version: 66.06
glider: 146
mission: 5
dive: 410
start: 10 14 110 10 57 34
data:
$ID,146
$MISSION,5
$DIVE,410
$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,-255784.81
$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,33
$R_STBD_OVSHOOT,48
$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
$GPS1,104455,2256.228,-15744.555,38,1.2,38,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-65.6
$GPS2,105638,2256.186,-15744.616,9,1.4,9,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.201,-0.122
$KALMAN_X,-263841.3,84.5,-222.6,308708.2,187.8
$KALMAN_Y,-572159.5,-382.7,217.7,712350.2,-37.6
$MHEAD_RNG_PITCHd_Wd,228.5,21622,-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,-85.72,0.000,6,0.000,0.000,474,1757,3478,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.7,-10.4,11,126,11.55,2.62,0.00,0.000,4,0.150,0.055,2689,197,3481,0,0,0,0,0,0
$GC,247,-1.27,-116.8,40.5,-19.0,27,257,0.12,2.45,0.00,0.000,6,0.110,0.016,2717,1786,3481,0,0,0,0,0,0
$GC,514,-1.27,-116.8,74.7,-11.4,52,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1787,3482,0,0,0,0,0,0
$GC,781,-1.27,-116.8,104.4,-12.1,77,785,0.00,2.42,0.00,0.000,4,0.000,0.025,2717,3325,3482,0,0,0,0,0,0
$GC,802,-1.32,-116.8,107.4,-11.0,78,812,0.00,2.53,0.00,0.000,6,0.000,0.031,2717,1769,3483,0,0,0,0,0,0
$GC,1071,-1.32,-116.8,133.2,-9.5,103,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1769,3483,0,0,0,0,0,0
$GC,1332,-1.32,-116.8,158.8,-9.6,128,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1769,3483,0,0,0,0,0,0
$GC,1588,-1.32,-116.8,182.6,-9.0,152,1593,0.00,2.47,0.00,0.000,4,0.000,0.031,2717,3328,3483,0,0,0,0,0,0
$GC,1645,-1.39,-116.8,187.7,-8.4,156,1654,0.00,2.50,0.00,0.000,6,0.000,0.030,2717,1793,3483,0,0,0,0,0,0
$GC,1925,-1.43,-116.8,209.6,-7.6,174,1927,0.12,0.00,0.00,0.000,6,0.078,0.000,2676,1793,3483,0,0,0,0,0,0
$GC,2165,-1.43,-116.8,235.0,-10.9,180,2169,0.00,2.42,0.00,0.000,4,0.000,0.025,2676,3322,3483,0,0,0,0,0,0
$GC,2175,-1.43,-116.8,236.4,-11.6,180,2179,0.00,2.47,0.00,0.000,6,0.000,0.029,2676,1771,3483,0,0,0,0,0,0
$GC,2449,-1.43,-116.8,266.1,-10.3,187,2453,0.00,2.47,0.00,0.000,4,0.000,0.034,2676,3328,3482,0,0,0,0,0,0
$GC,2493,-1.43,-116.8,270.7,-9.6,188,2497,0.00,2.47,0.00,0.000,6,0.000,0.038,2676,1800,3482,0,0,0,0,0,0
$GC,2770,-1.43,-116.8,297.7,-10.0,195,2774,0.00,2.42,0.00,0.000,4,0.000,0.031,2676,3321,3481,0,0,0,0,0,0
$GC,2793,-1.43,-116.8,300.1,-10.6,195,2797,0.00,2.47,0.00,0.000,6,0.000,0.036,2676,1809,3481,0,0,0,0,0,0
$GC,3048,-1.43,-116.8,327.2,-10.4,202,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1809,3480,0,0,0,0,0,0
$GC,3292,-1.43,-116.8,349.1,-8.6,208,3296,0.00,2.45,0.00,0.000,4,0.000,0.041,2676,3325,3479,0,0,0,0,0,0
