version: 66.06
glider: 146
mission: 5
dive: 463
start: 10 21 110 6 3 52
data:
$ID,146
$MISSION,5
$DIVE,463
$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,-258509.45
$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,24
$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
$GPS1,055506,2250.085,-15752.743,33,1.0,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-67.7
$GPS2,060256,2250.065,-15752.722,13,1.1,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.230,-0.046
$KALMAN_X,-260600.4,128.0,-81.0,291330.1,573.2
$KALMAN_Y,-608354.9,83.7,-44.0,737008.8,-4.7
$MHEAD_RNG_PITCHd_Wd,248.6,4028,-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,-116.8,0.0,0.0,0,103,0.00,0.00,-85.68,0.000,2,0.000,0.000,475,1797,3467,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.5,-9.9,11,126,11.48,2.45,0.00,0.000,4,0.146,0.020,2687,3356,3470,0,0,0,0,0,0
$GC,246,-1.32,-116.8,34.5,-14.1,29,252,0.12,2.60,0.00,0.000,6,0.222,0.030,2711,1761,3471,0,0,0,0,0,0
$GC,514,-1.32,-116.8,69.0,-11.3,53,518,0.00,2.53,0.00,0.000,4,0.000,0.023,2711,3350,3472,0,0,0,0,0,0
$GC,525,-1.32,-116.8,71.0,-11.2,53,534,0.00,2.55,0.00,0.000,6,0.000,0.026,2711,1770,3472,0,0,0,0,0,0
$GC,786,-1.32,-116.8,99.3,-10.7,78,791,0.00,2.67,0.00,0.000,4,0.000,0.058,2711,193,3473,0,0,0,0,0,0
$GC,808,-1.32,-116.8,101.3,-11.1,79,813,0.00,2.45,0.00,0.000,6,0.000,0.018,2711,1808,3473,0,0,0,0,0,0
$GC,1075,-1.32,-116.8,127.8,-9.0,103,1079,0.00,2.38,0.00,0.000,4,0.000,0.028,2711,3320,3474,0,0,0,0,0,0
$GC,1094,-1.32,-116.8,129.7,-8.8,104,1098,0.00,2.47,0.00,0.000,6,0.000,0.027,2711,1777,3474,0,0,0,0,0,0
$GC,1356,-1.32,-116.8,153.5,-8.4,128,1361,0.00,2.70,0.00,0.000,4,0.000,0.061,2711,189,3475,0,0,0,0,0,0
$GC,1388,-1.32,-116.8,156.3,-9.8,130,1392,0.00,2.40,0.00,0.000,6,0.000,0.021,2711,1763,3475,0,0,0,0,0,0
$GC,1656,-1.32,-116.8,181.3,-10.2,154,1660,0.00,2.45,0.00,0.000,4,0.000,0.025,2711,3329,3475,0,0,0,0,0,0
$GC,1699,-1.40,-116.8,186.0,-10.1,157,1704,0.00,2.50,0.00,0.000,6,0.000,0.034,2711,1773,3475,0,0,0,0,0,0
$GC,1980,-1.40,-116.8,210.9,-8.3,174,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1771,3475,0,0,0,0,0,0
$GC,2220,-1.44,-116.8,228.7,-7.4,180,2225,0.12,2.45,0.00,0.000,4,0.073,0.032,2671,3321,3474,0,0,0,0,0,0
$GC,2238,-1.44,-116.8,230.1,-7.7,180,2242,0.00,2.47,0.00,0.000,6,0.000,0.030,2671,1784,3474,0,0,0,0,0,0
$GC,2500,-1.44,-116.8,256.3,-10.3,187,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1784,3474,0,0,0,0,0,0
$GC,2742,-1.44,-116.8,285.7,-12.0,193,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1784,3473,0,0,0,0,0,0
$GC,2986,-1.44,-116.8,311.8,-10.5,199,2990,0.00,2.78,0.00,0.000,4,0.000,0.077,2670,197,3472,0,0,0,0,0,0
