version: 66.06
glider: 146
mission: 5
dive: 419
start: 10 15 110 14 3 50
data:
$ID,146
$MISSION,5
$DIVE,419
$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,-257467.41
$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,41
$R_STBD_OVSHOOT,53
$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
$GPS1,135424,2248.852,-15754.445,27,1.4,44,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.4
$GPS2,140255,2248.818,-15754.403,15,1.3,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.107,0.209
$KALMAN_X,-261932.5,4.5,238.2,289572.5,332.6
$KALMAN_Y,-578684.3,-437.7,252.1,705257.8,-1186.4
$MHEAD_RNG_PITCHd_Wd,322.8,1623,-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,15,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.82,0.000,2,0.000,0.000,476,1743,3466,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.3,-8.4,11,127,11.50,2.53,-0.17,0.000,4,0.149,0.037,2689,3346,3479,0,0,0,0,0,0
$GC,249,-1.32,-116.8,35.1,-14.4,29,254,0.10,2.55,0.00,0.000,6,0.138,0.031,2707,1779,3480,0,0,0,0,0,0
$GC,517,-1.27,-116.8,77.8,-16.0,53,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1779,3481,0,0,0,0,0,0
$GC,778,-1.27,-116.8,105.7,-8.0,78,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1779,3481,0,0,0,0,0,0
$GC,1034,-1.27,-116.8,128.2,-8.4,102,1039,0.00,2.70,0.00,0.000,4,0.000,0.061,2707,190,3482,0,0,0,0,0,0
$GC,1064,-1.27,-116.8,131.4,-10.4,104,1068,0.00,2.42,0.00,0.000,6,0.000,0.023,2707,1799,3482,0,0,0,0,0,0
$GC,1328,-1.27,-116.8,156.8,-10.7,128,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1801,3483,0,0,0,0,0,0
$GC,1589,-1.27,-116.8,185.4,-10.3,153,1593,0.00,2.38,0.00,0.000,4,0.000,0.029,2707,3330,3483,0,0,0,0,0,0
$GC,1612,-1.31,-116.8,187.8,-10.0,154,1618,0.00,2.50,0.00,0.000,6,0.000,0.034,2707,1757,3483,0,0,0,0,0,0
$GC,1869,-1.31,-116.8,212.5,-9.5,170,1874,0.00,2.47,0.00,0.000,4,0.000,0.028,2707,3328,3483,0,0,0,0,0,0
$GC,1892,-1.35,-116.8,214.9,-9.3,170,1896,0.00,2.50,0.00,0.000,6,0.000,0.036,2707,1761,3483,0,0,0,0,0,0
$GC,2148,-1.35,-116.8,240.7,-10.4,177,2152,0.00,2.70,0.00,0.000,4,0.000,0.068,2707,192,3483,0,0,0,0,0,0
$GC,2174,-1.35,-116.8,244.0,-11.1,177,2179,0.00,2.38,0.00,0.000,6,0.000,0.018,2707,1750,3483,0,0,0,0,0,0
$GC,2430,-1.39,-116.8,270.9,-10.5,184,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1751,3482,0,0,0,0,0,0
$GC,2674,-1.43,-116.8,296.0,-9.9,190,2678,0.00,2.53,0.00,0.000,4,0.000,0.031,2708,3339,3481,0,0,0,0,0,0
$GC,2697,-1.51,-116.8,298.2,-9.6,190,2703,0.15,2.55,0.00,0.000,6,0.063,0.039,2659,1768,3481,0,0,0,0,0,0
$GC,2953,-1.47,-116.8,325.1,-10.4,197,2958,0.10,2.50,0.00,0.000,4,0.128,0.035,2679,3328,3481,0,0,0,0,0,0
$GC,2976,-1.47,-116.8,327.4,-10.1,197,2981,0.00,2.55,0.00,0.000,6,0.000,0.041,2679,1772,3481,0,0,0,0,0,0
