version: 66.06
glider: 146
mission: 5
dive: 381
start: 10 10 110 19 6 20
data:
$ID,146
$MISSION,5
$DIVE,381
$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,-255041.31
$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,34
$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
$GPS1,185555,2254.334,-15754.667,58,1.4,58,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.3
$GPS2,190526,2254.269,-15754.618,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.118,0.203
$KALMAN_X,-264604.9,-13.8,-382.5,292516.8,1017.6
$KALMAN_Y,-546216.3,99.8,-139.4,682730.1,-376.4
$MHEAD_RNG_PITCHd_Wd,319.7,6940,-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,14,begin dive
$GC,18,-1.38,-116.6,0.0,0.0,0,97,0.00,0.00,-77.25,0.000,2,0.000,0.000,474,1754,3215,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.1,-4.9,10,127,11.40,2.55,-5.12,0.000,4,0.143,0.034,2689,3348,3479,0,0,0,0,0,0
$GC,159,-1.25,-116.8,18.4,-19.2,17,169,0.15,2.60,0.00,0.000,6,0.098,0.034,2724,1772,3480,0,0,0,0,0,0
$GC,447,-1.18,-116.8,63.5,-14.3,47,451,0.00,2.47,0.00,0.000,4,0.000,0.024,2724,3350,3481,0,0,0,0,0,0
$GC,480,-1.13,-116.8,68.5,-14.4,49,485,0.12,2.55,0.00,0.000,6,0.117,0.028,2751,1771,3481,0,0,0,0,0,0
$GC,749,-1.20,-116.8,98.7,-10.9,73,753,0.00,2.45,0.00,0.000,4,0.000,0.031,2751,3339,3481,0,0,0,0,0,0
$GC,766,-1.28,-116.8,101.5,-11.1,74,771,0.12,2.53,0.00,0.000,6,0.067,0.028,2702,1770,3481,0,0,0,0,0,0
$GC,1030,-1.28,-116.8,131.3,-11.3,98,1034,0.00,2.67,0.00,0.000,4,0.000,0.066,2702,194,3482,0,0,0,0,0,0
$GC,1087,-1.28,-116.8,138.6,-11.6,102,1097,0.00,2.45,0.00,0.000,6,0.000,0.018,2702,1797,3482,0,0,0,0,0,0
$GC,1356,-1.28,-116.8,164.0,-9.7,127,1360,0.00,2.72,0.00,0.000,4,0.000,0.059,2702,196,3483,0,0,0,0,0,0
$GC,1398,-1.28,-116.8,169.0,-11.1,130,1403,0.00,2.38,0.00,0.000,6,0.000,0.018,2702,1770,3483,0,0,0,0,0,0
$GC,1667,-1.28,-116.8,194.9,-9.8,154,1671,0.00,2.40,0.00,0.000,4,0.000,0.032,2702,3315,3482,0,0,0,0,0,0
$GC,1712,-1.33,-116.8,200.2,-9.9,157,1718,0.00,2.47,0.00,0.000,6,0.000,0.031,2701,1772,3482,0,0,0,0,0,0
$GC,1962,-1.33,-116.8,226.0,-10.6,164,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1771,3482,0,0,0,0,0,0
$GC,2207,-1.33,-116.8,253.3,-11.3,170,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1771,3482,0,0,0,0,0,0
$GC,2449,-1.33,-116.8,280.8,-11.2,176,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1768,3482,0,0,0,0,0,0
$GC,2694,-1.38,-116.8,305.4,-9.9,182,2698,0.00,2.42,0.00,0.000,4,0.000,0.035,2702,3311,3481,0,0,0,0,0,0
$GC,2749,-1.46,-116.8,310.6,-9.0,183,2754,0.00,2.50,0.00,0.000,6,0.000,0.035,2702,1779,3481,0,0,0,0,0,0
