version: 66.06
glider: 146
mission: 5
dive: 454
start: 10 20 110 2 59 34
data:
$ID,146
$MISSION,5
$DIVE,454
$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,-258291.3
$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,40
$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
$GPS1,025036,2256.833,-15743.869,35,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-69.3
$GPS2,025838,2256.861,-15743.904,10,1.3,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.180,-0.150
$KALMAN_X,-261515.4,-68.1,-175.0,307720.1,-99.4
$KALMAN_Y,-608764.2,465.4,-181.9,749748.1,145.4
$MHEAD_RNG_PITCHd_Wd,220.1,23337,-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,-116.8,0.0,0.0,0,103,0.00,0.00,-85.57,0.000,6,0.000,0.000,475,1745,3479,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.7,-9.8,11,125,11.75,2.60,0.00,0.000,4,0.156,0.051,2690,197,3481,0,0,0,0,0,0
$GC,257,-1.23,-116.8,40.5,-16.7,28,262,0.20,2.42,0.00,0.000,6,0.117,0.015,2729,1779,3483,0,0,0,0,0,0
$GC,525,-1.23,-116.8,75.8,-11.2,52,529,0.00,2.67,0.00,0.000,4,0.000,0.062,2729,206,3483,0,0,0,0,0,0
$GC,546,-1.23,-116.8,78.8,-11.8,53,551,0.00,2.40,0.00,0.000,6,0.000,0.015,2729,1788,3483,0,0,0,0,0,0
$GC,815,-1.28,-116.8,103.4,-8.2,77,819,0.00,2.38,0.00,0.000,4,0.000,0.025,2729,3310,3484,0,0,0,0,0,0
$GC,849,-1.38,-116.8,106.9,-8.3,79,856,0.12,2.47,0.00,0.000,6,0.068,0.028,2686,1772,3484,0,0,0,0,0,0
$GC,1113,-1.38,-116.8,132.9,-10.6,104,1118,0.00,2.67,0.00,0.000,4,0.000,0.064,2686,197,3485,0,0,0,0,0,0
$GC,1124,-1.34,-116.8,134.7,-11.2,104,1133,0.08,2.42,0.00,0.000,6,0.090,0.016,2706,1786,3485,0,0,0,0,0,0
$GC,1385,-1.34,-116.8,159.9,-9.2,129,1390,0.00,2.72,0.00,0.000,4,0.000,0.064,2706,189,3486,0,0,0,0,0,0
$GC,1416,-1.34,-116.8,162.6,-9.7,131,1420,0.00,2.38,0.00,0.000,6,0.000,0.015,2706,1754,3486,0,0,0,0,0,0
$GC,1679,-1.34,-116.8,188.5,-9.9,155,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1755,3486,0,0,0,0,0,0
$GC,1938,-1.34,-116.8,209.8,-7.6,171,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1755,3486,0,0,0,0,0,0
$GC,2181,-1.38,-116.8,229.7,-8.4,177,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1756,3486,0,0,0,0,0,0
$GC,2424,-1.42,-116.8,252.7,-9.6,183,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1756,3485,0,0,0,0,0,0
$GC,2670,-1.47,-116.8,276.0,-9.4,189,2675,0.12,2.53,0.00,0.000,4,0.075,0.031,2664,3318,3485,0,0,0,0,0,0
$GC,2691,-1.47,-116.8,278.7,-10.8,189,2696,0.00,2.50,0.00,0.000,6,0.000,0.033,2664,1775,3485,0,0,0,0,0,0
$GC,2947,-1.47,-116.8,309.3,-11.9,196,2951,0.00,2.80,0.00,0.000,4,0.000,0.084,2664,192,3483,0,0,0,0,0,0
$GC,2964,-1.42,-116.8,311.2,-11.2,196,2969,0.12,2.42,0.00,0.000,6,0.117,0.021,2689,1744,3483,0,0,0,0,0,0
