version: 66.06
glider: 146
mission: 5
dive: 457
start: 10 20 110 12 0 48
data:
$ID,146
$MISSION,5
$DIVE,457
$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,-258357.75
$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,22
$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
$GPS1,114743,2255.020,-15747.079,8,2.0,13,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.9
$GPS2,115952,2255.056,-15747.108,11,99.0,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.174,-0.158
$KALMAN_X,-261969.8,264.5,173.9,301970.9,-593.2
$KALMAN_Y,-607623.9,-121.9,-149.2,745822.2,-193.2
$MHEAD_RNG_PITCHd_Wd,217.7,16951,-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,-85.80,0.000,2,0.000,0.000,474,1773,3459,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.2,-8.7,11,125,11.60,2.65,-0.30,0.000,4,0.151,0.064,2689,189,3478,0,0,0,0,0,0
$GC,210,-1.27,-116.8,29.2,-16.0,25,220,0.12,2.47,0.00,0.000,6,0.108,0.016,2717,1785,3479,0,0,0,0,0,0
$GC,477,-1.22,-116.8,67.3,-11.7,50,481,0.00,2.67,0.00,0.000,4,0.000,0.053,2717,188,3480,0,0,0,0,0,0
$GC,500,-1.18,-116.8,70.2,-12.1,51,505,0.12,2.40,0.00,0.000,6,0.125,0.015,2741,1766,3480,0,0,0,0,0,0
$GC,767,-1.24,-116.8,93.2,-8.7,75,771,0.00,2.45,0.00,0.000,4,0.000,0.025,2741,3321,3481,0,0,0,0,0,0
$GC,800,-1.31,-116.8,96.1,-8.6,77,806,0.12,2.53,0.00,0.000,6,0.066,0.035,2696,1749,3481,0,0,0,0,0,0
$GC,1067,-1.31,-116.8,123.6,-10.9,101,1071,0.00,2.62,0.00,0.000,4,0.000,0.061,2695,196,3482,0,0,0,0,0,0
$GC,1100,-1.31,-116.8,127.4,-11.4,103,1104,0.00,2.35,0.00,0.000,6,0.000,0.019,2695,1747,3482,0,0,0,0,0,0
$GC,1368,-1.31,-116.8,153.5,-10.0,127,1372,0.00,2.45,0.00,0.000,4,0.000,0.030,2695,3320,3482,0,0,0,0,0,0
$GC,1384,-1.31,-116.8,156.0,-10.3,128,1388,0.00,2.50,0.00,0.000,6,0.000,0.030,2695,1747,3482,0,0,0,0,0,0
$GC,1649,-1.31,-116.8,181.9,-9.9,152,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1747,3482,0,0,0,0,0,0
$GC,1906,-1.31,-116.8,209.4,-10.5,171,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1747,3482,0,0,0,0,0,0
$GC,2150,-1.31,-116.8,235.0,-10.4,177,2154,0.00,2.50,0.00,0.000,4,0.000,0.033,2695,3319,3483,0,0,0,0,0,0
$GC,2184,-1.37,-116.8,238.8,-11.2,177,2190,0.00,2.50,0.00,0.000,6,0.000,0.037,2695,1758,3483,0,0,0,0,0,0
$GC,2434,-1.37,-116.8,266.1,-10.7,184,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1758,3482,0,0,0,0,0,0
$GC,2678,-1.37,-116.8,288.4,-8.8,190,2682,0.00,2.50,0.00,0.000,4,0.000,0.031,2695,3321,3481,0,0,0,0,0,0
$GC,2695,-1.37,-116.8,289.8,-8.5,190,2699,0.00,2.50,0.00,0.000,6,0.000,0.038,2695,1770,3481,0,0,0,0,0,0
$GC,2956,-1.37,-116.8,313.2,-9.4,197,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1770,3480,0,0,0,0,0,0
$GC,3199,-1.41,-116.8,338.7,-10.6,203,3204,0.00,2.53,0.00,0.000,4,0.000,0.040,2695,3322,3479,0,0,0,0,0,0
