version: 66.06
glider: 146
mission: 5
dive: 375
start: 10 10 110 1 26 40
data:
$ID,146
$MISSION,5
$DIVE,375
$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,-254932.48
$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,25
$R_STBD_OVSHOOT,52
$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
$GPS1,011934,2252.009,-15754.063,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.1
$GPS2,012544,2251.962,-15754.070,13,1.3,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.035,0.232
$KALMAN_X,-266633.8,170.2,183.7,294745.5,-389.1
$KALMAN_Y,-536894.1,169.8,-332.2,669257.2,-2046.8
$MHEAD_RNG_PITCHd_Wd,358.5,11294,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-78.25,0.000,2,0.000,0.000,476,1713,3216,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-5.6,10,126,11.40,2.62,-4.97,0.000,4,0.144,0.035,2690,3342,3479,0,0,0,0,0,0
$GC,224,-1.30,-116.8,29.6,-16.1,27,234,0.08,2.58,0.00,0.000,6,0.113,0.032,2709,1771,3480,0,0,0,0,0,0
$GC,492,-1.22,-116.8,72.6,-15.6,52,497,0.12,2.70,0.00,0.000,4,0.134,0.064,2732,184,3480,0,0,0,0,0,0
$GC,517,-1.16,-116.8,77.4,-14.4,53,526,0.00,2.45,0.00,0.000,6,0.000,0.016,2732,1785,3480,0,0,0,0,0,0
$GC,777,-1.16,-116.8,106.6,-10.3,78,782,0.00,2.38,0.00,0.000,4,0.000,0.025,2732,3316,3481,0,0,0,0,0,0
$GC,800,-1.21,-116.8,108.4,-10.2,79,805,0.00,2.50,0.00,0.000,6,0.000,0.029,2732,1747,3481,0,0,0,0,0,0
$GC,1067,-1.25,-116.8,136.6,-10.4,103,1071,0.00,2.60,0.00,0.000,4,0.000,0.061,2732,197,3482,0,0,0,0,0,0
$GC,1100,-1.25,-116.8,140.2,-11.6,105,1104,0.00,2.35,0.00,0.000,6,0.000,0.023,2732,1766,3482,0,0,0,0,0,0
$GC,1363,-1.31,-116.8,166.9,-9.1,129,1367,0.00,2.40,0.00,0.000,4,0.000,0.029,2732,3314,3482,0,0,0,0,0,0
$GC,1404,-1.43,-116.8,170.5,-8.2,132,1409,0.20,2.45,0.00,0.000,6,0.051,0.034,2669,1771,3483,0,0,0,0,0,0
$GC,1665,-1.37,-116.8,200.0,-12.7,156,1667,0.15,0.00,0.00,0.000,6,0.110,0.000,2700,1771,3483,0,0,0,0,0,0
$GC,1908,-1.37,-116.8,228.5,-11.7,162,1912,0.00,2.42,0.00,0.000,4,0.000,0.032,2700,3313,3483,0,0,0,0,0,0
$GC,1936,-1.37,-116.8,231.6,-11.2,162,1941,0.00,2.47,0.00,0.000,6,0.000,0.029,2700,1779,3483,0,0,0,0,0,0
$GC,2186,-1.37,-116.8,258.5,-10.5,168,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1779,3483,0,0,0,0,0,0
$GC,2430,-1.37,-116.8,281.0,-8.9,174,2434,0.00,2.45,0.00,0.000,4,0.000,0.034,2700,3310,3482,0,0,0,0,0,0
$GC,2481,-1.46,-116.8,285.4,-8.9,175,2486,0.00,2.45,0.00,0.000,6,0.000,0.038,2700,1790,3483,0,0,0,0,0,0
$GC,2754,-1.49,-116.8,311.6,-9.9,182,2760,0.12,2.83,0.00,0.000,4,0.077,0.077,2659,189,3482,0,0,0,0,0,0
$GC,2777,-1.45,-116.8,314.4,-11.6,182,2782,0.10,2.42,0.00,0.000,6,0.130,0.027,2680,1758,3482,0,0,0,0,0,0
