version: 66.06
glider: 146
mission: 5
dive: 379
start: 10 10 110 13 9 51
data:
$ID,146
$MISSION,5
$DIVE,379
$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,-255013.77
$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,62
$R_STBD_OVSHOOT,62
$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
$GPS1,125558,2253.233,-15754.495,8,2.9,27,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.4
$GPS2,130858,2253.216,-15754.399,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.020,0.234
$KALMAN_X,-265019.9,-204.3,262.6,292856.4,-260.8
$KALMAN_Y,-543216.3,-332.1,-60.4,678129.2,-1817.7
$MHEAD_RNG_PITCHd_Wd,354.8,8920,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.57,0.000,2,0.000,0.000,475,1723,3247,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.3,-5.8,10,128,11.32,2.58,-4.40,0.000,4,0.142,0.040,2686,3330,3480,0,0,0,0,0,0
$GC,186,-1.32,-116.8,24.3,-16.5,21,194,0.08,2.50,0.00,0.000,6,0.180,0.030,2705,1801,3482,0,0,0,0,0,0
$GC,459,-1.22,-116.8,64.9,-13.8,48,464,0.15,2.72,0.00,0.000,4,0.128,0.060,2733,193,3482,0,0,0,0,0,0
$GC,505,-1.22,-116.8,70.7,-11.7,51,509,0.00,2.35,0.00,0.000,6,0.000,0.015,2733,1766,3482,0,0,0,0,0,0
$GC,773,-1.22,-116.8,95.8,-9.1,75,778,0.00,2.67,0.00,0.000,4,0.000,0.057,2733,192,3483,0,0,0,0,0,0
$GC,863,-1.27,-116.8,106.9,-11.1,82,867,0.00,2.30,0.00,0.000,6,0.000,0.015,2734,1743,3483,0,0,0,0,0,0
$GC,1128,-1.32,-116.8,132.8,-9.5,106,1132,0.00,2.42,0.00,0.000,4,0.000,0.025,2733,3305,3484,0,0,0,0,0,0
$GC,1149,-1.39,-116.8,134.8,-9.8,107,1154,0.15,2.55,0.00,0.000,6,0.060,0.028,2679,1716,3484,0,0,0,0,0,0
$GC,1410,-1.35,-116.8,166.8,-12.3,131,1415,0.12,2.58,0.00,0.000,4,0.109,0.065,2705,194,3484,0,0,0,0,0,0
$GC,1442,-1.35,-116.8,170.4,-12.4,133,1446,0.00,2.28,0.00,0.000,6,0.000,0.016,2705,1727,3484,0,0,0,0,0,0
$GC,1708,-1.35,-116.8,196.1,-9.3,157,1713,0.00,2.47,0.00,0.000,4,0.000,0.025,2705,3318,3484,0,0,0,0,0,0
$GC,1727,-1.35,-116.8,198.3,-9.9,158,1732,0.00,2.58,0.00,0.000,6,0.000,0.028,2705,1709,3484,0,0,0,0,0,0
$GC,1988,-1.35,-116.8,223.8,-9.9,165,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1709,3484,0,0,0,0,0,0
$GC,2231,-1.35,-116.8,249.0,-10.4,171,2236,0.00,2.55,0.00,0.000,4,0.000,0.028,2705,3314,3484,0,0,0,0,0,0
$GC,2266,-1.41,-116.8,252.8,-11.2,171,2272,0.00,2.55,0.00,0.000,6,0.000,0.031,2705,1729,3484,0,0,0,0,0,0
$GC,2516,-1.45,-116.8,280.3,-11.1,178,2520,0.00,2.50,0.00,0.000,4,0.000,0.030,2705,3310,3483,0,0,0,0,0,0
$GC,2538,-1.51,-116.8,282.7,-10.2,178,2543,0.15,2.55,0.00,0.000,6,0.061,0.038,2649,1728,3483,0,0,0,0,0,0
$GC,2795,-1.45,-116.8,311.9,-11.4,185,2800,0.15,2.70,0.00,0.000,4,0.109,0.079,2680,187,3482,0,0,0,0,0,0
