version: 66.06
glider: 146
mission: 5
dive: 384
start: 10 11 110 4 12 44
data:
$ID,146
$MISSION,5
$DIVE,384
$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,-255088.47
$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,54
$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
$GPS1,035854,2255.047,-15754.636,42,1.4,42,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-65.4
$GPS2,041150,2254.928,-15754.687,12,1.6,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.007,0.235
$KALMAN_X,-263990.3,157.4,-169.2,291401.0,-184.3
$KALMAN_Y,-550944.7,-59.1,-635.1,689333.7,-1098.1
$MHEAD_RNG_PITCHd_Wd,351.5,5714,-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,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.07,0.000,2,0.000,0.000,481,1797,3462,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.2,-8.0,11,128,11.20,2.42,-0.25,0.000,4,0.138,0.033,2690,3350,3479,0,0,0,0,0,0
$GC,172,-1.30,-116.8,24.9,-17.5,19,182,0.10,2.60,0.00,0.000,6,0.102,0.036,2713,1764,3481,0,0,0,0,0,0
$GC,452,-1.25,-116.8,64.2,-11.2,46,456,0.00,2.47,0.00,0.000,4,0.000,0.025,2714,3339,3480,0,0,0,0,0,0
$GC,485,-1.25,-116.8,68.1,-11.0,48,489,0.00,2.50,0.00,0.000,6,0.000,0.028,2713,1773,3481,0,0,0,0,0,0
$GC,748,-1.25,-116.8,93.2,-9.2,72,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1773,3482,0,0,0,0,0,0
$GC,1002,-1.25,-116.8,120.8,-11.8,96,1006,0.00,2.67,0.00,0.000,4,0.000,0.064,2714,197,3482,0,0,0,0,0,0
$GC,1082,-1.25,-116.8,131.8,-14.1,102,1092,0.00,2.47,0.00,0.000,6,0.000,0.022,2714,1814,3482,0,0,0,0,0,0
$GC,1350,-1.25,-116.8,163.9,-11.6,127,1354,0.00,2.35,0.00,0.000,4,0.000,0.032,2714,3328,3482,0,0,0,0,0,0
$GC,1395,-1.32,-116.8,169.3,-10.2,130,1401,0.00,2.45,0.00,0.000,6,0.000,0.031,2714,1799,3482,0,0,0,0,0,0
$GC,1659,-1.32,-116.8,193.6,-8.5,155,1664,0.00,2.72,0.00,0.000,4,0.000,0.068,2714,190,3483,0,0,0,0,0,0
$GC,1681,-1.32,-116.8,195.9,-9.0,156,1690,0.00,2.47,0.00,0.000,6,0.000,0.021,2714,1806,3482,0,0,0,0,0,0
$GC,1943,-1.32,-116.8,217.3,-8.2,167,1947,0.00,2.38,0.00,0.000,4,0.000,0.030,2714,3316,3482,0,0,0,0,0,0
$GC,1971,-1.37,-116.8,219.7,-8.2,167,1975,0.00,2.40,0.00,0.000,6,0.000,0.035,2714,1809,3482,0,0,0,0,0,0
$GC,2228,-1.41,-116.8,242.2,-9.4,174,2232,0.00,2.75,0.00,0.000,4,0.000,0.071,2714,197,3481,0,0,0,0,0,0
$GC,2249,-1.41,-116.8,244.8,-10.7,174,2253,0.00,2.45,0.00,0.000,6,0.000,0.016,2714,1812,3482,0,0,0,0,0,0
$GC,2512,-1.47,-116.8,272.9,-10.7,181,2513,0.15,0.00,0.00,0.000,6,0.064,0.000,2664,1813,3481,0,0,0,0,0,0
$GC,2753,-1.47,-116.8,302.1,-11.9,187,2758,0.00,2.80,0.00,0.000,4,0.000,0.072,2664,198,3480,0,0,0,0,0,0
$GC,2769,-1.42,-116.8,304.1,-12.1,187,2774,0.12,2.45,0.00,0.000,6,0.116,0.026,2689,1787,3480,0,0,0,0,0,0
