version: 66.06
glider: 146
mission: 5
dive: 378
start: 10 10 110 10 13 26
data:
$ID,146
$MISSION,5
$DIVE,378
$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,-254981.69
$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,40
$R_STBD_OVSHOOT,56
$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
$GPS1,100407,2253.165,-15754.287,43,1.1,43,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.1
$GPS2,101232,2253.145,-15754.217,12,1.9,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.036,0.232
$KALMAN_X,-265193.9,-199.1,380.3,293220.6,324.6
$KALMAN_Y,-541693.9,-389.9,656.6,675820.0,-2081.2
$MHEAD_RNG_PITCHd_Wd,341.1,9091,-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,-116.8,0.0,0.0,0,105,0.00,0.00,-85.03,0.000,2,0.000,0.000,477,1752,3454,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.2,-8.3,11,126,11.45,2.50,-0.43,0.000,4,0.147,0.035,2689,3343,3479,0,0,0,0,0,0
$GC,226,-1.31,-116.8,32.1,-18.2,27,231,0.12,2.53,0.00,0.000,6,0.129,0.031,2713,1784,3481,0,0,0,0,0,0
$GC,492,-1.23,-116.8,73.9,-13.6,51,496,0.00,2.70,0.00,0.000,4,0.000,0.058,2713,186,3481,0,0,0,0,0,0
$GC,540,-1.16,-116.8,80.7,-14.1,54,545,0.15,2.42,0.00,0.000,6,0.123,0.015,2743,1813,3481,0,0,0,0,0,0
$GC,803,-1.21,-116.8,109.2,-10.8,78,807,0.00,2.75,0.00,0.000,4,0.000,0.055,2743,190,3481,0,0,0,0,0,0
$GC,855,-1.32,-116.8,115.4,-11.3,82,860,0.15,2.35,0.00,0.000,6,0.063,0.019,2693,1768,3482,0,0,0,0,0,0
$GC,1115,-1.32,-116.8,146.7,-12.5,106,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1769,3482,0,0,0,0,0,0
$GC,1374,-1.32,-116.8,175.2,-10.3,130,1379,0.00,2.40,0.00,0.000,4,0.000,0.029,2692,3316,3483,0,0,0,0,0,0
$GC,1410,-1.32,-116.8,179.2,-10.3,132,1420,0.00,2.50,0.00,0.000,6,0.000,0.028,2693,1771,3483,0,0,0,0,0,0
$GC,1689,-1.32,-116.8,209.7,-11.1,153,1693,0.00,2.72,0.00,0.000,4,0.000,0.064,2692,189,3483,0,0,0,0,0,0
$GC,1728,-1.32,-116.8,214.3,-12.3,154,1732,0.00,2.35,0.00,0.000,6,0.000,0.017,2692,1760,3483,0,0,0,0,0,0
$GC,2012,-1.32,-116.8,245.3,-10.8,161,2016,0.00,2.42,0.00,0.000,4,0.000,0.027,2692,3317,3483,0,0,0,0,0,0
$GC,2044,-1.32,-116.8,249.2,-11.1,161,2050,0.00,2.47,0.00,0.000,6,0.000,0.032,2692,1769,3483,0,0,0,0,0,0
$GC,2294,-1.32,-116.8,276.9,-11.3,168,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1769,3483,0,0,0,0,0,0
$GC,2540,-1.32,-116.8,300.5,-9.3,174,2544,0.00,2.72,0.00,0.000,4,0.000,0.078,2692,192,3482,0,0,0,0,0,0
$GC,2568,-1.32,-116.8,303.4,-10.0,174,2573,0.00,2.40,0.00,0.000,6,0.000,0.021,2692,1757,3482,0,0,0,0,0,0
$GC,2819,-1.32,-116.8,326.0,-9.0,180,2823,0.00,2.53,0.00,0.000,4,0.000,0.035,2692,3347,3481,0,0,0,0,0,0
