version: 66.06
glider: 146
mission: 5
dive: 414
start: 10 14 110 23 17 19
data:
$ID,146
$MISSION,5
$DIVE,414
$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,-257338.22
$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,50
$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
$GPS1,224336,2252.578,-15748.998,29,1.2,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-65.5
$GPS2,224336,2252.578,-15748.998,1501,99.0,1501,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.215,-0.094
$KALMAN_X,-263776.8,-29.8,-288.8,300837.2,568.0
$KALMAN_Y,-574142.0,115.6,4.2,707305.6,39.6
$MHEAD_RNG_PITCHd_Wd,236.2,11725,-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,-85.10,0.000,6,0.000,0.000,475,1737,3478,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.5,-9.3,11,125,11.52,2.55,0.00,0.000,4,0.153,0.049,2691,206,3481,0,0,0,0,0,0
$GC,223,-1.25,-116.8,31.7,-16.0,27,228,0.17,2.40,0.00,0.000,6,0.118,0.015,2726,1789,3481,0,0,0,0,0,0
$GC,489,-1.25,-116.8,68.2,-13.3,51,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1791,3481,0,0,0,0,0,0
$GC,752,-1.29,-116.8,95.8,-8.9,76,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1791,3481,0,0,0,0,0,0
$GC,1005,-1.33,-116.8,115.5,-8.4,100,1009,0.00,2.62,0.00,0.000,4,0.000,0.062,2726,217,3481,0,0,0,0,0,0
$GC,1027,-1.38,-116.8,117.7,-9.0,101,1034,0.12,2.33,0.00,0.000,6,0.074,0.021,2682,1783,3482,0,0,0,0,0,0
$GC,1292,-1.34,-116.8,146.5,-10.7,126,1297,0.12,2.40,0.00,0.000,4,0.108,0.031,2709,3318,3481,0,0,0,0,0,0
$GC,1340,-1.40,-116.8,151.4,-9.1,129,1349,0.00,2.47,0.00,0.000,6,0.000,0.030,2709,1782,3481,0,0,0,0,0,0
$GC,1606,-1.40,-116.8,178.5,-10.9,154,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1782,3482,0,0,0,0,0,0
$GC,1895,-1.40,-116.8,208.7,-9.7,176,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1782,3481,0,0,0,0,0,0
$GC,2140,-1.40,-116.8,230.2,-8.9,182,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1782,3480,0,0,0,0,0,0
$GC,2383,-1.45,-116.8,254.6,-10.1,188,2388,0.10,2.42,0.00,0.000,4,0.146,0.026,2675,3316,3479,0,0,0,0,0,0
$GC,2449,-1.45,-116.8,261.6,-9.9,189,2454,0.00,2.50,0.00,0.000,6,0.000,0.033,2676,1764,3479,0,0,0,0,0,0
$GC,2707,-1.45,-116.8,286.7,-9.9,196,2711,0.00,2.45,0.00,0.000,4,0.000,0.032,2675,3312,3478,0,0,0,0,0,0
$GC,2746,-1.45,-116.8,290.8,-10.0,197,2750,0.00,2.50,0.00,0.000,6,0.000,0.039,2675,1773,3478,0,0,0,0,0,0
$GC,3030,-1.45,-116.8,323.2,-12.1,204,3035,0.00,2.83,0.00,0.000,4,0.000,0.087,2675,185,3476,0,0,0,0,0,0
$GC,3040,-1.45,-116.8,324.7,-11.9,204,3045,0.00,2.42,0.00,0.000,6,0.000,0.023,2675,1746,3476,0,0,0,0,0,0
$GC,3307,-1.45,-116.8,352.7,-10.3,211,3311,0.00,2.58,0.00,0.000,4,0.000,0.041,2675,3353,3474,0,0,0,0,0,0