$GC,3030,-1.42,-116.8,327.0,-8.0,194,3034,0.00,2.45,0.00,0.000,4,0.000,0.040,2689,3339,3479,0,0,0,0,0,0
$GC,3104,-1.48,-116.8,332.5,-7.5,195,3108,0.00,2.47,0.00,0.000,6,0.000,0.040,2689,1818,3479,0,0,0,0,0,0
$GC,3354,-1.48,-116.8,354.5,-9.2,201,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1818,3478,0,0,0,0,0,0
$GC,3597,-1.48,-116.8,379.7,-10.5,207,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1818,3476,0,0,0,0,0,0
$GC,3843,-1.52,-116.8,407.5,-11.6,213,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1818,3475,0,0,0,0,0,0
$GC,4085,-1.56,-116.8,435.8,-11.6,219,4087,0.12,0.00,0.00,0.000,6,0.078,0.000,2651,1818,3473,0,0,0,0,0,0
$GC,4328,-1.56,-116.8,466.6,-12.6,225,4333,0.00,2.53,0.00,0.000,4,0.000,0.049,2650,3336,3471,0,0,0,0,0,0
$GC,4373,-1.56,-116.8,472.0,-12.4,226,4378,0.00,2.58,0.00,0.000,6,0.000,0.063,2650,1818,3471,0,0,0,0,0,0
$STATE,4608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4608,begin apogee
$GC,4613,-0.31,0.0,500.4,12.1,232,4714,1.25,0.00,97.07,0.920,6,0.085,0.000,2928,1818,3001,0,0,0,0,0,0
$STATE,4715,end apogee,CONTROL_FINISHED_OK
$STATE,4715,begin climb
$GC,4717,1.38,116.8,504.0,0.0,234,4823,1.55,0.00,101.10,0.899,6,0.040,0.000,3307,1818,2524,0,0,0,0,0,0
$GC,5044,1.30,163.5,490.0,7.3,242,5091,0.12,2.65,40.58,0.878,4,0.128,0.045,3284,3376,2333,0,0,0,0,0,0
$GC,5141,1.32,180.4,481.9,9.1,244,5162,0.00,2.67,15.93,0.826,6,0.000,0.058,3283,1831,2265,0,0,0,0,0,0
$GC,5406,1.27,180.4,455.4,10.2,250,5411,0.00,2.58,0.00,0.000,4,0.000,0.040,3284,3385,2258,0,0,0,0,0,0
$GC,5456,1.27,180.4,450.1,10.3,251,5460,0.00,2.67,0.00,0.000,6,0.000,0.058,3284,1829,2257,0,0,0,0,0,0
$GC,5730,1.27,180.4,421.0,10.8,258,5735,0.00,2.97,0.00,0.000,4,0.000,0.103,3283,230,2254,0,0,0,0,0,0
$GC,5746,1.20,180.4,418.8,10.8,258,5751,0.10,2.55,0.00,0.000,6,0.144,0.023,3264,1820,2254,0,0,0,0,0,0
$GC,6007,1.21,191.3,393.9,9.4,265,6018,0.00,0.00,9.07,0.761,6,0.000,0.000,3264,1820,2220,0,0,0,0,0,0
$GC,6252,1.23,208.2,371.8,9.1,271,6276,0.00,2.70,16.52,0.811,4,0.000,0.039,3264,3411,2151,0,0,0,0,0,0
$GC,6310,1.30,219.1,366.2,9.4,272,6329,0.00,2.67,11.20,0.768,6,0.000,0.046,3264,1822,2106,0,0,0,0,0,0
$GC,6582,1.30,219.8,339.9,10.0,279,6586,0.00,2.83,0.00,0.000,4,0.000,0.084,3264,237,2102,0,0,0,0,0,0
$GC,6614,1.27,219.8,336.0,11.8,279,6620,0.00,2.53,0.00,0.000,6,0.000,0.027,3264,1834,2101,0,0,0,0,0,0
$GC,6864,1.28,227.2,311.6,9.6,286,6878,0.00,2.60,7.80,0.703,4,0.000,0.040,3264,3397,2073,0,0,0,0,0,0
$GC,6937,1.34,232.3,304.4,9.7,287,6949,0.12,2.60,6.00,0.646,6,0.093,0.038,3296,1831,2054,0,0,0,0,0,0
$GC,7192,1.34,235.2,278.7,9.9,293,7202,0.00,2.80,3.97,0.518,4,0.000,0.074,3296,240,2042,0,0,0,0,0,0
