version: 66.06
glider: 146
mission: 5
dive: 456
start: 10 20 110 8 59 21
data:
$ID,146
$MISSION,5
$DIVE,456
$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,-258324.62
$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,39
$R_STBD_OVSHOOT,59
$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
$GPS1,085036,2255.906,-15745.812,35,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.7
$GPS2,085825,2255.966,-15745.850,10,1.2,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.204,-0.116
$KALMAN_X,-261858.7,231.8,228.1,304002.7,-256.2
$KALMAN_Y,-607892.6,113.7,415.5,746972.8,-590.1
$MHEAD_RNG_PITCHd_Wd,230.4,19682,-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,-85.75,0.000,2,0.000,0.000,473,1745,3469,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.5,-9.2,11,126,11.48,2.58,0.00,0.000,4,0.146,0.044,2688,203,3472,0,0,0,0,0,0
$GC,246,-1.23,-116.8,37.8,-17.9,28,251,0.20,2.42,0.00,0.000,6,0.116,0.015,2727,1783,3473,0,0,0,0,0,0
$GC,513,-1.23,-116.8,73.5,-10.7,52,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1784,3473,0,0,0,0,0,0
$GC,780,-1.23,-116.8,99.7,-8.8,77,785,0.00,2.65,0.00,0.000,4,0.000,0.057,2727,206,3475,0,0,0,0,0,0
$GC,813,-1.23,-116.8,103.2,-10.4,79,817,0.00,2.35,0.00,0.000,6,0.000,0.018,2727,1761,3475,0,0,0,0,0,0
$GC,1081,-1.29,-116.8,131.2,-10.6,103,1086,0.00,2.42,0.00,0.000,4,0.000,0.030,2727,3314,3476,0,0,0,0,0,0
$GC,1104,-1.36,-116.8,134.2,-9.8,104,1112,0.08,2.53,0.00,0.000,6,0.045,0.035,2689,1760,3476,0,0,0,0,0,0
$GC,1364,-1.36,-116.8,161.5,-10.4,129,1369,0.00,2.45,0.00,0.000,4,0.000,0.025,2688,3321,3476,0,0,0,0,0,0
$GC,1394,-1.36,-116.8,164.3,-9.6,131,1398,0.00,2.50,0.00,0.000,6,0.000,0.035,2689,1764,3476,0,0,0,0,0,0
$GC,1658,-1.36,-116.8,189.4,-10.1,155,1663,0.00,2.67,0.00,0.000,4,0.000,0.064,2688,198,3476,0,0,0,0,0,0
$GC,1680,-1.32,-116.8,192.2,-11.2,156,1690,0.08,2.40,0.00,0.000,6,0.089,0.019,2708,1763,3476,0,0,0,0,0,0
$GC,1965,-1.32,-116.8,220.2,-9.9,169,1969,0.00,2.47,0.00,0.000,4,0.000,0.030,2708,3329,3476,0,0,0,0,0,0
$GC,1992,-1.39,-116.8,222.9,-8.9,169,1996,0.00,2.50,0.00,0.000,6,0.000,0.029,2708,1773,3477,0,0,0,0,0,0
$GC,2243,-1.43,-116.8,242.3,-7.7,175,2247,0.00,2.72,0.00,0.000,4,0.000,0.067,2708,196,3476,0,0,0,0,0,0
$GC,2272,-1.43,-116.8,244.9,-9.4,175,2276,0.00,2.42,0.00,0.000,6,0.000,0.016,2708,1773,3476,0,0,0,0,0,0
$GC,2522,-1.47,-116.8,267.7,-9.1,181,2527,0.12,2.50,0.00,0.000,4,0.077,0.029,2669,3336,3476,0,0,0,0,0,0
$GC,2577,-1.47,-116.8,273.5,-11.0,182,2582,0.00,2.50,0.00,0.000,6,0.000,0.030,2668,1791,3475,0,0,0,0,0,0
$GC,2846,-1.47,-116.8,299.4,-9.6,189,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1790,3474,0,0,0,0,0,0