$GC,3307,-1.43,-116.8,350.5,-8.0,208,3312,0.00,2.50,0.00,0.000,6,0.000,0.043,2676,1813,3479,0,0,0,0,0,0
$GC,3570,-1.43,-116.8,372.4,-8.6,215,3575,0.00,2.45,0.00,0.000,4,0.000,0.041,2676,3318,3477,0,0,0,0,0,0
$GC,3621,-1.49,-116.8,377.6,-9.4,216,3625,0.00,2.50,0.00,0.000,6,0.000,0.051,2676,1821,3477,0,0,0,0,0,0
$GC,3894,-1.49,-116.8,405.2,-10.5,223,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1820,3475,0,0,0,0,0,0
$GC,4136,-1.49,-116.8,431.5,-10.7,229,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1820,3474,0,0,0,0,0,0
$GC,4380,-1.49,-116.8,454.8,-9.3,235,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1821,3472,0,0,0,0,0,0
$GC,4624,-1.49,-116.8,475.6,-8.8,241,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1821,3471,0,0,0,0,0,0
$STATE,4865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4865,begin apogee
$GC,4872,-0.31,0.0,500.2,10.3,247,4974,1.15,0.00,97.90,0.925,6,0.090,0.000,2928,1820,3001,0,0,0,0,0,0
$STATE,4974,end apogee,CONTROL_FINISHED_OK
$STATE,4975,begin climb
$GC,4977,1.38,116.8,502.5,0.0,249,5089,1.55,3.08,101.72,0.902,4,0.043,0.110,3305,239,2523,0,0,0,0,0,0
$GC,5108,1.26,178.1,501.2,6.5,252,5168,0.15,2.55,54.10,0.882,6,0.129,0.031,3276,1784,2274,0,0,0,0,0,0
$GC,5425,1.22,178.9,469.7,10.0,260,5429,0.00,2.75,0.00,0.000,4,0.000,0.057,3276,3409,2264,0,0,0,0,0,0
$GC,5481,1.24,194.0,464.2,9.2,261,5501,0.00,2.70,13.68,0.816,6,0.000,0.056,3276,1831,2210,0,0,0,0,0,0
$GC,5752,1.25,208.5,439.4,9.2,268,5771,0.00,3.05,14.23,0.818,4,0.000,0.103,3276,233,2149,0,0,0,0,0,0
$GC,5797,1.18,208.5,435.3,10.4,269,5801,0.00,2.58,0.00,0.000,6,0.000,0.025,3276,1818,2147,0,0,0,0,0,0
$GC,6080,1.18,214.7,407.9,9.7,276,6094,0.00,2.70,6.57,0.706,4,0.000,0.044,3276,3411,2124,0,0,0,0,0,0
$GC,6111,1.20,224.4,404.8,9.5,276,6126,0.00,2.72,10.15,0.772,6,0.000,0.051,3276,1806,2086,0,0,0,0,0,0
$GC,6412,1.20,230.1,375.5,9.7,284,6420,0.00,0.00,6.03,0.679,6,0.000,0.000,3276,1806,2063,0,0,0,0,0,0
$GC,6654,1.20,230.1,350.4,10.3,290,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1806,2061,0,0,0,0,0,0
$GC,6898,1.22,242.3,326.9,9.3,296,6917,0.00,2.67,12.50,0.768,4,0.000,0.037,3276,3402,2012,0,0,0,0,0,0
$GC,6959,1.29,247.7,321.5,9.7,297,6972,0.00,2.67,6.43,0.667,6,0.000,0.047,3276,1813,1991,0,0,0,0,0,0
$GC,7229,1.30,255.3,295.7,9.6,304,7243,0.00,2.85,8.35,0.706,4,0.000,0.077,3276,237,1959,0,0,0,0,0,0
$GC,7278,1.30,255.3,290.5,11.6,305,7283,0.00,2.53,0.00,0.000,6,0.000,0.027,3276,1825,1958,0,0,0,0,0,0
$GC,7555,1.30,255.3,262.4,10.1,312,7559,0.00,2.53,0.00,0.000,4,0.000,0.034,3276,3390,1957,0,0,0,0,0,0
$GC,7589,1.39,267.6,259.3,9.3,312,7609,0.12,2.65,12.45,0.728,6,0.093,0.044,3307,1800,1909,0,0,0,0,0,0
