version: 66.06
glider: 146
mission: 5
dive: 415
start: 10 15 110 2 17 33
data:
$ID,146
$MISSION,5
$DIVE,415
$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,-257370.06
$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,36
$R_STBD_OVSHOOT,63
$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
$GPS1,020437,2251.947,-15749.836,39,1.0,39,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-67.6
$GPS2,021638,2251.927,-15749.835,11,1.1,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.235,0.001
$KALMAN_X,-263325.0,220.2,142.7,298705.1,484.2
$KALMAN_Y,-574786.4,118.9,440.6,706362.3,-952.6
$MHEAD_RNG_PITCHd_Wd,260.2,9897,-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,-116.8,0.0,0.0,0,103,0.00,0.00,-86.18,0.000,6,0.000,0.000,478,1755,3478,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.4,-8.7,11,125,11.60,2.65,0.00,0.000,4,0.153,0.051,2688,194,3481,0,0,0,0,0,0
$GC,259,-1.23,-116.8,38.6,-16.5,29,264,0.20,2.40,0.00,0.000,6,0.118,0.015,2728,1774,3482,0,0,0,0,0,0
$GC,527,-1.23,-116.8,74.2,-12.6,53,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1776,3483,0,0,0,0,0,0
$GC,788,-1.27,-116.8,106.0,-11.1,78,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1776,3483,0,0,0,0,0,0
$GC,1045,-1.32,-116.8,129.7,-8.3,102,1049,0.00,2.42,0.00,0.000,4,0.000,0.029,2728,3328,3484,0,0,0,0,0,0
$GC,1067,-1.38,-116.8,131.8,-7.9,103,1074,0.12,2.47,0.00,0.000,6,0.070,0.030,2683,1786,3484,0,0,0,0,0,0
$GC,1332,-1.35,-116.8,156.9,-10.3,128,1337,0.10,0.00,0.00,0.000,6,0.125,0.000,2704,1784,3484,0,0,0,0,0,0
$GC,1593,-1.35,-116.8,184.8,-11.1,153,1597,0.00,2.42,0.00,0.000,4,0.000,0.025,2704,3334,3484,0,0,0,0,0,0
$GC,1621,-1.35,-116.8,188.1,-11.3,155,1626,0.00,2.47,0.00,0.000,6,0.000,0.028,2704,1792,3484,0,0,0,0,0,0
$GC,1898,-1.35,-116.8,216.6,-9.9,169,1903,0.00,2.72,0.00,0.000,4,0.000,0.068,2705,197,3484,0,0,0,0,0,0
$GC,1930,-1.35,-116.8,220.2,-10.6,169,1936,0.00,2.42,0.00,0.000,6,0.000,0.017,2704,1789,3485,0,0,0,0,0,0
$GC,2181,-1.35,-116.8,241.7,-8.7,176,2185,0.00,2.40,0.00,0.000,4,0.000,0.032,2705,3325,3484,0,0,0,0,0,0
$GC,2215,-1.41,-116.8,244.8,-9.3,176,2221,0.00,2.45,0.00,0.000,6,0.000,0.030,2705,1803,3484,0,0,0,0,0,0
$GC,2465,-1.45,-116.8,269.4,-10.1,183,2470,0.00,2.78,0.00,0.000,4,0.000,0.077,2705,196,3484,0,0,0,0,0,0
$GC,2492,-1.45,-116.8,272.6,-11.1,183,2496,0.00,2.47,0.00,0.000,6,0.000,0.018,2704,1789,3483,0,0,0,0,0,0
$GC,2745,-1.49,-116.8,296.4,-9.5,189,2746,0.12,0.00,0.00,0.000,6,0.072,0.000,2662,1789,3483,0,0,0,0,0,0
$GC,2986,-1.49,-116.8,323.1,-11.0,195,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1790,3482,0,0,0,0,0,0
