version: 66.06
glider: 146
mission: 5
dive: 383
start: 10 11 110 1 10 31
data:
$ID,146
$MISSION,5
$DIVE,383
$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,-255073.42
$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,25
$R_STBD_OVSHOOT,61
$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
$GPS1,005231,2255.145,-15754.714,56,1.4,56,10.1
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.3
$GPS2,010937,2255.055,-15754.692,12,1.5,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.043,0.231
$KALMAN_X,-264203.2,180.4,435.9,290972.3,-438.1
$KALMAN_Y,-549435.7,173.5,147.5,687042.9,-2194.9
$MHEAD_RNG_PITCHd_Wd,0.4,5480,-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,16,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.82,0.000,6,0.000,0.000,477,1796,3478,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.3,-8.4,11,127,11.32,2.42,0.00,0.000,4,0.142,0.022,2690,3343,3481,0,0,0,0,0,0
$GC,145,-0.49,-116.8,19.9,-41.2,15,155,0.90,2.60,0.00,0.000,6,0.104,0.031,2889,1768,3481,0,0,0,0,0,0
$GC,445,-0.75,-116.8,39.1,-6.0,49,450,0.22,2.47,0.00,0.000,4,0.048,0.022,2815,3343,3481,0,0,0,0,0,0
$GC,468,-0.96,-116.8,40.5,-5.5,50,473,0.10,2.53,0.00,0.000,6,0.146,0.028,2775,1761,3482,0,0,0,0,0,0
$GC,738,-1.01,-116.8,69.4,-10.1,74,742,0.00,2.62,0.00,0.000,4,0.000,0.061,2775,193,3482,0,0,0,0,0,0
$GC,770,-1.06,-116.8,73.0,-10.3,76,775,0.00,2.42,0.00,0.000,6,0.000,0.018,2775,1790,3482,0,0,0,0,0,0
$GC,1034,-1.16,-116.8,95.3,-8.0,100,1038,0.12,2.40,0.00,0.000,4,0.071,0.024,2733,3325,3482,0,0,0,0,0,0
$GC,1081,-1.23,-116.8,99.2,-9.3,103,1085,0.00,2.50,0.00,0.000,6,0.000,0.028,2732,1755,3482,0,0,0,0,0,0
$GC,1348,-1.28,-116.8,122.9,-9.5,127,1352,0.00,2.65,0.00,0.000,4,0.000,0.065,2732,189,3482,0,0,0,0,0,0
$GC,1414,-1.36,-116.8,130.1,-10.2,132,1419,0.12,2.33,0.00,0.000,6,0.069,0.015,2688,1753,3483,0,0,0,0,0,0
$GC,1675,-1.36,-116.8,157.5,-10.5,156,1679,0.00,2.42,0.00,0.000,4,0.000,0.025,2688,3314,3483,0,0,0,0,0,0
$GC,1733,-1.36,-116.8,163.6,-10.0,160,1739,0.00,2.53,0.00,0.000,6,0.000,0.035,2687,1745,3483,0,0,0,0,0,0
$GC,1996,-1.36,-116.8,192.5,-11.5,185,2000,0.00,2.62,0.00,0.000,4,0.000,0.064,2687,189,3483,0,0,0,0,0,0
$GC,2019,-1.31,-116.8,195.4,-12.7,186,2029,0.08,2.35,0.00,0.000,6,0.087,0.024,2708,1728,3483,0,0,0,0,0,0
$GC,2270,-1.31,-116.8,223.6,-11.2,196,2275,0.00,2.50,0.00,0.000,4,0.000,0.027,2708,3322,3483,0,0,0,0,0,0
$GC,2315,-1.38,-116.8,228.6,-11.0,197,2319,0.00,2.53,0.00,0.000,6,0.000,0.035,2708,1742,3483,0,0,0,0,0,0
$GC,2594,-1.38,-116.8,256.7,-9.7,204,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1739,3482,0,0,0,0,0,0
