version: 66.06
glider: 146
mission: 5
dive: 418
start: 10 15 110 11 8 40
data:
$ID,146
$MISSION,5
$DIVE,418
$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,-257432.52
$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,33
$R_STBD_OVSHOOT,52
$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
$GPS1,105924,2249.511,-15753.541,30,1.6,34,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.0
$GPS2,110744,2249.477,-15753.516,10,1.5,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,0.014
$KALMAN_X,-262486.3,162.0,-165.7,291899.0,484.9
$KALMAN_Y,-577117.4,-324.3,-111.3,705156.5,-109.4
$MHEAD_RNG_PITCHd_Wd,263.2,2535,-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,17,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-77.30,0.000,2,0.000,0.000,474,1751,3197,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.2,-6.0,10,124,11.60,2.62,-5.62,0.000,4,0.152,0.069,2690,197,3479,0,0,0,0,0,0
$GC,250,-1.26,-116.8,35.2,-17.2,30,255,0.15,2.42,0.00,0.000,6,0.127,0.015,2721,1796,3481,0,0,0,0,0,0
$GC,518,-1.26,-116.8,77.0,-14.9,54,522,0.00,2.40,0.00,0.000,4,0.000,0.024,2721,3325,3481,0,0,0,0,0,0
$GC,553,-1.34,-116.8,82.7,-13.5,56,562,0.00,2.47,0.00,0.000,6,0.000,0.029,2721,1800,3481,0,0,0,0,0,0
$GC,821,-1.34,-116.8,109.3,-8.9,81,825,0.00,2.42,0.00,0.000,4,0.000,0.025,2721,3334,3482,0,0,0,0,0,0
$GC,855,-1.39,-116.8,112.4,-8.8,83,860,0.10,2.47,0.00,0.000,6,0.081,0.034,2682,1792,3483,0,0,0,0,0,0
$GC,1121,-1.34,-116.8,140.6,-12.7,107,1126,0.10,2.72,0.00,0.000,4,0.122,0.061,2705,193,3483,0,0,0,0,0,0
$GC,1138,-1.34,-116.8,143.5,-12.6,108,1143,0.00,2.45,0.00,0.000,6,0.000,0.022,2705,1811,3483,0,0,0,0,0,0
$GC,1403,-1.34,-116.8,171.2,-9.6,132,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1812,3483,0,0,0,0,0,0
$GC,1668,-1.34,-116.8,196.1,-9.7,157,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1812,3483,0,0,0,0,0,0
$GC,1950,-1.34,-116.8,221.7,-9.1,167,1954,0.00,2.38,0.00,0.000,4,0.000,0.032,2705,3321,3484,0,0,0,0,0,0
$GC,1973,-1.34,-116.8,223.7,-8.8,167,1977,0.00,2.45,0.00,0.000,6,0.000,0.036,2704,1800,3483,0,0,0,0,0,0
$GC,2228,-1.34,-116.8,248.9,-10.3,174,2232,0.00,2.75,0.00,0.000,4,0.000,0.073,2705,192,3483,0,0,0,0,0,0
$GC,2254,-1.34,-116.8,252.5,-12.6,174,2259,0.00,2.42,0.00,0.000,6,0.000,0.018,2705,1783,3483,0,0,0,0,0,0
$GC,2512,-1.39,-116.8,281.4,-11.2,181,2516,0.00,2.47,0.00,0.000,4,0.000,0.028,2705,3343,3483,0,0,0,0,0,0
$GC,2539,-1.46,-116.8,284.3,-9.2,181,2544,0.00,2.50,0.00,0.000,6,0.000,0.033,2705,1798,3483,0,0,0,0,0,0
$GC,2790,-1.51,-116.8,304.9,-8.2,187,2795,0.15,2.47,0.00,0.000,4,0.065,0.029,2654,3342,3482,0,0,0,0,0,0
$GC,2835,-1.51,-116.8,309.7,-11.5,188,2840,0.00,2.50,0.00,0.000,6,0.000,0.034,2653,1809,3482,0,0,0,0,0,0