$GC,2844,-1.45,-116.8,317.8,-11.2,186,2849,0.00,2.33,0.00,0.000,6,0.000,0.022,2680,1697,3482,0,0,0,0,0,0
$GC,3117,-1.45,-116.8,342.2,-8.9,193,3122,0.00,2.58,0.00,0.000,4,0.000,0.040,2680,3304,3481,0,0,0,0,0,0
$GC,3159,-1.50,-116.8,345.8,-9.0,194,3163,0.00,2.58,0.00,0.000,6,0.000,0.047,2679,1733,3481,0,0,0,0,0,0
$GC,3442,-1.50,-116.8,375.5,-10.9,201,3446,0.00,2.53,0.00,0.000,4,0.000,0.038,2680,3307,3480,0,0,0,0,0,0
$GC,3475,-1.54,-116.8,379.2,-11.0,201,3480,0.00,2.60,0.00,0.000,6,0.000,0.052,2680,1739,3479,0,0,0,0,0,0
$GC,3726,-1.54,-116.8,407.5,-11.5,208,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1739,3478,0,0,0,0,0,0
$GC,3968,-1.54,-116.8,434.4,-11.0,214,3972,0.00,2.53,0.00,0.000,4,0.000,0.041,2680,3298,3476,0,0,0,0,0,0
$GC,4029,-1.61,-116.8,441.2,-11.1,215,4034,0.12,2.62,0.00,0.000,6,0.077,0.055,2636,1746,3475,0,0,0,0,0,0
$GC,4292,-1.56,-116.8,474.4,-13.2,222,4297,0.10,2.58,0.00,0.000,4,0.127,0.049,2656,3293,3474,0,0,0,0,0,0
$GC,4319,-1.56,-116.8,478.4,-12.5,222,4323,0.00,2.62,0.00,0.000,6,0.000,0.060,2657,1760,3474,0,0,0,0,0,0
$STATE,4531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4531,begin apogee
$GC,4538,-0.31,0.0,503.5,11.8,228,4639,1.25,0.00,96.97,0.923,6,0.091,0.000,2930,1760,3001,0,0,0,0,0,0
$STATE,4639,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4642,1.38,116.8,506.3,0.0,230,4747,1.58,0.00,101.32,0.900,6,0.048,0.000,3309,1760,2524,0,0,0,0,0,0
$GC,4978,1.27,135.7,486.7,8.9,239,4997,0.15,0.00,16.40,0.838,6,0.129,0.000,3280,1759,2446,0,0,0,0,0,0
$GC,5223,1.23,154.1,464.8,9.0,245,5247,0.00,2.75,17.02,0.838,4,0.000,0.043,3280,3349,2371,0,0,0,0,0,0
$GC,5312,1.25,170.7,456.7,9.1,247,5333,0.00,2.62,15.90,0.830,6,0.000,0.057,3280,1823,2305,0,0,0,0,0,0
$GC,5598,1.23,183.7,429.5,9.3,254,5618,0.00,3.05,12.65,0.809,4,0.000,0.104,3280,229,2250,0,0,0,0,0,0
$GC,5625,1.18,188.8,426.6,9.7,254,5637,0.12,2.50,5.93,0.670,6,0.137,0.024,3257,1775,2231,0,0,0,0,0,0
$GC,5880,1.21,219.1,405.0,8.3,260,5914,0.00,2.78,27.92,0.845,4,0.000,0.041,3256,3404,2106,0,0,0,0,0,0
$GC,5963,1.32,245.1,398.4,8.5,261,5993,0.12,2.67,24.42,0.829,6,0.095,0.051,3287,1831,2000,0,0,0,0,0,0
$GC,6252,1.32,245.1,368.5,10.3,269,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1831,1993,0,0,0,0,0,0
$GC,6494,1.32,245.1,342.4,10.8,275,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1831,1992,0,0,0,0,0,0
$GC,6736,1.32,245.1,316.4,10.4,281,6741,0.00,2.80,0.00,0.000,4,0.000,0.075,3287,233,1990,0,0,0,0,0,0
$GC,6763,1.25,245.1,313.1,11.6,281,6768,0.00,2.58,0.00,0.000,6,0.000,0.021,3287,1856,1989,0,0,0,0,0,0
$GC,7015,1.25,245.1,287.8,10.0,287,7020,0.00,2.85,0.00,0.000,4,0.000,0.072,3287,230,1988,0,0,0,0,0,0
