version: 66.06
glider: 146
mission: 5
dive: 382
start: 10 10 110 22 0 44
data:
$ID,146
$MISSION,5
$DIVE,382
$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,-255056.08
$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,49
$R_STBD_OVSHOOT,57
$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
$GPS1,215106,2254.978,-15754.844,8,1.3,24,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.6
$GPS2,215950,2254.913,-15754.838,12,1.7,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.037,0.231
$KALMAN_X,-264551.9,92.2,260.4,291338.8,345.1
$KALMAN_Y,-547861.1,235.9,549.6,684743.1,-1763.7
$MHEAD_RNG_PITCHd_Wd,340.7,5724,-19.9,-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,18,-1.38,-116.4,0.0,0.0,0,97,0.00,0.00,-77.30,0.000,2,0.000,0.000,474,1741,3208,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-5.5,10,127,11.32,2.55,-5.43,0.000,4,0.142,0.038,2688,3335,3479,0,0,0,0,0,0
$GC,226,-1.30,-116.8,27.7,-15.4,27,236,0.10,2.53,0.00,0.000,6,0.106,0.029,2712,1790,3481,0,0,0,0,0,0
$GC,503,-1.23,-116.8,70.0,-14.5,53,508,0.10,2.45,0.00,0.000,4,0.140,0.025,2731,3345,3481,0,0,0,0,0,0
$GC,550,-1.23,-116.8,76.1,-12.1,56,555,0.00,2.50,0.00,0.000,6,0.000,0.028,2731,1786,3481,0,0,0,0,0,0
$GC,813,-1.27,-116.8,105.4,-10.3,80,818,0.00,2.67,0.00,0.000,4,0.000,0.064,2731,192,3483,0,0,0,0,0,0
$GC,835,-1.27,-116.8,108.2,-10.8,81,841,0.00,2.45,0.00,0.000,6,0.000,0.015,2731,1817,3483,0,0,0,0,0,0
$GC,1100,-1.32,-116.8,134.9,-9.8,106,1105,0.00,2.75,0.00,0.000,4,0.000,0.060,2731,186,3483,0,0,0,0,0,0
$GC,1158,-1.41,-116.8,140.9,-9.8,110,1168,0.12,2.40,0.00,0.000,6,0.038,0.015,2682,1763,3483,0,0,0,0,0,0
$GC,1422,-1.37,-116.8,168.2,-10.2,135,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1764,3484,0,0,0,0,0,0
$GC,1687,-1.33,-116.8,197.4,-11.0,160,1692,0.12,2.45,0.00,0.000,4,0.112,0.028,2708,3311,3484,0,0,0,0,0,0
$GC,1710,-1.33,-116.8,200.3,-10.6,161,1716,0.00,2.50,0.00,0.000,6,0.000,0.027,2708,1756,3484,0,0,0,0,0,0
$GC,1960,-1.33,-116.8,225.5,-10.2,168,1964,0.00,2.42,0.00,0.000,4,0.000,0.025,2708,3309,3484,0,0,0,0,0,0
$GC,1992,-1.39,-116.8,229.1,-10.3,168,1998,0.00,2.47,0.00,0.000,6,0.000,0.035,2708,1767,3484,0,0,0,0,0,0
$GC,2244,-1.39,-116.8,253.5,-9.7,175,2248,0.00,2.42,0.00,0.000,4,0.000,0.027,2708,3310,3483,0,0,0,0,0,0
$GC,2260,-1.44,-116.8,255.2,-9.4,175,2265,0.00,2.47,0.00,0.000,6,0.000,0.036,2708,1776,3483,0,0,0,0,0,0
$GC,2521,-1.48,-116.8,279.4,-9.3,182,2523,0.15,0.00,0.00,0.000,6,0.070,0.000,2662,1776,3483,0,0,0,0,0,0
$GC,2766,-1.48,-116.8,304.2,-9.8,188,2770,0.00,2.42,0.00,0.000,4,0.000,0.029,2661,3306,3482,0,0,0,0,0,0
$GC,2822,-1.48,-116.8,309.8,-9.5,189,2826,0.00,2.47,0.00,0.000,6,0.000,0.038,2662,1791,3482,0,0,0,0,0,0
