version: 66.06
glider: 146
mission: 5
dive: 380
start: 10 10 110 16 7 14
data:
$ID,146
$MISSION,5
$DIVE,380
$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,-255027.09
$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,24
$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
$GPS1,155606,2253.581,-15754.521,35,1.6,35,10.1
$_CALLS,1
$_XMS_NAKs,28
$_XMS_TOUTs,2
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-65.5
$GPS2,160620,2253.469,-15754.511,11,1.9,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.054,0.228
$KALMAN_X,-264835.1,-160.6,-356.6,293055.1,353.2
$KALMAN_Y,-544636.7,-129.1,-705.1,680459.2,-436.5
$MHEAD_RNG_PITCHd_Wd,336.6,8434,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.7,0.0,0.0,0,97,0.00,0.00,-77.32,0.000,2,0.000,0.000,470,1791,3203,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.1,-5.7,10,127,11.35,2.47,-5.35,0.000,4,0.142,0.040,2690,3326,3481,0,0,0,0,0,0
$GC,198,-1.30,-116.8,24.8,-17.3,23,208,0.08,2.55,0.00,0.000,6,0.091,0.031,2711,1774,3482,0,0,0,0,0,0
$GC,479,-1.24,-116.8,66.0,-13.4,50,484,0.00,2.47,0.00,0.000,4,0.000,0.024,2710,3342,3483,0,0,0,0,0,0
$GC,501,-1.20,-116.8,69.4,-13.2,51,506,0.12,2.50,0.00,0.000,6,0.109,0.028,2737,1790,3483,0,0,0,0,0,0
$GC,768,-1.24,-116.8,97.4,-10.4,75,772,0.00,2.70,0.00,0.000,4,0.000,0.062,2737,196,3484,0,0,0,0,0,0
$GC,835,-1.29,-116.8,105.2,-11.0,80,839,0.00,2.42,0.00,0.000,6,0.000,0.022,2736,1812,3483,0,0,0,0,0,0
$GC,1098,-1.35,-116.8,129.2,-8.9,104,1103,0.12,2.35,0.00,0.000,4,0.074,0.030,2693,3314,3484,0,0,0,0,0,0
$GC,1144,-1.35,-116.8,133.8,-11.1,107,1148,0.00,2.45,0.00,0.000,6,0.000,0.028,2693,1786,3484,0,0,0,0,0,0
$GC,1406,-1.35,-116.8,165.4,-11.9,131,1411,0.00,2.72,0.00,0.000,4,0.000,0.065,2692,190,3484,0,0,0,0,0,0
$GC,1463,-1.35,-116.8,173.3,-14.2,135,1472,0.00,2.42,0.00,0.000,6,0.000,0.017,2693,1766,3484,0,0,0,0,0,0
$GC,1733,-1.35,-116.8,204.8,-11.1,158,1737,0.00,2.42,0.00,0.000,4,0.000,0.027,2693,3327,3484,0,0,0,0,0,0
$GC,1772,-1.40,-116.8,208.9,-10.4,159,1777,0.00,2.47,0.00,0.000,6,0.000,0.031,2693,1783,3484,0,0,0,0,0,0
$GC,2057,-1.40,-116.8,237.9,-10.1,166,2062,0.00,2.72,0.00,0.000,4,0.000,0.067,2693,195,3485,0,0,0,0,0,0
$GC,2079,-1.40,-116.8,240.4,-10.4,166,2083,0.00,2.42,0.00,0.000,6,0.000,0.017,2692,1788,3484,0,0,0,0,0,0
$GC,2335,-1.40,-116.8,265.5,-9.7,173,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1789,3484,0,0,0,0,0,0
$GC,2580,-1.40,-116.8,291.3,-10.8,179,2584,0.00,2.42,0.00,0.000,4,0.000,0.028,2692,3331,3484,0,0,0,0,0,0
$GC,2607,-1.44,-116.8,294.6,-10.9,179,2611,0.00,2.53,0.00,0.000,6,0.000,0.031,2692,1771,3484,0,0,0,0,0,0
$GC,2856,-1.44,-116.8,320.9,-10.4,185,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1770,3483,0,0,0,0,0,0
