version: 66.06
glider: 146
mission: 5
dive: 370
start: 10 9 110 10 36 44
data:
$ID,146
$MISSION,5
$DIVE,370
$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,-254841.23
$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,59
$R_STBD_OVSHOOT,63
$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
$GPS1,101924,2250.981,-15753.957,56,1.2,56,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.5
$GPS2,103550,2250.914,-15753.736,13,1.2,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.003,0.235
$KALMAN_X,-269552.5,-59.5,549.4,298093.9,-73.1
$KALMAN_Y,-528044.8,-429.6,224.2,658509.4,-1736.9
$MHEAD_RNG_PITCHd_Wd,349.2,13300,-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,-85.03,0.000,6,0.000,0.000,478,1729,3479,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.5,-9.7,11,125,11.27,2.53,0.00,0.000,4,0.140,0.029,2690,3338,3481,0,0,0,0,0,0
$GC,223,-1.30,-116.8,32.0,-13.8,27,233,0.08,2.50,0.00,0.000,6,0.090,0.031,2712,1805,3482,0,0,0,0,0,0
$GC,490,-1.17,-116.8,71.0,-14.7,52,499,0.15,0.00,0.00,0.000,6,0.117,0.000,2742,1806,3482,0,0,0,0,0,0
$GC,756,-1.17,-116.8,103.8,-10.9,77,761,0.00,2.75,0.00,0.000,4,0.000,0.064,2742,192,3483,0,0,0,0,0,0
$GC,861,-1.21,-116.8,116.8,-10.9,85,865,0.00,2.40,0.00,0.000,6,0.000,0.020,2742,1801,3483,0,0,0,0,0,0
$GC,1129,-1.28,-116.8,142.8,-9.9,109,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1803,3483,0,0,0,0,0,0
$GC,1392,-1.35,-116.8,166.2,-8.4,134,1394,0.15,0.00,0.00,0.000,6,0.063,0.000,2692,1803,3484,0,0,0,0,0,0
$GC,1646,-1.35,-116.8,192.5,-10.3,158,1650,0.00,2.35,0.00,0.000,4,0.000,0.029,2692,3307,3483,0,0,0,0,0,0
$GC,1669,-1.35,-116.8,194.9,-10.5,159,1678,0.00,2.50,0.00,0.000,6,0.000,0.028,2691,1764,3484,0,0,0,0,0,0
$GC,1919,-1.35,-116.8,221.7,-10.8,169,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1764,3483,0,0,0,0,0,0
$GC,2163,-1.35,-116.8,247.0,-10.2,175,2168,0.00,2.42,0.00,0.000,4,0.000,0.032,2691,3308,3483,0,0,0,0,0,0
$GC,2193,-1.39,-116.8,249.8,-9.8,175,2197,0.00,2.45,0.00,0.000,6,0.000,0.034,2692,1783,3483,0,0,0,0,0,0
$GC,2442,-1.39,-116.8,275.2,-10.5,181,2447,0.00,2.78,0.00,0.000,4,0.000,0.081,2691,190,3482,0,0,0,0,0,0
$GC,2492,-1.39,-116.8,281.2,-12.1,182,2496,0.00,2.40,0.00,0.000,6,0.000,0.022,2691,1738,3483,0,0,0,0,0,0
$GC,2765,-1.39,-116.8,310.7,-10.8,189,2769,0.00,2.58,0.00,0.000,4,0.000,0.035,2692,3352,3482,0,0,0,0,0,0
$GC,2792,-1.44,-116.8,313.8,-10.2,189,2797,0.00,2.58,0.00,0.000,6,0.000,0.038,2691,1773,3482,0,0,0,0,0,0
$GC,3042,-1.44,-116.8,336.1,-8.6,195,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1772,3481,0,0,0,0,0,0