$GC,3088,-1.47,-116.8,323.4,-10.2,195,3092,0.00,2.45,0.00,0.000,4,0.000,0.031,2669,3329,3474,0,0,0,0,0,0
$GC,3120,-1.47,-116.8,327.1,-10.9,195,3126,0.00,2.55,0.00,0.000,6,0.000,0.044,2668,1785,3474,0,0,0,0,0,0
$GC,3372,-1.47,-116.8,356.2,-11.9,202,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1785,3472,0,0,0,0,0,0
$GC,3613,-1.47,-116.8,383.2,-10.7,208,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1785,3471,0,0,0,0,0,0
$GC,3858,-1.47,-116.8,406.2,-9.3,214,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1785,3469,0,0,0,0,0,0
$GC,4101,-1.47,-116.8,428.7,-9.4,220,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1785,3468,0,0,0,0,0,0
$GC,4345,-1.47,-116.8,454.4,-10.7,226,4349,0.00,2.58,0.00,0.000,4,0.000,0.055,2668,3324,3466,0,0,0,0,0,0
$GC,4362,-1.47,-116.8,456.1,-10.3,226,4366,0.00,2.58,0.00,0.000,6,0.000,0.052,2669,1796,3467,0,0,0,0,0,0
$GC,4622,-1.47,-116.8,483.4,-10.6,233,4626,0.00,2.55,0.00,0.000,4,0.000,0.048,2668,3324,3465,0,0,0,0,0,0
$GC,4648,-1.47,-116.8,486.5,-11.4,233,4653,0.00,2.62,0.00,0.000,6,0.000,0.055,2668,1788,3464,0,0,0,0,0,0
$STATE,4774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4774,begin apogee
$GC,4781,-0.31,0.0,500.2,10.8,236,4882,1.20,0.00,96.90,0.923,6,0.087,0.000,2931,1787,3001,0,0,0,0,0,0
$STATE,4883,end apogee,CONTROL_FINISHED_OK
$STATE,4883,begin climb
$GC,4885,1.38,116.8,503.4,0.0,238,4999,1.52,3.05,102.00,0.903,4,0.039,0.114,3305,229,2524,0,0,0,0,0,0
$GC,5011,1.29,183.0,503.6,6.2,241,5077,0.12,2.58,58.62,0.883,6,0.134,0.036,3283,1785,2253,0,0,0,0,0,0
$GC,5338,1.23,183.0,472.2,10.1,249,5343,0.00,2.78,0.00,0.000,4,0.000,0.062,3283,3401,2243,0,0,0,0,0,0
$GC,5498,1.23,185.0,456.8,9.9,252,5502,0.00,2.70,0.00,0.000,6,0.000,0.056,3283,1827,2241,0,0,0,0,0,0
$GC,5753,1.22,203.6,433.1,9.0,259,5778,0.00,2.72,17.20,0.837,4,0.000,0.042,3282,3418,2170,0,0,0,0,0,0
$GC,5802,1.22,205.9,428.3,9.9,260,5807,0.00,2.72,0.00,0.000,6,0.000,0.053,3283,1834,2169,0,0,0,0,0,0
$GC,6079,1.22,211.0,401.1,9.7,267,6094,0.00,3.03,7.72,0.739,4,0.000,0.098,3283,238,2139,0,0,0,0,0,0
$GC,6107,1.15,211.0,398.5,10.1,267,6112,0.15,2.60,0.00,0.000,6,0.129,0.021,3253,1848,2138,0,0,0,0,0,0
$GC,6363,1.24,249.7,377.7,7.8,274,6405,0.00,0.00,35.88,0.843,6,0.000,0.000,3252,1849,1981,0,0,0,0,0,0
$GC,6648,1.33,270.8,352.9,8.8,281,6674,0.15,2.95,19.55,0.802,4,0.074,0.073,3291,225,1896,0,0,0,0,0,0
$GC,6688,1.28,270.8,348.7,11.5,282,6693,0.00,2.60,0.00,0.000,6,0.000,0.021,3291,1837,1895,0,0,0,0,0,0
$GC,6972,1.28,270.8,315.1,11.7,289,6976,0.00,2.55,0.00,0.000,4,0.000,0.038,3291,3405,1891,0,0,0,0,0,0