$GC,3102,-1.44,-116.8,345.8,-10.1,191,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1771,3482,0,0,0,0,0,0
$GC,3345,-1.48,-116.8,369.5,-9.7,197,3349,0.00,2.50,0.00,0.000,4,0.000,0.035,2692,3325,3481,0,0,0,0,0,0
$GC,3366,-1.53,-116.8,371.6,-9.1,197,3372,0.12,2.58,0.00,0.000,6,0.073,0.044,2651,1777,3481,0,0,0,0,0,0
$GC,3624,-1.49,-116.8,397.5,-10.1,204,3629,0.10,2.53,0.00,0.000,4,0.124,0.042,2672,3324,3479,0,0,0,0,0,0
$GC,3657,-1.49,-116.8,400.6,-8.7,204,3662,0.00,2.58,0.00,0.000,6,0.000,0.053,2672,1787,3479,0,0,0,0,0,0
$GC,3907,-1.49,-116.8,422.5,-9.0,211,3911,0.00,2.47,0.00,0.000,4,0.000,0.042,2672,3322,3477,0,0,0,0,0,0
$GC,3964,-1.54,-116.8,427.9,-9.5,212,3968,0.00,2.60,0.00,0.000,6,0.000,0.053,2672,1793,3477,0,0,0,0,0,0
$GC,4230,-1.54,-116.8,454.2,-9.9,219,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1793,3476,0,0,0,0,0,0
$GC,4474,-1.54,-116.8,480.6,-11.0,225,4478,0.00,2.50,0.00,0.000,4,0.000,0.050,2672,3313,3474,0,0,0,0,0,0
$GC,4519,-1.59,-116.8,485.6,-11.1,226,4524,0.00,2.60,0.00,0.000,6,0.000,0.059,2672,1798,3473,0,0,0,0,0,0
$STATE,4672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4672,begin apogee
$GC,4678,-0.31,0.0,502.8,11.0,230,4779,1.17,0.00,97.38,0.922,6,0.087,0.000,2931,1797,3001,0,0,0,0,0,0
$STATE,4779,end apogee,CONTROL_FINISHED_OK
$STATE,4779,begin climb
$GC,4782,1.38,116.8,506.0,0.0,232,4894,1.55,2.70,100.70,0.903,4,0.043,0.049,3307,3361,2523,0,0,0,0,0,0
$GC,4918,1.36,199.9,506.7,5.2,236,4999,0.00,2.67,72.72,0.889,6,0.000,0.056,3307,1820,2185,0,0,0,0,0,0
$GC,5243,1.27,199.9,472.6,11.2,244,5245,0.15,0.00,0.00,0.000,6,0.122,0.000,3278,1820,2176,0,0,0,0,0,0
$GC,5487,1.27,199.9,447.3,10.5,250,5491,0.00,2.55,0.00,0.000,4,0.000,0.038,3278,3369,2173,0,0,0,0,0,0
$GC,5519,1.27,199.9,443.6,11.3,250,5525,0.00,2.65,0.00,0.000,6,0.000,0.053,3278,1822,2172,0,0,0,0,0,0
$GC,5770,1.27,199.9,417.4,10.5,257,5775,0.00,2.53,0.00,0.000,4,0.000,0.036,3278,3375,2171,0,0,0,0,0,0
$GC,5803,1.27,199.9,413.4,11.1,257,5809,0.00,2.62,0.00,0.000,6,0.000,0.051,3277,1832,2170,0,0,0,0,0,0
$GC,6053,1.27,199.9,387.5,10.3,264,6058,0.00,2.50,0.00,0.000,4,0.000,0.039,3278,3375,2169,0,0,0,0,0,0
$GC,6096,1.28,205.9,383.6,9.7,265,6101,0.00,2.58,0.00,0.000,6,0.000,0.051,3278,1843,2168,0,0,0,0,0,0
$GC,6380,1.29,217.2,356.7,9.4,272,6399,0.00,2.97,13.68,0.792,4,0.000,0.084,3277,234,2114,0,0,0,0,0,0
$GC,6411,1.25,217.2,353.4,10.3,272,6415,0.00,2.53,0.00,0.000,6,0.000,0.025,3277,1823,2112,0,0,0,0,0,0
$GC,6662,1.26,224.6,328.7,9.6,278,6677,0.00,2.88,7.75,0.709,4,0.000,0.070,3277,232,2085,0,0,0,0,0,0
$GC,6728,1.21,224.6,321.2,12.0,279,6733,0.00,2.55,0.00,0.000,6,0.000,0.024,3278,1828,2083,0,0,0,0,0,0
$GC,6990,1.22,235.2,295.6,9.4,286,7006,0.00,2.58,10.80,0.736,4,0.000,0.038,3278,3397,2041,0,0,0,0,0,0
