version: 66.06
glider: 146
mission: 5
dive: 459
start: 10 20 110 17 59 1
data:
$ID,146
$MISSION,5
$DIVE,459
$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,-258404.28
$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,34
$R_STBD_OVSHOOT,54
$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
$GPS1,174946,2253.312,-15749.104,7,99.0,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-69.2
$GPS2,175806,2253.358,-15749.113,12,1.0,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.163,-0.169
$KALMAN_X,-261845.2,35.3,-128.9,298927.9,74.8
$KALMAN_Y,-607309.1,-275.3,54.5,742317.1,589.9
$MHEAD_RNG_PITCHd_Wd,213.9,12330,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-86.12,0.000,2,0.000,0.000,478,1754,3467,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.5,-9.2,11,125,11.75,2.62,0.00,0.000,4,0.156,0.048,2690,190,3469,0,0,0,0,0,0
$GC,221,-1.28,-116.8,33.4,-15.9,26,229,0.10,2.47,0.00,0.000,6,0.107,0.016,2714,1781,3471,0,0,0,0,0,0
$GC,490,-1.28,-116.8,70.5,-12.3,51,494,0.00,2.45,0.00,0.000,4,0.000,0.025,2714,3331,3472,0,0,0,0,0,0
$GC,524,-1.28,-116.8,74.4,-9.9,53,529,0.00,2.45,0.00,0.000,6,0.000,0.028,2715,1796,3472,0,0,0,0,0,0
$GC,793,-1.28,-116.8,96.2,-9.2,77,798,0.00,2.70,0.00,0.000,4,0.000,0.061,2714,190,3473,0,0,0,0,0,0
$GC,848,-1.33,-116.8,102.1,-10.4,81,853,0.00,2.47,0.00,0.000,6,0.000,0.017,2714,1813,3473,0,0,0,0,0,0
$GC,1115,-1.33,-116.8,128.6,-10.7,105,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1814,3474,0,0,0,0,0,0
$GC,1381,-1.33,-116.8,155.7,-9.3,130,1386,0.00,2.75,0.00,0.000,4,0.000,0.060,2714,196,3475,0,0,0,0,0,0
$GC,1409,-1.33,-116.8,159.1,-10.4,132,1413,0.00,2.42,0.00,0.000,6,0.000,0.018,2714,1799,3475,0,0,0,0,0,0
$GC,1674,-1.37,-116.8,181.8,-8.7,156,1678,0.00,2.40,0.00,0.000,4,0.000,0.034,2714,3331,3475,0,0,0,0,0,0
$GC,1719,-1.46,-116.8,186.2,-9.0,159,1728,0.10,2.47,0.00,0.000,6,0.038,0.030,2669,1805,3475,0,0,0,0,0,0
$GC,1976,-1.41,-116.8,212.9,-10.6,175,1982,0.10,2.78,0.00,0.000,4,0.125,0.071,2690,189,3475,0,0,0,0,0,0
$GC,1999,-1.37,-116.8,215.6,-10.8,175,2003,0.00,2.50,0.00,0.000,6,0.000,0.018,2690,1817,3475,0,0,0,0,0,0
$GC,2253,-1.37,-116.8,243.5,-11.6,182,2258,0.00,2.78,0.00,0.000,4,0.000,0.070,2690,198,3475,0,0,0,0,0,0
$GC,2270,-1.37,-116.8,245.4,-11.5,182,2275,0.00,2.50,0.00,0.000,6,0.000,0.018,2690,1812,3475,0,0,0,0,0,0
$GC,2531,-1.37,-116.8,270.9,-9.1,189,2536,0.00,2.42,0.00,0.000,4,0.000,0.031,2690,3336,3473,0,0,0,0,0,0
$GC,2565,-1.42,-116.8,273.8,-8.4,189,2571,0.00,2.45,0.00,0.000,6,0.000,0.030,2690,1805,3474,0,0,0,0,0,0
$GC,2817,-1.42,-116.8,294.8,-9.0,196,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1805,3473,0,0,0,0,0,0
$GC,3058,-1.42,-116.8,319.8,-10.3,202,3062,0.00,2.45,0.00,0.000,4,0.000,0.037,2690,3337,3473,0,0,0,0,0,0
$GC,3080,-1.47,-116.8,322.2,-10.5,202,3084,0.00,2.47,0.00,0.000,6,0.000,0.035,2690,1824,3473,0,0,0,0,0,0