$GC,3034,-1.45,-116.8,340.8,-10.1,189,3038,0.00,2.55,0.00,0.000,4,0.000,0.038,2680,3349,3481,0,0,0,0,0,0
$GC,3100,-1.51,-116.8,347.6,-9.3,190,3105,0.00,2.55,0.00,0.000,6,0.000,0.046,2680,1799,3481,0,0,0,0,0,0
$GC,3356,-1.51,-116.8,371.4,-9.3,197,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1799,3480,0,0,0,0,0,0
$GC,3601,-1.51,-116.8,393.9,-9.2,203,3606,0.00,2.53,0.00,0.000,4,0.000,0.037,2680,3349,3478,0,0,0,0,0,0
$GC,3669,-1.59,-116.8,400.0,-8.7,204,3674,0.12,2.58,0.00,0.000,6,0.075,0.054,2637,1819,3478,0,0,0,0,0,0
$GC,3926,-1.54,-116.8,426.2,-10.6,211,3931,0.12,3.03,0.00,0.000,4,0.118,0.105,2663,180,3476,0,0,0,0,0,0
$GC,3948,-1.48,-116.8,428.8,-10.6,211,3953,0.00,2.58,0.00,0.000,6,0.000,0.033,2662,1806,3476,0,0,0,0,0,0
$GC,4203,-1.48,-116.8,455.0,-10.4,218,4207,0.00,2.55,0.00,0.000,4,0.000,0.050,2663,3349,3474,0,0,0,0,0,0
$GC,4265,-1.53,-116.8,461.6,-10.5,219,4270,0.00,2.58,0.00,0.000,6,0.000,0.058,2662,1826,3474,0,0,0,0,0,0
$GC,4526,-1.53,-116.8,488.3,-10.2,226,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1826,3472,0,0,0,0,0,0
$STATE,4686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4686,begin apogee
$GC,4692,-0.31,0.0,503.9,9.6,230,4793,1.23,0.00,97.10,0.927,6,0.093,0.000,2930,1826,3001,0,0,0,0,0,0
$STATE,4793,end apogee,CONTROL_FINISHED_OK
$STATE,4794,begin climb
$GC,4797,1.38,116.8,506.1,0.0,232,4903,1.55,0.00,101.53,0.906,6,0.042,0.000,3307,1826,2523,0,0,0,0,0,0
$GC,5125,1.29,147.6,488.9,8.3,240,5159,0.12,2.75,26.55,0.868,4,0.133,0.047,3284,3396,2398,0,0,0,0,0,0
$GC,5373,1.29,181.5,468.4,8.1,245,5409,0.00,2.67,30.65,0.871,6,0.000,0.052,3284,1840,2260,0,0,0,0,0,0
$GC,5674,1.26,197.5,442.1,9.1,253,5694,0.00,2.65,14.52,0.827,4,0.000,0.041,3284,3407,2194,0,0,0,0,0,0
$GC,5727,1.26,197.5,436.4,10.7,254,5732,0.00,2.70,0.00,0.000,6,0.000,0.054,3285,1840,2192,0,0,0,0,0,0
$GC,5995,1.22,197.5,407.2,11.2,261,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1840,2189,0,0,0,0,0,0
$GC,6239,1.22,197.5,380.1,11.1,267,6243,0.00,2.55,0.00,0.000,4,0.000,0.034,3284,3404,2188,0,0,0,0,0,0
$GC,6255,1.22,197.5,378.1,10.9,267,6259,0.00,2.62,0.00,0.000,6,0.000,0.049,3284,1832,2187,0,0,0,0,0,0
$GC,6515,1.23,206.4,352.5,9.5,274,6525,0.00,0.00,8.00,0.733,6,0.000,0.000,3284,1832,2159,0,0,0,0,0,0
$GC,6800,1.25,223.5,326.9,9.1,281,6818,0.00,0.00,16.42,0.792,6,0.000,0.000,3284,1831,2090,0,0,0,0,0,0
$GC,7042,1.28,243.7,305.3,8.9,287,7066,0.00,2.60,19.25,0.782,4,0.000,0.038,3284,3402,2006,0,0,0,0,0,0
$GC,7100,1.34,243.7,299.4,10.4,288,7105,0.00,2.60,0.00,0.000,6,0.000,0.043,3284,1835,2004,0,0,0,0,0,0
$GC,7367,1.34,243.7,271.9,10.5,295,7372,0.00,2.80,0.00,0.000,4,0.000,0.077,3284,233,2001,0,0,0,0,0,0