$GC,3112,-1.51,-116.8,341.9,-11.7,195,3117,0.00,2.88,0.00,0.000,4,0.000,0.087,2653,185,3481,0,0,0,0,0,0
$GC,3134,-1.44,-116.8,344.8,-13.0,195,3139,0.15,2.50,0.00,0.000,6,0.114,0.027,2684,1792,3481,0,0,0,0,0,0
$GC,3391,-1.44,-116.8,373.7,-11.3,202,3395,0.00,2.53,0.00,0.000,4,0.000,0.046,2684,3354,3480,0,0,0,0,0,0
$GC,3452,-1.51,-116.8,380.8,-10.7,203,3456,0.00,2.53,0.00,0.000,6,0.000,0.048,2684,1834,3479,0,0,0,0,0,0
$GC,3712,-1.51,-116.8,410.2,-11.3,210,3716,0.00,2.45,0.00,0.000,4,0.000,0.043,2684,3350,3477,0,0,0,0,0,0
$GC,3741,-1.56,-116.8,413.4,-10.9,210,3746,0.10,2.53,0.00,0.000,6,0.084,0.049,2650,1849,3477,0,0,0,0,0,0
$GC,3990,-1.56,-116.8,441.3,-11.2,216,3995,0.00,3.08,0.00,0.000,4,0.000,0.104,2650,189,3475,0,0,0,0,0,0
$GC,4018,-1.49,-116.8,444.6,-12.3,216,4023,0.12,2.65,0.00,0.000,6,0.126,0.033,2674,1836,3476,0,0,0,0,0,0
$GC,4269,-1.49,-116.8,467.1,-8.7,222,4274,0.00,2.47,0.00,0.000,4,0.000,0.053,2674,3342,3473,0,0,0,0,0,0
$GC,4286,-1.49,-116.8,468.9,-8.9,222,4290,0.00,2.53,0.00,0.000,6,0.000,0.052,2674,1844,3473,0,0,0,0,0,0
$GC,4547,-1.49,-116.8,494.2,-9.9,229,4551,0.00,2.47,0.00,0.000,4,0.000,0.051,2674,3341,3472,0,0,0,0,0,0
$GC,4564,-1.49,-116.8,496.0,-10.5,229,4568,0.00,2.53,0.00,0.000,6,0.000,0.054,2674,1855,3472,0,0,0,0,0,0
$STATE,4619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4619,begin apogee
$GC,4625,-0.31,0.0,502.0,10.2,231,4727,1.15,0.00,98.10,0.920,6,0.086,0.000,2928,1824,3001,0,0,0,0,0,0
$STATE,4728,end apogee,CONTROL_FINISHED_OK
$STATE,4728,begin climb
$GC,4730,1.38,116.8,505.1,0.0,233,4845,1.58,2.75,101.50,0.900,4,0.041,0.048,3308,3385,2523,0,0,0,0,0,0
$GC,4907,1.32,156.3,502.2,7.8,237,4948,0.10,2.70,34.90,0.872,6,0.148,0.058,3290,1826,2363,0,0,0,0,0,0
$GC,5196,1.24,156.3,474.4,10.3,244,5200,0.00,2.62,0.00,0.000,4,0.000,0.041,3290,3396,2354,0,0,0,0,0,0
$GC,5256,1.20,156.3,467.4,10.6,245,5262,0.15,2.70,0.00,0.000,6,0.132,0.058,3262,1830,2353,0,0,0,0,0,0
$GC,5519,1.23,181.3,444.1,8.6,252,5548,0.00,2.70,21.90,0.846,4,0.000,0.044,3262,3398,2260,0,0,0,0,0,0
$GC,5554,1.28,218.2,441.1,7.9,252,5594,0.00,2.70,34.05,0.851,6,0.000,0.055,3262,1835,2111,0,0,0,0,0,0
$GC,5846,1.30,236.6,415.2,9.0,260,5871,0.00,3.08,16.90,0.815,4,0.000,0.100,3262,233,2035,0,0,0,0,0,0
$GC,5900,1.26,236.6,409.5,11.4,261,5904,0.00,2.58,0.00,0.000,6,0.000,0.028,3261,1829,2032,0,0,0,0,0,0
$GC,6172,1.27,245.3,383.7,9.5,268,6186,0.00,2.62,8.80,0.742,4,0.000,0.037,3261,3400,1999,0,0,0,0,0,0
$GC,6228,1.34,245.3,378.1,10.3,269,6233,0.12,2.67,0.00,0.000,6,0.089,0.048,3294,1824,1997,0,0,0,0,0,0
$GC,6500,1.34,245.3,346.0,12.1,276,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1825,1995,0,0,0,0,0,0
$GC,6743,1.34,245.3,319.0,10.7,282,6748,0.00,2.83,0.00,0.000,4,0.000,0.082,3294,230,1994,0,0,0,0,0,0