$GC,3231,-1.47,-116.8,352.2,-9.7,204,3236,0.00,2.80,0.00,0.000,4,0.000,0.089,2679,186,3480,0,0,0,0,0,0
$GC,3258,-1.47,-116.8,355.3,-10.7,204,3262,0.00,2.45,0.00,0.000,6,0.000,0.023,2679,1754,3479,0,0,0,0,0,0
$GC,3513,-1.47,-116.8,382.4,-10.6,211,3517,0.00,2.60,0.00,0.000,4,0.000,0.046,2679,3357,3477,0,0,0,0,0,0
$GC,3570,-1.52,-116.8,388.2,-10.0,212,3574,0.00,2.60,0.00,0.000,6,0.000,0.045,2679,1798,3477,0,0,0,0,0,0
$GC,3836,-1.52,-116.8,413.7,-9.5,219,3841,0.00,2.50,0.00,0.000,4,0.000,0.044,2679,3348,3476,0,0,0,0,0,0
$GC,3856,-1.52,-116.8,415.4,-9.5,219,3860,0.00,2.60,0.00,0.000,6,0.000,0.055,2679,1807,3476,0,0,0,0,0,0
$GC,4117,-1.52,-116.8,439.6,-9.3,226,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1806,3474,0,0,0,0,0,0
$GC,4360,-1.52,-116.8,462.0,-9.2,232,4365,0.00,3.03,0.00,0.000,4,0.000,0.111,2679,185,3472,0,0,0,0,0,0
$GC,4376,-1.52,-116.8,463.7,-9.3,232,4380,0.00,2.60,0.00,0.000,6,0.000,0.030,2679,1808,3473,0,0,0,0,0,0
$GC,4638,-1.52,-116.8,488.8,-9.8,239,4643,0.00,2.60,0.00,0.000,4,0.000,0.061,2679,3358,3470,0,0,0,0,0,0
$GC,4661,-1.57,-116.8,491.3,-10.0,239,4665,0.00,2.62,0.00,0.000,6,0.000,0.058,2679,1813,3470,0,0,0,0,0,0
$STATE,4750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4751,begin apogee
$GC,4756,-0.31,0.0,500.5,10.0,242,4857,1.12,0.00,97.35,0.921,6,0.086,0.000,2930,1813,3001,0,0,0,0,0,0
$STATE,4858,end apogee,CONTROL_FINISHED_OK
$STATE,4858,begin climb
$GC,4862,1.38,116.8,503.5,0.0,244,4974,1.52,2.78,101.25,0.900,4,0.040,0.054,3305,3398,2523,0,0,0,0,0,0
$GC,5004,1.37,205.4,504.4,4.9,247,5089,0.00,2.75,77.15,0.886,6,0.000,0.060,3305,1818,2162,0,0,0,0,0,0
$GC,5358,1.29,205.4,469.5,10.9,256,5363,0.12,2.65,0.00,0.000,4,0.129,0.042,3281,3404,2153,0,0,0,0,0,0
$GC,5399,1.29,205.4,465.2,10.9,257,5403,0.00,2.72,0.00,0.000,6,0.000,0.052,3281,1822,2151,0,0,0,0,0,0
$GC,5681,1.29,205.4,433.7,11.3,264,5686,0.00,2.97,0.00,0.000,4,0.000,0.105,3281,231,2150,0,0,0,0,0,0
$GC,5697,1.23,205.4,431.6,11.8,264,5702,0.00,2.58,0.00,0.000,6,0.000,0.025,3281,1827,2148,0,0,0,0,0,0
$GC,5960,1.23,205.4,402.7,11.1,271,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1827,2147,0,0,0,0,0,0
$GC,6202,1.23,205.4,375.7,11.1,277,6206,0.00,2.60,0.00,0.000,4,0.000,0.040,3281,3416,2145,0,0,0,0,0,0
$GC,6257,1.23,205.4,369.7,10.9,278,6261,0.00,2.67,0.00,0.000,6,0.000,0.043,3281,1824,2145,0,0,0,0,0,0
$GC,6525,1.24,215.4,344.1,9.5,285,6534,0.00,0.00,7.20,0.705,6,0.000,0.000,3281,1824,2121,0,0,0,0,0,0
$GC,6767,1.25,220.9,320.4,9.7,291,6775,0.00,0.00,6.32,0.669,6,0.000,0.000,3281,1824,2099,0,0,0,0,0,0
$GC,7011,1.26,230.1,297.0,9.5,297,7025,0.00,2.62,9.48,0.723,4,0.000,0.031,3281,3414,2063,0,0,0,0,0,0
