version: 66.06
glider: 146
mission: 5
dive: 409
start: 10 14 110 7 49 47
data:
$ID,146
$MISSION,5
$DIVE,409
$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,-255772.72
$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,11
$R_STBD_OVSHOOT,94
$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
$GPS1,074022,2257.198,-15743.571,7,2.3,26,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.4
$GPS2,074852,2257.169,-15743.592,9,2.2,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.165,-0.167
$KALMAN_X,-263791.5,227.1,-291.0,310349.8,-213.0
$KALMAN_Y,-571754.1,-107.8,-329.8,714025.8,321.8
$MHEAD_RNG_PITCHd_Wd,214.5,24103,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-78.43,0.000,2,0.000,0.000,476,1675,3226,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.3,-5.9,10,126,11.50,2.58,-4.72,0.000,4,0.149,0.068,2688,181,3480,0,0,0,0,0,0
$GC,210,-1.25,-116.8,28.5,-16.0,25,220,0.12,2.42,0.00,0.000,6,0.107,0.016,2717,1749,3481,0,0,0,0,0,0
$GC,477,-1.25,-116.8,64.6,-11.6,50,481,0.00,2.47,0.00,0.000,4,0.000,0.023,2717,3325,3481,0,0,0,0,0,0
$GC,500,-1.25,-116.8,68.4,-12.2,51,510,0.00,2.55,0.00,0.000,6,0.000,0.030,2717,1764,3481,0,0,0,0,0,0
$GC,763,-1.25,-116.8,97.1,-11.3,76,767,0.00,2.45,0.00,0.000,4,0.000,0.023,2717,3327,3482,0,0,0,0,0,0
$GC,773,-1.25,-116.8,98.4,-10.9,76,784,0.00,2.50,0.00,0.000,6,0.000,0.025,2717,1775,3483,0,0,0,0,0,0
$GC,1040,-1.25,-116.8,126.7,-10.6,101,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1775,3483,0,0,0,0,0,0
$GC,1303,-1.25,-116.8,152.9,-8.9,126,1307,0.00,2.45,0.00,0.000,4,0.000,0.025,2717,3326,3484,0,0,0,0,0,0
$GC,1325,-1.30,-116.8,154.6,-8.7,127,1330,0.00,2.47,0.00,0.000,6,0.000,0.030,2717,1772,3484,0,0,0,0,0,0
$GC,1594,-1.30,-116.8,177.6,-9.5,151,1598,0.00,2.45,0.00,0.000,4,0.000,0.031,2717,3324,3484,0,0,0,0,0,0
$GC,1617,-1.34,-116.8,180.3,-9.1,152,1622,0.00,2.42,0.00,0.000,6,0.000,0.028,2717,1798,3484,0,0,0,0,0,0
$GC,1908,-1.38,-116.8,208.6,-10.1,174,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1798,3484,0,0,0,0,0,0
$GC,2152,-1.43,-116.8,230.9,-8.8,180,2157,0.12,2.45,0.00,0.000,4,0.079,0.026,2675,3334,3484,0,0,0,0,0,0
$GC,2179,-1.43,-116.8,233.7,-9.0,180,2183,0.00,2.45,0.00,0.000,6,0.000,0.030,2675,1802,3484,0,0,0,0,0,0
$GC,2429,-1.43,-116.8,257.5,-9.8,186,2434,0.00,2.80,0.00,0.000,4,0.000,0.069,2674,190,3483,0,0,0,0,0,0
$GC,2502,-1.43,-116.8,265.7,-10.9,187,2507,0.00,2.45,0.00,0.000,6,0.000,0.023,2674,1774,3483,0,0,0,0,0,0
$GC,2752,-1.43,-116.8,290.9,-9.8,193,2757,0.00,2.50,0.00,0.000,4,0.000,0.031,2674,3345,3483,0,0,0,0,0,0
$GC,2816,-1.48,-116.8,297.1,-9.6,194,2820,0.00,2.53,0.00,0.000,6,0.000,0.039,2674,1797,3483,0,0,0,0,0,0
$GC,3076,-1.48,-116.8,321.4,-9.2,201,3081,0.00,2.83,0.00,0.000,4,0.000,0.079,2674,187,3481,0,0,0,0,0,0
