version: 66.06
glider: 146
mission: 5
dive: 385
start: 10 11 110 7 14 2
data:
$ID,146
$MISSION,5
$DIVE,385
$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,-255106.64
$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,71
$R_STBD_OVSHOOT,53
$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
$GPS1,070107,2255.470,-15754.690,40,1.6,40,10.1
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.4
$GPS2,071308,2255.468,-15754.677,16,1.6,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.083,0.220
$KALMAN_X,-263708.6,68.1,-416.4,291470.5,622.6
$KALMAN_Y,-552364.6,-288.3,-321.2,691667.9,-443.1
$MHEAD_RNG_PITCHd_Wd,329.1,4721,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.78,0.000,2,0.000,0.000,472,1722,3246,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.1,-4.8,10,127,11.27,2.62,-4.53,0.000,4,0.139,0.040,2691,3335,3482,0,0,0,0,0,0
$GC,225,-1.30,-116.8,27.8,-14.3,27,234,0.08,2.50,0.00,0.000,6,0.095,0.030,2712,1808,3482,0,0,0,0,0,0
$GC,504,-1.26,-116.8,66.4,-10.9,53,508,0.00,2.75,0.00,0.000,4,0.000,0.058,2712,194,3483,0,0,0,0,0,0
$GC,562,-1.26,-116.8,73.9,-11.9,57,566,0.00,2.42,0.00,0.000,6,0.000,0.015,2711,1804,3483,0,0,0,0,0,0
$GC,829,-1.26,-116.8,104.4,-11.5,81,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1806,3484,0,0,0,0,0,0
$GC,1090,-1.26,-116.8,136.2,-11.6,106,1095,0.00,2.72,0.00,0.000,4,0.000,0.062,2712,187,3484,0,0,0,0,0,0
$GC,1120,-1.26,-116.8,139.9,-12.0,108,1124,0.00,2.38,0.00,0.000,6,0.000,0.022,2712,1765,3484,0,0,0,0,0,0
$GC,1384,-1.26,-116.8,165.0,-8.1,132,1388,0.00,2.40,0.00,0.000,4,0.000,0.029,2712,3313,3485,0,0,0,0,0,0
$GC,1440,-1.33,-116.8,169.3,-7.1,136,1444,0.00,2.45,0.00,0.000,6,0.000,0.028,2712,1782,3485,0,0,0,0,0,0
$GC,1708,-1.33,-116.8,190.4,-8.3,160,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1782,3485,0,0,0,0,0,0
$GC,1972,-1.33,-116.8,216.9,-10.2,174,1977,0.00,2.70,0.00,0.000,4,0.000,0.064,2712,190,3484,0,0,0,0,0,0
$GC,1987,-1.33,-116.8,218.7,-10.5,174,1991,0.00,2.38,0.00,0.000,6,0.000,0.021,2712,1767,3484,0,0,0,0,0,0
$GC,2256,-1.33,-116.8,245.3,-9.9,181,2261,0.00,2.40,0.00,0.000,4,0.000,0.028,2712,3318,3484,0,0,0,0,0,0
$GC,2279,-1.38,-116.8,247.5,-9.0,181,2283,0.00,2.47,0.00,0.000,6,0.000,0.031,2712,1772,3484,0,0,0,0,0,0
$GC,2536,-1.43,-116.8,267.0,-7.2,188,2541,0.10,2.45,0.00,0.000,4,0.087,0.028,2678,3327,3483,0,0,0,0,0,0
$GC,2557,-1.43,-116.8,268.8,-7.5,188,2562,0.00,2.47,0.00,0.000,6,0.000,0.033,2678,1790,3483,0,0,0,0,0,0
$GC,2813,-1.43,-116.8,289.4,-8.2,195,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1787,3482,0,0,0,0,0,0
$GC,3057,-1.43,-116.8,311.7,-9.6,201,3061,0.00,2.78,0.00,0.000,4,0.000,0.073,2678,194,3481,0,0,0,0,0,0