$GC,7390,1.34,243.7,268.9,12.2,295,7394,0.00,2.58,0.00,0.000,6,0.000,0.021,3284,1861,2000,0,0,0,0,0,0
$GC,7646,1.34,243.7,242.2,10.2,302,7650,0.00,2.47,0.00,0.000,4,0.000,0.040,3284,3394,2000,0,0,0,0,0,0
$GC,7691,1.41,243.7,237.6,10.8,303,7696,0.10,2.55,0.00,0.000,6,0.106,0.040,3309,1849,1998,0,0,0,0,0,0
$GC,7969,1.41,243.7,208.8,10.1,310,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1849,1999,0,0,0,0,0,0
$GC,8222,1.42,250.9,184.6,9.6,325,8236,0.00,2.58,6.70,0.598,4,0.000,0.037,3309,3398,1976,0,0,0,0,0,0
$GC,8260,1.42,250.9,180.9,10.6,328,8264,0.00,2.53,0.00,0.000,6,0.000,0.035,3309,1858,1976,0,0,0,0,0,0
$GC,8528,1.42,250.9,153.1,10.9,352,8532,0.00,2.75,0.00,0.000,4,0.000,0.064,3309,243,1975,0,0,0,0,0,0
$GC,8551,1.36,250.9,150.0,10.6,353,8557,0.00,2.55,0.00,0.000,6,0.000,0.027,3309,1866,1974,0,0,0,0,0,0
$GC,8814,1.36,250.9,123.7,10.2,378,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1868,1973,0,0,0,0,0,0
$GC,9068,1.36,250.9,97.8,10.5,402,9073,0.00,2.80,0.00,0.000,4,0.000,0.061,3309,239,1974,0,0,0,0,0,0
$GC,9088,1.36,250.9,95.6,11.3,403,9093,0.00,2.50,0.00,0.000,6,0.000,0.025,3309,1855,1974,0,0,0,0,0,0
$GC,9355,1.47,289.8,71.7,7.8,427,9395,0.00,2.50,34.55,0.597,4,0.000,0.032,3309,3393,1818,0,0,0,0,0,0
$GC,9451,1.63,319.8,64.5,8.3,434,9484,0.20,2.53,26.58,0.578,6,0.072,0.035,3360,1844,1697,0,0,0,0,0,0
$GC,9745,1.63,319.8,34.5,10.3,460,9749,0.00,2.47,0.00,0.000,4,0.000,0.027,3360,3387,1693,0,0,0,0,0,0
$GC,9768,1.63,319.8,31.9,10.6,461,9772,0.00,2.50,0.00,0.000,6,0.000,0.033,3359,1856,1692,0,0,0,0,0,0
$STATE,10018,end climb,SURFACE_DEPTH_REACHED
$STATE,10019,begin surface coast
$FINISH,0.4,1.011202
$STATE,10063,end surface coast,CONTROL_FINISHED_OK
$STATE,10063,begin surface
$SM_CCo,10085,89.32,0.469,1,0,1287,420.20
$SM_GC,0.96,0.00,0.00,89.32,0.000,0.000,0.469,474,1740,1287,-11.62,-0.82,420.20
$IRIDIUM_FIX,2244.02,-15751.06,030100,222214
$TT8_MAMPS,0.025311
$HUMID,51.77
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.60
$XPDR_PINGS,56
$24V_AH,23.5,52.462
$10V_AH,10.1,50.739
$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,27.400,118.400,381.850,89.325,0.000,28.304,32.898,171.528,14.000,0.000,14.738,1020.583,6606.544,533.189,1867.908,522.596,33.370,1224.438,0.000,1872.940,0.000,0.534,0.000
$DEVICE_MAMPS,144.196,105.079,926.536,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.110,286.411,384.583,728.510,1100.437,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,41546,502
$CAP_FILE_SIZE,104980,0
$CFSIZE,260165632,160202752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101010,041737,2252.112,-15753.861,36,1.2,36,10.1