$GC,3092,-1.48,-116.8,322.9,-9.0,201,3096,0.00,2.53,0.00,0.000,6,0.000,0.019,2674,1800,3481,0,0,0,0,0,0
$GC,3354,-1.48,-116.8,345.3,-8.6,208,3359,0.00,2.47,0.00,0.000,4,0.000,0.037,2674,3346,3480,0,0,0,0,0,0
$GC,3371,-1.48,-116.8,347.1,-9.1,208,3375,0.00,2.53,0.00,0.000,6,0.000,0.044,2674,1807,3480,0,0,0,0,0,0
$GC,3631,-1.48,-116.8,372.6,-10.2,215,3635,0.00,2.47,0.00,0.000,4,0.000,0.040,2674,3343,3478,0,0,0,0,0,0
$GC,3672,-1.52,-116.8,376.5,-10.0,216,3677,0.00,2.53,0.00,0.000,6,0.000,0.051,2674,1817,3479,0,0,0,0,0,0
$GC,3956,-1.52,-116.8,404.4,-9.8,223,3961,0.00,2.95,0.00,0.000,4,0.000,0.091,2674,188,3477,0,0,0,0,0,0
$GC,3972,-1.52,-116.8,406.1,-9.4,223,3976,0.00,2.58,0.00,0.000,6,0.000,0.024,2674,1812,3477,0,0,0,0,0,0
$GC,4234,-1.52,-116.8,433.1,-10.4,230,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1812,3476,0,0,0,0,0,0
$GC,4476,-1.52,-116.8,458.3,-10.1,236,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1813,3473,0,0,0,0,0,0
$GC,4720,-1.52,-116.8,480.8,-9.0,242,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1813,3472,0,0,0,0,0,0
$STATE,4920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4920,begin apogee
$GC,4926,-0.31,0.0,500.6,9.8,247,5028,1.17,0.00,98.62,0.925,6,0.094,0.000,2930,1813,3001,0,0,0,0,0,0
$STATE,5029,end apogee,CONTROL_FINISHED_OK
$STATE,5029,begin climb
$GC,5033,1.38,116.8,503.2,0.0,249,5140,1.52,0.00,102.72,0.904,6,0.054,0.000,3303,1813,2523,0,0,0,0,0,0
$GC,5359,1.32,162.4,489.7,7.4,257,5404,0.00,2.75,40.08,0.881,4,0.000,0.058,3303,3393,2337,0,0,0,0,0,0
$GC,5488,1.25,162.4,477.4,10.7,260,5494,0.15,2.72,0.00,0.000,6,0.132,0.054,3274,1822,2333,0,0,0,0,0,0
$GC,5766,1.28,187.3,452.6,8.6,267,5796,0.00,3.08,22.48,0.854,4,0.000,0.104,3274,234,2236,0,0,0,0,0,0
$GC,5811,1.22,195.9,448.5,9.5,268,5825,0.00,2.58,9.18,0.762,6,0.000,0.028,3275,1808,2201,0,0,0,0,0,0
$GC,6100,1.24,210.3,421.8,9.2,275,6116,0.00,0.00,13.73,0.813,6,0.000,0.000,3274,1808,2143,0,0,0,0,0,0
$GC,6343,1.24,210.3,396.8,10.4,281,6348,0.00,2.62,0.00,0.000,4,0.000,0.039,3274,3415,2139,0,0,0,0,0,0
$GC,6365,1.24,210.3,394.3,10.4,281,6370,0.00,2.72,0.00,0.000,6,0.000,0.044,3274,1805,2138,0,0,0,0,0,0
$GC,6621,1.25,215.5,369.0,9.7,288,6628,0.00,0.00,5.50,0.655,6,0.000,0.000,3274,1805,2122,0,0,0,0,0,0
$GC,6866,1.27,230.9,346.7,9.1,294,6887,0.00,2.67,15.55,0.795,4,0.000,0.035,3274,3415,2058,0,0,0,0,0,0
$GC,6932,1.33,230.9,339.7,11.1,295,6936,0.00,2.70,0.00,0.000,6,0.000,0.048,3274,1820,2056,0,0,0,0,0,0
$GC,7187,1.33,230.9,312.8,10.5,302,7191,0.00,2.83,0.00,0.000,4,0.000,0.078,3274,232,2053,0,0,0,0,0,0
$GC,7211,1.33,230.9,310.3,11.1,302,7215,0.00,2.58,0.00,0.000,6,0.000,0.021,3275,1851,2053,0,0,0,0,0,0
$GC,7465,1.35,249.3,286.5,9.0,309,7485,0.00,0.00,17.12,0.766,6,0.000,0.000,3274,1853,1984,0,0,0,0,0,0