$GC,3097,-1.43,-116.8,316.0,-11.1,202,3102,0.00,2.42,0.00,0.000,6,0.000,0.027,2678,1763,3481,0,0,0,0,0,0
$GC,3381,-1.43,-116.8,346.5,-10.7,209,3385,0.00,2.53,0.00,0.000,4,0.000,0.037,2678,3348,3480,0,0,0,0,0,0
$GC,3443,-1.49,-116.8,353.2,-10.5,210,3448,0.00,2.55,0.00,0.000,6,0.000,0.040,2678,1803,3480,0,0,0,0,0,0
$GC,3703,-1.49,-116.8,382.4,-11.3,217,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1803,3478,0,0,0,0,0,0
$GC,3947,-1.49,-116.8,409.6,-10.9,223,3951,0.00,2.50,0.00,0.000,4,0.000,0.044,2678,3339,3477,0,0,0,0,0,0
$GC,3968,-1.49,-116.8,411.9,-10.5,223,3972,0.00,2.55,0.00,0.000,6,0.000,0.053,2678,1807,3477,0,0,0,0,0,0
$GC,4225,-1.49,-116.8,438.3,-10.2,230,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1808,3475,0,0,0,0,0,0
$GC,4469,-1.49,-116.8,460.6,-8.8,236,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1808,3473,0,0,0,0,0,0
$GC,4711,-1.49,-116.8,480.8,-8.3,242,4716,0.00,2.53,0.00,0.000,4,0.000,0.049,2678,3343,3472,0,0,0,0,0,0
$GC,4769,-1.55,-116.8,485.4,-8.1,243,4773,0.00,2.62,0.00,0.000,6,0.000,0.058,2678,1811,3471,0,0,0,0,0,0
$STATE,4951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4951,begin apogee
$GC,4957,-0.31,0.0,500.9,8.4,248,5058,1.15,0.00,97.15,0.924,6,0.086,0.000,2932,1811,3001,0,0,0,0,0,0
$STATE,5058,end apogee,CONTROL_FINISHED_OK
$STATE,5058,begin climb
$GC,5061,1.38,116.8,502.9,0.0,250,5166,1.55,0.00,101.38,0.902,6,0.044,0.000,3310,1811,2524,0,0,0,0,0,0
$GC,5400,1.34,189.2,490.8,5.9,259,5469,0.00,2.72,63.03,0.890,4,0.000,0.044,3311,3375,2228,0,0,0,0,0,0
$GC,5537,1.30,212.0,480.2,8.7,262,5564,0.12,2.70,20.90,0.845,6,0.137,0.061,3287,1824,2136,0,0,0,0,0,0
$GC,5811,1.26,213.5,454.6,10.0,268,5815,0.00,2.60,0.00,0.000,4,0.000,0.041,3287,3397,2129,0,0,0,0,0,0
$GC,5826,1.26,213.5,452.4,10.4,268,5831,0.00,2.70,0.00,0.000,6,0.000,0.054,3287,1824,2128,0,0,0,0,0,0
$GC,6089,1.26,213.5,421.7,12.0,275,6094,0.00,2.58,0.00,0.000,4,0.000,0.036,3287,3399,2126,0,0,0,0,0,0
$GC,6111,1.26,213.5,418.6,12.8,275,6115,0.00,2.65,0.00,0.000,6,0.000,0.054,3287,1828,2126,0,0,0,0,0,0
$GC,6371,1.26,213.5,386.2,12.4,282,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1828,2124,0,0,0,0,0,0
$GC,6615,1.26,213.5,358.6,11.2,288,6619,0.00,2.53,0.00,0.000,4,0.000,0.036,3288,3393,2124,0,0,0,0,0,0
$GC,6643,1.26,213.5,355.6,11.2,288,6648,0.00,2.60,0.00,0.000,6,0.000,0.050,3287,1828,2123,0,0,0,0,0,0
$GC,6893,1.29,231.8,332.3,9.0,294,6917,0.00,2.65,16.55,0.789,4,0.000,0.037,3287,3400,2054,0,0,0,0,0,0
$GC,6957,1.31,251.4,326.4,8.9,295,6981,0.00,2.60,19.25,0.785,6,0.000,0.044,3288,1846,1975,0,0,0,0,0,0
$GC,7269,1.34,271.9,298.7,8.9,303,7293,0.00,2.92,18.85,0.770,4,0.000,0.077,3287,234,1892,0,0,0,0,0,0
