version: 66.06
glider: 146
mission: 5
dive: 503
start: 10 26 110 10 7 59
data:
$ID,146
$MISSION,5
$DIVE,503
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$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,-259623.5
$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,56
$R_STBD_OVSHOOT,55
$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
$GPS1,095658,2251.695,-15752.110,8,2.4,27,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.1
$GPS2,100706,2251.764,-15752.088,70,1.0,70,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.181,-0.150
$KALMAN_X,-258134.1,-152.9,34.6,290124.3,469.0
$KALMAN_Y,-603514.2,-307.1,468.6,735189.0,380.0
$MHEAD_RNG_PITCHd_Wd,220.2,6503,-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,17,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.10,0.000,2,0.000,0.000,479,1725,3449,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.3,-9.0,11,126,11.50,2.58,-0.52,0.000,4,0.147,0.067,2691,214,3479,0,0,0,0,0,0
$GC,211,-1.26,-116.8,29.9,-19.6,25,221,0.12,2.42,0.00,0.000,6,0.102,0.016,2721,1765,3481,0,0,0,0,0,0
$GC,477,-1.26,-116.8,68.7,-14.1,50,481,0.00,2.60,0.00,0.000,4,0.000,0.054,2721,221,3481,0,0,0,0,0,0
$GC,523,-1.26,-116.8,73.7,-10.2,53,527,0.00,2.35,0.00,0.000,6,0.000,0.015,2721,1763,3482,0,0,0,0,0,0
$GC,792,-1.30,-116.8,97.0,-8.5,77,796,0.00,2.47,0.00,0.000,4,0.000,0.026,2721,3327,3483,0,0,0,0,0,0
$GC,813,-1.34,-116.8,99.3,-7.4,78,822,0.00,2.50,0.00,0.000,6,0.000,0.028,2721,1782,3483,0,0,0,0,0,0
$GC,1082,-1.39,-116.8,121.6,-9.3,103,1087,0.10,2.45,0.00,0.000,4,0.083,0.026,2686,3328,3484,0,0,0,0,0,0
$GC,1122,-1.39,-116.8,126.4,-10.2,106,1127,0.00,2.53,0.00,0.000,6,0.000,0.028,2686,1758,3484,0,0,0,0,0,0
$GC,1391,-1.39,-116.8,151.9,-9.2,130,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1757,3484,0,0,0,0,0,0
$GC,1652,-1.39,-116.8,179.1,-10.5,155,1656,0.00,2.65,0.00,0.000,4,0.000,0.064,2686,197,3484,0,0,0,0,0,0
$GC,1685,-1.39,-116.8,182.2,-11.3,157,1689,0.00,2.38,0.00,0.000,6,0.000,0.022,2686,1757,3484,0,0,0,0,0,0
$GC,1973,-1.39,-116.8,212.7,-10.2,175,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1759,3484,0,0,0,0,0,0
$GC,2216,-1.39,-116.8,236.9,-10.0,181,2220,0.00,2.47,0.00,0.000,4,0.000,0.027,2686,3330,3484,0,0,0,0,0,0
$GC,2262,-1.43,-116.8,241.5,-10.3,182,2266,0.00,2.53,0.00,0.000,6,0.000,0.031,2686,1772,3484,0,0,0,0,0,0
$GC,2539,-1.43,-116.8,270.4,-10.5,189,2543,0.00,2.75,0.00,0.000,4,0.000,0.079,2686,187,3483,0,0,0,0,0,0
$GC,2573,-1.43,-116.8,274.1,-12.0,189,2578,0.00,2.42,0.00,0.000,6,0.000,0.022,2686,1739,3483,0,0,0,0,0,0
$GC,2824,-1.43,-116.8,299.1,-9.6,196,2829,0.00,2.58,0.00,0.000,4,0.000,0.037,2686,3349,3482,0,0,0,0,0,0
$GC,2880,-1.49,-116.8,303.8,-8.0,197,2884,0.00,2.55,0.00,0.000,6,0.000,0.041,2686,1791,3482,0,0,0,0,0,0