$GC,3018,-1.51,-116.8,335.8,-9.7,190,3019,0.12,0.00,0.00,0.000,6,0.074,0.000,2662,1779,3480,0,0,0,0,0,0
$GC,3259,-1.51,-116.8,364.7,-12.0,196,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1779,3479,0,0,0,0,0,0
$GC,3502,-1.51,-116.8,394.9,-12.5,202,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1777,3477,0,0,0,0,0,0
$GC,3748,-1.51,-116.8,423.3,-11.3,208,3752,0.00,2.50,0.00,0.000,4,0.000,0.044,2662,3309,3476,0,0,0,0,0,0
$GC,3825,-1.51,-116.8,432.4,-11.0,209,3831,0.00,2.60,0.00,0.000,6,0.000,0.058,2662,1769,3476,0,0,0,0,0,0
$GC,4075,-1.51,-116.8,460.1,-11.1,216,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1769,3473,0,0,0,0,0,0
$GC,4320,-1.51,-116.8,485.5,-10.2,222,4324,0.00,2.55,0.00,0.000,4,0.000,0.053,2662,3299,3472,0,0,0,0,0,0
$GC,4375,-1.55,-116.8,491.2,-10.4,223,4380,0.00,2.60,0.00,0.000,6,0.000,0.061,2662,1781,3471,0,0,0,0,0,0
$STATE,4477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4477,begin apogee
$GC,4483,-0.31,0.0,501.2,9.7,226,4584,1.20,0.00,97.12,0.919,6,0.085,0.000,2928,1781,3001,0,0,0,0,0,0
$STATE,4584,end apogee,CONTROL_FINISHED_OK
$STATE,4584,begin climb
$GC,4588,1.38,116.8,503.1,0.0,228,4701,1.58,2.72,101.05,0.895,4,0.050,0.048,3307,3340,2523,0,0,0,0,0,0
$GC,4724,1.34,173.9,500.3,6.7,232,4780,0.00,2.65,50.25,0.874,6,0.000,0.060,3307,1813,2292,0,0,0,0,0,0
$GC,5048,1.24,173.9,468.6,10.1,240,5053,0.17,2.55,0.00,0.000,4,0.121,0.046,3272,3351,2283,0,0,0,0,0,0
$GC,5087,1.27,195.7,465.1,8.8,241,5112,0.00,2.62,19.00,0.834,6,0.000,0.053,3272,1825,2202,0,0,0,0,0,0
$GC,5376,1.29,213.3,439.3,9.0,248,5394,0.00,0.00,16.48,0.820,6,0.000,0.000,3272,1825,2131,0,0,0,0,0,0
$GC,5618,1.29,213.3,415.4,10.1,254,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1825,2127,0,0,0,0,0,0
$GC,5861,1.29,213.3,388.8,10.9,260,5866,0.00,2.50,0.00,0.000,4,0.000,0.037,3272,3358,2125,0,0,0,0,0,0
$GC,5884,1.29,213.3,386.3,11.3,260,5889,0.00,2.62,0.00,0.000,6,0.000,0.054,3272,1817,2124,0,0,0,0,0,0
$GC,6139,1.29,213.3,359.8,10.2,267,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1817,2124,0,0,0,0,0,0
$GC,6383,1.32,235.8,337.9,8.7,273,6405,0.00,0.00,20.27,0.798,6,0.000,0.000,3272,1817,2039,0,0,0,0,0,0
$GC,6627,1.33,245.7,315.2,9.5,279,6642,0.00,2.55,9.88,0.729,4,0.000,0.035,3272,3362,1999,0,0,0,0,0,0
$GC,6688,1.39,245.7,308.9,10.2,280,6693,0.12,2.58,0.00,0.000,6,0.087,0.045,3305,1825,1997,0,0,0,0,0,0
$GC,6949,1.39,245.7,278.6,11.6,287,6953,0.00,2.47,0.00,0.000,4,0.000,0.036,3305,3358,1995,0,0,0,0,0,0
$GC,7000,1.39,245.7,272.7,12.0,288,7005,0.00,2.53,0.00,0.000,6,0.000,0.041,3304,1833,1994,0,0,0,0,0,0