$GC,7886,1.39,267.6,228.4,10.8,320,7891,0.00,2.58,0.00,0.000,4,0.000,0.033,3307,3388,1905,0,0,0,0,0,0
$GC,7902,1.39,267.6,225.9,12.0,320,7906,0.00,2.62,0.00,0.000,6,0.000,0.038,3307,1802,1905,0,0,0,0,0,0
$GC,8163,1.39,267.6,196.5,10.8,327,8168,0.00,2.58,0.00,0.000,4,0.000,0.037,3307,3389,1904,0,0,0,0,0,0
$GC,8194,1.39,267.6,193.5,10.8,329,8199,0.00,2.60,0.00,0.000,6,0.000,0.041,3307,1819,1904,0,0,0,0,0,0
$GC,8457,1.40,272.9,168.7,9.7,353,8470,0.00,2.53,5.30,0.553,4,0.000,0.035,3307,3385,1887,0,0,0,0,0,0
$GC,8501,1.44,272.9,164.0,11.0,356,8506,0.00,2.60,0.00,0.000,6,0.000,0.042,3308,1817,1887,0,0,0,0,0,0
$GC,8765,1.44,272.9,135.1,11.6,381,8769,0.00,2.72,0.00,0.000,4,0.000,0.066,3307,238,1887,0,0,0,0,0,0
$GC,8781,1.44,272.9,132.5,12.5,382,8786,0.00,2.50,0.00,0.000,6,0.000,0.021,3307,1835,1887,0,0,0,0,0,0
$GC,9046,1.45,275.5,103.1,9.9,406,9060,0.00,2.80,4.00,0.441,4,0.000,0.061,3307,237,1876,0,0,0,0,0,0
$GC,9087,1.45,275.5,98.7,11.2,409,9092,0.00,2.47,0.00,0.000,6,0.000,0.025,3307,1816,1876,0,0,0,0,0,0
$GC,9356,1.54,296.9,79.2,8.8,433,9384,0.12,2.78,20.52,0.603,4,0.078,0.064,3342,234,1787,0,0,0,0,0,0
$GC,9427,1.50,296.9,70.5,11.5,438,9436,0.00,2.45,0.00,0.000,6,0.000,0.020,3342,1782,1786,0,0,0,0,0,0
$GC,9695,1.54,335.4,49.0,7.8,463,9736,0.00,2.62,33.95,0.574,4,0.000,0.033,3342,3378,1633,0,0,0,0,0,0
$GC,9778,1.63,335.4,40.6,11.2,469,9782,0.00,2.62,0.00,0.000,6,0.000,0.034,3342,1786,1630,0,0,0,0,0,0
$GC,10093,1.63,335.4,7.4,12.0,508,10102,0.00,2.67,0.00,0.000,4,0.000,0.064,3342,236,1628,0,0,0,0,0,0
$GC,10119,1.63,335.4,4.1,12.8,511,10128,0.00,2.42,0.00,0.000,6,0.000,0.019,3342,1781,1627,0,0,0,0,0,0
$STATE,10136,end climb,SURFACE_DEPTH_REACHED
$STATE,10136,begin surface coast
$FINISH,0.4,1.023357
$STATE,10179,end surface coast,CONTROL_FINISHED_OK
$STATE,10179,begin surface
$SM_CCo,10202,76.00,0.459,1,0,1287,420.20
$SM_GC,1.01,0.00,0.00,76.00,0.000,0.000,0.459,476,1783,1287,-11.61,0.37,420.20
$IRIDIUM_FIX,2246.36,-15745.85,080100,101059
$TT8_MAMPS,0.025311
$HUMID,51.92
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.30
$XPDR_PINGS,57
$24V_AH,23.4,57.189
$10V_AH,10.0,54.802
$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,26.600,119.250,407.875,76.000,0.000,54.058,71.309,367.557,14.250,0.000,11.462,1024.793,6705.175,529.546,1921.910,805.574,33.398,1277.951,0.000,1930.608,0.000,0.534,0.000
$DEVICE_MAMPS,149.565,110.448,925.002,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.805,290.941,403.252,756.322,1145.314,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,41553,519
$CAP_FILE_SIZE,109383,0
$CFSIZE,260165632,158298112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141010,135006,2255.464,-15745.694,12,1.5,28,10.1