$GC,3146,-1.49,-116.8,325.9,-8.4,204,3151,0.00,2.50,0.00,0.000,4,0.000,0.037,2686,3349,3481,0,0,0,0,0,0
$GC,3166,-1.49,-116.8,327.5,-8.9,204,3170,0.00,2.55,0.00,0.000,6,0.000,0.038,2686,1787,3481,0,0,0,0,0,0
$GC,3426,-1.49,-116.8,353.1,-10.2,211,3431,0.00,2.88,0.00,0.000,4,0.000,0.087,2686,185,3479,0,0,0,0,0,0
$GC,3476,-1.55,-116.8,359.0,-11.8,212,3481,0.10,2.53,0.00,0.000,6,0.085,0.024,2653,1779,3479,0,0,0,0,0,0
$GC,3750,-1.51,-116.8,389.6,-10.9,219,3755,0.00,2.58,0.00,0.000,4,0.000,0.046,2653,3361,3478,0,0,0,0,0,0
$GC,3783,-1.51,-116.8,393.1,-9.6,219,3789,0.00,2.62,0.00,0.000,6,0.000,0.047,2653,1799,3478,0,0,0,0,0,0
$GC,4034,-1.51,-116.8,416.7,-9.4,226,4038,0.00,2.97,0.00,0.000,4,0.000,0.103,2653,181,3476,0,0,0,0,0,0
$GC,4063,-1.46,-116.8,419.7,-11.1,226,4068,0.12,2.58,0.00,0.000,6,0.115,0.032,2680,1790,3475,0,0,0,0,0,0
$GC,4312,-1.46,-116.8,445.5,-10.3,232,4317,0.00,2.58,0.00,0.000,4,0.000,0.054,2680,3357,3474,0,0,0,0,0,0
$GC,4354,-1.53,-116.8,449.8,-10.7,233,4359,0.00,2.67,0.00,0.000,6,0.000,0.063,2680,1796,3474,0,0,0,0,0,0
$GC,4639,-1.53,-116.8,478.5,-9.8,240,4643,0.00,2.58,0.00,0.000,4,0.000,0.048,2681,3352,3472,0,0,0,0,0,0
$GC,4672,-1.60,-116.8,481.7,-9.2,240,4678,0.12,2.67,0.00,0.000,6,0.077,0.058,2642,1800,3472,0,0,0,0,0,0
$STATE,4879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4879,begin apogee
$GC,4886,-0.31,0.0,503.1,10.3,246,4988,1.30,0.00,98.00,0.930,6,0.086,0.000,2928,1800,3001,0,0,0,0,0,0
$STATE,4989,end apogee,CONTROL_FINISHED_OK
$STATE,4989,begin climb
$GC,4991,1.38,116.8,505.2,0.0,248,5104,1.55,3.08,102.25,0.907,4,0.043,0.117,3307,228,2523,0,0,0,0,0,0
$GC,5151,1.16,125.0,501.0,9.6,251,5165,0.25,2.62,7.93,0.749,6,0.118,0.036,3256,1810,2490,0,0,0,0,0,0
$GC,5446,1.24,187.3,480.5,6.4,259,5507,0.00,2.78,55.28,0.893,4,0.000,0.062,3256,3405,2238,0,0,0,0,0,0
$GC,5585,1.28,187.3,468.7,10.2,262,5590,0.10,2.72,0.00,0.000,6,0.101,0.058,3281,1831,2233,0,0,0,0,0,0
$GC,5852,1.26,200.0,443.9,9.3,269,5871,0.00,2.72,12.00,0.809,4,0.000,0.038,3281,3423,2184,0,0,0,0,0,0
$GC,5890,1.28,218.6,440.3,9.0,269,5914,0.00,2.78,18.05,0.835,6,0.000,0.058,3280,1825,2109,0,0,0,0,0,0
$GC,6182,1.29,228.9,412.1,9.4,277,6194,0.00,0.00,10.05,0.779,6,0.000,0.000,3281,1825,2067,0,0,0,0,0,0
$GC,6427,1.30,236.8,388.8,9.6,283,6441,0.00,2.67,8.38,0.749,4,0.000,0.039,3281,3412,2034,0,0,0,0,0,0
$GC,6459,1.30,237.6,385.2,10.0,283,6464,0.00,2.72,0.00,0.000,6,0.000,0.054,3281,1823,2033,0,0,0,0,0,0
$GC,6709,1.30,237.6,359.0,10.5,289,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1823,2031,0,0,0,0,0,0
$GC,6953,1.30,237.6,333.2,10.6,295,6957,0.00,2.85,0.00,0.000,4,0.000,0.087,3281,234,2030,0,0,0,0,0,0
$GC,6969,1.30,237.6,331.1,10.6,295,6974,0.00,2.58,0.00,0.000,6,0.000,0.027,3280,1850,2029,0,0,0,0,0,0
$GC,7231,1.31,240.6,305.0,9.9,302,7240,0.00,2.53,4.00,0.537,4,0.000,0.038,3280,3398,2020,0,0,0,0,0,0