$GC,3288,-1.48,-116.8,356.6,-8.5,201,3292,0.00,2.55,0.00,0.000,4,0.000,0.035,2692,3351,3479,0,0,0,0,0,0
$GC,3321,-1.55,-116.8,359.7,-8.7,201,3327,0.12,2.60,0.00,0.000,6,0.074,0.051,2650,1776,3480,0,0,0,0,0,0
$GC,3571,-1.51,-116.8,387.1,-11.4,208,3573,0.10,0.00,0.00,0.000,6,0.133,0.000,2669,1776,3477,0,0,0,0,0,0
$GC,3816,-1.51,-116.8,414.9,-11.7,214,3820,0.00,2.55,0.00,0.000,4,0.000,0.045,2669,3341,3476,0,0,0,0,0,0
$GC,3895,-1.55,-116.8,424.3,-12.0,215,3901,0.00,2.65,0.00,0.000,6,0.000,0.060,2669,1785,3475,0,0,0,0,0,0
$GC,4144,-1.55,-116.8,451.6,-10.7,222,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1785,3473,0,0,0,0,0,0
$GC,4390,-1.55,-116.8,476.7,-10.2,228,4394,0.00,2.55,0.00,0.000,4,0.000,0.045,2669,3332,3471,0,0,0,0,0,0
$GC,4440,-1.61,-116.8,481.8,-10.0,229,4444,0.00,2.62,0.00,0.000,6,0.000,0.058,2669,1799,3471,0,0,0,0,0,0
$STATE,4627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4628,begin apogee
$GC,4633,-0.31,0.0,500.5,10.0,234,4733,1.17,0.00,96.38,0.923,6,0.100,0.000,2929,1799,3001,0,0,0,0,0,0
$STATE,4734,end apogee,CONTROL_FINISHED_OK
$STATE,4734,begin climb
$GC,4738,1.38,116.8,502.7,0.0,236,4843,1.58,0.00,101.10,0.900,6,0.043,0.000,3307,1799,2524,0,0,0,0,0,0
$GC,5074,1.29,149.9,484.3,8.1,245,5109,0.12,2.72,28.67,0.869,4,0.159,0.051,3285,3381,2388,0,0,0,0,0,0
$GC,5141,1.25,169.2,478.9,8.9,246,5165,0.00,2.67,18.30,0.839,6,0.000,0.058,3285,1822,2310,0,0,0,0,0,0
$GC,5452,1.21,181.9,449.7,9.3,254,5470,0.00,2.67,11.60,0.805,4,0.000,0.044,3285,3387,2258,0,0,0,0,0,0
$GC,5496,1.22,189.8,445.3,9.6,255,5510,0.00,2.70,8.68,0.757,6,0.000,0.056,3285,1824,2226,0,0,0,0,0,0
$GC,5784,1.23,197.3,416.5,9.6,262,5794,0.00,0.00,7.43,0.734,6,0.000,0.000,3285,1825,2196,0,0,0,0,0,0
$GC,6028,1.24,204.3,393.0,9.6,268,6042,0.00,2.62,7.68,0.735,4,0.000,0.039,3285,3390,2167,0,0,0,0,0,0
$GC,6141,1.24,207.8,382.1,9.8,270,6151,0.00,2.65,4.57,0.603,6,0.000,0.052,3284,1826,2152,0,0,0,0,0,0
$GC,6403,1.25,211.7,356.5,9.8,277,6409,0.00,0.00,4.55,0.597,6,0.000,0.000,3285,1826,2138,0,0,0,0,0,0
$GC,6646,1.25,211.7,331.5,10.4,283,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1826,2136,0,0,0,0,0,0
$GC,6888,1.25,211.7,306.8,10.0,289,6893,0.00,2.80,0.00,0.000,4,0.000,0.081,3284,232,2134,0,0,0,0,0,0
$GC,6921,1.17,211.7,303.0,12.0,289,6927,0.15,2.53,0.00,0.000,6,0.237,0.021,3255,1839,2134,0,0,0,0,0,0
$GC,7173,1.27,242.2,281.8,8.3,296,7208,0.00,2.60,28.27,0.785,4,0.000,0.038,3255,3393,2012,0,0,0,0,0,0
$GC,7247,1.39,246.9,275.2,9.8,297,7259,0.20,2.60,5.30,0.597,6,0.074,0.041,3305,1831,1994,0,0,0,0,0,0
$GC,7504,1.39,247.7,249.6,10.0,304,7508,0.00,2.78,0.00,0.000,4,0.000,0.075,3305,234,1991,0,0,0,0,0,0