$GC,2860,-1.40,-116.8,329.8,-9.3,181,2864,0.00,2.55,0.00,0.000,6,0.000,0.045,2693,1792,3481,0,0,0,0,0,0
$GC,3143,-1.43,-116.8,361.5,-11.9,188,3147,0.00,2.50,0.00,0.000,4,0.000,0.040,2692,3346,3480,0,0,0,0,0,0
$GC,3176,-1.51,-116.8,365.9,-13.0,188,3182,0.00,2.58,0.00,0.000,6,0.000,0.045,2692,1795,3480,0,0,0,0,0,0
$GC,3428,-1.56,-116.8,393.1,-10.7,195,3430,0.15,0.00,0.00,0.000,6,0.066,0.000,2644,1794,3478,0,0,0,0,0,0
$GC,3670,-1.52,-116.8,419.1,-10.3,201,3675,0.12,2.50,0.00,0.000,4,0.119,0.044,2669,3333,3476,0,0,0,0,0,0
$GC,3712,-1.57,-116.8,422.6,-8.6,202,3716,0.00,2.58,0.00,0.000,6,0.000,0.058,2669,1808,3476,0,0,0,0,0,0
$GC,3995,-1.57,-116.8,444.9,-7.8,209,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1807,3474,0,0,0,0,0,0
$GC,4239,-1.57,-116.8,466.5,-9.2,215,4243,0.00,2.47,0.00,0.000,4,0.000,0.041,2669,3331,3473,0,0,0,0,0,0
$GC,4280,-1.62,-116.8,470.5,-10.1,216,4284,0.00,2.58,0.00,0.000,6,0.000,0.056,2669,1816,3472,0,0,0,0,0,0
$GC,4563,-1.62,-116.8,498.9,-10.1,223,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1816,3470,0,0,0,0,0,0
$STATE,4601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4601,begin apogee
$GC,4606,-0.31,0.0,502.9,10.2,224,4706,1.20,0.00,96.45,0.928,6,0.090,0.000,2933,1816,3001,0,0,0,0,0,0
$STATE,4707,end apogee,CONTROL_FINISHED_OK
$STATE,4707,begin climb
$GC,4710,1.38,116.8,505.1,0.0,226,4818,1.55,2.72,100.62,0.904,4,0.048,0.053,3309,3384,2523,0,0,0,0,0,0
$GC,4838,1.33,185.5,502.8,6.1,229,4904,0.00,2.72,60.12,0.889,6,0.000,0.061,3309,1819,2244,0,0,0,0,0,0
$GC,5166,1.24,185.5,464.7,12.3,238,5171,0.20,2.60,0.00,0.000,4,0.154,0.038,3271,3379,2233,0,0,0,0,0,0
$GC,5216,1.24,185.5,459.2,11.2,239,5220,0.00,2.70,0.00,0.000,6,0.000,0.058,3270,1814,2232,0,0,0,0,0,0
$GC,5488,1.24,185.5,430.2,10.5,246,5492,0.00,2.58,0.00,0.000,4,0.000,0.041,3270,3392,2230,0,0,0,0,0,0
$GC,5521,1.24,185.5,426.9,10.4,246,5527,0.00,2.70,0.00,0.000,6,0.000,0.052,3270,1816,2229,0,0,0,0,0,0
$GC,5771,1.25,198.5,403.2,9.3,253,5783,0.00,0.00,10.20,0.784,6,0.000,0.000,3270,1815,2191,0,0,0,0,0,0
$GC,6015,1.28,224.2,382.0,8.6,259,6043,0.00,0.00,24.05,0.838,6,0.000,0.000,3270,1815,2086,0,0,0,0,0,0
$GC,6302,1.31,244.9,356.7,8.8,266,6327,0.00,2.62,19.38,0.813,4,0.000,0.038,3271,3387,2001,0,0,0,0,0,0
$GC,6349,1.36,249.9,352.0,9.8,267,6361,0.10,2.67,5.93,0.656,6,0.101,0.047,3295,1811,1982,0,0,0,0,0,0
$GC,6624,1.36,249.9,318.5,12.6,274,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1810,1978,0,0,0,0,0,0
$GC,6866,1.36,249.9,290.4,11.2,280,6871,0.00,2.78,0.00,0.000,4,0.000,0.081,3295,236,1976,0,0,0,0,0,0
$GC,6912,1.28,249.9,285.0,12.4,281,6916,0.00,2.50,0.00,0.000,6,0.000,0.026,3295,1815,1975,0,0,0,0,0,0