$GC,3229,-1.46,-116.8,341.7,-11.1,203,3233,0.00,2.55,0.00,0.000,6,0.000,0.039,2696,1774,3479,0,0,0,0,0,0
$GC,3479,-1.51,-116.8,365.6,-9.4,209,3484,0.10,2.85,0.00,0.000,4,0.086,0.091,2660,186,3477,0,0,0,0,0,0
$GC,3512,-1.46,-116.8,369.5,-11.8,209,3519,0.10,2.45,0.00,0.000,6,0.124,0.028,2681,1740,3477,0,0,0,0,0,0
$GC,3764,-1.46,-116.8,392.0,-8.6,216,3768,0.00,2.60,0.00,0.000,4,0.000,0.040,2681,3349,3475,0,0,0,0,0,0
$GC,3808,-1.52,-116.8,395.8,-8.4,217,3813,0.00,2.62,0.00,0.000,6,0.000,0.051,2680,1780,3475,0,0,0,0,0,0
$GC,4086,-1.52,-116.8,417.4,-8.1,224,4091,0.00,2.88,0.00,0.000,4,0.000,0.094,2681,183,3473,0,0,0,0,0,0
$GC,4109,-1.52,-116.8,419.5,-9.4,224,4114,0.00,2.55,0.00,0.000,6,0.000,0.025,2681,1778,3473,0,0,0,0,0,0
$GC,4364,-1.52,-116.8,444.6,-9.8,231,4368,0.00,2.60,0.00,0.000,4,0.000,0.051,2680,3354,3472,0,0,0,0,0,0
$GC,4380,-1.52,-116.8,446.4,-9.8,231,4384,0.00,2.65,0.00,0.000,6,0.000,0.052,2680,1782,3472,0,0,0,0,0,0
$GC,4641,-1.52,-116.8,469.1,-8.4,238,4645,0.00,2.58,0.00,0.000,4,0.000,0.047,2681,3354,3470,0,0,0,0,0,0
$GC,4668,-1.57,-116.8,471.6,-9.1,238,4673,0.10,2.65,0.00,0.000,6,0.091,0.051,2647,1790,3470,0,0,0,0,0,0
$GC,4918,-1.57,-116.8,495.8,-10.0,244,4922,0.00,2.60,0.00,0.000,4,0.000,0.051,2648,3350,3468,0,0,0,0,0,0
$STATE,4956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4956,begin apogee
$GC,4966,-0.31,0.0,500.0,10.2,245,5068,1.30,0.00,97.68,0.927,6,0.091,0.000,2930,1821,3001,0,0,0,0,0,0
$STATE,5069,end apogee,CONTROL_FINISHED_OK
$STATE,5069,begin climb
$GC,5071,1.38,116.8,502.8,0.0,247,5181,1.55,2.75,102.18,0.903,4,0.044,0.054,3306,3396,2523,0,0,0,0,0,0
$GC,5196,1.36,199.6,502.6,5.2,250,5276,0.00,2.75,72.72,0.887,6,0.000,0.056,3306,1815,2187,0,0,0,0,0,0
$GC,5527,1.27,199.6,468.7,11.3,259,5532,0.15,2.65,0.00,0.000,4,0.224,0.039,3278,3410,2177,0,0,0,0,0,0
$GC,5584,1.27,199.6,462.4,11.2,260,5588,0.00,2.72,0.00,0.000,6,0.000,0.054,3278,1830,2176,0,0,0,0,0,0
$GC,5850,1.27,201.8,435.3,9.9,267,5854,0.00,2.60,0.00,0.000,4,0.000,0.042,3278,3412,2173,0,0,0,0,0,0
$GC,5866,1.28,209.5,433.7,9.6,267,5880,0.00,2.70,8.32,0.752,6,0.000,0.049,3278,1832,2145,0,0,0,0,0,0
$GC,6132,1.30,223.5,409.0,9.2,274,6152,0.00,3.03,13.95,0.811,4,0.000,0.101,3278,231,2088,0,0,0,0,0,0
$GC,6191,1.21,223.5,402.5,11.3,275,6196,0.00,2.60,0.00,0.000,6,0.000,0.024,3278,1839,2085,0,0,0,0,0,0
$GC,6459,1.21,223.5,374.1,10.9,282,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1840,2084,0,0,0,0,0,0
$GC,6701,1.22,228.0,349.6,9.8,288,6711,0.00,2.58,4.43,0.571,4,0.000,0.035,3278,3405,2071,0,0,0,0,0,0
$GC,6723,1.23,239.9,347.4,9.3,288,6743,0.00,2.65,13.07,0.776,6,0.000,0.042,3278,1829,2021,0,0,0,0,0,0
$GC,7031,1.28,274.1,321.7,8.1,296,7067,0.00,0.00,32.12,0.805,6,0.000,0.000,3278,1829,1881,0,0,0,0,0,0