$GC,7280,1.35,240.6,299.5,11.5,303,7285,0.00,2.62,0.00,0.000,6,0.000,0.040,3281,1826,2019,0,0,0,0,0,0
$GC,7559,1.35,240.6,271.2,10.2,310,7563,0.00,2.55,0.00,0.000,4,0.000,0.036,3280,3398,2019,0,0,0,0,0,0
$GC,7575,1.35,244.1,269.4,9.8,310,7585,0.00,2.60,4.78,0.579,6,0.000,0.040,3281,1831,2006,0,0,0,0,0,0
$GC,7835,1.39,273.6,247.3,8.3,317,7869,0.00,2.90,28.40,0.758,4,0.000,0.077,3281,241,1884,0,0,0,0,0,0
$GC,7900,1.39,273.6,241.5,10.3,318,7904,0.00,2.58,0.00,0.000,6,0.000,0.027,3281,1848,1882,0,0,0,0,0,0
$GC,8161,1.44,277.9,216.7,9.8,325,8171,0.15,2.53,4.82,0.550,4,0.073,0.036,3322,3393,1866,0,0,0,0,0,0
$GC,8184,1.44,277.9,214.1,11.7,325,8188,0.00,2.62,0.00,0.000,6,0.000,0.043,3322,1826,1866,0,0,0,0,0,0
$GC,8444,1.44,277.9,183.4,11.0,341,8449,0.00,2.80,0.00,0.000,4,0.000,0.071,3322,233,1865,0,0,0,0,0,0
$GC,8485,1.35,277.9,178.4,13.0,344,8490,0.15,2.53,0.00,0.000,6,0.122,0.028,3292,1826,1863,0,0,0,0,0,0
$GC,8746,1.41,302.2,153.6,8.6,368,8774,0.00,2.83,22.48,0.673,4,0.000,0.071,3292,240,1768,0,0,0,0,0,0
$GC,8797,1.41,302.2,148.7,11.3,372,8802,0.00,2.53,0.00,0.000,6,0.000,0.025,3292,1821,1766,0,0,0,0,0,0
$GC,9062,1.47,309.4,124.3,9.6,396,9072,0.12,0.00,7.53,0.570,6,0.084,0.000,3325,1823,1738,0,0,0,0,0,0
$GC,9330,1.47,309.4,93.9,12.0,421,9334,0.00,2.53,0.00,0.000,4,0.000,0.035,3325,3399,1736,0,0,0,0,0,0
$GC,9372,1.54,309.4,88.5,11.2,424,9377,0.00,2.65,0.00,0.000,6,0.000,0.038,3325,1799,1735,0,0,0,0,0,0
$GC,9640,1.64,349.3,63.2,7.7,448,9682,0.12,2.75,35.42,0.597,4,0.079,0.063,3360,240,1576,0,0,0,0,0,0
$GC,9725,1.64,352.5,54.4,9.9,454,9735,0.00,2.50,4.35,0.416,6,0.000,0.021,3360,1805,1563,0,0,0,0,0,0
$GC,10001,1.65,363.5,25.5,9.4,482,10019,0.00,0.00,10.80,0.520,6,0.000,0.000,3360,1807,1518,0,0,0,0,0,0
$STATE,10213,end climb,SURFACE_DEPTH_REACHED
$STATE,10213,begin surface coast
$FINISH,0.3,1.006890
$STATE,10256,end surface coast,CONTROL_FINISHED_OK
$STATE,10256,begin surface
$SM_CCo,10279,47.45,0.535,0,0,1288,420.20
$SM_GC,1.17,0.00,0.00,47.45,0.000,0.000,0.535,471,1740,1288,-11.63,-0.85,420.20
$IRIDIUM_FIX,2246.36,-15751.06,200100,070724
$TT8_MAMPS,0.025311
$HUMID,55.86
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,19.80
$XPDR_PINGS,105
$24V_AH,23.3,69.565
$10V_AH,9.7,65.997
$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,27.650,141.550,434.500,47.450,0.000,29.243,35.430,344.063,26.250,0.000,71.957,1064.063,6601.680,515.916,2033.337,717.886,33.376,1282.721,0.000,1977.569,0.000,0.534,0.000
$DEVICE_MAMPS,147.264,117.351,929.604,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.170,311.287,401.867,773.215,1169.533,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,41515,519
$CAP_FILE_SIZE,116121,0
$CFSIZE,260165632,152985600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,130122,2251.226,-15753.106,15,2.1,34,10.1