version: 66.06
glider: 146
mission: 5
dive: 387
start: 10 11 110 13 32 55
data:
$ID,146
$MISSION,5
$DIVE,387
$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,-255156.67
$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,42
$R_STBD_OVSHOOT,58
$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
$GPS1,132037,2256.623,-15755.330,35,1.8,35,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.8
$GPS2,133201,2256.589,-15755.283,10,1.3,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.062,0.226
$KALMAN_X,-263956.9,-242.1,307.7,290268.2,-500.6
$KALMAN_Y,-555247.5,-367.6,217.5,696168.6,-1600.8
$MHEAD_RNG_PITCHd_Wd,5.3,2658,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,106,0.00,0.00,-86.00,0.000,2,0.000,0.000,477,1746,3466,0,0,0,0,0,0
$GC,110,-1.38,-116.8,4.2,-8.2,11,129,11.45,2.53,-0.17,0.000,4,0.146,0.034,2690,3350,3479,0,0,0,0,0,0
$GC,251,-1.31,-116.8,35.7,-15.0,29,261,0.08,2.55,0.00,0.000,6,0.108,0.031,2708,1789,3480,0,0,0,0,0,0
$GC,519,-1.24,-116.8,73.6,-12.8,54,524,0.10,2.72,0.00,0.000,4,0.137,0.058,2727,193,3480,0,0,0,0,0,0
$GC,574,-1.24,-116.8,82.0,-13.6,58,578,0.00,2.42,0.00,0.000,6,0.000,0.015,2727,1797,3481,0,0,0,0,0,0
$GC,838,-1.24,-116.8,111.0,-11.0,82,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1799,3481,0,0,0,0,0,0
$GC,1104,-1.28,-116.8,135.4,-8.9,107,1108,0.00,2.70,0.00,0.000,4,0.000,0.057,2727,193,3482,0,0,0,0,0,0
$GC,1135,-1.28,-116.8,138.5,-9.4,109,1139,0.00,2.38,0.00,0.000,6,0.000,0.022,2727,1778,3482,0,0,0,0,0,0
$GC,1403,-1.34,-116.8,164.0,-10.2,133,1408,0.00,2.40,0.00,0.000,4,0.000,0.030,2727,3323,3482,0,0,0,0,0,0
$GC,1467,-1.44,-116.8,171.2,-10.0,138,1473,0.17,2.50,0.00,0.000,6,0.058,0.035,2670,1764,3482,0,0,0,0,0,0
$GC,1730,-1.39,-116.8,206.5,-14.0,159,1735,0.12,2.45,0.00,0.000,4,0.115,0.028,2697,3318,3482,0,0,0,0,0,0
$GC,1751,-1.39,-116.8,210.0,-13.4,159,1756,0.00,2.45,0.00,0.000,6,0.000,0.034,2697,1773,3482,0,0,0,0,0,0
$GC,2009,-1.39,-116.8,242.1,-12.5,166,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1774,3482,0,0,0,0,0,0
$GC,2251,-1.39,-116.8,269.8,-11.0,172,2255,0.00,2.70,0.00,0.000,4,0.000,0.074,2697,194,3482,0,0,0,0,0,0
$GC,2277,-1.39,-116.8,272.9,-10.9,172,2282,0.00,2.40,0.00,0.000,6,0.000,0.018,2697,1770,3482,0,0,0,0,0,0
$GC,2535,-1.39,-116.8,297.9,-9.9,179,2539,0.00,2.45,0.00,0.000,4,0.000,0.037,2697,3331,3482,0,0,0,0,0,0
$GC,2557,-1.43,-116.8,300.2,-9.7,179,2561,0.00,2.53,0.00,0.000,6,0.000,0.034,2697,1781,3482,0,0,0,0,0,0
$GC,2812,-1.47,-116.8,325.7,-10.1,186,2816,0.00,2.80,0.00,0.000,4,0.000,0.084,2697,189,3481,0,0,0,0,0,0
