version: 66.06
glider: 146
mission: 5
dive: 416
start: 10 15 110 5 15 8
data:
$ID,146
$MISSION,5
$DIVE,416
$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,-257404.86
$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,52
$R_STBD_OVSHOOT,49
$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
$GPS1,050519,2251.147,-15751.232,9,1.8,26,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-67.9
$GPS2,051413,2251.127,-15751.240,14,2.0,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.233,-0.029
$KALMAN_X,-263556.5,273.4,269.8,296348.1,-523.9
$KALMAN_Y,-575567.8,12.7,-146.4,706358.5,-1036.7
$MHEAD_RNG_PITCHd_Wd,252.8,7091,-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,13,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.12,0.000,2,0.000,0.000,473,1739,3409,0,0,0,0,0,0
$GC,107,-1.38,-116.8,3.7,-6.4,11,126,11.52,2.55,-1.27,0.000,4,0.150,0.058,2690,213,3478,0,0,0,0,0,0
$GC,236,-1.24,-116.8,34.6,-17.7,28,246,0.15,2.42,0.00,0.000,6,0.107,0.017,2723,1781,3479,0,0,0,0,0,0
$GC,504,-1.24,-116.8,71.3,-11.8,53,508,0.00,2.45,0.00,0.000,4,0.000,0.024,2723,3336,3480,0,0,0,0,0,0
$GC,538,-1.29,-116.8,75.0,-9.5,55,542,0.00,2.45,0.00,0.000,6,0.000,0.028,2724,1809,3481,0,0,0,0,0,0
$GC,806,-1.29,-116.8,102.4,-10.1,79,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1809,3482,0,0,0,0,0,0
$GC,1067,-1.33,-116.8,129.5,-10.7,104,1072,0.00,2.72,0.00,0.000,4,0.000,0.059,2723,195,3483,0,0,0,0,0,0
$GC,1097,-1.33,-116.8,132.8,-11.4,106,1101,0.00,2.47,0.00,0.000,6,0.000,0.017,2724,1823,3483,0,0,0,0,0,0
$GC,1364,-1.38,-116.8,158.8,-8.7,130,1369,0.10,2.40,0.00,0.000,4,0.085,0.032,2688,3337,3483,0,0,0,0,0,0
$GC,1387,-1.38,-116.8,161.4,-8.9,131,1393,0.00,2.45,0.00,0.000,6,0.000,0.031,2688,1806,3483,0,0,0,0,0,0
$GC,1650,-1.38,-116.8,188.9,-10.9,156,1654,0.00,2.38,0.00,0.000,4,0.000,0.030,2688,3330,3483,0,0,0,0,0,0
$GC,1672,-1.38,-116.8,191.0,-11.5,157,1676,0.00,2.42,0.00,0.000,6,0.000,0.032,2688,1814,3483,0,0,0,0,0,0
$GC,1957,-1.38,-116.8,225.8,-12.5,169,1961,0.00,2.80,0.00,0.000,4,0.000,0.068,2687,190,3483,0,0,0,0,0,0
$GC,1983,-1.33,-116.8,230.1,-15.1,169,1989,0.10,2.47,0.00,0.000,6,0.119,0.021,2707,1815,3483,0,0,0,0,0,0
$GC,2233,-1.33,-116.8,260.0,-11.4,175,2237,0.00,2.40,0.00,0.000,4,0.000,0.034,2708,3332,3482,0,0,0,0,0,0
$GC,2262,-1.40,-116.8,263.1,-10.8,175,2267,0.00,2.42,0.00,0.000,6,0.000,0.035,2708,1825,3483,0,0,0,0,0,0
$GC,2513,-1.45,-116.8,286.3,-8.8,181,2518,0.12,2.88,0.00,0.000,4,0.077,0.073,2664,190,3482,0,0,0,0,0,0
$GC,2535,-1.45,-116.8,288.7,-10.0,181,2540,0.00,2.50,0.00,0.000,6,0.000,0.025,2664,1793,3482,0,0,0,0,0,0
$GC,2792,-1.45,-116.8,315.5,-10.7,188,2796,0.00,2.50,0.00,0.000,4,0.000,0.036,2664,3346,3481,0,0,0,0,0,0
