version: 66.06
glider: 146
mission: 5
dive: 417
start: 10 15 110 8 9 9
data:
$ID,146
$MISSION,5
$DIVE,417
$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,-257419.52
$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,44
$R_STBD_OVSHOOT,54
$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
$GPS1,080030,2250.450,-15752.506,36,1.3,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.1
$GPS2,080813,2250.426,-15752.504,12,1.3,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.217,-0.089
$KALMAN_X,-263069.7,272.1,-100.1,294046.5,-145.1
$KALMAN_Y,-576059.6,-93.8,-563.0,706069.8,-31.3
$MHEAD_RNG_PITCHd_Wd,237.5,4594,-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,-86.38,0.000,6,0.000,0.000,478,1744,3479,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.4,-9.2,11,127,11.35,2.60,0.00,0.000,4,0.143,0.053,2690,201,3481,0,0,0,0,0,0
$GC,222,-1.28,-116.8,34.1,-16.1,26,227,0.15,2.42,0.00,0.000,6,0.123,0.016,2720,1781,3482,0,0,0,0,0,0
$GC,490,-1.28,-116.8,70.5,-12.4,50,494,0.00,2.45,0.00,0.000,4,0.000,0.025,2720,3336,3483,0,0,0,0,0,0
$GC,548,-1.31,-116.8,77.3,-10.4,54,552,0.00,2.47,0.00,0.000,6,0.000,0.028,2720,1799,3483,0,0,0,0,0,0
$GC,810,-1.31,-116.8,103.9,-10.9,78,815,0.00,2.70,0.00,0.000,4,0.000,0.064,2720,197,3484,0,0,0,0,0,0
$GC,840,-1.31,-116.8,107.4,-10.9,80,844,0.00,2.40,0.00,0.000,6,0.000,0.015,2720,1796,3484,0,0,0,0,0,0
$GC,1102,-1.31,-116.8,132.4,-8.4,104,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1797,3484,0,0,0,0,0,0
$GC,1357,-1.31,-116.8,154.8,-9.9,128,1361,0.00,2.38,0.00,0.000,4,0.000,0.031,2720,3316,3485,0,0,0,0,0,0
$GC,1374,-1.37,-116.8,156.7,-9.8,129,1379,0.00,2.47,0.00,0.000,6,0.000,0.028,2720,1776,3485,0,0,0,0,0,0
$GC,1638,-1.40,-116.8,183.8,-9.5,153,1640,0.12,0.00,0.00,0.000,6,0.073,0.000,2680,1776,3485,0,0,0,0,0,0
$GC,1887,-1.36,-116.8,207.6,-8.8,171,1892,0.10,2.45,0.00,0.000,4,0.122,0.026,2701,3316,3485,0,0,0,0,0,0
$GC,1929,-1.41,-116.8,210.9,-8.2,172,1933,0.00,2.45,0.00,0.000,6,0.000,0.035,2701,1792,3485,0,0,0,0,0,0
$GC,2212,-1.41,-116.8,233.4,-8.4,179,2216,0.00,2.75,0.00,0.000,4,0.000,0.064,2701,192,3485,0,0,0,0,0,0
$GC,2255,-1.41,-116.8,238.0,-10.4,180,2260,0.00,2.40,0.00,0.000,6,0.000,0.020,2701,1778,3485,0,0,0,0,0,0
$GC,2535,-1.41,-116.8,265.3,-10.2,187,2539,0.00,2.45,0.00,0.000,4,0.000,0.028,2701,3326,3485,0,0,0,0,0,0
$GC,2591,-1.50,-116.8,271.1,-9.8,188,2596,0.12,2.47,0.00,0.000,6,0.073,0.034,2658,1794,3484,0,0,0,0,0,0
$GC,2859,-1.46,-116.8,301.4,-11.2,195,2864,0.10,2.45,0.00,0.000,4,0.130,0.028,2679,3325,3483,0,0,0,0,0,0
$GC,2892,-1.46,-116.8,304.8,-9.3,195,2898,0.00,2.47,0.00,0.000,6,0.000,0.035,2679,1809,3483,0,0,0,0,0,0
