version: 66.06
glider: 146
mission: 5
dive: 460
start: 10 20 110 21 2 45
data:
$ID,146
$MISSION,5
$DIVE,460
$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,-258419.97
$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,58
$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
$GPS1,205337,2252.458,-15749.969,24,1.4,24,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.9
$GPS2,210149,2252.497,-15749.885,8,1.4,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.208,-0.110
$KALMAN_X,-261707.1,-95.0,155.1,297308.3,-12.8
$KALMAN_Y,-607535.2,-195.4,301.1,740623.6,-220.0
$MHEAD_RNG_PITCHd_Wd,232.0,10348,-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,16,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-86.43,0.000,6,0.000,0.000,475,1749,3478,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.3,-8.9,11,127,11.90,2.60,0.00,0.000,4,0.161,0.051,2690,203,3481,0,0,0,0,0,0
$GC,222,-1.28,-116.8,32.8,-15.2,26,227,0.15,2.42,0.00,0.000,6,0.129,0.015,2719,1779,3481,0,0,0,0,0,0
$GC,490,-1.23,-116.8,70.5,-12.3,50,494,0.00,2.45,0.00,0.000,4,0.000,0.031,2719,3329,3482,0,0,0,0,0,0
$GC,501,-1.23,-116.8,72.9,-11.9,50,510,0.00,2.50,0.00,0.000,6,0.000,0.026,2719,1783,3483,0,0,0,0,0,0
$GC,770,-1.26,-116.8,101.7,-9.8,75,774,0.00,2.70,0.00,0.000,4,0.000,0.055,2720,189,3483,0,0,0,0,0,0
$GC,787,-1.26,-116.8,104.1,-9.9,76,791,0.00,2.38,0.00,0.000,6,0.000,0.015,2719,1759,3483,0,0,0,0,0,0
$GC,1052,-1.30,-116.8,127.8,-9.4,100,1056,0.00,2.45,0.00,0.000,4,0.000,0.032,2719,3311,3484,0,0,0,0,0,0
$GC,1073,-1.35,-116.8,129.8,-9.4,101,1077,0.00,2.55,0.00,0.000,6,0.000,0.033,2720,1729,3484,0,0,0,0,0,0
$GC,1336,-1.39,-116.8,155.3,-9.3,125,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1727,3485,0,0,0,0,0,0
$GC,1590,-1.44,-116.8,181.1,-10.6,149,1596,0.15,2.55,0.00,0.000,4,0.065,0.025,2672,3320,3485,0,0,0,0,0,0
$GC,1624,-1.44,-116.8,184.7,-12.5,151,1628,0.00,2.55,0.00,0.000,6,0.000,0.031,2671,1741,3485,0,0,0,0,0,0
$GC,1911,-1.39,-116.8,221.4,-12.3,166,1913,0.12,0.00,0.00,0.000,6,0.225,0.000,2697,1738,3485,0,0,0,0,0,0
$GC,2153,-1.39,-116.8,244.5,-9.2,172,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1738,3485,0,0,0,0,0,0
$GC,2397,-1.39,-116.8,265.6,-8.8,178,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1738,3484,0,0,0,0,0,0
$GC,2642,-1.39,-116.8,288.6,-9.4,184,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1738,3484,0,0,0,0,0,0
$GC,2885,-1.43,-116.8,309.6,-8.5,190,2889,0.00,2.50,0.00,0.000,4,0.000,0.031,2697,3307,3482,0,0,0,0,0,0
$GC,2906,-1.48,-116.8,311.5,-8.7,190,2911,0.00,2.55,0.00,0.000,6,0.000,0.037,2697,1751,3483,0,0,0,0,0,0
$GC,3164,-1.52,-116.8,334.9,-9.5,197,3169,0.12,2.80,0.00,0.000,4,0.077,0.087,2654,189,3482,0,0,0,0,0,0