$GC,7559,1.32,247.7,243.3,11.4,305,7563,0.00,2.53,0.00,0.000,6,0.000,0.021,3305,1831,1989,0,0,0,0,0,0
$GC,7826,1.32,248.8,217.3,10.0,312,7831,0.00,2.50,0.00,0.000,4,0.000,0.031,3305,3392,1989,0,0,0,0,0,0
$GC,7868,1.36,248.8,212.9,11.3,313,7872,0.00,2.58,0.00,0.000,6,0.000,0.043,3305,1830,1987,0,0,0,0,0,0
$GC,8126,1.36,248.8,182.4,12.0,329,8131,0.00,2.50,0.00,0.000,4,0.000,0.035,3305,3390,1987,0,0,0,0,0,0
$GC,8148,1.36,248.8,179.8,11.5,330,8157,0.00,2.55,0.00,0.000,6,0.000,0.041,3305,1845,1987,0,0,0,0,0,0
$GC,8416,1.36,248.8,150.6,10.5,355,8420,0.00,2.47,0.00,0.000,4,0.000,0.029,3305,3393,1987,0,0,0,0,0,0
$GC,8449,1.36,249.7,147.1,10.0,357,8453,0.00,2.50,0.00,0.000,6,0.000,0.034,3305,1845,1987,0,0,0,0,0,0
$GC,8717,1.41,288.6,123.5,7.8,381,8764,0.00,2.85,36.25,0.647,4,0.000,0.064,3305,244,1823,0,0,0,0,0,0
$GC,8781,1.42,293.5,117.6,9.8,386,8794,0.00,2.55,5.68,0.503,6,0.000,0.026,3305,1853,1803,0,0,0,0,0,0
$GC,9056,1.49,317.5,93.6,8.7,412,9083,0.00,2.50,21.80,0.604,4,0.000,0.027,3305,3380,1705,0,0,0,0,0,0
$GC,9108,1.62,317.5,88.4,10.2,416,9118,0.15,2.53,0.00,0.000,6,0.050,0.034,3350,1863,1704,0,0,0,0,0,0
$GC,9376,1.62,321.7,60.1,9.8,441,9391,0.00,2.83,4.70,0.433,4,0.000,0.058,3350,237,1689,0,0,0,0,0,0
$GC,9432,1.62,321.7,53.0,13.1,445,9436,0.00,2.53,0.00,0.000,6,0.000,0.019,3350,1851,1688,0,0,0,0,0,0
$GC,9718,1.62,321.7,20.2,11.2,475,9727,0.00,2.45,0.00,0.000,4,0.000,0.028,3350,3382,1687,0,0,0,0,0,0
$GC,9744,1.62,321.7,17.7,10.2,478,9753,0.00,2.53,0.00,0.000,6,0.000,0.032,3350,1846,1687,0,0,0,0,0,0
$STATE,9876,end climb,SURFACE_DEPTH_REACHED
$STATE,9876,begin surface coast
$FINISH,0.4,1.011394
$STATE,9924,end surface coast,CONTROL_FINISHED_OK
$STATE,9924,begin surface
$SM_CCo,9945,86.90,0.469,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,86.90,0.000,0.000,0.469,474,1733,1288,-11.62,-1.05,420.20
$IRIDIUM_FIX,2244.02,-15741.52,030100,101035
$TT8_MAMPS,0.026078
$HUMID,50.86
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.90
$XPDR_PINGS,46
$24V_AH,23.5,51.814
$10V_AH,10.0,50.176
$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,27.000,113.600,390.950,86.900,0.000,51.840,74.490,579.734,11.500,0.000,15.277,1004.299,6530.655,558.407,1857.348,1050.725,33.363,1261.068,0.000,1863.391,0.000,0.536,0.000
$DEVICE_MAMPS,237.003,80.535,923.468,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.387,285.062,390.698,731.733,1106.675,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,41490,503
$CAP_FILE_SIZE,113195,0
$CFSIZE,260165632,160468992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091010,132524,2250.838,-15753.723,23,1.5,41,10.1