$GC,3337,-1.47,-116.8,348.3,-10.4,209,3342,0.00,2.92,0.00,0.000,4,0.000,0.086,2690,190,3471,0,0,0,0,0,0
$GC,3358,-1.47,-116.8,350.8,-10.3,209,3362,0.00,2.55,0.00,0.000,6,0.000,0.022,2690,1803,3471,0,0,0,0,0,0
$GC,3620,-1.51,-116.8,374.1,-8.6,216,3624,0.00,2.53,0.00,0.000,4,0.000,0.044,2690,3352,3470,0,0,0,0,0,0
$GC,3655,-1.57,-116.8,377.1,-9.0,216,3661,0.15,2.50,0.00,0.000,6,0.068,0.046,2643,1833,3470,0,0,0,0,0,0
$GC,3905,-1.52,-116.8,403.9,-11.0,223,3907,0.12,0.00,0.00,0.000,6,0.121,0.000,2668,1832,3469,0,0,0,0,0,0
$GC,4148,-1.52,-116.8,428.9,-10.1,229,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1832,3467,0,0,0,0,0,0
$GC,4394,-1.52,-116.8,450.2,-8.4,235,4398,0.00,2.50,0.00,0.000,4,0.000,0.044,2668,3346,3466,0,0,0,0,0,0
$GC,4419,-1.52,-116.8,452.3,-8.7,235,4423,0.00,2.55,0.00,0.000,6,0.000,0.053,2669,1837,3465,0,0,0,0,0,0
$GC,4674,-1.52,-116.8,473.8,-8.6,242,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1836,3464,0,0,0,0,0,0
$GC,4917,-1.52,-116.8,495.9,-9.1,248,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1836,3462,0,0,0,0,0,0
$STATE,4996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4996,begin apogee
$GC,5003,-0.31,0.0,504.0,9.5,250,5103,1.20,0.00,96.15,0.933,6,0.093,0.000,2930,1837,3001,0,0,0,0,0,0
$STATE,5104,end apogee,CONTROL_FINISHED_OK
$STATE,5104,begin climb
$GC,5106,1.38,116.8,506.5,0.0,252,5219,1.58,2.80,101.53,0.908,4,0.051,0.054,3309,3390,2522,0,0,0,0,0,0
$GC,5238,1.35,196.2,505.4,5.4,255,5314,0.00,2.72,69.70,0.891,6,0.000,0.057,3309,1832,2201,0,0,0,0,0,0
$GC,5566,1.25,196.2,471.4,10.9,264,5568,0.17,0.00,0.00,0.000,6,0.148,0.000,3275,1831,2192,0,0,0,0,0,0
$GC,5811,1.28,213.8,449.3,9.0,270,5828,0.00,0.00,15.30,0.830,6,0.000,0.000,3275,1831,2129,0,0,0,0,0,0
$GC,6055,1.28,213.8,424.3,10.3,276,6059,0.00,2.60,0.00,0.000,4,0.000,0.037,3275,3405,2125,0,0,0,0,0,0
$GC,6081,1.28,213.8,421.1,10.8,276,6086,0.00,2.72,0.00,0.000,6,0.000,0.051,3275,1815,2124,0,0,0,0,0,0
$GC,6338,1.28,213.8,393.2,11.0,283,6343,0.00,2.92,0.00,0.000,4,0.000,0.094,3275,229,2123,0,0,0,0,0,0
$GC,6366,1.21,213.8,389.9,11.6,283,6370,0.00,2.55,0.00,0.000,6,0.000,0.027,3275,1817,2121,0,0,0,0,0,0
$GC,6616,1.23,230.0,366.3,9.1,289,6636,0.00,2.62,14.85,0.805,4,0.000,0.038,3275,3407,2062,0,0,0,0,0,0
$GC,6688,1.28,234.4,359.7,9.8,290,6699,0.00,2.70,5.57,0.649,6,0.000,0.049,3275,1817,2045,0,0,0,0,0,0
$GC,6943,1.30,247.8,336.1,9.3,297,6962,0.00,2.90,13.52,0.779,4,0.000,0.078,3274,240,1989,0,0,0,0,0,0
$GC,6987,1.25,247.8,331.4,11.0,298,6992,0.00,2.55,0.00,0.000,6,0.000,0.020,3275,1827,1988,0,0,0,0,0,0
$GC,7272,1.26,254.0,303.3,9.7,305,7285,0.00,2.58,6.45,0.667,4,0.000,0.036,3275,3398,1966,0,0,0,0,0,0
$GC,7292,1.27,267.6,301.2,9.3,305,7313,0.00,2.65,14.23,0.755,6,0.000,0.039,3275,1820,1910,0,0,0,0,0,0