$GC,7072,1.20,245.1,280.8,12.3,288,7077,0.12,2.53,0.00,0.000,6,0.129,0.021,3263,1834,1987,0,0,0,0,0,0
$GC,7339,1.31,280.2,258.1,8.0,295,7373,0.10,0.00,30.08,0.760,6,0.095,0.000,3289,1836,1857,0,0,0,0,0,0
$GC,7625,1.33,297.0,231.4,9.1,302,7646,0.00,2.55,15.32,0.709,4,0.000,0.030,3289,3395,1789,0,0,0,0,0,0
$GC,7669,1.42,305.6,227.2,9.5,303,7683,0.00,2.65,8.95,0.651,6,0.000,0.043,3289,1803,1754,0,0,0,0,0,0
$GC,7952,1.43,313.9,200.1,9.6,310,7967,0.00,2.78,8.40,0.630,4,0.000,0.070,3289,244,1721,0,0,0,0,0,0
$GC,7977,1.43,313.9,197.0,11.1,310,7982,0.00,2.50,0.00,0.000,6,0.000,0.026,3289,1828,1720,0,0,0,0,0,0
$GC,8247,1.46,313.9,167.1,11.9,335,8252,0.12,2.53,0.00,0.000,4,0.080,0.030,3324,3397,1718,0,0,0,0,0,0
$GC,8303,1.46,313.9,159.2,14.0,339,8313,0.00,2.60,0.00,0.000,6,0.000,0.035,3324,1828,1717,0,0,0,0,0,0
$GC,8568,1.46,313.9,125.0,13.3,364,8572,0.00,2.72,0.00,0.000,4,0.000,0.067,3324,241,1717,0,0,0,0,0,0
$GC,8597,1.39,313.9,120.4,15.5,366,8601,0.00,2.47,0.00,0.000,6,0.000,0.026,3324,1831,1716,0,0,0,0,0,0
$GC,8859,1.39,313.9,91.3,10.3,390,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1833,1716,0,0,0,0,0,0
$GC,9118,1.39,313.9,65.4,10.3,414,9122,0.00,2.70,0.00,0.000,4,0.000,0.064,3324,241,1716,0,0,0,0,0,0
$GC,9140,1.39,313.9,62.4,10.3,415,9149,0.00,2.45,0.00,0.000,6,0.000,0.020,3324,1809,1716,0,0,0,0,0,0
$GC,9408,1.46,322.7,38.7,9.5,440,9422,0.00,2.50,9.00,0.515,4,0.000,0.026,3324,3380,1684,0,0,0,0,0,0
$GC,9476,1.60,322.7,31.5,10.5,445,9481,0.10,2.60,0.00,0.000,6,0.094,0.034,3351,1796,1683,0,0,0,0,0,0
$STATE,9729,end climb,SURFACE_DEPTH_REACHED
$STATE,9730,begin surface coast
$FINISH,0.4,1.000300
$STATE,9786,end surface coast,CONTROL_FINISHED_OK
$STATE,9786,begin surface
$SM_CCo,9807,86.40,0.469,1,0,1288,420.20
$SM_GC,1.08,0.00,0.00,86.40,0.000,0.000,0.469,471,1792,1288,-11.63,0.62,420.20
$IRIDIUM_FIX,2244.02,-15754.11,040100,131352
$TT8_MAMPS,0.026078
$HUMID,51.10
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.70
$XPDR_PINGS,55
$24V_AH,23.5,52.964
$10V_AH,10.1,51.183
$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,27.650,123.975,390.300,86.400,0.000,54.297,69.124,424.925,13.750,0.000,31.455,1003.457,6425.405,563.976,1827.964,858.942,33.365,1223.642,0.000,1816.193,0.000,0.535,0.000
$DEVICE_MAMPS,180.245,104.312,922.701,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.940,282.500,375.349,724.467,1094.962,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,38442,488
$CAP_FILE_SIZE,110576,0
$CFSIZE,260165632,159989760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101010,155606,2253.581,-15754.521,35,1.6,35,10.1