$GC,2825,-1.45,-116.8,319.3,-11.0,188,2831,0.00,2.50,0.00,0.000,6,0.000,0.037,2664,1822,3482,0,0,0,0,0,0
$GC,3075,-1.45,-116.8,344.9,-10.3,195,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1821,3481,0,0,0,0,0,0
$GC,3321,-1.45,-116.8,369.5,-10.0,201,3325,0.00,2.45,0.00,0.000,4,0.000,0.034,2664,3342,3479,0,0,0,0,0,0
$GC,3360,-1.45,-116.8,373.3,-9.0,202,3364,0.00,2.53,0.00,0.000,6,0.000,0.046,2664,1829,3479,0,0,0,0,0,0
$GC,3643,-1.45,-116.8,398.7,-9.0,209,3648,0.00,2.97,0.00,0.000,4,0.000,0.094,2665,197,3477,0,0,0,0,0,0
$GC,3660,-1.45,-116.8,400.4,-9.1,209,3665,0.00,2.55,0.00,0.000,6,0.000,0.029,2664,1812,3477,0,0,0,0,0,0
$GC,3921,-1.45,-116.8,427.1,-10.5,216,3925,0.00,2.53,0.00,0.000,4,0.000,0.053,2664,3352,3476,0,0,0,0,0,0
$GC,3964,-1.45,-116.8,431.8,-10.2,217,3969,0.00,2.55,0.00,0.000,6,0.000,0.058,2664,1842,3476,0,0,0,0,0,0
$GC,4244,-1.45,-116.8,459.6,-9.9,224,4249,0.00,3.03,0.00,0.000,4,0.000,0.105,2664,200,3473,0,0,0,0,0,0
$GC,4271,-1.45,-116.8,462.5,-10.6,224,4276,0.00,2.60,0.00,0.000,6,0.000,0.030,2664,1818,3473,0,0,0,0,0,0
$GC,4522,-1.45,-116.8,486.8,-9.7,230,4526,0.00,2.58,0.00,0.000,4,0.000,0.058,2664,3366,3471,0,0,0,0,0,0
$GC,4539,-1.45,-116.8,488.6,-9.8,230,4543,0.00,2.58,0.00,0.000,6,0.000,0.054,2664,1846,3471,0,0,0,0,0,0
$STATE,4675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4675,begin apogee
$GC,4681,-0.31,0.0,502.9,10.3,234,4782,1.23,0.00,97.72,0.924,6,0.092,0.000,2931,1846,3001,0,0,0,0,0,0
$STATE,4783,end apogee,CONTROL_FINISHED_OK
$STATE,4783,begin climb
$GC,4785,1.38,116.8,505.7,0.0,236,4896,1.55,2.72,102.57,0.902,4,0.048,0.054,3307,3403,2523,0,0,0,0,0,0
$GC,4909,1.37,212.1,506.8,4.5,239,5001,0.00,2.72,83.35,0.889,6,0.000,0.052,3307,1833,2135,0,0,0,0,0,0
$GC,5245,1.28,212.1,469.9,12.3,248,5250,0.12,2.62,0.00,0.000,4,0.129,0.041,3282,3405,2127,0,0,0,0,0,0
$GC,5274,1.28,212.1,466.4,12.0,248,5278,0.00,2.75,0.00,0.000,6,0.000,0.058,3282,1815,2126,0,0,0,0,0,0
$GC,5523,1.28,212.1,437.4,11.5,254,5528,0.00,2.97,0.00,0.000,4,0.000,0.112,3282,230,2124,0,0,0,0,0,0
$GC,5556,1.18,212.1,433.2,12.5,254,5562,0.12,2.58,0.00,0.000,6,0.136,0.031,3258,1823,2123,0,0,0,0,0,0
$GC,5808,1.22,243.6,411.1,8.2,261,5837,0.00,0.00,27.38,0.846,6,0.000,0.000,3259,1823,2008,0,0,0,0,0,0
$GC,6050,1.26,274.7,391.3,8.2,267,6081,0.00,0.00,29.20,0.836,6,0.000,0.000,3258,1823,1881,0,0,0,0,0,0
$GC,6294,1.31,274.7,364.6,11.3,273,6299,0.12,2.85,0.00,0.000,4,0.089,0.074,3290,232,1877,0,0,0,0,0,0
$GC,6351,1.24,274.7,356.5,14.6,274,6355,0.00,2.55,0.00,0.000,6,0.000,0.025,3290,1820,1875,0,0,0,0,0,0
$GC,6617,1.24,274.7,322.4,12.5,281,6621,0.00,2.58,0.00,0.000,4,0.000,0.041,3290,3402,1874,0,0,0,0,0,0
$GC,6645,1.28,274.7,318.7,13.1,281,6650,0.00,2.70,0.00,0.000,6,0.000,0.046,3290,1795,1873,0,0,0,0,0,0