$GC,7272,1.39,249.9,244.8,9.8,295,7282,0.00,2.50,4.62,0.554,4,0.000,0.035,3304,3365,1982,0,0,0,0,0,0
$GC,7299,1.41,263.3,242.4,9.3,295,7318,0.00,2.53,14.07,0.716,6,0.000,0.038,3304,1835,1926,0,0,0,0,0,0
$GC,7599,1.41,267.5,213.7,9.8,303,7606,0.00,0.00,4.60,0.531,6,0.000,0.000,3305,1835,1909,0,0,0,0,0,0
$GC,7845,1.41,267.5,188.5,10.7,315,7849,0.00,2.45,0.00,0.000,4,0.000,0.029,3305,3361,1908,0,0,0,0,0,0
$GC,7922,1.45,267.5,180.0,11.1,321,7926,0.00,2.47,0.00,0.000,6,0.000,0.035,3305,1851,1907,0,0,0,0,0,0
$GC,8184,1.45,267.5,150.0,11.4,345,8189,0.00,2.75,0.00,0.000,4,0.000,0.067,3305,244,1907,0,0,0,0,0,0
$GC,8225,1.40,267.5,144.8,12.7,348,8229,0.00,2.47,0.00,0.000,6,0.000,0.022,3305,1828,1906,0,0,0,0,0,0
$GC,8489,1.41,273.0,118.3,9.7,372,8504,0.00,2.53,6.18,0.532,4,0.000,0.030,3305,3382,1887,0,0,0,0,0,0
$GC,8532,1.47,273.0,114.0,10.6,375,8536,0.00,2.53,0.00,0.000,6,0.000,0.040,3305,1840,1887,0,0,0,0,0,0
$GC,8800,1.52,285.0,88.2,9.3,399,8826,0.12,2.83,11.90,0.579,4,0.086,0.065,3339,239,1837,0,0,0,0,0,0
$GC,8877,1.47,285.0,79.2,12.2,405,8881,0.00,2.50,0.00,0.000,6,0.000,0.021,3338,1840,1837,0,0,0,0,0,0
$GC,9145,1.52,329.3,56.8,7.5,429,9190,0.00,2.53,39.30,0.579,4,0.000,0.028,3339,3383,1657,0,0,0,0,0,0
$GC,9284,1.64,333.3,43.6,9.8,439,9294,0.00,2.55,4.38,0.401,6,0.000,0.034,3338,1851,1642,0,0,0,0,0,0
$GC,9580,1.64,333.3,15.0,10.3,475,9589,0.00,2.47,0.00,0.000,4,0.000,0.028,3338,3381,1639,0,0,0,0,0,0
$GC,9608,1.70,339.6,12.4,9.7,478,9627,0.10,2.53,6.80,0.453,6,0.054,0.038,3372,1851,1615,0,0,0,0,0,0
$STATE,9675,end climb,SURFACE_DEPTH_REACHED
$STATE,9675,begin surface coast
$FINISH,0.5,1.023314
$STATE,9719,end surface coast,CONTROL_FINISHED_OK
$STATE,9720,begin surface
$SM_CCo,9741,72.88,0.454,1,0,1287,420.20
$SM_GC,1.12,0.00,0.00,72.88,0.000,0.000,0.454,475,1742,1287,-11.62,-0.76,420.20
$IRIDIUM_FIX,2246.36,-15756.28,040100,161605
$TT8_MAMPS,0.026078
$HUMID,51.45
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.90
$XPDR_PINGS,44
$24V_AH,23.5,53.225
$10V_AH,10.1,51.414
$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,26.950,106.975,405.900,72.875,0.000,29.556,33.516,368.776,11.000,0.000,13.593,985.518,6332.127,523.604,1821.747,728.175,33.369,1215.805,0.000,1836.014,0.000,0.535,0.000
$DEVICE_MAMPS,143.429,78.234,918.866,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.100,292.573,384.317,737.359,1116.428,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,38331,493
$CAP_FILE_SIZE,103114,0
$CFSIZE,260165632,159887360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101010,215106,2254.978,-15754.844,8,1.3,24,10.1