$GC,3180,-1.52,-116.8,337.1,-9.8,197,3184,0.00,2.38,0.00,0.000,6,0.000,0.021,2654,1709,3482,0,0,0,0,0,0
$GC,3441,-1.48,-116.8,366.2,-11.0,204,3446,0.10,2.60,0.00,0.000,4,0.127,0.039,2674,3315,3481,0,0,0,0,0,0
$GC,3493,-1.53,-116.8,371.5,-9.8,205,3497,0.00,2.60,0.00,0.000,6,0.000,0.051,2674,1760,3480,0,0,0,0,0,0
$GC,3765,-1.53,-116.8,398.8,-10.0,212,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1760,3478,0,0,0,0,0,0
$GC,4008,-1.53,-116.8,423.4,-10.1,218,4012,0.00,2.53,0.00,0.000,4,0.000,0.046,2674,3309,3477,0,0,0,0,0,0
$GC,4036,-1.53,-116.8,426.3,-10.7,218,4041,0.00,2.62,0.00,0.000,6,0.000,0.054,2674,1765,3477,0,0,0,0,0,0
$GC,4286,-1.53,-116.8,452.5,-10.5,224,4290,0.00,2.53,0.00,0.000,4,0.000,0.044,2674,3308,3475,0,0,0,0,0,0
$GC,4307,-1.53,-116.8,454.8,-10.1,224,4311,0.00,2.65,0.00,0.000,6,0.000,0.059,2674,1756,3475,0,0,0,0,0,0
$GC,4562,-1.53,-116.8,478.8,-9.1,231,4567,0.00,2.58,0.00,0.000,4,0.000,0.044,2674,3307,3473,0,0,0,0,0,0
$GC,4604,-1.60,-116.8,482.4,-8.2,232,4609,0.00,2.62,0.00,0.000,6,0.000,0.058,2674,1774,3473,0,0,0,0,0,0
$STATE,4845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4845,begin apogee
$GC,4850,-0.31,0.0,502.1,8.3,238,4952,1.17,0.00,98.03,0.927,6,0.088,0.000,2931,1773,3001,0,0,0,0,0,0
$STATE,4953,end apogee,CONTROL_FINISHED_OK
$STATE,4953,begin climb
$GC,4957,1.38,116.8,503.6,0.0,240,5069,1.55,2.78,101.68,0.904,4,0.051,0.056,3307,3350,2523,0,0,0,0,0,0
$GC,5103,1.33,177.8,500.6,6.5,243,5164,0.00,2.65,53.67,0.884,6,0.000,0.061,3307,1821,2275,0,0,0,0,0,0
$GC,5412,1.24,186.8,472.6,9.5,251,5423,0.17,0.00,8.07,0.749,6,0.211,0.000,3273,1820,2239,0,0,0,0,0,0
$GC,5652,1.25,198.9,450.1,9.3,257,5671,0.00,2.62,11.93,0.806,4,0.000,0.038,3273,3356,2188,0,0,0,0,0,0
$GC,5707,1.25,198.9,444.5,10.3,258,5711,0.00,2.67,0.00,0.000,6,0.000,0.058,3273,1811,2187,0,0,0,0,0,0
$GC,5978,1.27,213.4,418.7,9.2,265,5998,0.00,2.60,13.82,0.815,4,0.000,0.038,3273,3351,2130,0,0,0,0,0,0
$GC,6050,1.27,213.4,412.1,10.2,266,6055,0.00,2.62,0.00,0.000,6,0.000,0.056,3273,1819,2129,0,0,0,0,0,0
$GC,6305,1.28,220.4,387.7,9.6,273,6314,0.00,0.00,7.38,0.726,6,0.000,0.000,3273,1819,2102,0,0,0,0,0,0
$GC,6549,1.30,236.6,364.9,9.1,279,6570,0.00,2.55,15.98,0.807,4,0.000,0.037,3273,3357,2035,0,0,0,0,0,0
$GC,6589,1.32,249.3,361.2,9.3,280,6609,0.00,2.60,13.15,0.781,6,0.000,0.044,3273,1823,1983,0,0,0,0,0,0
$GC,6876,1.32,249.3,332.2,10.3,287,6880,0.00,2.50,0.00,0.000,4,0.000,0.033,3273,3362,1978,0,0,0,0,0,0
$GC,6897,1.32,250.7,329.9,10.0,287,6902,0.00,2.58,0.00,0.000,6,0.000,0.048,3273,1831,1977,0,0,0,0,0,0
$GC,7155,1.32,253.3,304.7,9.9,294,7159,0.00,2.47,0.00,0.000,4,0.000,0.031,3273,3360,1976,0,0,0,0,0,0