$GC,7018,1.24,247.8,293.0,9.3,286,7038,0.00,2.58,13.12,0.741,6,0.000,0.041,3277,1836,1989,0,0,0,0,0,0
$GC,7319,1.29,260.8,265.5,9.3,294,7338,0.00,2.62,12.35,0.723,4,0.000,0.036,3277,3398,1936,0,0,0,0,0,0
$GC,7364,1.36,260.8,261.1,10.3,295,7369,0.00,2.58,0.00,0.000,6,0.000,0.035,3277,1842,1935,0,0,0,0,0,0
$GC,7648,1.41,260.8,232.6,10.1,302,7653,0.12,2.80,0.00,0.000,4,0.092,0.071,3309,233,1933,0,0,0,0,0,0
$GC,7664,1.41,260.8,230.5,10.0,302,7669,0.00,2.58,0.00,0.000,6,0.000,0.025,3309,1857,1932,0,0,0,0,0,0
$GC,7927,1.41,260.8,201.2,11.2,309,7931,0.00,2.47,0.00,0.000,4,0.000,0.034,3309,3401,1932,0,0,0,0,0,0
$GC,7942,1.41,260.8,199.1,11.4,309,7947,0.00,2.53,0.00,0.000,6,0.000,0.040,3309,1841,1931,0,0,0,0,0,0
$GC,8207,1.41,262.1,171.4,10.0,333,8211,0.00,2.50,0.00,0.000,4,0.000,0.035,3309,3397,1931,0,0,0,0,0,0
$GC,8248,1.45,262.1,166.8,11.0,336,8252,0.00,2.50,0.00,0.000,6,0.000,0.035,3309,1854,1930,0,0,0,0,0,0
$GC,8510,1.45,262.1,139.0,11.4,360,8515,0.00,2.75,0.00,0.000,4,0.000,0.067,3309,242,1931,0,0,0,0,0,0
$GC,8541,1.40,262.1,135.2,13.2,362,8546,0.00,2.55,0.00,0.000,6,0.000,0.023,3309,1869,1930,0,0,0,0,0,0
$GC,8804,1.40,262.1,105.3,10.8,386,8808,0.00,2.40,0.00,0.000,4,0.000,0.029,3309,3388,1930,0,0,0,0,0,0
$GC,8850,1.46,262.1,100.8,10.9,389,8854,0.00,2.50,0.00,0.000,6,0.000,0.035,3309,1841,1929,0,0,0,0,0,0
$GC,9117,1.55,298.5,75.9,7.9,413,9157,0.12,2.80,32.50,0.600,4,0.214,0.060,3342,234,1785,0,0,0,0,0,0
$GC,9214,1.55,298.5,66.0,11.2,420,9224,0.00,2.55,0.00,0.000,6,0.000,0.020,3342,1843,1782,0,0,0,0,0,0
$GC,9481,1.56,309.4,42.3,9.4,445,9498,0.00,2.53,10.68,0.524,4,0.000,0.028,3342,3384,1738,0,0,0,0,0,0
$GC,9537,1.67,319.8,37.1,9.4,449,9555,0.00,2.53,10.57,0.515,6,0.000,0.034,3342,1848,1696,0,0,0,0,0,0
$STATE,9862,end climb,SURFACE_DEPTH_REACHED
$STATE,9862,begin surface coast
$FINISH,0.4,1.015519
$STATE,9905,end surface coast,CONTROL_FINISHED_OK
$STATE,9905,begin surface
$SM_CCo,9928,88.38,0.468,1,0,1287,420.20
$SM_GC,1.03,0.00,0.00,88.38,0.000,0.000,0.468,475,1755,1287,-11.62,-0.42,420.20
$IRIDIUM_FIX,2244.02,-15754.11,040100,131355
$TT8_MAMPS,0.025311
$HUMID,50.47
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.80
$XPDR_PINGS,62
$24V_AH,23.5,53.096
$10V_AH,10.1,51.299
$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,26.700,138.600,382.250,88.375,0.000,30.118,33.066,415.810,15.500,0.000,12.698,1022.551,6416.843,528.327,1892.066,775.870,33.368,1256.713,0.000,1894.919,0.000,0.536,0.000
$DEVICE_MAMPS,213.993,88.205,921.934,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.491,294.580,384.770,749.428,1134.458,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,38364,499
$CAP_FILE_SIZE,113131,0
$CFSIZE,260165632,159932416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101010,185555,2254.334,-15754.667,58,1.4,58,10.1