$GC,7191,1.32,281.9,260.0,8.2,288,7225,0.00,2.62,28.62,0.768,4,0.000,0.035,3295,3386,1850,0,0,0,0,0,0
$GC,7238,1.36,312.5,256.0,8.3,289,7274,0.00,2.60,28.00,0.749,6,0.000,0.038,3295,1813,1726,0,0,0,0,0,0
$GC,7519,1.36,312.5,226.8,10.8,296,7524,0.00,2.75,0.00,0.000,4,0.000,0.074,3295,241,1720,0,0,0,0,0,0
$GC,7535,1.36,312.5,224.6,11.4,296,7539,0.00,2.53,0.00,0.000,6,0.000,0.021,3295,1845,1719,0,0,0,0,0,0
$GC,7792,1.36,312.5,193.8,12.0,305,7797,0.00,2.78,0.00,0.000,4,0.000,0.070,3295,240,1719,0,0,0,0,0,0
$GC,7832,1.36,312.5,188.4,13.4,308,7836,0.00,2.47,0.00,0.000,6,0.000,0.025,3295,1818,1716,0,0,0,0,0,0
$GC,8096,1.36,312.5,157.6,11.5,332,8100,0.00,2.53,0.00,0.000,4,0.000,0.035,3295,3391,1716,0,0,0,0,0,0
$GC,8115,1.40,312.5,155.3,11.3,333,8120,0.00,2.60,0.00,0.000,6,0.000,0.036,3295,1805,1715,0,0,0,0,0,0
$GC,8384,1.45,312.5,126.1,11.1,357,8388,0.00,2.70,0.00,0.000,4,0.000,0.064,3295,236,1715,0,0,0,0,0,0
$GC,8406,1.45,312.5,122.8,11.0,358,8416,0.00,2.47,0.00,0.000,6,0.000,0.021,3295,1808,1715,0,0,0,0,0,0
$GC,8675,1.52,312.5,96.5,10.3,383,8680,0.15,2.70,0.00,0.000,4,0.078,0.064,3335,236,1714,0,0,0,0,0,0
$GC,8692,1.52,312.5,93.7,10.6,384,8696,0.00,2.42,0.00,0.000,6,0.000,0.020,3334,1802,1715,0,0,0,0,0,0
$GC,8960,1.56,312.5,64.1,10.6,408,8965,0.00,2.67,0.00,0.000,4,0.000,0.058,3335,239,1715,0,0,0,0,0,0
$GC,8993,1.56,312.5,60.2,10.8,410,8997,0.00,2.42,0.00,0.000,6,0.000,0.019,3335,1806,1715,0,0,0,0,0,0
$GC,9261,1.64,345.7,35.1,8.1,434,9292,0.10,0.00,27.70,0.555,6,0.094,0.000,3362,1809,1591,0,0,0,0,0,0
$STATE,9551,end climb,SURFACE_DEPTH_REACHED
$STATE,9551,begin surface coast
$FINISH,0.5,1.018753
$STATE,9587,end surface coast,CONTROL_FINISHED_OK
$STATE,9587,begin surface
$SM_CCo,9609,67.57,0.450,1,0,1287,420.20
$SM_GC,1.02,0.00,0.00,67.57,0.000,0.000,0.450,475,1723,1287,-11.62,-1.33,420.20
$IRIDIUM_FIX,2244.02,-15754.11,040100,070716
$TT8_MAMPS,0.026078
$HUMID,50.74
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.10
$XPDR_PINGS,47
$24V_AH,23.5,52.826
$10V_AH,10.0,51.069
$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,27.225,118.475,401.075,67.575,0.000,22.629,30.212,315.747,11.750,0.000,14.120,982.317,6247.604,527.032,1777.790,656.196,33.370,1195.481,0.000,1782.824,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,110.448,928.070,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.413,285.606,366.600,706.051,1068.094,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,38319,479
$CAP_FILE_SIZE,103661,0
$CFSIZE,260165632,160047104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101010,125558,2253.233,-15754.495,8,2.9,27,10.1