$GC,7034,1.28,248.2,295.0,9.0,297,7059,0.00,2.65,18.23,0.763,6,0.000,0.041,3281,1826,1988,0,0,0,0,0,0
$GC,7339,1.33,288.0,270.1,7.7,305,7381,0.00,2.62,36.17,0.767,4,0.000,0.029,3281,3410,1825,0,0,0,0,0,0
$GC,7405,1.41,299.1,264.2,9.4,306,7422,0.12,2.65,11.00,0.693,6,0.082,0.043,3314,1830,1781,0,0,0,0,0,0
$GC,7665,1.41,299.1,233.6,12.0,312,7669,0.00,2.78,0.00,0.000,4,0.000,0.072,3314,239,1776,0,0,0,0,0,0
$GC,7686,1.35,299.1,230.7,12.7,312,7691,0.00,2.58,0.00,0.000,6,0.000,0.026,3314,1856,1774,0,0,0,0,0,0
$GC,7942,1.35,299.1,200.4,11.6,319,7947,0.00,2.85,0.00,0.000,4,0.000,0.066,3314,232,1774,0,0,0,0,0,0
$GC,7960,1.31,299.1,198.2,11.1,319,7965,0.12,2.55,0.00,0.000,6,0.127,0.028,3289,1838,1772,0,0,0,0,0,0
$GC,8227,1.37,311.7,173.4,9.3,343,8244,0.00,2.83,11.15,0.644,4,0.000,0.069,3288,233,1730,0,0,0,0,0,0
$GC,8261,1.37,311.7,170.0,10.4,346,8265,0.00,2.55,0.00,0.000,6,0.000,0.023,3288,1836,1728,0,0,0,0,0,0
$GC,8524,1.42,311.7,141.7,11.4,370,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1838,1727,0,0,0,0,0,0
$GC,8779,1.48,311.7,111.7,12.5,394,8784,0.15,2.78,0.00,0.000,4,0.074,0.062,3329,238,1727,0,0,0,0,0,0
$GC,8801,1.48,311.7,109.2,12.9,395,8805,0.00,2.53,0.00,0.000,6,0.000,0.022,3329,1843,1726,0,0,0,0,0,0
$GC,9069,1.48,311.7,76.0,10.6,419,9073,0.00,2.47,0.00,0.000,4,0.000,0.033,3329,3397,1725,0,0,0,0,0,0
$GC,9114,1.60,325.7,71.2,9.2,422,9133,0.00,2.58,13.43,0.572,6,0.000,0.041,3329,1830,1672,0,0,0,0,0,0
$GC,9400,1.71,368.5,49.8,7.6,448,9444,0.17,2.83,37.60,0.573,4,0.118,0.061,3374,240,1497,0,0,0,0,0,0
$GC,9456,1.67,368.5,43.9,11.1,452,9461,0.00,2.55,0.00,0.000,6,0.000,0.020,3375,1851,1496,0,0,0,0,0,0
$STATE,9765,end climb,SURFACE_DEPTH_REACHED
$STATE,9765,begin surface coast
$FINISH,0.4,1.009716
$STATE,9801,end surface coast,CONTROL_FINISHED_OK
$STATE,9801,begin surface
$SM_CCo,9823,48.97,0.422,1,0,1287,420.20
$SM_GC,1.02,0.00,0.00,48.97,0.000,0.000,0.422,474,1742,1287,-11.62,-0.79,420.20
$IRIDIUM_FIX,2241.69,-15754.11,090100,111122
$TT8_MAMPS,0.026078
$HUMID,53.74
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.80
$XPDR_PINGS,66
$24V_AH,23.4,58.347
$10V_AH,10.1,55.869
$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,27.050,125.925,426.325,48.975,0.000,29.281,33.333,289.931,16.500,0.000,34.263,1002.587,6398.237,513.462,1833.521,643.938,33.366,1209.432,0.000,1815.871,0.000,0.534,0.000
$DEVICE_MAMPS,148.798,111.215,921.167,421.850,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.990,282.705,380.357,709.294,1072.848,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,38269,495
$CAP_FILE_SIZE,106772,0
$CFSIZE,260165632,157818880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151010,164936,2249.033,-15755.004,26,1.2,26,10.1