version: 66.06
glider: 146
mission: 5
dive: 462
start: 10 21 110 3 0 49
data:
$ID,146
$MISSION,5
$DIVE,462
$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,-258494.34
$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,51
$R_STBD_OVSHOOT,51
$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
$GPS1,025128,2251.038,-15751.996,10,99.0,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.4
$GPS2,025954,2251.044,-15751.991,27,1.8,40,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.187,-0.142
$KALMAN_X,-261091.8,-59.3,0.1,293184.1,208.5
$KALMAN_Y,-607687.4,88.6,-349.0,738443.2,501.0
$MHEAD_RNG_PITCHd_Wd,222.7,5879,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-78.38,0.000,2,0.000,0.000,477,1740,3207,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.0,-5.1,10,126,11.52,2.60,-5.35,0.000,4,0.148,0.062,2691,222,3479,0,0,0,0,0,0
$GC,218,-1.24,-116.8,27.9,-16.4,26,226,0.15,2.42,0.00,0.000,6,0.107,0.016,2724,1786,3480,0,0,0,0,0,0
$GC,487,-1.20,-116.8,63.2,-11.8,51,492,0.00,2.42,0.00,0.000,4,0.000,0.023,2724,3328,3481,0,0,0,0,0,0
$GC,509,-1.20,-116.8,66.5,-12.2,52,513,0.00,2.47,0.00,0.000,6,0.000,0.028,2724,1794,3481,0,0,0,0,0,0
$GC,773,-1.20,-116.8,94.7,-8.9,76,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1794,3482,0,0,0,0,0,0
$GC,1039,-1.25,-116.8,115.8,-7.6,101,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1794,3483,0,0,0,0,0,0
$GC,1302,-1.30,-116.8,141.1,-10.5,126,1306,0.00,2.70,0.00,0.000,4,0.000,0.061,2724,194,3484,0,0,0,0,0,0
$GC,1348,-1.37,-116.8,146.4,-11.2,129,1354,0.10,2.42,0.00,0.000,6,0.083,0.016,2688,1789,3484,0,0,0,0,0,0
$GC,1616,-1.37,-116.8,173.0,-9.6,154,1620,0.00,2.42,0.00,0.000,4,0.000,0.031,2688,3324,3484,0,0,0,0,0,0
$GC,1680,-1.41,-116.8,179.8,-9.6,159,1685,0.00,2.42,0.00,0.000,6,0.000,0.035,2688,1797,3484,0,0,0,0,0,0
$GC,1969,-1.41,-116.8,209.1,-10.5,180,1974,0.00,2.75,0.00,0.000,4,0.000,0.064,2687,197,3484,0,0,0,0,0,0
$GC,1987,-1.41,-116.8,210.9,-10.6,180,1991,0.00,2.45,0.00,0.000,6,0.000,0.022,2687,1797,3484,0,0,0,0,0,0
$GC,2247,-1.41,-116.8,239.5,-11.0,187,2251,0.00,2.42,0.00,0.000,4,0.000,0.028,2687,3330,3484,0,0,0,0,0,0
$GC,2268,-1.41,-116.8,242.0,-11.0,187,2272,0.00,2.47,0.00,0.000,6,0.000,0.034,2687,1792,3484,0,0,0,0,0,0
$GC,2531,-1.41,-116.8,267.2,-9.2,194,2536,0.00,2.78,0.00,0.000,4,0.000,0.071,2687,196,3484,0,0,0,0,0,0
$GC,2541,-1.41,-116.8,268.2,-8.8,194,2546,0.00,2.45,0.00,0.000,6,0.000,0.019,2687,1786,3483,0,0,0,0,0,0
$GC,2808,-1.41,-116.8,291.2,-9.1,201,2813,0.00,2.75,0.00,0.000,4,0.000,0.067,2687,195,3483,0,0,0,0,0,0
$GC,2837,-1.41,-116.8,294.4,-11.2,201,2841,0.00,2.50,0.00,0.000,6,0.000,0.019,2688,1787,3483,0,0,0,0,0,0
$GC,3087,-1.41,-116.8,319.7,-10.0,207,3091,0.00,2.50,0.00,0.000,4,0.000,0.038,2687,3350,3482,0,0,0,0,0,0