$GC,3229,-1.49,-116.8,351.6,-11.5,201,3234,0.00,2.53,0.00,0.000,4,0.000,0.045,2662,3341,3481,0,0,0,0,0,0
$GC,3270,-1.49,-116.8,356.0,-10.6,202,3275,0.00,2.58,0.00,0.000,6,0.000,0.041,2662,1791,3481,0,0,0,0,0,0
$GC,3554,-1.49,-116.8,383.0,-8.9,209,3558,0.00,2.90,0.00,0.000,4,0.000,0.091,2662,186,3479,0,0,0,0,0,0
$GC,3581,-1.45,-116.8,385.5,-8.6,209,3586,0.10,2.47,0.00,0.000,6,0.129,0.025,2682,1770,3479,0,0,0,0,0,0
$GC,3833,-1.45,-116.8,407.0,-8.8,215,3837,0.00,2.58,0.00,0.000,4,0.000,0.045,2682,3349,3477,0,0,0,0,0,0
$GC,3873,-1.51,-116.8,411.0,-9.9,216,3877,0.00,2.62,0.00,0.000,6,0.000,0.049,2682,1792,3477,0,0,0,0,0,0
$GC,4156,-1.55,-116.8,441.6,-11.3,223,4160,0.00,2.55,0.00,0.000,4,0.000,0.043,2682,3346,3475,0,0,0,0,0,0
$GC,4201,-1.63,-116.8,446.8,-11.5,224,4207,0.15,2.62,0.00,0.000,6,0.067,0.060,2635,1802,3475,0,0,0,0,0,0
$GC,4480,-1.58,-116.8,481.8,-12.3,231,4481,0.10,0.00,0.00,0.000,6,0.127,0.000,2654,1803,3473,0,0,0,0,0,0
$STATE,4680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4680,begin apogee
$GC,4686,-0.31,0.0,502.5,10.1,236,4788,1.25,0.00,98.38,0.923,6,0.088,0.000,2929,1802,3001,0,0,0,0,0,0
$STATE,4788,end apogee,CONTROL_FINISHED_OK
$STATE,4788,begin climb
$GC,4791,1.38,116.8,504.4,0.0,238,4898,1.55,0.00,102.55,0.900,6,0.050,0.000,3307,1802,2524,0,0,0,0,0,0
$GC,5118,1.28,142.3,486.0,8.6,246,5148,0.12,2.80,22.12,0.858,4,0.133,0.053,3282,3391,2420,0,0,0,0,0,0
$GC,5243,1.25,156.7,474.7,9.2,248,5263,0.00,2.72,14.00,0.822,6,0.000,0.061,3282,1823,2362,0,0,0,0,0,0
$GC,5540,1.22,172.2,448.0,9.1,256,5560,0.00,2.67,14.65,0.828,4,0.000,0.041,3282,3403,2298,0,0,0,0,0,0
$GC,5583,1.19,182.3,443.6,9.5,257,5599,0.12,2.75,10.48,0.784,6,0.141,0.053,3259,1811,2258,0,0,0,0,0,0
$GC,5862,1.23,212.1,419.8,8.3,264,5897,0.00,2.70,27.45,0.852,4,0.000,0.038,3259,3396,2136,0,0,0,0,0,0
$GC,5920,1.30,244.0,415.0,8.2,265,5956,0.10,2.72,29.88,0.843,6,0.107,0.055,3284,1819,2005,0,0,0,0,0,0
$GC,6229,1.31,251.8,385.5,9.6,273,6244,0.00,3.00,7.35,0.715,4,0.000,0.099,3284,237,1973,0,0,0,0,0,0
$GC,6274,1.23,251.8,380.8,12.0,274,6278,0.00,2.53,0.00,0.000,6,0.000,0.020,3284,1820,1972,0,0,0,0,0,0
$GC,6557,1.23,252.2,352.3,10.0,281,6561,0.00,2.60,0.00,0.000,4,0.000,0.036,3284,3404,1970,0,0,0,0,0,0
$GC,6585,1.24,259.9,349.5,9.6,281,6600,0.00,2.65,8.55,0.732,6,0.000,0.048,3283,1827,1941,0,0,0,0,0,0
$GC,6884,1.24,259.9,318.6,10.8,289,6889,0.00,2.83,0.00,0.000,4,0.000,0.076,3284,233,1936,0,0,0,0,0,0
$GC,6911,1.19,259.9,315.2,13.1,289,6916,0.12,2.55,0.00,0.000,6,0.131,0.024,3261,1830,1936,0,0,0,0,0,0
$GC,7163,1.26,259.9,287.7,11.1,295,7167,0.00,2.78,0.00,0.000,4,0.000,0.071,3260,229,1936,0,0,0,0,0,0
$GC,7184,1.26,259.9,284.8,12.2,295,7188,0.00,2.55,0.00,0.000,6,0.000,0.021,3260,1833,1934,0,0,0,0,0,0