$GC,3142,-1.46,-116.8,327.6,-9.1,202,3147,0.00,2.88,0.00,0.000,4,0.000,0.089,2679,190,3482,0,0,0,0,0,0
$GC,3165,-1.46,-116.8,329.9,-10.1,202,3169,0.00,2.50,0.00,0.000,6,0.000,0.021,2679,1779,3483,0,0,0,0,0,0
$GC,3419,-1.46,-116.8,359.0,-11.6,209,3424,0.00,2.55,0.00,0.000,4,0.000,0.041,2679,3350,3481,0,0,0,0,0,0
$GC,3492,-1.53,-116.8,367.3,-10.6,210,3496,0.00,2.55,0.00,0.000,6,0.000,0.049,2679,1822,3481,0,0,0,0,0,0
$GC,3744,-1.53,-116.8,391.5,-9.5,216,3748,0.00,2.47,0.00,0.000,4,0.000,0.035,2679,3353,3480,0,0,0,0,0,0
$GC,3771,-1.56,-116.8,394.2,-9.2,216,3775,0.00,2.55,0.00,0.000,6,0.000,0.052,2679,1828,3479,0,0,0,0,0,0
$GC,4021,-1.56,-116.8,415.2,-8.5,222,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1827,3477,0,0,0,0,0,0
$GC,4266,-1.56,-116.8,437.2,-9.2,228,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1828,3476,0,0,0,0,0,0
$GC,4508,-1.56,-116.8,460.4,-9.6,234,4513,0.00,2.53,0.00,0.000,4,0.000,0.044,2679,3348,3474,0,0,0,0,0,0
$GC,4531,-1.61,-116.8,462.8,-10.0,234,4536,0.12,2.60,0.00,0.000,6,0.074,0.056,2638,1824,3474,0,0,0,0,0,0
$GC,4788,-1.57,-116.8,490.5,-10.9,241,4792,0.00,2.53,0.00,0.000,4,0.000,0.051,2638,3339,3473,0,0,0,0,0,0
$GC,4810,-1.53,-116.8,493.2,-10.9,241,4815,0.12,2.58,0.00,0.000,6,0.115,0.062,2664,1835,3472,0,0,0,0,0,0
$STATE,4901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4902,begin apogee
$GC,4907,-0.31,0.0,502.3,9.9,244,5009,1.20,0.00,98.65,0.929,6,0.088,0.000,2928,1835,3001,0,0,0,0,0,0
$STATE,5010,end apogee,CONTROL_FINISHED_OK
$STATE,5010,begin climb
$GC,5014,1.38,116.8,504.6,0.0,246,5128,1.58,2.75,102.00,0.905,4,0.048,0.055,3307,3388,2523,0,0,0,0,0,0
$GC,5151,1.33,181.8,503.6,6.3,250,5215,0.00,2.72,57.28,0.886,6,0.000,0.058,3307,1830,2259,0,0,0,0,0,0
$GC,5472,1.23,181.8,471.8,10.5,258,5477,0.20,2.62,0.00,0.000,4,0.119,0.043,3268,3395,2250,0,0,0,0,0,0
$GC,5522,1.24,185.1,466.8,9.9,259,5526,0.00,2.72,0.00,0.000,6,0.000,0.060,3268,1825,2248,0,0,0,0,0,0
$GC,5795,1.24,185.1,439.7,10.2,266,5799,0.00,2.60,0.00,0.000,4,0.000,0.039,3268,3397,2247,0,0,0,0,0,0
$GC,5816,1.24,185.1,437.1,10.6,266,5821,0.00,2.67,0.00,0.000,6,0.000,0.058,3268,1832,2246,0,0,0,0,0,0
$GC,6072,1.27,208.8,413.9,8.7,273,6097,0.00,0.00,23.30,0.846,6,0.000,0.000,3268,1832,2149,0,0,0,0,0,0
$GC,6317,1.31,244.2,394.3,8.0,279,6358,0.00,2.65,32.45,0.848,4,0.000,0.036,3268,3392,2004,0,0,0,0,0,0
$GC,6387,1.38,256.9,388.1,9.3,280,6407,0.15,2.70,13.12,0.786,6,0.084,0.051,3305,1820,1952,0,0,0,0,0,0
$GC,6694,1.34,256.9,354.3,11.0,288,6699,0.00,2.60,0.00,0.000,4,0.000,0.038,3305,3398,1946,0,0,0,0,0,0
$GC,6727,1.34,256.9,350.2,11.4,288,6733,0.00,2.65,0.00,0.000,6,0.000,0.046,3305,1827,1945,0,0,0,0,0,0
