version: 66.06
glider: 146
mission: 5
dive: 413
start: 10 14 110 19 57 20
data:
$ID,146
$MISSION,5
$DIVE,413
$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,-255831.17
$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,58
$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
$GPS1,194536,2253.150,-15748.160,11,2.0,27,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.3
$GPS2,195623,2253.123,-15748.165,13,1.4,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.193,-0.133
$KALMAN_X,-263793.0,-188.9,-161.2,302764.3,47.8
$KALMAN_Y,-573685.8,-87.7,-500.9,708631.2,252.1
$MHEAD_RNG_PITCHd_Wd,225.4,13460,-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,-85.85,0.000,6,0.000,0.000,477,1789,3479,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.5,-9.1,11,125,11.48,2.72,0.00,0.000,4,0.147,0.051,2689,186,3481,0,0,0,0,0,0
$GC,222,-1.25,-116.8,33.7,-18.0,26,227,0.17,2.45,0.00,0.000,6,0.120,0.016,2724,1780,3482,0,0,0,0,0,0
$GC,488,-1.25,-116.8,70.0,-11.2,50,493,0.00,2.42,0.00,0.000,4,0.000,0.024,2724,3334,3482,0,0,0,0,0,0
$GC,524,-1.32,-116.8,73.8,-10.8,52,528,0.00,2.47,0.00,0.000,6,0.000,0.028,2724,1782,3483,0,0,0,0,0,0
$GC,788,-1.32,-116.8,102.2,-11.0,76,792,0.00,2.67,0.00,0.000,4,0.000,0.057,2724,191,3483,0,0,0,0,0,0
$GC,857,-1.39,-116.8,109.8,-11.5,81,862,0.12,2.42,0.00,0.000,6,0.073,0.022,2681,1784,3483,0,0,0,0,0,0
$GC,1122,-1.36,-116.8,141.8,-12.4,105,1127,0.10,2.45,0.00,0.000,4,0.121,0.030,2703,3330,3484,0,0,0,0,0,0
$GC,1164,-1.41,-116.8,146.9,-10.9,108,1169,0.00,2.50,0.00,0.000,6,0.000,0.031,2703,1774,3484,0,0,0,0,0,0
$GC,1427,-1.41,-116.8,178.0,-12.7,132,1431,0.00,2.45,0.00,0.000,4,0.000,0.026,2703,3327,3484,0,0,0,0,0,0
$GC,1448,-1.41,-116.8,180.3,-12.4,133,1453,0.00,2.50,0.00,0.000,6,0.000,0.028,2703,1770,3484,0,0,0,0,0,0
$GC,1717,-1.41,-116.8,207.4,-8.7,152,1721,0.00,2.67,0.00,0.000,4,0.000,0.070,2703,197,3484,0,0,0,0,0,0
$GC,1738,-1.41,-116.8,209.3,-8.3,152,1742,0.00,2.40,0.00,0.000,6,0.000,0.020,2703,1773,3484,0,0,0,0,0,0
$GC,1995,-1.41,-116.8,232.9,-9.8,159,1999,0.00,2.42,0.00,0.000,4,0.000,0.028,2703,3325,3484,0,0,0,0,0,0
$GC,2036,-1.49,-116.8,237.4,-10.8,160,2041,0.12,2.50,0.00,0.000,6,0.071,0.031,2660,1780,3485,0,0,0,0,0,0
$GC,2320,-1.44,-116.8,273.0,-12.1,167,2325,0.12,2.50,0.00,0.000,4,0.114,0.030,2687,3333,3484,0,0,0,0,0,0
$GC,2377,-1.50,-116.8,278.9,-9.7,168,2381,0.00,2.50,0.00,0.000,6,0.000,0.032,2687,1794,3483,0,0,0,0,0,0
$GC,2643,-1.50,-116.8,301.7,-8.6,175,2648,0.00,2.85,0.00,0.000,4,0.000,0.081,2687,189,3482,0,0,0,0,0,0
$GC,2677,-1.50,-116.8,305.1,-10.5,175,2683,0.00,2.45,0.00,0.000,6,0.000,0.024,2687,1753,3482,0,0,0,0,0,0
$GC,2929,-1.50,-116.8,329.6,-9.9,182,2933,0.00,2.58,0.00,0.000,4,0.000,0.037,2687,3354,3481,0,0,0,0,0,0