$GC,3102,-1.41,-116.8,321.3,-9.8,207,3107,0.00,2.53,0.00,0.000,6,0.000,0.038,2687,1803,3482,0,0,0,0,0,0
$GC,3365,-1.41,-116.8,347.0,-10.0,214,3369,0.00,2.47,0.00,0.000,4,0.000,0.031,2687,3346,3481,0,0,0,0,0,0
$GC,3386,-1.45,-116.8,349.4,-10.1,214,3391,0.00,2.55,0.00,0.000,6,0.000,0.039,2687,1805,3480,0,0,0,0,0,0
$GC,3642,-1.45,-116.8,373.3,-9.2,221,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1805,3479,0,0,0,0,0,0
$GC,3887,-1.45,-116.8,395.9,-9.3,227,3891,0.00,2.47,0.00,0.000,4,0.000,0.040,2687,3347,3477,0,0,0,0,0,0
$GC,3927,-1.53,-116.8,399.7,-9.1,228,3932,0.00,2.58,0.00,0.000,6,0.000,0.048,2687,1815,3478,0,0,0,0,0,0
$GC,4211,-1.57,-116.8,424.5,-8.6,235,4213,0.12,0.00,0.00,0.000,6,0.068,0.000,2637,1815,3476,0,0,0,0,0,0
$GC,4456,-1.51,-116.8,448.7,-10.0,241,4458,0.15,0.00,0.00,0.000,6,0.112,0.000,2669,1815,3475,0,0,0,0,0,0
$GC,4698,-1.51,-116.8,471.6,-9.5,247,4702,0.00,2.53,0.00,0.000,4,0.000,0.050,2669,3337,3473,0,0,0,0,0,0
$GC,4739,-1.55,-116.8,475.4,-9.9,248,4744,0.00,2.58,0.00,0.000,6,0.000,0.057,2669,1826,3473,0,0,0,0,0,0
$STATE,5021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5021,begin apogee
$GC,5028,-0.31,0.0,503.3,9.7,255,5129,1.20,0.00,97.18,0.924,6,0.090,0.000,2930,1826,3001,0,0,0,0,0,0
$STATE,5129,end apogee,CONTROL_FINISHED_OK
$STATE,5130,begin climb
$GC,5132,1.38,116.8,505.6,0.0,257,5246,1.55,2.75,100.80,0.902,4,0.049,0.056,3309,3385,2522,0,0,0,0,0,0
$GC,5252,1.35,196.6,505.4,5.4,259,5327,0.00,2.72,69.53,0.887,6,0.000,0.061,3309,1823,2198,0,0,0,0,0,0
$GC,5581,1.25,196.6,468.0,12.0,268,5586,0.17,2.60,0.00,0.000,4,0.146,0.038,3275,3388,2189,0,0,0,0,0,0
$GC,5597,1.19,196.6,465.9,11.6,268,5602,0.00,2.70,0.00,0.000,6,0.000,0.055,3275,1819,2188,0,0,0,0,0,0
$GC,5858,1.20,206.4,440.6,9.5,275,5872,0.00,2.65,8.15,0.749,4,0.000,0.037,3275,3386,2158,0,0,0,0,0,0
$GC,5897,1.21,214.6,436.9,9.6,275,5911,0.00,2.67,8.93,0.760,6,0.000,0.057,3275,1832,2126,0,0,0,0,0,0
$GC,6191,1.21,215.5,407.8,10.0,283,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1832,2122,0,0,0,0,0,0
$GC,6435,1.22,221.2,384.0,9.7,289,6443,0.00,0.00,6.68,0.704,6,0.000,0.000,3275,1832,2099,0,0,0,0,0,0
$GC,6680,1.23,227.1,360.3,9.7,295,6693,0.00,2.55,6.43,0.689,4,0.000,0.035,3275,3394,2075,0,0,0,0,0,0
$GC,6723,1.27,227.1,355.8,10.3,296,6728,0.00,2.65,0.00,0.000,6,0.000,0.044,3275,1826,2075,0,0,0,0,0,0
$GC,7007,1.28,235.4,328.5,9.6,303,7021,0.00,2.62,9.07,0.736,4,0.000,0.038,3275,3392,2041,0,0,0,0,0,0
$GC,7045,1.28,242.7,325.0,9.6,303,7059,0.00,2.60,8.65,0.718,6,0.000,0.040,3275,1843,2010,0,0,0,0,0,0
$GC,7340,1.30,256.0,297.4,9.3,311,7359,0.00,2.92,13.00,0.753,4,0.000,0.080,3275,240,1956,0,0,0,0,0,0
$GC,7400,1.26,256.0,290.9,11.9,312,7404,0.00,2.55,0.00,0.000,6,0.000,0.025,3275,1838,1954,0,0,0,0,0,0