$GC,3029,-1.44,-116.8,316.6,-10.9,200,3033,0.00,2.45,0.00,0.000,6,0.000,0.022,2670,1754,3472,0,0,0,0,0,0
$GC,3309,-1.44,-116.8,343.1,-9.5,207,3314,0.00,2.58,0.00,0.000,4,0.000,0.041,2670,3353,3472,0,0,0,0,0,0
$GC,3342,-1.44,-116.8,346.6,-9.6,207,3348,0.00,2.60,0.00,0.000,6,0.000,0.044,2670,1786,3472,0,0,0,0,0,0
$GC,3592,-1.44,-116.8,372.8,-10.6,214,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1786,3470,0,0,0,0,0,0
$GC,3838,-1.44,-116.8,397.3,-9.8,220,3842,0.00,2.55,0.00,0.000,4,0.000,0.043,2670,3348,3468,0,0,0,0,0,0
$GC,3877,-1.48,-116.8,401.2,-9.5,221,3882,0.00,2.62,0.00,0.000,6,0.000,0.048,2670,1788,3468,0,0,0,0,0,0
$GC,4161,-1.48,-116.8,426.3,-8.8,228,4165,0.00,2.58,0.00,0.000,4,0.000,0.041,2670,3351,3467,0,0,0,0,0,0
$GC,4178,-1.48,-116.8,427.9,-9.1,228,4182,0.00,2.65,0.00,0.000,6,0.000,0.055,2670,1786,3467,0,0,0,0,0,0
$GC,4442,-1.48,-116.8,453.6,-10.0,235,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1786,3465,0,0,0,0,0,0
$GC,4682,-1.48,-116.8,479.4,-10.5,241,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1786,3463,0,0,0,0,0,0
$STATE,4923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4924,begin apogee
$GC,4931,-0.31,0.0,503.3,9.6,247,5030,1.17,0.00,95.20,0.926,6,0.084,0.000,2930,1786,3001,0,0,0,0,0,0
$STATE,5030,end apogee,CONTROL_FINISHED_OK
$STATE,5031,begin climb
$GC,5033,1.38,116.8,505.5,0.0,249,5147,1.55,2.85,100.62,0.903,4,0.048,0.059,3308,3386,2523,0,0,0,0,0,0
$GC,5181,1.30,149.8,502.0,8.1,252,5216,0.12,2.72,28.83,0.866,6,0.134,0.057,3285,1823,2390,0,0,0,0,0,0
$GC,5489,1.24,158.4,472.3,9.5,260,5498,0.00,0.00,7.70,0.741,6,0.000,0.000,3285,1822,2355,0,0,0,0,0,0
$GC,5734,1.22,193.5,452.0,8.0,266,5771,0.00,0.00,32.20,0.867,6,0.000,0.000,3286,1822,2211,0,0,0,0,0,0
$GC,6016,1.20,215.4,427.4,8.8,273,6043,0.12,2.65,20.38,0.838,4,0.130,0.041,3262,3397,2120,0,0,0,0,0,0
$GC,6080,1.29,236.1,422.0,8.8,274,6105,0.00,2.72,19.27,0.827,6,0.000,0.055,3262,1823,2038,0,0,0,0,0,0
$GC,6385,1.29,243.0,392.6,9.6,282,6399,0.00,2.67,6.90,0.706,4,0.000,0.034,3262,3401,2008,0,0,0,0,0,0
$GC,6430,1.36,243.0,388.2,10.2,283,6436,0.15,2.70,0.00,0.000,6,0.081,0.054,3298,1826,2008,0,0,0,0,0,0
$GC,6714,1.36,243.0,356.7,11.1,290,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1826,2006,0,0,0,0,0,0
$GC,6958,1.36,243.0,328.1,11.8,296,6962,0.00,2.58,0.00,0.000,4,0.000,0.031,3298,3404,2004,0,0,0,0,0,0
$GC,6973,1.36,243.0,326.1,12.1,296,6977,0.00,2.62,0.00,0.000,6,0.000,0.041,3298,1833,2004,0,0,0,0,0,0
$GC,7236,1.36,243.0,296.8,10.8,303,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1834,2003,0,0,0,0,0,0
$GC,7478,1.36,243.0,271.9,10.1,309,7483,0.00,2.83,0.00,0.000,4,0.000,0.074,3298,234,2002,0,0,0,0,0,0
