version: 66.06
glider: 146
mission: 5
dive: 411
start: 10 14 110 13 59 10
data:
$ID,146
$MISSION,5
$DIVE,411
$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,-255800.88
$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,23
$R_STBD_OVSHOOT,59
$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
$GPS1,135006,2255.464,-15745.694,12,1.5,28,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.6
$GPS2,135814,2255.487,-15745.698,13,0.9,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.209,-0.108
$KALMAN_X,-263958.7,-142.5,259.6,306709.3,-213.5
$KALMAN_Y,-572363.8,-341.2,298.7,711132.1,-515.8
$MHEAD_RNG_PITCHd_Wd,232.6,19366,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.95,0.000,2,0.000,0.000,476,1783,3223,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.0,-5.2,10,127,11.52,2.78,-4.93,0.000,4,0.149,0.065,2690,187,3479,0,0,0,0,0,0
$GC,231,-1.25,-116.8,34.0,-18.4,27,241,0.12,2.47,0.00,0.000,6,0.104,0.016,2720,1775,3479,0,0,0,0,0,0
$GC,499,-1.20,-116.8,70.8,-10.8,52,504,0.00,2.45,0.00,0.000,4,0.000,0.024,2719,3334,3481,0,0,0,0,0,0
$GC,520,-1.20,-116.8,73.5,-10.8,53,525,0.00,2.53,0.00,0.000,6,0.000,0.027,2720,1764,3481,0,0,0,0,0,0
$GC,788,-1.20,-116.8,99.5,-11.7,77,793,0.00,2.65,0.00,0.000,4,0.000,0.060,2720,197,3481,0,0,0,0,0,0
$GC,809,-1.20,-116.8,102.5,-12.1,78,813,0.00,2.42,0.00,0.000,6,0.000,0.015,2720,1810,3482,0,0,0,0,0,0
$GC,1074,-1.24,-116.8,131.7,-9.0,102,1078,0.00,2.78,0.00,0.000,4,0.000,0.061,2720,189,3482,0,0,0,0,0,0
$GC,1096,-1.24,-116.8,134.1,-8.8,103,1102,0.00,2.40,0.00,0.000,6,0.000,0.017,2719,1774,3482,0,0,0,0,0,0
$GC,1359,-1.28,-116.8,158.5,-10.6,128,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1775,3483,0,0,0,0,0,0
$GC,1613,-1.32,-116.8,187.0,-11.1,152,1618,0.00,2.40,0.00,0.000,4,0.000,0.028,2719,3312,3483,0,0,0,0,0,0
$GC,1658,-1.42,-116.8,192.2,-10.7,155,1664,0.12,2.50,0.00,0.000,6,0.071,0.030,2677,1763,3483,0,0,0,0,0,0
$GC,1933,-1.38,-116.8,224.3,-11.5,167,1938,0.10,2.47,0.00,0.000,4,0.129,0.031,2698,3312,3483,0,0,0,0,0,0
$GC,1966,-1.38,-116.8,228.0,-9.8,167,1971,0.00,2.47,0.00,0.000,6,0.000,0.034,2697,1771,3483,0,0,0,0,0,0
$GC,2216,-1.38,-116.8,254.2,-10.8,174,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1771,3483,0,0,0,0,0,0
$GC,2461,-1.38,-116.8,280.4,-10.4,180,2465,0.00,2.45,0.00,0.000,4,0.000,0.033,2698,3318,3483,0,0,0,0,0,0
$GC,2500,-1.45,-116.8,284.0,-8.9,181,2505,0.00,2.53,0.00,0.000,6,0.000,0.032,2698,1765,3482,0,0,0,0,0,0
$GC,2784,-1.49,-116.8,303.9,-7.0,188,2788,0.00,2.47,0.00,0.000,4,0.000,0.035,2697,3310,3481,0,0,0,0,0,0
$GC,2819,-1.55,-116.8,306.4,-7.9,188,2825,0.15,2.50,0.00,0.000,6,0.067,0.042,2650,1785,3481,0,0,0,0,0,0