$GC,3088,-1.45,-116.8,336.8,-10.5,196,3090,0.10,0.00,0.00,0.000,6,0.124,0.000,2682,1791,3481,0,0,0,0,0,0
$GC,3333,-1.45,-116.8,362.6,-10.6,202,3337,0.00,2.42,0.00,0.000,4,0.000,0.040,2682,3302,3480,0,0,0,0,0,0
$GC,3355,-1.45,-116.8,365.2,-10.4,202,3359,0.00,2.50,0.00,0.000,6,0.000,0.048,2682,1793,3480,0,0,0,0,0,0
$GC,3610,-1.45,-116.8,392.1,-10.7,209,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1793,3478,0,0,0,0,0,0
$GC,3853,-1.45,-116.8,418.8,-10.9,215,3858,0.00,2.47,0.00,0.000,4,0.000,0.044,2682,3304,3477,0,0,0,0,0,0
$GC,3922,-1.52,-116.8,426.0,-11.0,216,3926,0.00,2.55,0.00,0.000,6,0.000,0.054,2682,1801,3476,0,0,0,0,0,0
$GC,4177,-1.52,-116.8,451.3,-9.6,223,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1801,3474,0,0,0,0,0,0
$GC,4421,-1.52,-116.8,472.8,-8.8,229,4425,0.00,2.45,0.00,0.000,4,0.000,0.048,2682,3299,3473,0,0,0,0,0,0
$GC,4478,-1.59,-116.8,477.5,-8.2,230,4483,0.12,2.58,0.00,0.000,6,0.077,0.061,2643,1804,3472,0,0,0,0,0,0
$STATE,4742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4742,begin apogee
$GC,4748,-0.31,0.0,504.0,10.2,237,4849,1.30,0.00,97.35,0.927,6,0.090,0.000,2928,1803,3001,0,0,0,0,0,0
$STATE,4850,end apogee,CONTROL_FINISHED_OK
$STATE,4850,begin climb
$GC,4854,1.38,116.8,506.1,0.0,239,4966,1.55,3.12,101.40,0.905,4,0.052,0.118,3306,231,2523,0,0,0,0,0,0
$GC,4988,1.22,167.8,503.9,7.1,242,5040,0.20,2.50,44.90,0.883,6,0.123,0.030,3268,1759,2317,0,0,0,0,0,0
$GC,5301,1.25,191.6,477.3,8.7,250,5330,0.00,2.78,21.15,0.854,4,0.000,0.061,3268,3352,2218,0,0,0,0,0,0
$GC,5400,1.25,191.6,468.0,10.2,252,5404,0.00,2.62,0.00,0.000,6,0.000,0.058,3267,1828,2216,0,0,0,0,0,0
$GC,5671,1.25,191.6,438.7,11.1,259,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1828,2213,0,0,0,0,0,0
$GC,5915,1.25,191.6,412.0,10.9,265,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1828,2211,0,0,0,0,0,0
$GC,6159,1.25,192.5,387.0,10.0,271,6163,0.00,2.50,0.00,0.000,4,0.000,0.035,3268,3361,2209,0,0,0,0,0,0
$GC,6187,1.25,192.5,384.2,10.4,271,6191,0.00,2.58,0.00,0.000,6,0.000,0.049,3267,1821,2208,0,0,0,0,0,0
$GC,6437,1.29,221.1,362.3,8.4,277,6470,0.00,2.90,25.90,0.831,4,0.000,0.088,3267,232,2098,0,0,0,0,0,0
$GC,6482,1.30,226.9,358.3,9.7,278,6495,0.00,2.47,6.55,0.681,6,0.000,0.020,3267,1786,2074,0,0,0,0,0,0
$GC,6764,1.32,247.5,333.4,8.8,285,6786,0.00,0.00,19.67,0.803,6,0.000,0.000,3267,1786,1991,0,0,0,0,0,0
$GC,7007,1.34,262.8,311.2,9.2,291,7027,0.10,2.65,14.75,0.770,4,0.102,0.039,3293,3389,1928,0,0,0,0,0,0
$GC,7074,1.39,262.8,304.7,10.1,292,7078,0.00,2.60,0.00,0.000,6,0.000,0.045,3293,1826,1926,0,0,0,0,0,0
$GC,7329,1.39,263.9,279.1,10.0,299,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1825,1924,0,0,0,0,0,0