$GC,7317,1.28,271.9,293.4,11.7,304,7322,0.00,2.58,0.00,0.000,6,0.000,0.027,3287,1844,1890,0,0,0,0,0,0
$GC,7597,1.28,271.9,265.5,10.1,311,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1846,1887,0,0,0,0,0,0
$GC,7841,1.28,272.2,241.0,10.0,317,7845,0.00,2.50,0.00,0.000,4,0.000,0.033,3287,3397,1886,0,0,0,0,0,0
$GC,7880,1.36,272.2,236.8,10.7,318,7885,0.00,2.55,0.00,0.000,6,0.000,0.042,3287,1838,1885,0,0,0,0,0,0
$GC,8165,1.36,272.2,206.4,10.9,325,8170,0.00,2.78,0.00,0.000,4,0.000,0.073,3287,241,1885,0,0,0,0,0,0
$GC,8198,1.32,272.2,202.1,13.5,325,8204,0.00,2.53,0.00,0.000,6,0.000,0.027,3287,1847,1884,0,0,0,0,0,0
$GC,8459,1.34,287.7,175.9,9.1,347,8480,0.00,0.00,14.27,0.670,6,0.000,0.000,3287,1849,1826,0,0,0,0,0,0
$GC,8737,1.37,312.3,151.2,8.6,373,8765,0.00,2.53,22.62,0.664,4,0.000,0.038,3287,3393,1726,0,0,0,0,0,0
$GC,8794,1.47,324.1,146.0,9.4,377,8819,0.15,2.53,11.82,0.622,6,0.075,0.039,3325,1851,1678,0,0,0,0,0,0
$GC,9074,1.47,324.1,113.1,12.6,403,9078,0.00,2.78,0.00,0.000,4,0.000,0.064,3325,236,1675,0,0,0,0,0,0
$GC,9116,1.40,324.1,107.0,15.1,406,9120,0.00,2.53,0.00,0.000,6,0.000,0.021,3325,1845,1674,0,0,0,0,0,0
$GC,9382,1.40,324.1,74.2,12.4,430,9387,0.00,2.75,0.00,0.000,4,0.000,0.063,3325,233,1674,0,0,0,0,0,0
$GC,9402,1.40,324.1,71.6,11.9,431,9407,0.00,2.50,0.00,0.000,6,0.000,0.020,3325,1834,1674,0,0,0,0,0,0
$GC,9672,1.49,334.6,42.8,9.4,455,9691,0.00,0.00,9.52,0.528,6,0.000,0.000,3325,1836,1636,0,0,0,0,0,0
$GC,9984,1.59,358.4,11.1,8.7,495,10011,0.00,2.50,21.23,0.534,4,0.000,0.029,3325,3380,1540,0,0,0,0,0,0
$GC,10036,1.69,392.1,6.7,8.1,501,10064,0.12,2.58,21.50,0.522,2,0.046,0.037,3368,1821,1446,0,0,0,0,0,0
$STATE,10065,end climb,SURFACE_DEPTH_REACHED
$STATE,10065,begin surface coast
$FINISH,0.5,1.023290
$STATE,10083,end surface coast,CONTROL_FINISHED_OK
$STATE,10083,begin surface
$SM_CCo,10106,38.55,0.391,1,0,1287,420.20
$SM_GC,0.98,0.00,0.00,38.55,0.000,0.000,0.391,477,1743,1287,-11.61,-0.76,420.20
$IRIDIUM_FIX,2246.36,-15756.28,050100,040437
$TT8_MAMPS,0.026078
$HUMID,52.59
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,21.00
$XPDR_PINGS,52
$24V_AH,23.5,53.778
$10V_AH,10.1,51.892
$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,26.375,118.525,438.075,38.550,0.000,22.994,32.975,521.090,13.000,0.000,17.554,1007.623,6627.438,527.650,1825.811,882.244,33.374,1232.714,0.000,1835.452,0.000,0.535,0.000
$DEVICE_MAMPS,138.827,114.283,924.235,391.170,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.640,311.737,391.878,733.990,1110.319,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,41494,506
$CAP_FILE_SIZE,108201,0
$CFSIZE,260165632,159662080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111010,100431,2256.223,-15755.038,38,1.7,38,10.1