$GC,7442,1.35,275.1,260.2,9.2,302,7462,0.15,2.83,14.18,0.735,4,0.079,0.068,3298,234,1878,0,0,0,0,0,0
$GC,7473,1.35,275.1,256.8,10.2,302,7478,0.00,2.55,0.00,0.000,6,0.000,0.027,3298,1828,1878,0,0,0,0,0,0
$GC,7723,1.35,275.1,229.0,11.2,308,7728,0.00,2.53,0.00,0.000,4,0.000,0.036,3298,3400,1876,0,0,0,0,0,0
$GC,7765,1.41,275.1,224.4,10.9,309,7769,0.00,2.62,0.00,0.000,6,0.000,0.042,3298,1810,1875,0,0,0,0,0,0
$GC,8022,1.41,275.1,196.1,11.2,316,8026,0.00,2.72,0.00,0.000,4,0.000,0.074,3298,241,1874,0,0,0,0,0,0
$GC,8042,1.41,275.1,193.0,11.7,317,8048,0.00,2.50,0.00,0.000,6,0.000,0.025,3298,1828,1873,0,0,0,0,0,0
$GC,8307,1.41,275.1,165.1,10.5,342,8311,0.00,2.50,0.00,0.000,4,0.000,0.035,3298,3391,1873,0,0,0,0,0,0
$GC,8362,1.48,275.1,159.1,11.4,346,8367,0.10,2.58,0.00,0.000,6,0.094,0.040,3324,1827,1872,0,0,0,0,0,0
$GC,8623,1.48,275.1,126.6,12.2,370,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1827,1872,0,0,0,0,0,0
$GC,8878,1.50,286.6,100.9,9.4,394,8895,0.00,2.60,10.77,0.591,4,0.000,0.028,3324,3392,1831,0,0,0,0,0,0
$GC,8907,1.52,303.9,98.3,9.0,396,8929,0.00,2.60,16.88,0.605,6,0.000,0.036,3325,1838,1760,0,0,0,0,0,0
$GC,9196,1.52,303.9,66.5,11.4,423,9200,0.00,2.50,0.00,0.000,4,0.000,0.027,3324,3392,1757,0,0,0,0,0,0
$GC,9229,1.59,303.9,62.6,12.2,425,9234,0.10,2.55,0.00,0.000,6,0.264,0.034,3352,1837,1755,0,0,0,0,0,0
$GC,9494,1.63,333.4,37.4,8.3,449,9526,0.00,2.55,26.08,0.564,4,0.000,0.028,3351,3392,1640,0,0,0,0,0,0
$GC,9556,1.69,333.5,31.7,10.0,453,9560,0.00,2.58,0.00,0.000,6,0.000,0.035,3351,1835,1639,0,0,0,0,0,0
$STATE,9836,end climb,SURFACE_DEPTH_REACHED
$STATE,9836,begin surface coast
$FINISH,0.3,1.014072
$STATE,9893,end surface coast,CONTROL_FINISHED_OK
$STATE,9893,begin surface
$SM_CCo,9916,77.72,0.466,1,0,1287,420.20
$SM_GC,0.97,0.00,0.00,77.72,0.000,0.000,0.466,474,1739,1287,-11.62,-0.88,420.20
$IRIDIUM_FIX,2241.69,-15751.94,090100,020227
$TT8_MAMPS,0.026078
$HUMID,53.34
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.10
$XPDR_PINGS,65
$24V_AH,23.4,57.835
$10V_AH,10.0,55.415
$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,27.825,125.100,403.300,77.725,0.000,55.172,71.165,372.710,16.250,0.000,31.216,1021.169,6427.479,544.417,1933.425,793.695,33.371,1246.940,0.000,1917.135,0.000,0.534,0.000
$DEVICE_MAMPS,263.848,98.943,923.468,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.486,289.488,388.798,750.869,1135.748,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,38382,500
$CAP_FILE_SIZE,112062,0
$CFSIZE,260165632,158027776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151010,050519,2251.147,-15751.232,9,1.8,26,10.1