$GC,7749,1.38,268.3,261.1,8.9,316,7774,0.10,2.58,18.33,0.746,4,0.102,0.037,3301,3395,1906,0,0,0,0,0,0
$GC,7814,1.38,268.3,254.6,10.4,317,7819,0.00,2.60,0.00,0.000,6,0.000,0.038,3301,1839,1904,0,0,0,0,0,0
$GC,8075,1.39,277.5,229.8,9.5,324,8090,0.00,2.85,9.38,0.676,4,0.000,0.071,3301,241,1868,0,0,0,0,0,0
$GC,8160,1.34,277.5,219.4,13.8,326,8164,0.00,2.53,0.00,0.000,6,0.000,0.022,3301,1829,1867,0,0,0,0,0,0
$GC,8415,1.34,277.5,191.2,10.2,336,8419,0.00,2.53,0.00,0.000,4,0.000,0.037,3301,3400,1865,0,0,0,0,0,0
$GC,8437,1.38,277.5,188.7,10.8,337,8442,0.00,2.60,0.00,0.000,6,0.000,0.038,3301,1826,1864,0,0,0,0,0,0
$GC,8701,1.38,277.5,162.0,10.5,362,8705,0.00,2.55,0.00,0.000,4,0.000,0.037,3301,3401,1864,0,0,0,0,0,0
$GC,8734,1.38,277.5,158.4,12.1,364,8738,0.00,2.60,0.00,0.000,6,0.000,0.041,3301,1826,1864,0,0,0,0,0,0
$GC,8998,1.38,281.7,129.3,9.8,388,9013,0.00,2.80,4.53,0.485,4,0.000,0.071,3301,233,1851,0,0,0,0,0,0
$GC,9030,1.34,281.7,125.6,10.6,390,9039,0.00,2.55,0.00,0.000,6,0.000,0.023,3301,1836,1851,0,0,0,0,0,0
$GC,9297,1.37,302.4,101.2,8.8,415,9322,0.00,2.50,19.90,0.621,4,0.000,0.027,3301,3392,1767,0,0,0,0,0,0
$GC,9335,1.41,302.4,96.6,10.9,418,9339,0.00,2.60,0.00,0.000,6,0.000,0.035,3301,1823,1765,0,0,0,0,0,0
$GC,9603,1.46,302.4,69.0,10.3,442,9607,0.00,2.53,0.00,0.000,4,0.000,0.035,3301,3391,1763,0,0,0,0,0,0
$GC,9637,1.54,302.4,64.3,11.2,444,9647,0.10,2.55,0.00,0.000,6,0.054,0.034,3334,1850,1763,0,0,0,0,0,0
$GC,9904,1.58,331.5,38.9,8.4,469,9935,0.00,2.80,25.95,0.568,4,0.000,0.060,3334,237,1649,0,0,0,0,0,0
$GC,9954,1.60,350.5,34.0,8.9,472,9978,0.00,2.60,17.70,0.545,6,0.000,0.020,3334,1874,1570,0,0,0,0,0,0
$STATE,10272,end climb,SURFACE_DEPTH_REACHED
$STATE,10272,begin surface coast
$FINISH,0.3,1.002410
$STATE,10337,end surface coast,CONTROL_FINISHED_OK
$STATE,10337,begin surface
$SM_CCo,10359,64.57,0.451,1,0,1288,420.20
$SM_GC,1.12,0.00,0.00,64.57,0.000,0.000,0.451,475,1757,1288,-11.62,-0.37,420.20
$IRIDIUM_FIX,2248.70,-15740.63,080100,040415
$TT8_MAMPS,0.026078
$HUMID,53.66
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.50
$XPDR_PINGS,65
$24V_AH,23.4,57.055
$10V_AH,10.0,54.683
$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,26.425,130.000,420.750,64.575,0.000,31.293,34.079,290.522,16.250,0.000,30.444,1056.872,6700.732,540.438,1981.927,659.763,33.366,1282.258,0.000,1971.929,0.000,0.533,0.000
$DEVICE_MAMPS,148.798,103.545,925.002,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.893,309.684,408.460,792.343,1198.441,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,41409,526
$CAP_FILE_SIZE,110136,0
$CFSIZE,260165632,158355456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141010,104455,2256.228,-15744.555,38,1.2,38,10.1