$GC,6977,1.34,256.9,321.2,11.9,295,6981,0.00,2.85,0.00,0.000,4,0.000,0.080,3305,233,1944,0,0,0,0,0,0
$GC,7022,1.24,256.9,315.2,13.7,296,7027,0.17,2.55,0.00,0.000,6,0.121,0.023,3270,1836,1942,0,0,0,0,0,0
$GC,7301,1.28,259.3,286.3,9.9,303,7305,0.00,2.53,0.00,0.000,4,0.000,0.038,3270,3396,1942,0,0,0,0,0,0
$GC,7340,1.38,259.3,282.4,10.3,304,7345,0.12,2.60,0.00,0.000,6,0.086,0.039,3304,1830,1940,0,0,0,0,0,0
$GC,7625,1.38,259.3,249.8,11.5,311,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1830,1940,0,0,0,0,0,0
$GC,7867,1.38,261.6,224.8,9.9,317,7872,0.00,2.78,0.00,0.000,4,0.000,0.070,3304,238,1940,0,0,0,0,0,0
$GC,7900,1.30,261.6,221.0,11.9,317,7906,0.00,2.55,0.00,0.000,6,0.000,0.020,3304,1859,1938,0,0,0,0,0,0
$GC,8153,1.30,261.6,193.9,11.1,327,8157,0.00,2.42,0.00,0.000,4,0.000,0.038,3304,3388,1938,0,0,0,0,0,0
$GC,8211,1.34,261.6,187.4,11.1,331,8217,0.00,2.50,0.00,0.000,6,0.000,0.039,3304,1864,1938,0,0,0,0,0,0
$GC,8475,1.36,280.1,162.7,9.0,356,8497,0.00,0.00,19.17,0.670,6,0.000,0.000,3304,1865,1858,0,0,0,0,0,0
$GC,8749,1.36,280.1,136.2,10.5,382,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1865,1855,0,0,0,0,0,0
$GC,9004,1.36,280.1,103.6,12.3,406,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1865,1855,0,0,0,0,0,0
$GC,9258,1.48,340.9,81.0,6.5,430,9321,0.00,2.53,53.03,0.612,4,0.000,0.028,3304,3381,1610,0,0,0,0,0,0
$GC,9341,1.60,351.1,75.1,9.4,436,9357,0.20,2.50,9.95,0.542,6,0.065,0.035,3354,1872,1569,0,0,0,0,0,0
$GC,9613,1.60,351.1,43.4,10.8,461,9617,0.00,2.42,0.00,0.000,4,0.000,0.028,3354,3392,1565,0,0,0,0,0,0
$GC,9676,1.68,351.1,35.6,11.7,465,9685,0.00,2.47,0.00,0.000,6,0.000,0.035,3354,1902,1563,0,0,0,0,0,0
$STATE,9998,end climb,SURFACE_DEPTH_REACHED
$STATE,9998,begin surface coast
$FINISH,0.5,1.022695
$STATE,10048,end surface coast,CONTROL_FINISHED_OK
$STATE,10048,begin surface
$SM_CCo,10071,63.17,0.446,1,0,1287,420.20
$SM_GC,0.95,0.00,0.00,63.17,0.000,0.000,0.446,474,1752,1287,-11.62,-0.51,420.20
$IRIDIUM_FIX,2241.69,-15751.94,090100,050517
$TT8_MAMPS,0.026078
$HUMID,53.34
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.20
$XPDR_PINGS,57
$24V_AH,23.4,58.090
$10V_AH,10.1,55.647
$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,27.575,123.150,408.950,63.175,0.000,29.935,34.786,260.844,14.250,0.000,14.033,1040.497,6481.963,523.479,1937.335,621.267,33.373,1244.984,0.000,1945.898,0.000,0.533,0.000
$DEVICE_MAMPS,142.662,88.972,928.837,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.960,299.321,403.150,753.999,1140.503,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,41688,516
$CAP_FILE_SIZE,108744,0
$CFSIZE,260165632,157921280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151010,105924,2249.511,-15753.541,30,1.6,34,10.1