$GC,3227,-1.42,-116.8,336.0,-9.3,203,3231,0.00,2.58,0.00,0.000,4,0.000,0.040,2690,3347,3482,0,0,0,0,0,0
$GC,3277,-1.50,-116.8,340.9,-9.2,204,3281,0.00,2.58,0.00,0.000,6,0.000,0.045,2689,1786,3482,0,0,0,0,0,0
$GC,3550,-1.50,-116.8,367.4,-10.1,211,3555,0.00,2.88,0.00,0.000,4,0.000,0.095,2690,180,3481,0,0,0,0,0,0
$GC,3560,-1.50,-116.8,368.6,-10.3,211,3564,0.00,2.50,0.00,0.000,6,0.000,0.025,2689,1780,3480,0,0,0,0,0,0
$GC,3826,-1.50,-116.8,396.9,-10.7,218,3830,0.00,2.55,0.00,0.000,4,0.000,0.048,2689,3344,3479,0,0,0,0,0,0
$GC,3841,-1.50,-116.8,398.5,-10.3,218,3846,0.00,2.60,0.00,0.000,6,0.000,0.046,2690,1787,3479,0,0,0,0,0,0
$GC,4104,-1.50,-116.8,422.8,-8.9,225,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1787,3478,0,0,0,0,0,0
$GC,4346,-1.50,-116.8,441.9,-7.8,231,4351,0.00,2.58,0.00,0.000,4,0.000,0.046,2690,3350,3476,0,0,0,0,0,0
$GC,4391,-1.58,-116.8,445.3,-7.5,232,4396,0.15,2.65,0.00,0.000,6,0.066,0.057,2643,1789,3476,0,0,0,0,0,0
$GC,4671,-1.53,-116.8,474.5,-10.9,239,4676,0.10,2.58,0.00,0.000,4,0.129,0.049,2663,3339,3474,0,0,0,0,0,0
$GC,4681,-1.53,-116.8,476.0,-11.0,239,4685,0.00,2.62,0.00,0.000,6,0.000,0.058,2663,1792,3474,0,0,0,0,0,0
$STATE,4910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4910,begin apogee
$GC,4918,-0.31,0.0,501.1,10.9,245,5020,1.23,0.00,98.35,0.923,6,0.087,0.000,2931,1792,3001,0,0,0,0,0,0
$STATE,5021,end apogee,CONTROL_FINISHED_OK
$STATE,5021,begin climb
$GC,5023,1.38,116.8,504.0,0.0,247,5135,1.52,3.05,101.95,0.902,4,0.038,0.112,3306,233,2523,0,0,0,0,0,0
$GC,5177,1.20,151.1,501.7,8.1,250,5213,0.22,2.60,30.40,0.870,6,0.123,0.035,3263,1808,2385,0,0,0,0,0,0
$GC,5477,1.22,164.2,475.4,9.3,258,5496,0.00,2.83,12.10,0.809,4,0.000,0.058,3263,3407,2330,0,0,0,0,0,0
$GC,5522,1.23,171.6,470.9,9.6,259,5536,0.00,2.75,7.82,0.741,6,0.000,0.057,3263,1816,2302,0,0,0,0,0,0
$GC,5809,1.25,187.6,443.5,9.1,266,5828,0.00,0.00,15.68,0.831,6,0.000,0.000,3263,1816,2235,0,0,0,0,0,0
$GC,6098,1.28,215.9,418.6,8.4,273,6132,0.00,2.70,26.12,0.850,4,0.000,0.040,3263,3416,2119,0,0,0,0,0,0
$GC,6177,1.33,215.9,411.1,10.4,274,6183,0.10,2.75,0.00,0.000,6,0.100,0.048,3289,1810,2117,0,0,0,0,0,0
$GC,6427,1.33,215.9,384.7,10.9,281,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1810,2113,0,0,0,0,0,0
$GC,6672,1.33,215.9,357.3,11.2,287,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1810,2112,0,0,0,0,0,0
$GC,6914,1.33,215.9,332.2,10.1,293,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1810,2111,0,0,0,0,0,0
$GC,7158,1.35,235.5,310.3,8.9,299,7182,0.00,2.72,17.10,0.777,4,0.000,0.035,3289,3420,2040,0,0,0,0,0,0
$GC,7213,1.40,240.5,305.3,9.8,300,7227,0.00,2.72,6.35,0.654,6,0.000,0.047,3289,1804,2019,0,0,0,0,0,0
$GC,7490,1.40,241.3,278.1,10.0,307,7495,0.00,2.78,0.00,0.000,4,0.000,0.074,3289,234,2016,0,0,0,0,0,0