$GC,2973,-1.58,-116.8,333.9,-9.3,183,2978,0.12,2.60,0.00,0.000,6,0.071,0.048,2644,1787,3481,0,0,0,0,0,0
$GC,3253,-1.52,-116.8,365.7,-11.9,190,3258,0.10,2.88,0.00,0.000,4,0.127,0.089,2664,186,3480,0,0,0,0,0,0
$GC,3286,-1.48,-116.8,370.1,-12.7,190,3292,0.00,2.53,0.00,0.000,6,0.000,0.021,2664,1786,3480,0,0,0,0,0,0
$GC,3536,-1.48,-116.8,397.4,-10.9,197,3540,0.00,2.55,0.00,0.000,4,0.000,0.042,2665,3349,3478,0,0,0,0,0,0
$GC,3576,-1.48,-116.8,401.7,-11.1,198,3581,0.00,2.62,0.00,0.000,6,0.000,0.051,2664,1798,3477,0,0,0,0,0,0
$GC,3860,-1.48,-116.8,429.5,-9.5,205,3864,0.00,2.53,0.00,0.000,4,0.000,0.041,2664,3354,3476,0,0,0,0,0,0
$GC,3915,-1.52,-116.8,434.8,-8.8,206,3920,0.00,2.62,0.00,0.000,6,0.000,0.058,2664,1810,3476,0,0,0,0,0,0
$GC,4184,-1.52,-116.8,460.5,-9.9,213,4188,0.00,2.53,0.00,0.000,4,0.000,0.045,2665,3346,3473,0,0,0,0,0,0
$GC,4256,-1.56,-116.8,467.7,-9.3,214,4261,0.00,2.60,0.00,0.000,6,0.000,0.063,2665,1821,3473,0,0,0,0,0,0
$GC,4508,-1.56,-116.8,491.3,-9.4,220,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1821,3471,0,0,0,0,0,0
$STATE,4625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4625,begin apogee
$GC,4631,-0.31,0.0,502.7,9.5,223,4733,1.20,0.00,98.25,0.928,6,0.090,0.000,2929,1820,3001,0,0,0,0,0,0
$STATE,4733,end apogee,CONTROL_FINISHED_OK
$STATE,4734,begin climb
$GC,4736,1.38,116.8,504.7,0.0,225,4850,1.55,2.72,101.93,0.904,4,0.047,0.055,3305,3397,2523,0,0,0,0,0,0
$GC,4873,1.35,189.3,503.6,5.8,228,4944,0.00,2.75,63.65,0.887,6,0.000,0.061,3305,1823,2228,0,0,0,0,0,0
$GC,5190,1.26,189.3,471.4,10.6,236,5191,0.15,0.00,0.00,0.000,6,0.126,0.000,3276,1823,2219,0,0,0,0,0,0
$GC,5432,1.29,211.2,449.4,8.8,242,5456,0.00,2.65,19.15,0.838,4,0.000,0.040,3276,3397,2139,0,0,0,0,0,0
$GC,5484,1.30,219.5,444.5,9.6,243,5499,0.00,2.72,8.82,0.755,6,0.000,0.060,3276,1828,2105,0,0,0,0,0,0
$GC,5763,1.30,219.5,417.0,10.1,250,5767,0.00,2.60,0.00,0.000,4,0.000,0.041,3276,3405,2101,0,0,0,0,0,0
$GC,5812,1.30,219.5,411.8,10.2,251,5816,0.00,2.67,0.00,0.000,6,0.000,0.055,3276,1839,2100,0,0,0,0,0,0
$GC,6084,1.31,228.2,385.2,9.5,258,6098,0.00,2.62,8.25,0.743,4,0.000,0.040,3276,3403,2069,0,0,0,0,0,0
$GC,6117,1.34,251.7,382.4,8.7,258,6146,0.00,2.65,23.20,0.825,6,0.000,0.047,3276,1840,1973,0,0,0,0,0,0
$GC,6414,1.38,284.2,357.2,8.2,266,6450,0.10,3.00,29.83,0.821,4,0.100,0.093,3302,232,1841,0,0,0,0,0,0
$GC,6499,1.28,284.2,348.0,12.9,267,6505,0.12,2.58,0.00,0.000,6,0.133,0.025,3279,1844,1838,0,0,0,0,0,0
$GC,6783,1.28,284.2,317.5,10.6,274,6787,0.00,2.53,0.00,0.000,4,0.000,0.038,3279,3402,1836,0,0,0,0,0,0
$GC,6818,1.35,284.2,313.6,11.0,274,6826,0.00,2.60,0.00,0.000,6,0.000,0.048,3278,1844,1834,0,0,0,0,0,0
$GC,7068,1.35,284.2,284.4,11.8,281,7072,0.00,2.85,0.00,0.000,4,0.000,0.081,3279,234,1833,0,0,0,0,0,0