$GC,7666,1.27,259.3,264.0,9.8,319,7676,0.00,2.58,3.80,0.496,4,0.000,0.032,3275,3395,1944,0,0,0,0,0,0
$GC,7688,1.32,265.8,261.9,9.7,319,7702,0.00,2.60,8.05,0.676,6,0.000,0.037,3275,1831,1916,0,0,0,0,0,0
$GC,7955,1.40,291.6,238.8,8.6,326,7985,0.12,2.85,23.98,0.741,4,0.088,0.071,3307,240,1811,0,0,0,0,0,0
$GC,8008,1.33,291.6,232.9,12.2,327,8012,0.00,2.58,0.00,0.000,6,0.000,0.026,3307,1850,1809,0,0,0,0,0,0
$GC,8275,1.33,291.6,204.3,11.0,334,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1851,1806,0,0,0,0,0,0
$GC,8531,1.33,291.6,174.6,11.7,355,8535,0.00,2.47,0.00,0.000,4,0.000,0.030,3307,3392,1806,0,0,0,0,0,0
$GC,8552,1.33,291.6,171.5,12.3,356,8557,0.00,2.58,0.00,0.000,6,0.000,0.037,3307,1827,1804,0,0,0,0,0,0
$GC,8820,1.34,299.5,144.5,9.6,381,8834,0.00,2.80,7.47,0.590,4,0.000,0.065,3307,247,1778,0,0,0,0,0,0
$GC,8854,1.30,299.5,140.3,10.8,384,8860,0.12,2.50,0.00,0.000,6,0.123,0.020,3282,1830,1778,0,0,0,0,0,0
$GC,9116,1.39,313.2,116.7,9.3,408,9135,0.00,2.80,13.48,0.619,4,0.000,0.065,3282,240,1722,0,0,0,0,0,0
$GC,9162,1.39,313.2,112.3,10.7,411,9166,0.00,2.47,0.00,0.000,6,0.000,0.022,3282,1811,1721,0,0,0,0,0,0
$GC,9430,1.50,330.7,86.3,9.0,435,9455,0.17,2.58,16.33,0.599,4,0.068,0.027,3329,3382,1652,0,0,0,0,0,0
$GC,9482,1.54,330.7,80.8,10.8,439,9487,0.00,2.60,0.00,0.000,6,0.000,0.036,3329,1815,1651,0,0,0,0,0,0
$GC,9750,1.57,347.5,55.2,9.1,463,9778,0.00,2.80,15.43,0.566,4,0.000,0.061,3329,236,1583,0,0,0,0,0,0
$GC,9808,1.57,347.5,48.8,12.4,467,9812,0.00,2.45,0.00,0.000,6,0.000,0.019,3329,1804,1581,0,0,0,0,0,0
$GC,10094,1.63,351.6,20.6,9.8,497,10105,0.10,2.53,4.97,0.426,4,0.094,0.025,3358,3391,1565,0,0,0,0,0,0
$GC,10152,1.71,351.6,14.4,11.3,504,10161,0.00,2.65,0.00,0.000,6,0.000,0.037,3358,1801,1565,0,0,0,0,0,0
$STATE,10243,end climb,SURFACE_DEPTH_REACHED
$STATE,10243,begin surface coast
$FINISH,0.3,1.023382
$STATE,10289,end surface coast,CONTROL_FINISHED_OK
$STATE,10289,begin surface
$SM_CCo,10310,63.03,0.454,1,0,1288,420.20
$SM_GC,0.92,0.00,0.00,63.03,0.000,0.000,0.454,476,1798,1288,-11.61,0.79,420.20
$IRIDIUM_FIX,2241.69,-15749.78,150100,000023
$TT8_MAMPS,0.026078
$HUMID,53.97
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.10
$XPDR_PINGS,97
$24V_AH,23.3,64.070
$10V_AH,10.0,61.017
$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,27.275,134.500,421.900,63.025,0.000,29.279,33.057,278.197,24.250,0.000,41.747,1056.751,6662.615,537.149,1978.657,649.577,33.370,1278.221,0.000,1956.544,0.000,0.534,0.000
$DEVICE_MAMPS,148.031,79.768,924.235,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.899,299.725,406.242,775.476,1169.584,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,41531,523
$CAP_FILE_SIZE,113845,0
$CFSIZE,260165632,155381760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211010,055506,2250.085,-15752.743,33,1.0,37,10.1