$GC,3069,-1.50,-116.8,332.4,-10.9,195,3071,0.10,0.00,0.00,0.000,6,0.133,0.000,2670,1784,3480,0,0,0,0,0,0
$GC,3312,-1.50,-116.8,360.2,-11.2,201,3316,0.00,2.47,0.00,0.000,4,0.000,0.041,2670,3310,3479,0,0,0,0,0,0
$GC,3385,-1.50,-116.8,367.2,-9.4,202,3390,0.00,2.55,0.00,0.000,6,0.000,0.049,2670,1782,3479,0,0,0,0,0,0
$GC,3635,-1.50,-116.8,389.0,-8.7,208,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1782,3477,0,0,0,0,0,0
$GC,3879,-1.50,-116.8,411.8,-9.5,214,3883,0.00,2.50,0.00,0.000,4,0.000,0.040,2670,3311,3476,0,0,0,0,0,0
$GC,3914,-1.50,-116.8,415.2,-10.1,214,3919,0.00,2.55,0.00,0.000,6,0.000,0.054,2670,1795,3476,0,0,0,0,0,0
$GC,4163,-1.50,-116.8,441.8,-10.6,221,4168,0.00,2.47,0.00,0.000,4,0.000,0.046,2670,3309,3474,0,0,0,0,0,0
$GC,4208,-1.54,-116.8,446.4,-9.8,222,4212,0.00,2.55,0.00,0.000,6,0.000,0.060,2670,1806,3474,0,0,0,0,0,0
$GC,4487,-1.54,-116.8,475.3,-10.7,229,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1806,3471,0,0,0,0,0,0
$STATE,4727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4727,begin apogee
$GC,4732,-0.31,0.0,503.5,11.5,235,4834,1.17,0.00,97.70,0.925,6,0.087,0.000,2928,1806,3001,0,0,0,0,0,0
$STATE,4835,end apogee,CONTROL_FINISHED_OK
$STATE,4835,begin climb
$GC,4837,1.38,116.8,507.0,0.0,237,4948,1.58,2.72,102.28,0.904,4,0.041,0.052,3307,3347,2523,0,0,0,0,0,0
$GC,4956,1.38,218.0,507.7,4.2,240,5054,0.00,2.67,88.82,0.892,6,0.000,0.055,3307,1816,2111,0,0,0,0,0,0
$GC,5298,1.30,218.0,469.7,12.5,249,5300,0.12,0.00,0.00,0.000,6,0.130,0.000,3284,1816,2103,0,0,0,0,0,0
$GC,5539,1.30,218.0,442.1,11.1,255,5544,0.00,2.55,0.00,0.000,4,0.000,0.038,3284,3357,2100,0,0,0,0,0,0
$GC,5561,1.30,218.0,439.8,10.3,255,5565,0.00,2.65,0.00,0.000,6,0.000,0.054,3284,1818,2099,0,0,0,0,0,0
$GC,5816,1.31,220.0,414.7,9.9,262,5820,0.00,2.53,0.00,0.000,4,0.000,0.036,3284,3360,2098,0,0,0,0,0,0
$GC,5850,1.31,220.0,411.2,10.3,262,5855,0.00,2.62,0.00,0.000,6,0.000,0.055,3284,1823,2097,0,0,0,0,0,0
$GC,6100,1.31,222.5,386.2,9.9,269,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1823,2096,0,0,0,0,0,0
$GC,6343,1.32,233.2,362.9,9.4,275,6362,0.00,2.60,12.00,0.782,4,0.000,0.038,3284,3364,2050,0,0,0,0,0,0
$GC,6387,1.33,237.2,358.9,9.8,276,6398,0.00,2.60,5.15,0.626,6,0.000,0.048,3284,1830,2034,0,0,0,0,0,0
$GC,6670,1.33,237.2,329.5,10.9,283,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1830,2031,0,0,0,0,0,0
$GC,6914,1.34,245.9,305.1,9.5,289,6929,0.00,2.88,9.32,0.724,4,0.000,0.075,3284,236,1998,0,0,0,0,0,0
$GC,6942,1.36,263.7,302.5,9.0,289,6966,0.00,2.50,18.10,0.770,6,0.000,0.025,3283,1813,1924,0,0,0,0,0,0
$GC,7239,1.36,263.7,273.0,10.1,297,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1813,1919,0,0,0,0,0,0