$GC,2836,-1.42,-116.8,278.5,-8.8,210,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1739,3481,0,0,0,0,0,0
$GC,3080,-1.48,-116.8,300.1,-8.9,216,3085,0.12,2.53,0.00,0.000,4,0.076,0.035,2662,3323,3480,0,0,0,0,0,0
$GC,3114,-1.48,-116.8,303.5,-10.2,216,3120,0.00,2.55,0.00,0.000,6,0.000,0.041,2662,1749,3480,0,0,0,0,0,0
$GC,3364,-1.48,-116.8,329.8,-10.6,223,3368,0.00,2.50,0.00,0.000,4,0.000,0.032,2662,3318,3479,0,0,0,0,0,0
$GC,3390,-1.48,-116.8,332.8,-10.7,223,3395,0.00,2.58,0.00,0.000,6,0.000,0.045,2662,1746,3479,0,0,0,0,0,0
$GC,3640,-1.48,-116.8,360.6,-11.2,229,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1746,3478,0,0,0,0,0,0
$GC,3884,-1.48,-116.8,391.1,-12.9,235,3889,0.00,2.55,0.00,0.000,4,0.000,0.043,2662,3313,3476,0,0,0,0,0,0
$GC,3928,-1.48,-116.8,397.0,-13.0,236,3933,0.00,2.60,0.00,0.000,6,0.000,0.054,2662,1765,3476,0,0,0,0,0,0
$GC,4212,-1.48,-116.8,434.8,-13.7,243,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1764,3474,0,0,0,0,0,0
$GC,4457,-1.48,-116.8,466.5,-12.9,249,4462,0.00,2.58,0.00,0.000,4,0.000,0.050,2662,3315,3472,0,0,0,0,0,0
$GC,4497,-1.48,-116.8,471.5,-12.2,250,4501,0.00,2.60,0.00,0.000,6,0.000,0.054,2662,1772,3472,0,0,0,0,0,0
$STATE,4777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4778,begin apogee
$GC,4783,-0.31,0.0,504.5,11.3,257,4884,1.23,0.00,97.20,0.922,6,0.087,0.000,2932,1772,3001,0,0,0,0,0,0
$STATE,4885,end apogee,CONTROL_FINISHED_OK
$STATE,4885,begin climb
$GC,4889,1.38,116.8,507.2,0.0,259,5001,1.52,2.80,101.32,0.900,4,0.046,0.051,3307,3360,2523,0,0,0,0,0,0
$GC,5018,1.34,185.9,506.2,6.0,262,5085,0.00,2.67,60.85,0.883,6,0.000,0.056,3307,1821,2242,0,0,0,0,0,0
$GC,5335,1.24,185.9,469.4,12.4,270,5337,0.17,0.00,0.00,0.000,6,0.134,0.000,3273,1820,2232,0,0,0,0,0,0
$GC,5578,1.24,185.9,441.9,11.1,276,5583,0.00,2.58,0.00,0.000,4,0.000,0.040,3273,3370,2230,0,0,0,0,0,0
$GC,5646,1.24,185.9,434.5,11.5,277,5651,0.00,2.67,0.00,0.000,6,0.000,0.059,3273,1816,2228,0,0,0,0,0,0
$GC,5902,1.26,197.5,410.0,9.4,284,5913,0.00,0.00,9.05,0.765,6,0.000,0.000,3273,1816,2195,0,0,0,0,0,0
$GC,6146,1.28,217.9,388.1,8.9,290,6167,0.00,0.00,19.58,0.828,6,0.000,0.000,3273,1816,2112,0,0,0,0,0,0
$GC,6391,1.30,228.1,365.2,9.4,296,6403,0.00,0.00,9.98,0.760,6,0.000,0.000,3273,1816,2071,0,0,0,0,0,0
$GC,6633,1.30,235.2,341.6,9.6,302,6643,0.00,0.00,7.68,0.716,6,0.000,0.000,3273,1816,2042,0,0,0,0,0,0
$GC,6876,1.30,235.2,315.6,10.8,308,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1816,2039,0,0,0,0,0,0
$GC,7122,1.33,253.4,292.6,9.0,314,7146,0.00,2.62,17.40,0.772,4,0.000,0.031,3273,3372,1967,0,0,0,0,0,0
