00,2.38,0.00,0.000,4,0.000,0.027,2681,3312,3483,0,0,0,0,0,0
$GC,2211,-1.42,-116.8,252.7,-8.3,170,2215,0.00,2.40,0.00,0.000,6,0.000,0.035,2681,1827,3483,0,0,0,0,0,0
$GC,2467,-1.42,-116.8,276.1,-9.6,177,2471,0.00,2.30,0.00,0.000,4,0.000,0.031,2681,3298,3483,0,0,0,0,0,0
$GC,2604,-1.47,-116.8,289.7,-10.0,180,2608,0.00,2.35,0.00,0.000,6,0.000,0.035,2681,1857,3482,0,0,0,0,0,0
$GC,2882,-1.47,-116.8,318.4,-10.2,187,2886,0.00,2.28,0.00,0.000,4,0.000,0.029,2681,3296,3481,0,0,0,0,0,0
$GC,2990,-1.53,-116.8,328.4,-8.6,189,2995,0.00,2.33,0.00,0.000,6,0.000,0.043,2681,1887,3480,0,0,0,0,0,0
$GC,3252,-1.53,-116.8,349.8,-8.0,196,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1887,3479,0,0,0,0,0,0
$GC,3496,-1.57,-116.8,371.6,-9.0,202,3501,0.10,2.30,0.00,0.000,4,0.088,0.036,2646,3302,3477,0,0,0,0,0,0
$GC,3597,-1.57,-116.8,382.7,-10.5,204,3601,0.00,2.33,0.00,0.000,6,0.000,0.048,2646,1913,3477,0,0,0,0,0,0
$GC,3864,-1.57,-116.8,412.6,-11.1,211,3868,0.00,2.22,0.00,0.000,4,0.000,0.038,2646,3298,3475,0,0,0,0,0,0
$GC,3999,-1.57,-116.8,427.1,-10.5,214,4003,0.00,2.30,0.00,0.000,6,0.000,0.052,2646,1936,3475,0,0,0,0,0,0
$GC,4276,-1.57,-116.8,455.4,-10.2,221,4280,0.00,2.22,0.00,0.000,4,0.000,0.040,2646,3298,3472,0,0,0,0,0,0
$GC,4315,-1.57,-116.8,459.2,-9.9,222,4319,0.00,2.30,0.00,0.000,6,0.000,0.057,2646,1943,3472,0,0,0,0,0,0
$GC,4601,-1.57,-116.8,485.8,-9.0,229,4605,0.00,2.20,0.00,0.000,4,0.000,0.047,2646,3287,3469,0,0,0,0,0,0
$GC,4712,-1.57,-116.8,496.8,-11.0,231,4716,0.00,2.28,0.00,0.000,6,0.000,0.064,2646,1954,3469,0,0,0,0,0,0
$STATE,4768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4768,begin apogee
$GC,4776,-0.31,0.0,502.5,10.1,233,4878,1.30,0.00,98.07,0.932,6,0.094,0.000,2928,1832,3001,0,0,0,0,0,0
$STATE,4878,end apogee,CONTROL_FINISHED_OK
$STATE,4879,begin climb
$GC,4881,1.38,116.8,505.3,0.0,235,4992,1.52,2.58,102.80,0.907,4,0.050,0.052,3305,3333,2523,0,0,0,0,0,0
$GC,5023,1.34,182.9,504.4,6.2,238,5090,0.00,2.62,58.70,0.892,6,0.000,0.055,3305,1821,2254,0,0,0,0,0,0
$GC,5334,1.26,182.9,473.4,10.8,246,5339,0.15,3.03,0.00,0.000,4,0.216,0.114,3277,232,2245,0,0,0,0,0,0
$GC,5403,1.16,182.9,466.1,10.0,247,5408,0.12,2.45,0.00,0.000,6,0.138,0.028,3253,1735,2242,0,0,0,0,0,0
$GC,5658,1.21,224.7,446.1,7.6,254,5702,0.00,2.83,36.70,0.873,4,0.000,0.081,3253,228,2083,0,0,0,0,0,0
$GC,5773,1.21,224.7,435.5,10.0,256,5777,0.00,2.42,0.00,0.000,6,0.000,0.031,3253,1719,2079,0,0,0,0,0,0
$GC,6028,1.26,232.4,411.2,9.6,263,6043,0.00,2.72,7.35,0.730,4,0.000,0.081,3253,227,2052,0,0,0,0,0,0
$GC,6112,1.26,232.4,401.8,11.8,264,6118,0.00,2.40,0.00,0.000,6,0.000,0.030,3253,1715,2050,0,0,0,0,0,0
$GC,6364,1.31,239.1,377.3,9.7,271,6379,0.15,2.70,7.18,0.721,4,0.078,0.077,3291,229,2026,0,0,0,0,0,0
$GC,6435,1.22,239.1,368.5,12.3,272,6440,0.12,2.35,0.00,0.000,6,0.133,0.031,3268,1702,2024,0,0,0,0,0,0
$GC,6692,1.24,251.0,344.3,9.4,279,6711,0.00,2.67,12.18,0.779,4,0.000,0.073,3267,230,1976,0,0,0,0,0,0