$GC,2880,-1.51,-116.8,333.2,-11.9,187,2885,0.10,2.45,0.00,0.000,6,0.082,0.023,2656,1747,3481,0,0,0,0,0,0
$GC,3135,-1.51,-116.8,361.8,-10.8,194,3139,0.00,2.60,0.00,0.000,4,0.000,0.040,2656,3356,3480,0,0,0,0,0,0
$GC,3174,-1.51,-116.8,365.7,-10.4,195,3178,0.00,2.60,0.00,0.000,6,0.000,0.043,2655,1778,3480,0,0,0,0,0,0
$GC,3459,-1.51,-116.8,393.2,-9.6,202,3463,0.00,2.55,0.00,0.000,4,0.000,0.037,2656,3347,3478,0,0,0,0,0,0
$GC,3498,-1.51,-116.8,397.2,-10.1,203,3502,0.00,2.62,0.00,0.000,6,0.000,0.054,2656,1774,3478,0,0,0,0,0,0
$GC,3780,-1.51,-116.8,428.2,-11.4,210,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1775,3475,0,0,0,0,0,0
$GC,4026,-1.51,-116.8,457.2,-11.9,216,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1774,3474,0,0,0,0,0,0
$GC,4268,-1.51,-116.8,482.8,-10.6,222,4272,0.00,2.60,0.00,0.000,4,0.000,0.053,2655,3342,3472,0,0,0,0,0,0
$GC,4289,-1.51,-116.8,484.9,-9.5,222,4294,0.00,2.62,0.00,0.000,6,0.000,0.056,2656,1787,3472,0,0,0,0,0,0
$STATE,4460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4460,begin apogee
$GC,4467,-0.31,0.0,500.9,9.2,227,4568,1.25,0.00,96.78,0.923,6,0.087,0.000,2931,1787,3001,0,0,0,0,0,0
$STATE,4569,end apogee,CONTROL_FINISHED_OK
$STATE,4569,begin climb
$GC,4571,1.38,116.8,502.1,0.0,229,4676,1.58,0.00,101.00,0.900,6,0.048,0.000,3311,1787,2524,0,0,0,0,0,0
$GC,4907,1.27,129.9,479.4,9.3,238,4926,0.17,2.80,11.27,0.802,4,0.123,0.049,3277,3392,2470,0,0,0,0,0,0
$GC,5033,1.27,170.2,468.8,7.7,240,5078,0.00,2.67,36.22,0.874,6,0.000,0.051,3277,1835,2306,0,0,0,0,0,0
$GC,5324,1.30,190.0,443.5,8.9,248,5348,0.00,2.65,17.98,0.834,4,0.000,0.041,3277,3394,2225,0,0,0,0,0,0
$GC,5372,1.32,207.5,439.0,9.0,249,5396,0.00,2.67,16.85,0.822,6,0.000,0.053,3277,1839,2154,0,0,0,0,0,0
$GC,5653,1.33,216.5,412.5,9.5,256,5667,0.00,3.03,8.77,0.756,4,0.000,0.104,3277,232,2118,0,0,0,0,0,0
$GC,5680,1.27,216.5,409.7,10.3,256,5685,0.00,2.58,0.00,0.000,6,0.000,0.028,3277,1842,2116,0,0,0,0,0,0
$GC,5935,1.27,216.5,382.9,10.5,263,5939,0.00,2.55,0.00,0.000,4,0.000,0.040,3277,3402,2113,0,0,0,0,0,0
$GC,5961,1.27,216.5,379.9,11.2,263,5966,0.00,2.60,0.00,0.000,6,0.000,0.043,3277,1841,2111,0,0,0,0,0,0
$GC,6213,1.27,216.5,353.0,10.7,269,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1841,2111,0,0,0,0,0,0
$GC,6457,1.27,216.5,327.6,10.3,275,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1841,2110,0,0,0,0,0,0
$GC,6699,1.28,226.6,304.4,9.5,281,6714,0.00,2.88,9.18,0.727,4,0.000,0.075,3277,232,2076,0,0,0,0,0,0
$GC,6783,1.22,226.6,295.7,11.4,282,6788,0.00,2.60,0.00,0.000,6,0.000,0.026,3277,1867,2074,0,0,0,0,0,0
$GC,7034,1.25,248.3,272.7,8.8,289,7060,0.00,2.53,20.50,0.765,4,0.000,0.031,3277,3399,1988,0,0,0,0,0,0