$GC,7311,1.28,274.1,291.5,11.4,303,7316,0.00,2.83,0.00,0.000,4,0.000,0.074,3278,235,1876,0,0,0,0,0,0
$GC,7360,1.28,274.1,284.7,13.9,304,7365,0.00,2.60,0.00,0.000,6,0.000,0.026,3278,1862,1875,0,0,0,0,0,0
$GC,7634,1.28,274.1,251.0,12.2,311,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1864,1874,0,0,0,0,0,0
$GC,7879,1.32,274.1,223.0,11.5,317,7883,0.00,2.85,0.00,0.000,4,0.000,0.073,3278,236,1873,0,0,0,0,0,0
$GC,7905,1.32,274.1,219.5,12.3,317,7910,0.00,2.58,0.00,0.000,6,0.000,0.026,3278,1857,1871,0,0,0,0,0,0
$GC,8158,1.40,306.3,197.2,8.2,323,8193,0.12,2.55,27.85,0.717,4,0.089,0.033,3311,3400,1751,0,0,0,0,0,0
$GC,8220,1.44,306.3,191.3,10.7,328,8225,0.00,2.60,0.00,0.000,6,0.000,0.044,3311,1845,1749,0,0,0,0,0,0
$GC,8488,1.44,306.3,161.0,11.6,352,8493,0.00,2.83,0.00,0.000,4,0.000,0.074,3311,233,1746,0,0,0,0,0,0
$GC,8531,1.39,306.3,155.3,13.1,355,8535,0.00,2.58,0.00,0.000,6,0.000,0.021,3311,1857,1745,0,0,0,0,0,0
$GC,8798,1.39,306.3,128.0,11.5,379,8803,0.00,2.83,0.00,0.000,4,0.000,0.064,3311,234,1745,0,0,0,0,0,0
$GC,8821,1.39,306.3,124.6,11.7,380,8830,0.00,2.58,0.00,0.000,6,0.000,0.021,3311,1845,1743,0,0,0,0,0,0
$GC,9087,1.39,306.3,94.3,11.4,405,9091,0.00,2.78,0.00,0.000,4,0.000,0.062,3311,239,1743,0,0,0,0,0,0
$GC,9121,1.39,306.3,90.5,11.5,407,9126,0.00,2.50,0.00,0.000,6,0.000,0.028,3311,1838,1743,0,0,0,0,0,0
$GC,9388,1.46,310.6,64.3,9.8,431,9403,0.00,2.80,3.95,0.412,4,0.000,0.061,3311,240,1733,0,0,0,0,0,0
$GC,9494,1.49,332.8,54.4,8.8,439,9522,0.00,2.47,21.05,0.583,6,0.000,0.021,3311,1824,1643,0,0,0,0,0,0
$GC,9779,1.61,362.1,32.5,8.3,465,9816,0.17,2.80,26.17,0.558,4,0.069,0.059,3357,238,1522,0,0,0,0,0,0
$GC,9835,1.61,362.1,26.9,10.9,470,9845,0.00,2.47,0.00,0.000,6,0.000,0.020,3357,1796,1521,0,0,0,0,0,0
$STATE,10037,end climb,SURFACE_DEPTH_REACHED
$STATE,10037,begin surface coast
$FINISH,0.3,1.005093
$STATE,10089,end surface coast,CONTROL_FINISHED_OK
$STATE,10089,begin surface
$SM_CCo,10111,54.38,0.437,1,0,1287,420.20
$SM_GC,1.07,0.00,0.00,54.38,0.000,0.000,0.437,478,1798,1287,-11.60,0.76,420.20
$IRIDIUM_FIX,2246.36,-15745.85,140100,111141
$TT8_MAMPS,0.026078
$HUMID,55.27
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.40
$XPDR_PINGS,85
$24V_AH,23.4,63.426
$10V_AH,9.9,60.446
$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,27.375,141.500,423.500,54.375,0.000,57.827,78.818,361.214,21.250,0.000,32.498,1024.851,6616.260,547.827,1899.929,813.050,33.371,1264.178,0.000,1883.408,0.000,0.534,0.000
$DEVICE_MAMPS,223.964,101.244,926.536,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.082,292.209,391.649,757.215,1145.281,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,41633,506
$CAP_FILE_SIZE,112081,0
$CFSIZE,260165632,155652096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201010,145137,2254.130,-15748.279,37,1.1,37,10.1