$GC,7558,1.27,267.6,274.8,10.1,312,7563,0.00,2.83,0.00,0.000,4,0.000,0.074,3275,237,1906,0,0,0,0,0,0
$GC,7579,1.27,267.6,272.1,11.8,312,7584,0.00,2.53,0.00,0.000,6,0.000,0.027,3275,1836,1904,0,0,0,0,0,0
$GC,7841,1.32,270.6,245.7,9.9,319,7846,0.00,2.80,0.00,0.000,4,0.000,0.072,3275,238,1903,0,0,0,0,0,0
$GC,7857,1.32,271.4,243.9,10.0,319,7866,0.00,2.50,4.15,0.518,6,0.000,0.027,3275,1827,1894,0,0,0,0,0,0
$GC,8124,1.39,271.4,215.9,11.1,326,8130,0.12,2.80,0.00,0.000,4,0.088,0.067,3307,237,1892,0,0,0,0,0,0
$GC,8175,1.32,271.4,208.9,13.8,327,8179,0.00,2.50,0.00,0.000,6,0.000,0.021,3307,1814,1892,0,0,0,0,0,0
$GC,8434,1.32,271.4,179.6,11.3,344,8438,0.00,2.53,0.00,0.000,4,0.000,0.032,3307,3396,1892,0,0,0,0,0,0
$GC,8474,1.37,271.4,174.7,12.2,347,8479,0.00,2.60,0.00,0.000,6,0.000,0.041,3307,1815,1891,0,0,0,0,0,0
$GC,8743,1.38,276.4,146.7,9.7,371,8750,0.00,0.00,5.75,0.548,6,0.000,0.000,3307,1815,1874,0,0,0,0,0,0
$GC,9005,1.38,276.4,121.1,10.3,396,9009,0.00,2.55,0.00,0.000,4,0.000,0.033,3307,3392,1873,0,0,0,0,0,0
$GC,9036,1.44,276.4,117.7,11.4,398,9040,0.00,2.60,0.00,0.000,6,0.000,0.043,3307,1813,1872,0,0,0,0,0,0
$GC,9299,1.44,279.3,92.0,9.9,422,9313,0.00,2.78,4.12,0.439,4,0.000,0.069,3307,241,1862,0,0,0,0,0,0
$GC,9366,1.44,279.3,85.2,10.6,427,9370,0.00,2.47,0.00,0.000,6,0.000,0.021,3306,1828,1861,0,0,0,0,0,0
$GC,9634,1.59,329.6,66.6,7.1,451,9687,0.17,2.55,45.05,0.598,4,0.137,0.028,3353,3394,1657,0,0,0,0,0,0
$GC,9779,1.68,340.3,53.4,9.4,462,9794,0.00,2.60,10.38,0.532,6,0.000,0.037,3353,1829,1613,0,0,0,0,0,0
$GC,10056,1.68,340.3,26.6,10.8,489,10065,0.00,2.75,0.00,0.000,4,0.000,0.060,3353,244,1609,0,0,0,0,0,0
$GC,10091,1.65,340.3,22.6,12.0,493,10101,0.00,2.50,0.00,0.000,6,0.000,0.019,3353,1825,1608,0,0,0,0,0,0
$STATE,10259,end climb,SURFACE_DEPTH_REACHED
$STATE,10261,begin surface coast
$FINISH,0.2,1.010562
$STATE,10310,end surface coast,CONTROL_FINISHED_OK
$STATE,10311,begin surface
$SM_CCo,10332,72.18,0.458,1,0,1287,420.20
$SM_GC,1.02,0.00,0.00,72.18,0.000,0.000,0.458,475,1749,1287,-11.62,-0.59,420.20
$IRIDIUM_FIX,2244.02,-15748.90,140100,151533
$TT8_MAMPS,0.026078
$HUMID,53.58
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.60
$XPDR_PINGS,104
$24V_AH,23.3,63.684
$10V_AH,10.0,60.676
$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,27.350,135.425,406.750,72.175,0.000,26.976,34.800,283.006,26.000,0.000,30.232,1046.170,6737.900,537.659,1936.830,653.259,33.369,1264.467,0.000,1926.246,0.000,0.533,0.000
$DEVICE_MAMPS,156.468,96.642,932.672,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.310,307.435,406.110,779.221,1179.273,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,41479,524
$CAP_FILE_SIZE,111596,0
$CFSIZE,260165632,155545600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201010,205337,2252.458,-15749.969,24,1.4,24,10.1