$GC,7171,1.32,255.3,302.7,9.9,294,7182,0.00,2.53,5.62,0.637,6,0.000,0.038,3273,1839,1960,0,0,0,0,0,0
$GC,7433,1.35,279.7,279.2,8.6,301,7458,0.00,0.00,23.60,0.775,6,0.000,0.000,3273,1839,1860,0,0,0,0,0,0
$GC,7678,1.41,287.8,256.4,9.6,307,7693,0.15,2.88,8.10,0.676,4,0.081,0.072,3311,244,1826,0,0,0,0,0,0
$GC,7727,1.32,287.8,249.9,13.7,308,7732,0.12,2.47,0.00,0.000,6,0.130,0.021,3289,1800,1826,0,0,0,0,0,0
$GC,8006,1.32,287.8,217.1,12.2,315,8011,0.00,2.58,0.00,0.000,4,0.000,0.034,3289,3390,1824,0,0,0,0,0,0
$GC,8028,1.38,287.8,214.1,11.9,315,8033,0.00,2.58,0.00,0.000,6,0.000,0.042,3288,1837,1822,0,0,0,0,0,0
$GC,8293,1.40,306.4,186.7,9.0,331,8313,0.00,0.00,17.35,0.693,6,0.000,0.000,3288,1837,1751,0,0,0,0,0,0
$GC,8566,1.45,306.4,161.4,10.1,357,8571,0.12,2.53,0.00,0.000,4,0.083,0.035,3323,3400,1747,0,0,0,0,0,0
$GC,8624,1.50,306.4,154.4,12.2,361,8630,0.00,2.60,0.00,0.000,6,0.000,0.038,3323,1831,1746,0,0,0,0,0,0
$GC,8888,1.50,306.4,123.6,11.8,386,8893,0.00,2.75,0.00,0.000,4,0.000,0.065,3323,241,1746,0,0,0,0,0,0
$GC,8910,1.45,306.4,121.1,12.3,387,8915,0.00,2.53,0.00,0.000,6,0.000,0.025,3323,1845,1745,0,0,0,0,0,0
$GC,9178,1.45,311.6,91.5,9.7,411,9185,0.00,0.00,5.30,0.498,6,0.000,0.000,3323,1847,1730,0,0,0,0,0,0
$GC,9445,1.53,322.2,64.6,9.4,436,9463,0.00,2.53,10.98,0.565,4,0.000,0.029,3323,3380,1686,0,0,0,0,0,0
$GC,9513,1.73,358.8,59.1,7.9,441,9556,0.22,2.58,32.92,0.591,6,0.063,0.035,3380,1817,1536,0,0,0,0,0,0
$GC,9821,1.73,358.8,24.0,13.2,471,9830,0.00,2.72,0.00,0.000,4,0.000,0.060,3380,248,1531,0,0,0,0,0,0
$GC,9842,1.67,358.8,21.2,13.5,473,9851,0.00,2.53,0.00,0.000,6,0.000,0.020,3380,1839,1531,0,0,0,0,0,0
$STATE,9974,end climb,SURFACE_DEPTH_REACHED
$STATE,9974,begin surface coast
$FINISH,0.3,0.999169
$STATE,10019,end surface coast,CONTROL_FINISHED_OK
$STATE,10019,begin surface
$SM_CCo,10041,58.80,0.447,1,0,1288,420.20
$SM_GC,1.11,0.00,0.00,58.80,0.000,0.000,0.447,477,1742,1288,-11.61,-0.79,420.20
$IRIDIUM_FIX,2244.02,-15746.73,140100,181842
$TT8_MAMPS,0.026078
$HUMID,54.88
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,20.10
$XPDR_PINGS,75
$24V_AH,23.3,63.813
$10V_AH,10.0,60.786
$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,27.950,118.650,427.575,58.800,0.000,29.378,36.942,280.608,18.750,0.000,15.070,1008.404,6614.494,535.484,1787.135,654.729,33.369,1221.641,0.000,1796.114,0.000,0.534,0.000
$DEVICE_MAMPS,224.731,86.671,927.303,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.265,287.397,382.139,706.122,1068.064,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,38485,498
$CAP_FILE_SIZE,107269,0
$CFSIZE,260165632,155496448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201010,235222,2251.590,-15750.998,10,99.0,29,10.1