$GC,3347,-1.49,-116.8,356.4,-9.5,212,3351,0.00,2.60,0.00,0.000,6,0.000,0.043,2675,1783,3474,0,0,0,0,0,0
$GC,3632,-1.49,-116.8,383.2,-9.3,219,3636,0.00,2.88,0.00,0.000,4,0.000,0.091,2675,186,3472,0,0,0,0,0,0
$GC,3670,-1.49,-116.8,387.5,-10.8,220,3675,0.00,2.50,0.00,0.000,6,0.000,0.022,2675,1773,3472,0,0,0,0,0,0
$GC,3955,-1.49,-116.8,418.7,-11.5,227,3959,0.00,2.58,0.00,0.000,4,0.000,0.044,2675,3348,3469,0,0,0,0,0,0
$GC,3976,-1.49,-116.8,421.6,-12.3,227,3980,0.00,2.62,0.00,0.000,6,0.000,0.050,2675,1788,3469,0,0,0,0,0,0
$GC,4232,-1.49,-116.8,450.1,-11.0,234,4236,0.00,2.58,0.00,0.000,4,0.000,0.048,2675,3354,3467,0,0,0,0,0,0
$GC,4294,-1.55,-116.8,456.3,-9.8,235,4298,0.00,2.67,0.00,0.000,6,0.000,0.058,2675,1797,3467,0,0,0,0,0,0
$GC,4555,-1.55,-116.8,480.4,-9.1,242,4559,0.00,2.58,0.00,0.000,4,0.000,0.045,2676,3353,3464,0,0,0,0,0,0
$GC,4570,-1.55,-116.8,482.0,-9.0,242,4575,0.00,2.62,0.00,0.000,6,0.000,0.057,2675,1805,3465,0,0,0,0,0,0
$STATE,4788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4788,begin apogee
$GC,4796,-0.31,0.0,501.1,8.8,248,4896,1.15,0.00,96.53,0.921,6,0.085,0.000,2929,1805,3001,0,0,0,0,0,0
$STATE,4896,end apogee,CONTROL_FINISHED_OK
$STATE,4897,begin climb
$GC,4899,1.38,116.8,503.3,0.0,250,5011,1.55,2.75,102.25,0.897,4,0.053,0.052,3306,3390,2523,0,0,0,0,0,0
$GC,5097,1.31,147.8,497.4,8.2,254,5132,0.00,2.72,27.80,0.864,6,0.000,0.061,3306,1821,2396,0,0,0,0,0,0
$GC,5402,1.21,147.8,467.5,10.2,262,5404,0.22,0.00,0.00,0.000,6,0.150,0.000,3262,1821,2389,0,0,0,0,0,0
$GC,5645,1.23,164.1,445.4,9.1,268,5665,0.00,2.67,14.32,0.825,4,0.000,0.043,3262,3400,2330,0,0,0,0,0,0
$GC,5720,1.23,164.1,437.8,10.2,269,5726,0.00,2.70,0.00,0.000,6,0.000,0.053,3262,1824,2328,0,0,0,0,0,0
$GC,5973,1.26,188.4,415.9,8.6,276,6002,0.00,2.67,22.70,0.848,4,0.000,0.041,3262,3403,2231,0,0,0,0,0,0
$GC,6037,1.28,210.4,410.1,8.8,277,6064,0.00,2.70,20.88,0.829,6,0.000,0.048,3262,1827,2143,0,0,0,0,0,0
$GC,6344,1.29,218.6,381.4,9.6,285,6354,0.00,0.00,8.15,0.732,6,0.000,0.000,3262,1828,2109,0,0,0,0,0,0
$GC,6587,1.32,244.2,359.7,8.6,291,6618,0.10,2.95,24.17,0.818,4,0.131,0.087,3287,232,2004,0,0,0,0,0,0
$GC,6653,1.23,244.2,353.1,11.2,292,6658,0.00,2.55,0.00,0.000,6,0.000,0.027,3287,1828,2002,0,0,0,0,0,0
$GC,6911,1.24,246.8,327.8,9.9,299,6915,0.00,2.55,0.00,0.000,4,0.000,0.038,3288,3402,1999,0,0,0,0,0,0
$GC,6966,1.28,246.8,321.4,11.6,300,6970,0.00,2.65,0.00,0.000,6,0.000,0.042,3288,1825,1998,0,0,0,0,0,0
$GC,7232,1.28,246.8,290.2,12.0,307,7236,0.00,2.80,0.00,0.000,4,0.000,0.078,3288,234,1997,0,0,0,0,0,0
$GC,7272,1.20,246.8,285.5,12.6,308,7278,0.12,2.55,0.00,0.000,6,0.130,0.023,3264,1844,1995,0,0,0,0,0,0