$GC,7181,1.41,261.8,287.0,9.6,315,7196,0.15,2.60,9.12,0.703,6,0.084,0.040,3311,1807,1933,0,0,0,0,0,0
$GC,7452,1.41,261.8,257.9,10.8,322,7456,0.00,2.75,0.00,0.000,4,0.000,0.074,3311,237,1929,0,0,0,0,0,0
$GC,7476,1.34,261.8,255.1,11.6,322,7480,0.00,2.45,0.00,0.000,6,0.000,0.025,3310,1796,1928,0,0,0,0,0,0
$GC,7731,1.34,261.8,226.6,11.2,329,7735,0.00,2.58,0.00,0.000,4,0.000,0.039,3311,3393,1927,0,0,0,0,0,0
$GC,7751,1.34,261.8,224.0,12.0,329,7756,0.00,2.58,0.00,0.000,6,0.000,0.041,3311,1814,1926,0,0,0,0,0,0
$GC,8008,1.34,261.8,195.4,11.4,336,8012,0.00,2.55,0.00,0.000,4,0.000,0.035,3311,3396,1926,0,0,0,0,0,0
$GC,8029,1.34,261.8,193.2,11.5,337,8034,0.00,2.60,0.00,0.000,6,0.000,0.036,3311,1811,1925,0,0,0,0,0,0
$GC,8295,1.34,261.8,162.7,11.9,361,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1812,1925,0,0,0,0,0,0
$GC,8558,1.34,261.8,132.2,10.9,386,8562,0.00,2.55,0.00,0.000,4,0.000,0.036,3311,3400,1925,0,0,0,0,0,0
$GC,8611,1.39,261.8,126.2,11.1,390,8615,0.00,2.55,0.00,0.000,6,0.000,0.038,3310,1826,1924,0,0,0,0,0,0
$GC,8875,1.40,271.8,100.5,9.5,414,8890,0.00,2.72,9.12,0.571,4,0.000,0.061,3310,234,1891,0,0,0,0,0,0
$GC,8941,1.35,271.8,93.1,12.6,419,8946,0.00,2.50,0.00,0.000,6,0.000,0.020,3310,1834,1889,0,0,0,0,0,0
$GC,9210,1.43,305.3,70.3,8.1,443,9251,0.00,2.55,29.95,0.594,4,0.000,0.029,3311,3380,1754,0,0,0,0,0,0
$GC,9305,1.60,339.1,62.6,8.1,450,9347,0.15,2.60,29.85,0.580,6,0.075,0.034,3350,1801,1617,0,0,0,0,0,0
$GC,9603,1.60,339.1,32.9,10.7,477,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1801,1613,0,0,0,0,0,0
$STATE,9873,end climb,SURFACE_DEPTH_REACHED
$STATE,9873,begin surface coast
$FINISH,0.4,1.012570
$STATE,9915,end surface coast,CONTROL_FINISHED_OK
$STATE,9916,begin surface
$SM_CCo,9938,76.07,0.461,1,0,1287,420.20
$SM_GC,1.12,0.00,0.00,76.07,0.000,0.000,0.461,481,1798,1287,-11.59,0.76,420.20
$IRIDIUM_FIX,2248.70,-15753.23,050100,010132
$TT8_MAMPS,0.026078
$HUMID,51.65
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.60
$XPDR_PINGS,46
$24V_AH,23.5,53.501
$10V_AH,10.1,51.658
$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,27.875,107.300,401.100,76.075,0.000,82.407,100.765,567.520,11.500,0.000,16.726,1021.764,6489.779,526.005,1948.439,1060.590,33.371,1223.621,0.000,1959.772,0.000,0.537,0.000
$DEVICE_MAMPS,145.730,74.399,921.934,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.746,315.304,415.508,833.998,1261.464,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,41547,521
$CAP_FILE_SIZE,109018,0
$CFSIZE,260165632,159772672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111010,035854,2255.047,-15754.636,42,1.4,42,10.1