$GC,7483,1.40,263.7,248.6,10.2,303,7488,0.00,2.75,0.00,0.000,4,0.000,0.071,3284,233,1918,0,0,0,0,0,0
$GC,7540,1.40,263.7,242.3,11.2,304,7544,0.00,2.53,0.00,0.000,6,0.000,0.021,3284,1828,1917,0,0,0,0,0,0
$GC,7806,1.44,267.2,216.2,9.8,311,7811,0.12,2.55,0.00,0.000,4,0.087,0.035,3316,3396,1917,0,0,0,0,0,0
$GC,7852,1.49,267.2,211.0,11.3,312,7857,0.00,2.60,0.00,0.000,6,0.000,0.039,3316,1822,1916,0,0,0,0,0,0
$GC,8116,1.49,267.2,183.3,10.2,329,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1822,1916,0,0,0,0,0,0
$GC,8372,1.49,269.6,159.4,9.9,353,8380,0.00,0.00,4.75,0.512,6,0.000,0.000,3316,1822,1902,0,0,0,0,0,0
$GC,8635,1.49,269.6,129.5,11.7,378,8640,0.00,2.75,0.00,0.000,4,0.000,0.064,3315,233,1902,0,0,0,0,0,0
$GC,8656,1.44,269.6,127.6,11.1,379,8660,0.00,2.55,0.00,0.000,6,0.000,0.020,3316,1854,1902,0,0,0,0,0,0
$GC,8924,1.44,269.6,100.5,10.3,403,8929,0.00,2.75,0.00,0.000,4,0.000,0.059,3315,240,1901,0,0,0,0,0,0
$GC,8940,1.44,269.6,98.0,10.3,404,8945,0.00,2.53,0.00,0.000,6,0.000,0.021,3316,1861,1901,0,0,0,0,0,0
$GC,9209,1.49,279.8,73.5,9.4,428,9227,0.00,2.85,10.93,0.565,4,0.000,0.057,3316,239,1859,0,0,0,0,0,0
$GC,9240,1.50,284.5,69.8,9.8,430,9252,0.00,2.53,5.75,0.480,6,0.000,0.020,3316,1829,1841,0,0,0,0,0,0
$GC,9520,1.67,357.9,53.1,5.8,456,9590,0.20,0.00,63.72,0.578,6,0.062,0.000,3370,1831,1541,0,0,0,0,0,0
$GC,9873,1.67,357.9,13.3,12.7,497,9882,0.00,2.53,0.00,0.000,4,0.000,0.030,3369,3389,1537,0,0,0,0,0,0
$GC,9899,1.67,357.9,9.6,12.5,500,9908,0.00,2.60,0.00,0.000,6,0.000,0.037,3370,1831,1535,0,0,0,0,0,0
$STATE,9952,end climb,SURFACE_DEPTH_REACHED
$STATE,9952,begin surface coast
$FINISH,0.4,1.023411
$STATE,9994,end surface coast,CONTROL_FINISHED_OK
$STATE,9994,begin surface
$SM_CCo,10016,57.47,0.434,1,0,1287,420.20
$SM_GC,1.02,0.00,0.00,57.47,0.000,0.000,0.434,474,1748,1287,-11.62,-0.62,420.20
$IRIDIUM_FIX,2246.36,-15743.68,080100,111115
$TT8_MAMPS,0.026078
$HUMID,52.04
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,21.40
$XPDR_PINGS,61
$24V_AH,23.4,57.315
$10V_AH,10.1,54.917
$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,27.125,113.300,418.525,57.475,0.000,29.062,32.344,282.828,15.250,0.000,15.432,1003.898,6535.592,525.787,1860.662,645.547,33.374,1221.937,0.000,1872.370,0.000,0.534,0.000
$DEVICE_MAMPS,148.798,95.875,925.002,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.023,308.651,400.303,769.999,1164.640,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,41646,513
$CAP_FILE_SIZE,103052,0
$CFSIZE,260165632,158248960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141010,164830,2254.413,-15746.896,38,1.0,38,10.1