$GC,7558,1.29,272.0,259.2,8.6,315,7588,0.00,2.58,24.90,0.759,4,0.000,0.039,3264,3396,1891,0,0,0,0,0,0
$GC,7610,1.44,311.0,254.8,7.8,316,7652,0.20,2.60,35.78,0.750,6,0.071,0.040,3314,1837,1733,0,0,0,0,0,0
$GC,7919,1.44,311.0,221.9,10.5,324,7924,0.00,2.83,0.00,0.000,4,0.000,0.077,3314,234,1726,0,0,0,0,0,0
$GC,7954,1.35,311.0,218.1,11.9,324,7959,0.00,2.55,0.00,0.000,6,0.000,0.028,3314,1835,1725,0,0,0,0,0,0
$GC,8211,1.35,311.0,188.3,12.4,337,8216,0.00,2.80,0.00,0.000,4,0.000,0.072,3314,236,1724,0,0,0,0,0,0
$GC,8232,1.31,311.0,184.8,13.9,338,8239,0.15,2.53,0.00,0.000,6,0.123,0.026,3285,1828,1723,0,0,0,0,0,0
$GC,8497,1.36,311.0,153.7,11.4,363,8501,0.00,2.53,0.00,0.000,4,0.000,0.029,3285,3403,1722,0,0,0,0,0,0
$GC,8519,1.43,311.0,151.5,11.1,364,8524,0.10,2.60,0.00,0.000,6,0.100,0.041,3312,1825,1722,0,0,0,0,0,0
$GC,8780,1.43,311.0,122.6,11.2,388,8784,0.00,2.72,0.00,0.000,4,0.000,0.062,3312,241,1721,0,0,0,0,0,0
$GC,8800,1.43,311.0,120.6,11.8,389,8805,0.00,2.53,0.00,0.000,6,0.000,0.020,3311,1854,1721,0,0,0,0,0,0
$GC,9066,1.43,311.0,89.8,11.3,413,9071,0.00,2.78,0.00,0.000,4,0.000,0.065,3312,240,1721,0,0,0,0,0,0
$GC,9089,1.43,311.0,86.4,12.1,414,9099,0.00,2.47,0.00,0.000,6,0.000,0.023,3312,1813,1721,0,0,0,0,0,0
$GC,9357,1.53,347.0,60.8,8.0,439,9398,0.00,2.58,30.25,0.586,4,0.000,0.028,3312,3378,1585,0,0,0,0,0,0
$GC,9441,1.73,379.0,54.7,8.2,445,9483,0.28,2.58,28.92,0.573,6,0.061,0.037,3381,1814,1454,0,0,0,0,0,0
$GC,9762,1.69,379.0,15.4,13.4,480,9771,0.00,2.70,0.00,0.000,4,0.000,0.058,3381,247,1451,0,0,0,0,0,0
$GC,9816,1.58,379.0,7.9,14.0,487,9824,0.15,2.47,0.00,0.000,6,0.097,0.019,3347,1825,1450,0,0,0,0,0,0
$STATE,9846,end climb,SURFACE_DEPTH_REACHED
$STATE,9846,begin surface coast
$FINISH,0.3,1.009732
$STATE,9889,end surface coast,CONTROL_FINISHED_OK
$STATE,9889,begin surface
$SM_CCo,9912,40.42,0.398,1,0,1287,420.20
$SM_GC,1.11,0.00,0.00,40.42,0.000,0.000,0.398,478,1755,1287,-11.60,-0.45,420.20
$IRIDIUM_FIX,2246.36,-15743.68,080100,202047
$TT8_MAMPS,0.026078
$HUMID,54.17
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.80
$XPDR_PINGS,56
$24V_AH,23.4,57.700
$10V_AH,10.0,55.297
$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,27.825,130.300,436.650,40.425,0.000,24.226,33.976,284.594,14.000,0.000,1506.416,1015.033,6363.204,523.828,3387.609,637.699,33.357,1277.055,0.000,1898.333,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,99.710,921.167,398.073,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.861,287.399,381.637,721.224,1091.145,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,38440,497
$CAP_FILE_SIZE,111884,0
$CFSIZE,260165632,158081024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151010,020437,2251.947,-15749.836,39,1.0,39,10.1