$GC,6767,1.27,246.3,316.8,10.0,282,6771,0.00,2.58,0.00,0.000,6,0.000,0.028,3294,1846,1992,0,0,0,0,0,0
$GC,7022,1.28,254.6,292.3,9.6,289,7036,0.00,2.58,8.70,0.706,4,0.000,0.040,3293,3396,1962,0,0,0,0,0,0
$GC,7092,1.33,254.6,283.7,12.2,290,7097,0.00,2.58,0.00,0.000,6,0.000,0.044,3294,1845,1961,0,0,0,0,0,0
$GC,7349,1.33,254.6,254.6,11.1,297,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1845,1960,0,0,0,0,0,0
$GC,7591,1.38,300.9,234.7,7.4,303,7640,0.00,2.95,41.88,0.748,4,0.000,0.074,3294,232,1773,0,0,0,0,0,0
$GC,7702,1.38,301.1,224.9,10.0,305,7707,0.00,2.58,0.00,0.000,6,0.000,0.022,3294,1848,1770,0,0,0,0,0,0
$GC,7962,1.38,301.1,196.8,11.6,312,7967,0.00,2.47,0.00,0.000,4,0.000,0.031,3294,3393,1768,0,0,0,0,0,0
$GC,7992,1.45,301.1,192.9,13.6,314,7997,0.00,2.58,0.00,0.000,6,0.000,0.041,3294,1836,1766,0,0,0,0,0,0
$GC,8256,1.45,301.1,161.8,11.0,338,8261,0.00,2.78,0.00,0.000,4,0.000,0.065,3294,243,1766,0,0,0,0,0,0
$GC,8288,1.45,301.1,158.1,12.6,340,8292,0.00,2.53,0.00,0.000,6,0.000,0.026,3294,1848,1764,0,0,0,0,0,0
$GC,8552,1.49,301.1,131.0,10.6,364,8557,0.12,2.45,0.00,0.000,4,0.087,0.033,3326,3390,1764,0,0,0,0,0,0
$GC,8572,1.49,301.1,128.6,11.4,365,8577,0.00,2.55,0.00,0.000,6,0.000,0.036,3326,1839,1764,0,0,0,0,0,0
$GC,8839,1.49,301.1,95.8,12.7,389,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1839,1764,0,0,0,0,0,0
$GC,9106,1.58,350.0,70.8,7.2,414,9150,0.00,0.00,41.90,0.597,6,0.000,0.000,3327,1838,1573,0,0,0,0,0,0
$GC,9408,1.66,355.4,42.3,9.7,442,9424,0.15,2.55,5.62,0.454,4,0.071,0.028,3368,3390,1551,0,0,0,0,0,0
$GC,9453,1.70,355.4,36.9,12.1,445,9458,0.00,2.53,0.00,0.000,6,0.000,0.035,3368,1859,1550,0,0,0,0,0,0
$STATE,9729,end climb,SURFACE_DEPTH_REACHED
$STATE,9729,begin surface coast
$FINISH,0.4,1.023324
$STATE,9772,end surface coast,CONTROL_FINISHED_OK
$STATE,9772,begin surface
$SM_CCo,9794,60.38,0.443,1,0,1288,420.20
$SM_GC,1.11,0.00,0.00,60.38,0.000,0.000,0.443,476,1744,1288,-11.61,-0.74,420.20
$IRIDIUM_FIX,2241.69,-15751.94,090100,080828
$TT8_MAMPS,0.026078
$HUMID,53.93
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.20
$XPDR_PINGS,62
$24V_AH,23.4,58.219
$10V_AH,10.0,55.758
$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,27.675,134.900,414.250,60.375,0.000,31.391,33.050,301.336,15.500,0.000,12.380,1004.615,6324.464,520.833,1851.942,660.256,33.371,1243.341,0.000,1853.261,0.000,0.533,0.000
$DEVICE_MAMPS,151.866,190.216,919.633,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.491,277.883,374.323,710.682,1076.470,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,38369,487
$CAP_FILE_SIZE,109895,0
$CFSIZE,260165632,157872128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151010,135424,2248.852,-15754.445,27,1.4,44,10.1