$GC,7111,1.35,284.2,278.5,13.0,282,7116,0.00,2.55,0.00,0.000,6,0.000,0.021,3278,1839,1832,0,0,0,0,0,0
$GC,7392,1.39,290.1,250.6,9.7,289,7403,0.10,2.50,5.10,0.587,4,0.094,0.032,3306,3392,1817,0,0,0,0,0,0
$GC,7436,1.44,290.1,245.4,11.3,290,7441,0.00,2.58,0.00,0.000,6,0.000,0.041,3306,1842,1817,0,0,0,0,0,0
$GC,7714,1.44,290.1,212.8,11.7,297,7718,0.00,2.50,0.00,0.000,4,0.000,0.036,3306,3392,1816,0,0,0,0,0,0
$GC,7743,1.48,290.1,209.7,11.3,297,7748,0.00,2.58,0.00,0.000,6,0.000,0.038,3306,1839,1815,0,0,0,0,0,0
$GC,7999,1.48,290.1,182.4,11.4,312,8003,0.00,2.78,0.00,0.000,4,0.000,0.068,3306,240,1815,0,0,0,0,0,0
$GC,8030,1.43,290.1,178.8,13.1,314,8034,0.00,2.55,0.00,0.000,6,0.000,0.025,3306,1856,1814,0,0,0,0,0,0
$GC,8294,1.43,292.4,150.3,9.9,338,8298,0.00,2.45,0.00,0.000,4,0.000,0.032,3306,3390,1814,0,0,0,0,0,0
$GC,8339,1.50,292.4,146.0,10.3,341,8344,0.00,2.53,0.00,0.000,6,0.000,0.039,3306,1850,1813,0,0,0,0,0,0
$GC,8607,1.50,292.4,117.1,11.3,365,8611,0.00,2.47,0.00,0.000,4,0.000,0.031,3306,3392,1813,0,0,0,0,0,0
$GC,8652,1.60,292.4,111.0,12.0,368,8662,0.12,2.47,0.00,0.000,6,0.051,0.035,3344,1897,1813,0,0,0,0,0,0
$GC,8920,1.60,292.4,80.8,10.6,393,8924,0.00,2.85,0.00,0.000,4,0.000,0.067,3344,239,1813,0,0,0,0,0,0
$GC,9049,1.61,302.8,66.8,9.4,403,9067,0.00,2.55,12.18,0.568,6,0.000,0.021,3344,1874,1765,0,0,0,0,0,0
$GC,9333,1.62,311.9,44.3,9.5,429,9349,0.00,2.83,9.23,0.520,4,0.000,0.057,3345,241,1729,0,0,0,0,0,0
$GC,9366,1.62,311.9,40.4,10.5,431,9376,0.00,2.58,0.00,0.000,6,0.000,0.019,3345,1868,1728,0,0,0,0,0,0
$GC,9680,1.62,311.9,7.7,10.3,471,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1871,1727,0,0,0,0,0,0
$STATE,9724,end climb,SURFACE_DEPTH_REACHED
$STATE,9724,begin surface coast
$FINISH,0.3,1.023402
$STATE,9780,end surface coast,CONTROL_FINISHED_OK
$STATE,9780,begin surface
$SM_CCo,9802,96.68,0.475,1,0,1287,420.20
$SM_GC,1.20,0.00,0.00,96.68,0.000,0.000,0.475,475,1737,1287,-11.62,-0.96,420.20
$IRIDIUM_FIX,2244.02,-15748.90,080100,191928
$TT8_MAMPS,0.026078
$HUMID,51.85
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.60
$XPDR_PINGS,72
$24V_AH,23.4,57.572
$10V_AH,10.0,55.148
$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,27.450,145.275,379.575,96.675,0.000,55.372,65.867,315.850,18.000,0.000,17.567,1028.616,6293.670,543.110,1944.356,745.103,33.366,1287.601,0.000,1941.875,0.000,0.534,0.000
$DEVICE_MAMPS,147.264,92.807,928.070,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.550,278.438,373.442,734.806,1111.548,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,38360,485
$CAP_FILE_SIZE,115766,0
$CFSIZE,260165632,158134272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141010,224336,2252.578,-15748.998,29,1.2,29,10.1