$GC,7529,1.29,243.0,266.0,12.0,310,7533,0.00,2.53,0.00,0.000,6,0.000,0.024,3298,1828,2001,0,0,0,0,0,0
$GC,7803,1.32,264.5,242.0,8.8,317,7827,0.00,2.58,19.45,0.740,4,0.000,0.035,3298,3397,1921,0,0,0,0,0,0
$GC,7878,1.37,264.5,234.3,10.5,318,7884,0.00,2.62,0.00,0.000,6,0.000,0.039,3298,1823,1919,0,0,0,0,0,0
$GC,8129,1.37,264.5,208.5,10.5,325,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1823,1917,0,0,0,0,0,0
$GC,8381,1.38,274.5,183.6,9.5,340,8396,0.00,2.60,9.75,0.651,4,0.000,0.031,3298,3401,1880,0,0,0,0,0,0
$GC,8424,1.44,281.9,179.6,9.6,343,8438,0.00,2.60,8.25,0.621,6,0.000,0.036,3298,1830,1850,0,0,0,0,0,0
$GC,8700,1.44,281.9,152.1,10.2,369,8704,0.00,2.78,0.00,0.000,4,0.000,0.070,3298,233,1847,0,0,0,0,0,0
$GC,8733,1.40,281.9,148.1,12.3,371,8739,0.00,2.53,0.00,0.000,6,0.000,0.026,3298,1829,1846,0,0,0,0,0,0
$GC,8998,1.40,281.9,118.2,11.2,396,9002,0.00,2.50,0.00,0.000,4,0.000,0.032,3299,3393,1845,0,0,0,0,0,0
$GC,9042,1.49,281.9,113.5,11.1,399,9047,0.10,2.58,0.00,0.000,6,0.091,0.042,3325,1830,1845,0,0,0,0,0,0
$GC,9308,1.50,293.7,87.6,9.4,423,9328,0.00,0.00,10.88,0.583,6,0.000,0.000,3325,1830,1803,0,0,0,0,0,0
$GC,9585,1.57,318.4,60.0,8.6,449,9614,0.00,2.78,23.00,0.587,4,0.000,0.060,3325,241,1701,0,0,0,0,0,0
$GC,9645,1.63,332.2,54.7,9.2,453,9665,0.12,2.55,13.18,0.554,6,0.077,0.019,3360,1858,1646,0,0,0,0,0,0
$GC,9934,1.63,332.2,23.9,10.6,482,9943,0.00,2.47,0.00,0.000,4,0.000,0.028,3360,3387,1642,0,0,0,0,0,0
$GC,9969,1.63,332.2,20.0,11.4,486,9978,0.00,2.58,0.00,0.000,6,0.000,0.035,3360,1840,1641,0,0,0,0,0,0
$STATE,10116,end climb,SURFACE_DEPTH_REACHED
$STATE,10116,begin surface coast
$FINISH,0.4,1.008819
$STATE,10167,end surface coast,CONTROL_FINISHED_OK
$STATE,10167,begin surface
$SM_CCo,10191,80.70,0.470,1,0,1287,420.20
$SM_GC,0.94,0.00,0.00,80.70,0.000,0.000,0.470,475,1746,1287,-11.62,-0.68,420.20
$IRIDIUM_FIX,2244.02,-15754.11,150100,030327
$TT8_MAMPS,0.026078
$HUMID,54.52
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.20
$XPDR_PINGS,88
$24V_AH,23.3,64.195
$10V_AH,10.0,61.131
$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,26.850,114.025,395.600,80.700,0.000,30.323,38.298,262.667,22.000,0.000,14.482,1021.917,6704.320,532.855,1858.173,631.587,33.368,1223.496,0.000,1866.003,0.000,0.534,0.000
$DEVICE_MAMPS,221.663,82.836,925.769,470.171,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.854,294.851,397.095,754.029,1140.483,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,41602,514
$CAP_FILE_SIZE,103847,0
$CFSIZE,260165632,155332608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211010,085631,2249.389,-15753.717,41,0.9,41,10.1