$GC,7221,1.29,235.2,275.6,11.0,293,7226,0.00,2.53,0.00,0.000,6,0.000,0.027,3296,1840,2042,0,0,0,0,0,0
$GC,7476,1.32,265.1,253.0,8.3,300,7511,0.00,2.88,28.15,0.757,4,0.000,0.070,3295,247,1919,0,0,0,0,0,0
$GC,7518,1.37,300.9,249.6,8.0,301,7559,0.00,2.55,32.85,0.744,6,0.000,0.028,3296,1845,1772,0,0,0,0,0,0
$GC,7804,1.37,300.9,220.8,10.4,308,7809,0.00,2.80,0.00,0.000,4,0.000,0.069,3296,232,1766,0,0,0,0,0,0
$GC,7831,1.33,300.9,217.3,12.5,308,7836,0.00,2.53,0.00,0.000,6,0.000,0.021,3296,1827,1765,0,0,0,0,0,0
$GC,8084,1.33,300.9,187.5,11.8,320,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1828,1764,0,0,0,0,0,0
$GC,8341,1.33,300.9,156.5,11.9,344,8345,0.00,2.50,0.00,0.000,4,0.000,0.034,3295,3393,1763,0,0,0,0,0,0
$GC,8374,1.39,300.9,152.8,12.4,346,8379,0.00,2.58,0.00,0.000,6,0.000,0.041,3296,1829,1762,0,0,0,0,0,0
$GC,8638,1.39,300.9,123.1,10.2,370,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1829,1762,0,0,0,0,0,0
$GC,8904,1.45,308.1,97.9,9.6,395,8915,0.00,2.75,5.70,0.504,4,0.000,0.061,3296,240,1744,0,0,0,0,0,0
$GC,8969,1.45,309.3,90.9,10.0,400,8978,0.00,2.53,0.00,0.000,6,0.000,0.021,3296,1840,1743,0,0,0,0,0,0
$GC,9236,1.56,322.0,67.2,9.3,425,9264,0.17,2.78,14.05,0.567,4,0.107,0.057,3342,236,1686,0,0,0,0,0,0
$GC,9283,1.56,322.0,62.4,11.2,428,9287,0.00,2.53,0.00,0.000,6,0.000,0.019,3342,1842,1685,0,0,0,0,0,0
$GC,9550,1.56,324.0,35.2,9.9,452,9554,0.00,2.47,0.00,0.000,4,0.000,0.029,3342,3396,1683,0,0,0,0,0,0
$GC,9570,1.56,324.0,32.6,11.2,453,9574,0.00,2.50,0.00,0.000,6,0.000,0.031,3342,1841,1683,0,0,0,0,0,0
$STATE,9845,end climb,SURFACE_DEPTH_REACHED
$STATE,9845,begin surface coast
$FINISH,0.3,1.016338
$STATE,9907,end surface coast,CONTROL_FINISHED_OK
$STATE,9907,begin surface
$SM_CCo,9929,86.68,0.468,1,0,1288,420.20
$SM_GC,1.10,0.00,0.00,86.68,0.000,0.000,0.468,473,1722,1288,-11.63,-1.33,420.20
$IRIDIUM_FIX,2244.02,-15754.11,050100,040400
$TT8_MAMPS,0.026078
$HUMID,51.10
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.70
$XPDR_PINGS,50
$24V_AH,23.5,53.637
$10V_AH,10.0,51.776
$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,26.725,119.225,390.000,86.675,0.000,59.320,71.078,423.539,12.500,0.000,14.417,1008.475,6516.050,542.582,1863.732,868.030,33.372,1239.061,0.000,1870.836,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,102.778,919.633,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.274,298.132,389.843,753.315,1140.483,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,38371,501
$CAP_FILE_SIZE,107863,0
$CFSIZE,260165632,159719424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111010,070107,2255.470,-15754.690,40,1.6,40,10.1