$GC,6897,1.28,274.7,287.8,12.5,287,6901,0.00,2.62,0.00,0.000,4,0.000,0.038,3290,3404,1872,0,0,0,0,0,0
$GC,6929,1.32,274.7,283.6,11.7,287,6935,0.00,2.67,0.00,0.000,6,0.000,0.039,3290,1803,1871,0,0,0,0,0,0
$GC,7179,1.34,287.3,259.5,9.3,294,7195,0.00,2.80,10.95,0.713,4,0.000,0.074,3290,237,1830,0,0,0,0,0,0
$GC,7213,1.34,287.3,255.9,11.1,294,7219,0.00,2.55,0.00,0.000,6,0.000,0.021,3290,1834,1829,0,0,0,0,0,0
$GC,7463,1.34,287.3,230.1,10.3,301,7468,0.00,2.78,0.00,0.000,4,0.000,0.067,3290,239,1827,0,0,0,0,0,0
$GC,7496,1.29,287.3,226.3,12.4,301,7501,0.00,2.50,0.00,0.000,6,0.000,0.026,3289,1818,1826,0,0,0,0,0,0
$GC,7747,1.29,287.3,199.4,10.7,308,7751,0.00,2.58,0.00,0.000,4,0.000,0.033,3290,3400,1825,0,0,0,0,0,0
$GC,7799,1.38,287.3,193.8,10.5,312,7803,0.00,2.62,0.00,0.000,6,0.000,0.042,3290,1810,1824,0,0,0,0,0,0
$GC,8063,1.42,287.3,166.1,10.5,336,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1810,1825,0,0,0,0,0,0
$GC,8328,1.42,287.3,140.4,10.2,361,8332,0.00,2.72,0.00,0.000,4,0.000,0.068,3290,233,1825,0,0,0,0,0,0
$GC,8349,1.42,287.3,137.5,11.3,362,8358,0.00,2.53,0.00,0.000,6,0.000,0.027,3290,1832,1824,0,0,0,0,0,0
$GC,8618,1.48,298.0,112.6,9.4,387,8631,0.12,0.00,10.30,0.588,6,0.079,0.000,3325,1833,1786,0,0,0,0,0,0
$GC,8884,1.48,298.0,82.6,12.2,412,8888,0.00,2.47,0.00,0.000,4,0.000,0.028,3325,3386,1784,0,0,0,0,0,0
$GC,8943,1.54,298.0,76.2,12.0,416,8947,0.00,2.55,0.00,0.000,6,0.000,0.035,3325,1831,1784,0,0,0,0,0,0
$GC,9210,1.67,347.6,53.5,7.2,440,9260,0.15,0.00,44.45,0.579,6,0.073,0.000,3367,1831,1581,0,0,0,0,0,0
$GC,9529,1.67,347.6,22.1,11.8,474,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1831,1577,0,0,0,0,0,0
$STATE,9688,end climb,SURFACE_DEPTH_REACHED
$STATE,9688,begin surface coast
$FINISH,0.4,1.023317
$STATE,9747,end surface coast,CONTROL_FINISHED_OK
$STATE,9747,begin surface
$SM_CCo,9769,66.12,0.447,1,0,1287,420.20
$SM_GC,1.11,0.00,0.00,66.12,0.000,0.000,0.447,478,1744,1287,-11.60,-0.74,420.20
$IRIDIUM_FIX,2244.02,-15743.68,090100,020256
$TT8_MAMPS,0.025311
$HUMID,52.91
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.40
$XPDR_PINGS,74
$24V_AH,23.4,57.965
$10V_AH,10.0,55.531
$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,27.225,130.100,405.925,66.125,0.000,29.952,35.970,310.871,18.500,0.000,34.172,1001.120,6266.217,563.565,1872.098,671.103,33.366,1240.907,0.000,1863.129,0.000,0.534,0.000
$DEVICE_MAMPS,149.565,111.982,924.235,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.901,299.384,398.966,770.053,1164.717,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,38485,505
$CAP_FILE_SIZE,105107,0
$CFSIZE,260165632,157982720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151010,080030,2250.450,-15752.506,36,1.3,41,10.1