$GC,7111,1.35,263.6,266.2,9.2,290,7131,0.00,2.55,15.02,0.737,6,0.000,0.039,3277,1865,1926,0,0,0,0,0,0
$GC,7403,1.43,289.3,241.6,8.6,298,7433,0.15,2.90,23.50,0.738,4,0.094,0.072,3314,241,1820,0,0,0,0,0,0
$GC,7456,1.35,289.3,235.4,12.6,299,7460,0.00,2.60,0.00,0.000,6,0.000,0.021,3314,1879,1818,0,0,0,0,0,0
$GC,7729,1.35,289.3,202.0,12.6,306,7733,0.00,2.85,0.00,0.000,4,0.000,0.064,3314,240,1815,0,0,0,0,0,0
$GC,7745,1.31,289.3,199.5,13.3,306,7750,0.15,2.60,0.00,0.000,6,0.123,0.021,3286,1880,1814,0,0,0,0,0,0
$GC,8006,1.31,289.3,169.7,10.6,330,8010,0.00,2.40,0.00,0.000,4,0.000,0.031,3286,3397,1814,0,0,0,0,0,0
$GC,8029,1.35,289.3,168.0,10.3,331,8034,0.00,2.50,0.00,0.000,6,0.000,0.040,3286,1868,1812,0,0,0,0,0,0
$GC,8297,1.42,317.0,143.6,8.4,355,8324,0.10,0.00,24.25,0.657,6,0.270,0.000,3312,1868,1708,0,0,0,0,0,0
$GC,8577,1.42,317.0,112.3,11.6,382,8581,0.00,2.45,0.00,0.000,4,0.000,0.028,3312,3396,1704,0,0,0,0,0,0
$GC,8597,1.42,317.0,110.3,12.5,383,8601,0.00,2.47,0.00,0.000,6,0.000,0.039,3312,1872,1703,0,0,0,0,0,0
$GC,8865,1.49,317.0,79.7,10.5,407,8870,0.00,2.78,0.00,0.000,4,0.000,0.061,3312,236,1703,0,0,0,0,0,0
$GC,8898,1.49,317.0,75.3,12.3,409,8902,0.00,2.58,0.00,0.000,6,0.000,0.019,3312,1888,1702,0,0,0,0,0,0
$GC,9168,1.66,375.5,50.9,6.7,433,9232,0.20,2.92,49.92,0.578,4,0.067,0.058,3363,239,1468,0,0,0,0,0,0
$GC,9237,1.66,376.3,44.4,10.0,438,9247,0.00,2.62,0.00,0.000,6,0.000,0.019,3363,1883,1468,0,0,0,0,0,0
$GC,9540,1.72,422.8,11.3,7.3,474,9590,0.00,0.00,40.62,0.532,6,0.000,0.000,3363,1885,1276,0,0,0,0,0,0
$STATE,9599,end climb,SURFACE_DEPTH_REACHED
$STATE,9599,begin surface coast
$FINISH,0.4,1.023867
$STATE,9635,end surface coast,CONTROL_FINISHED_OK
$STATE,9636,begin surface
$SM_CCo,9717,0.00,0.000,0,0,1270,424.61
$SM_GC,1.06,11.73,0.00,0.00,0.025,0.000,0.000,477,1743,1270,-11.52,-0.76,424.61
$IRIDIUM_FIX,2246.36,-15753.23,050100,101046
$TT8_MAMPS,0.025311
$HUMID,52.63
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.60
$XPDR_PINGS,57
$24V_AH,23.5,54.091
$10V_AH,10.1,52.126
$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,27.350,120.000,471.875,0.000,0.000,28.509,31.362,483.711,14.250,0.000,17.056,972.808,6271.999,501.442,1815.825,834.548,33.374,1219.971,0.000,1823.067,0.000,0.535,0.000
$DEVICE_MAMPS,269.984,103.545,922.701,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.808,280.038,376.629,712.478,1077.682,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,38367,486
$CAP_FILE_SIZE,106446,0
$CFSIZE,260165632,159559680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111010,161607,2256.712,-15755.085,37,1.3,37,10.1