$GC,6826,1.24,251.0,330.4,10.2,282,6830,0.00,2.28,0.00,0.000,6,0.000,0.021,3268,1674,1974,0,0,0,0,0,0
$GC,7117,1.31,275.7,305.6,8.6,289,7146,0.00,2.60,23.62,0.793,4,0.000,0.068,3267,236,1875,0,0,0,0,0,0
$GC,7168,1.31,275.7,300.4,10.4,290,7172,0.00,2.30,0.00,0.000,6,0.000,0.026,3268,1688,1873,0,0,0,0,0,0
$GC,7447,1.37,283.2,274.3,9.6,297,7462,0.12,2.60,7.47,0.676,4,0.090,0.067,3300,232,1845,0,0,0,0,0,0
$GC,7497,1.37,283.2,267.7,14.2,298,7501,0.00,2.28,0.00,0.000,6,0.000,0.028,3300,1671,1843,0,0,0,0,0,0
$GC,7774,1.37,283.2,236.3,10.6,305,7779,0.00,2.50,0.00,0.000,4,0.000,0.068,3300,230,1842,0,0,0,0,0,0
$GC,7882,1.37,283.2,224.4,11.4,307,7886,0.00,2.22,0.00,0.000,6,0.000,0.021,3299,1656,1841,0,0,0,0,0,0
$GC,8145,1.39,298.2,200.3,9.2,314,8164,0.00,2.78,14.23,0.693,4,0.000,0.033,3300,3350,1785,0,0,0,0,0,0
$GC,8188,1.46,298.2,195.8,10.1,315,8192,0.00,2.80,0.00,0.000,6,0.000,0.041,3300,1675,1784,0,0,0,0,0,0
$GC,8452,1.48,313.8,170.6,9.1,339,8477,0.10,2.60,15.12,0.668,4,0.093,0.065,3326,227,1720,0,0,0,0,0,0
$GC,8513,1.42,313.8,163.1,13.3,344,8517,0.00,2.22,0.00,0.000,6,0.000,0.021,3326,1652,1719,0,0,0,0,0,0
$GC,8777,1.42,313.8,130.9,12.6,368,8781,0.00,2.45,0.00,0.000,4,0.000,0.061,3326,225,1718,0,0,0,0,0,0
$GC,8799,1.37,313.8,127.6,12.4,369,8805,0.12,2.22,0.00,0.000,6,0.125,0.021,3302,1658,1717,0,0,0,0,0,0
$GC,9064,1.43,313.8,99.9,10.4,394,9068,0.00,2.42,0.00,0.000,4,0.000,0.058,3301,226,1717,0,0,0,0,0,0
$GC,9085,1.43,313.8,97.8,10.4,395,9089,0.00,2.22,0.00,0.000,6,0.000,0.020,3301,1666,1717,0,0,0,0,0,0
$GC,9353,1.51,313.8,70.4,10.2,419,9359,0.12,2.70,0.00,0.000,4,0.143,0.030,3335,3351,1717,0,0,0,0,0,0
$GC,9387,1.60,313.8,66.2,11.5,421,9391,0.00,2.78,0.00,0.000,6,0.000,0.038,3334,1672,1715,0,0,0,0,0,0
$GC,9655,1.67,331.0,40.2,9.0,445,9684,0.12,2.50,15.77,0.551,4,0.117,0.058,3369,231,1649,0,0,0,0,0,0
$GC,9715,1.60,331.0,33.8,12.5,449,9719,0.00,2.22,0.00,0.000,6,0.000,0.020,3369,1672,1649,0,0,0,0,0,0
$STATE,9985,end climb,SURFACE_DEPTH_REACHED
$STATE,9985,begin surface coast
$FINISH,0.4,1.012098
$STATE,10027,end surface coast,CONTROL_FINISHED_OK
$STATE,10027,begin surface
$SM_CCo,10050,80.50,0.467,1,0,1287,420.20
$SM_GC,1.01,0.00,0.00,80.50,0.000,0.000,0.467,476,1674,1287,-11.61,-2.71,420.20
$IRIDIUM_FIX,2251.04,-15742.79,080100,010157
$TT8_MAMPS,0.026078
$HUMID,52.48
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.20
$XPDR_PINGS,65
$24V_AH,23.4,56.926
$10V_AH,10.1,54.563
$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,27.975,137.575,399.200,80.500,0.000,30.841,37.753,341.754,16.250,0.000,12.769,1063.479,6286.218,546.126,2078.661,718.548,33.370,1346.930,0.000,2071.257,0.000,0.534,0.000
$DEVICE_MAMPS,216.294,113.516,931.905,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.344,279.676,374.602,715.682,1081.871,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,38365,492
$CAP_FILE_SIZE,117656,0
$CFSIZE,260165632,158408704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141010,074022,2257.198,-15743.571,7,2.3,26,10.1