$GC,7572,1.39,263.9,253.9,10.4,305,7577,0.00,2.78,0.00,0.000,4,0.000,0.073,3293,238,1923,0,0,0,0,0,0
$GC,7589,1.39,263.9,252.1,10.6,305,7593,0.00,2.50,0.00,0.000,6,0.000,0.024,3293,1818,1922,0,0,0,0,0,0
$GC,7849,1.40,271.5,226.3,9.6,312,7859,0.00,0.00,7.95,0.657,6,0.000,0.000,3293,1820,1894,0,0,0,0,0,0
$GC,8093,1.43,295.5,205.0,8.6,318,8122,0.00,2.60,22.75,0.711,4,0.000,0.035,3293,3383,1794,0,0,0,0,0,0
$GC,8142,1.50,305.5,200.7,9.5,319,8158,0.15,2.58,10.20,0.649,6,0.082,0.041,3331,1820,1755,0,0,0,0,0,0
$GC,8425,1.46,305.5,167.0,12.3,343,8429,0.00,2.78,0.00,0.000,4,0.000,0.065,3331,236,1751,0,0,0,0,0,0
$GC,8469,1.34,305.5,160.9,14.7,346,8475,0.20,2.50,0.00,0.000,6,0.117,0.027,3292,1820,1750,0,0,0,0,0,0
$GC,8731,1.38,305.5,132.1,10.1,370,8735,0.00,2.53,0.00,0.000,4,0.000,0.035,3292,3398,1749,0,0,0,0,0,0
$GC,8785,1.49,311.0,127.0,9.7,374,8801,0.15,2.58,5.47,0.518,6,0.077,0.035,3331,1818,1732,0,0,0,0,0,0
$GC,9055,1.49,311.0,99.6,10.1,399,9060,0.00,2.70,0.00,0.000,4,0.000,0.062,3331,243,1732,0,0,0,0,0,0
$GC,9125,1.45,311.0,91.3,11.3,404,9134,0.00,2.47,0.00,0.000,6,0.000,0.019,3331,1819,1730,0,0,0,0,0,0
$GC,9391,1.49,311.2,65.0,10.0,429,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1820,1731,0,0,0,0,0,0
$GC,9658,1.55,314.7,39.9,9.8,454,9668,0.00,0.00,4.90,0.436,6,0.000,0.000,3331,1820,1717,0,0,0,0,0,0
$GC,9965,1.59,314.7,12.0,10.4,494,9975,0.00,2.53,0.00,0.000,4,0.000,0.032,3331,3377,1716,0,0,0,0,0,0
$GC,10013,1.70,317.2,6.8,9.9,500,10022,0.10,2.60,0.00,0.000,6,0.060,0.037,3364,1800,1716,0,0,0,0,0,0
$STATE,10037,end climb,SURFACE_DEPTH_REACHED
$STATE,10037,begin surface coast
$FINISH,0.3,0.998436
$STATE,10088,end surface coast,CONTROL_FINISHED_OK
$STATE,10088,begin surface
$SM_CCo,10110,93.35,0.472,1,0,1286,420.20
$SM_GC,1.07,0.00,0.00,93.35,0.000,0.000,0.472,478,1795,1286,-11.61,0.71,420.20
$IRIDIUM_FIX,2248.70,-15756.28,040100,191952
$TT8_MAMPS,0.025311
$HUMID,50.94
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.20
$XPDR_PINGS,54
$24V_AH,23.5,53.354
$10V_AH,10.0,51.530
$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,27.675,112.775,382.950,93.350,0.000,27.215,31.183,332.008,13.500,0.000,14.138,1020.896,6586.725,545.875,1901.512,680.439,33.368,1251.214,0.000,1908.379,0.000,0.535,0.000
$DEVICE_MAMPS,141.895,118.118,927.303,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.353,294.918,391.688,766.875,1159.887,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,41578,510
$CAP_FILE_SIZE,107702,0
$CFSIZE,260165632,159825920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111010,005231,2255.145,-15754.714,56,1.4,56,10.1