$GC,7512,1.35,241.3,275.7,10.6,307,7516,0.00,2.55,0.00,0.000,6,0.000,0.024,3289,1832,2014,0,0,0,0,0,0
$GC,7768,1.37,254.1,251.3,9.3,314,7788,0.00,2.62,12.93,0.726,4,0.000,0.039,3289,3398,1964,0,0,0,0,0,0
$GC,7845,1.42,254.1,243.8,10.3,315,7849,0.00,2.62,0.00,0.000,6,0.000,0.040,3289,1820,1962,0,0,0,0,0,0
$GC,8095,1.42,255.2,219.4,10.0,321,8099,0.00,2.80,0.00,0.000,4,0.000,0.074,3289,240,1961,0,0,0,0,0,0
$GC,8157,1.38,255.2,212.5,10.9,322,8162,0.00,2.47,0.00,0.000,6,0.000,0.022,3289,1808,1960,0,0,0,0,0,0
$GC,8417,1.40,268.8,188.7,9.3,337,8438,0.00,2.60,13.90,0.681,4,0.000,0.031,3289,3392,1904,0,0,0,0,0,0
$GC,8475,1.49,271.9,182.8,9.9,342,8490,0.15,2.65,4.53,0.508,6,0.076,0.038,3328,1802,1891,0,0,0,0,0,0
$GC,8745,1.49,271.9,152.8,10.9,367,8750,0.00,2.72,0.00,0.000,4,0.000,0.071,3328,239,1889,0,0,0,0,0,0
$GC,8825,1.40,271.9,143.0,11.7,373,8830,0.10,2.47,0.00,0.000,6,0.139,0.024,3307,1808,1888,0,0,0,0,0,0
$GC,9090,1.41,275.4,116.1,9.8,397,9101,0.00,2.55,4.20,0.459,4,0.000,0.031,3307,3387,1878,0,0,0,0,0,0
$GC,9168,1.48,282.9,108.1,9.6,403,9187,0.00,2.62,8.02,0.571,6,0.000,0.041,3307,1799,1848,0,0,0,0,0,0
$GC,9443,1.55,297.7,81.5,9.2,429,9468,0.12,2.62,14.75,0.593,4,0.079,0.030,3342,3382,1785,0,0,0,0,0,0
$GC,9511,1.55,297.7,74.7,10.7,434,9516,0.00,2.60,0.00,0.000,6,0.000,0.035,3342,1809,1784,0,0,0,0,0,0
$GC,9778,1.64,346.9,50.9,7.2,458,9833,0.00,2.80,42.85,0.583,4,0.000,0.061,3342,237,1584,0,0,0,0,0,0
$GC,9841,1.69,387.0,46.0,7.7,462,9882,0.08,2.53,35.28,0.563,6,0.054,0.020,3370,1822,1423,0,0,0,0,0,0
$GC,10178,1.69,387.0,6.6,12.9,503,10190,0.00,2.78,0.00,0.000,4,0.000,0.060,3370,236,1417,0,0,0,0,0,0
$STATE,10197,end climb,SURFACE_DEPTH_REACHED
$STATE,10198,begin surface coast
$FINISH,1.5,1.023234
$STATE,10213,end surface coast,CONTROL_FINISHED_OK
$STATE,10213,begin surface
$SM_CCo,10237,33.30,0.368,1,0,1287,420.20
$SM_GC,0.90,0.00,0.00,33.30,0.000,0.000,0.368,474,1809,1287,-11.62,1.10,420.20
$IRIDIUM_FIX,2251.04,-15744.96,140100,000055
$TT8_MAMPS,0.026078
$HUMID,55.86
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,20.10
$XPDR_PINGS,91
$24V_AH,23.3,63.035
$10V_AH,10.0,60.100
$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,28.050,130.875,452.325,33.300,0.000,30.233,33.186,282.117,22.750,0.000,12.344,1026.749,6686.606,520.424,1871.371,656.341,33.404,1276.978,0.000,1879.357,0.000,0.535,0.000
$DEVICE_MAMPS,156.468,111.982,923.468,368.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.588,292.992,390.022,713.943,1078.985,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,41665,507
$CAP_FILE_SIZE,111082,0
$CFSIZE,260165632,155811840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201010,055204,2256.449,-15744.880,12,99.0,31,10.1