$GC,6994,1.28,270.8,312.6,11.4,289,6999,0.00,2.67,0.00,0.000,6,0.000,0.041,3291,1814,1890,0,0,0,0,0,0
$GC,7251,1.28,270.8,283.6,11.3,296,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1813,1889,0,0,0,0,0,0
$GC,7494,1.28,270.8,255.9,11.2,302,7498,0.00,2.58,0.00,0.000,4,0.000,0.031,3291,3400,1889,0,0,0,0,0,0
$GC,7533,1.34,270.8,251.5,11.1,303,7538,0.00,2.62,0.00,0.000,6,0.000,0.038,3291,1821,1888,0,0,0,0,0,0
$GC,7818,1.34,273.4,222.9,9.9,310,7823,0.00,2.78,0.00,0.000,4,0.000,0.076,3291,240,1888,0,0,0,0,0,0
$GC,7857,1.34,273.4,218.9,10.1,311,7862,0.00,2.53,0.00,0.000,6,0.000,0.021,3291,1833,1886,0,0,0,0,0,0
$GC,8112,1.41,301.7,197.6,8.4,318,8145,0.00,0.00,27.35,0.713,6,0.000,0.000,3291,1834,1769,0,0,0,0,0,0
$GC,8401,1.46,301.7,165.9,11.1,345,8406,0.10,2.80,0.00,0.000,4,0.094,0.071,3318,240,1765,0,0,0,0,0,0
$GC,8459,1.41,301.7,159.3,12.5,349,8463,0.00,2.50,0.00,0.000,6,0.000,0.023,3318,1820,1763,0,0,0,0,0,0
$GC,8725,1.41,301.7,129.3,10.9,373,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1822,1762,0,0,0,0,0,0
$GC,8988,1.41,301.7,101.6,10.3,398,8992,0.00,2.75,0.00,0.000,4,0.000,0.063,3318,232,1762,0,0,0,0,0,0
$GC,9021,1.37,301.7,97.3,12.5,400,9030,0.00,2.50,0.00,0.000,6,0.000,0.021,3318,1806,1761,0,0,0,0,0,0
$GC,9289,1.41,301.7,69.7,11.0,425,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1807,1761,0,0,0,0,0,0
$GC,9554,1.55,351.2,46.0,7.2,450,9609,0.00,2.62,42.60,0.578,4,0.000,0.028,3319,3385,1567,0,0,0,0,0,0
$GC,9627,1.70,369.6,40.0,9.0,455,9655,0.22,2.67,17.05,0.545,6,0.134,0.035,3378,1776,1493,0,0,0,0,0,0
$STATE,9929,end climb,SURFACE_DEPTH_REACHED
$STATE,9929,begin surface coast
$FINISH,0.3,1.021252
$STATE,9972,end surface coast,CONTROL_FINISHED_OK
$STATE,9972,begin surface
$SM_CCo,9995,47.83,0.421,1,0,1287,420.20
$SM_GC,0.92,0.00,0.00,47.83,0.000,0.000,0.421,474,1774,1287,-11.62,0.11,420.20
$IRIDIUM_FIX,2246.36,-15740.63,140100,060604
$TT8_MAMPS,0.026078
$HUMID,55.31
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,20.30
$XPDR_PINGS,86
$24V_AH,23.3,63.289
$10V_AH,9.9,60.328
$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,27.325,114.725,424.875,47.825,0.000,30.453,31.830,265.910,21.500,0.000,16.850,997.726,6506.995,511.509,1884.567,617.063,33.394,1243.964,0.000,1883.594,0.000,0.534,0.000
$DEVICE_MAMPS,145.730,113.516,923.468,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.593,292.466,387.850,740.423,1120.546,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,38285,501
$CAP_FILE_SIZE,103891,0
$CFSIZE,260165632,155717632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201010,114743,2255.020,-15747.079,8,2.0,13,10.1