version: 66.06
glider: 146
mission: 5
dive: 388
start: 10 11 110 16 46 38
data:
$ID,146
$MISSION,5
$DIVE,388
$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,-255171.72
$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,43
$R_STBD_OVSHOOT,45
$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
$GPS1,161607,2256.712,-15755.085,37,1.3,37,10.1
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.0
$GPS2,164544,2256.633,-15754.946,12,1.2,12,10.1
$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,-263662.1,-220.2,-74.6,290904.1,6.2
$KALMAN_Y,-556751.7,-182.0,-616.7,698404.9,-555.9
$MHEAD_RNG_PITCHd_Wd,348.2,2533,-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,-78.45,0.000,2,0.000,0.000,475,1743,3253,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.3,-6.3,10,126,11.40,2.58,-4.43,0.000,4,0.144,0.041,2688,3348,3480,0,0,0,0,0,0
$GC,232,-1.33,-116.8,29.8,-17.5,28,242,0.05,2.55,0.00,0.000,6,0.122,0.031,2702,1788,3482,0,0,0,0,0,0
$GC,498,-1.23,-116.8,66.9,-13.7,53,504,0.15,2.72,0.00,0.000,4,0.123,0.059,2732,185,3481,0,0,0,0,0,0
$GC,536,-1.23,-116.8,72.5,-12.6,55,545,0.00,2.47,0.00,0.000,6,0.000,0.015,2732,1807,3481,0,0,0,0,0,0
$GC,799,-1.28,-116.8,101.4,-9.8,80,803,0.00,2.72,0.00,0.000,4,0.000,0.057,2732,186,3481,0,0,0,0,0,0
$GC,845,-1.32,-116.8,106.4,-12.0,83,849,0.00,2.35,0.00,0.000,6,0.000,0.015,2732,1767,3481,0,0,0,0,0,0
$GC,1111,-1.37,-116.8,132.3,-9.9,107,1116,0.12,2.42,0.00,0.000,4,0.071,0.033,2689,3318,3482,0,0,0,0,0,0
$GC,1152,-1.37,-116.8,137.5,-12.0,110,1156,0.00,2.47,0.00,0.000,6,0.000,0.028,2689,1761,3482,0,0,0,0,0,0
$GC,1416,-1.37,-116.8,167.2,-10.8,134,1420,0.00,2.65,0.00,0.000,4,0.000,0.061,2689,197,3482,0,0,0,0,0,0
$GC,1448,-1.33,-116.8,170.8,-11.9,136,1453,0.10,2.38,0.00,0.000,6,0.124,0.022,2709,1773,3482,0,0,0,0,0,0
$GC,1716,-1.33,-116.8,195.7,-9.0,160,1720,0.00,2.40,0.00,0.000,4,0.000,0.027,2709,3317,3482,0,0,0,0,0,0
$GC,1760,-1.39,-116.8,200.0,-9.2,163,1764,0.00,2.47,0.00,0.000,6,0.000,0.035,2709,1771,3482,0,0,0,0,0,0
$GC,2011,-1.39,-116.8,224.9,-10.1,169,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1771,3481,0,0,0,0,0,0
$GC,2253,-1.39,-116.8,252.0,-11.2,175,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1771,3480,0,0,0,0,0,0
$GC,2497,-1.43,-116.8,274.9,-9.1,181,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1769,3480,0,0,0,0,0,0
$GC,2741,-1.48,-116.8,295.2,-8.5,187,2746,0.15,2.47,0.00,0.000,4,0.067,0.030,2663,3314,3478,0,0,0,0,0,0
$GC,2787,-1.48,-116.8,299.6,-9.4,188,2791,0.00,2.47,0.00,0.000,6,0.000,0.035,2662,1779,3479,0,0,0,0,0,0
$GC,3064,-1.48,-116.8,328.3,-10.5,195,3069,0.00,2.80,0.00,0.000,4,0.000,0.084,2662,190,3476,0,0,0,0,0,0
$GC,3143,-1.43,-116.8,337.4,-11.1,196,3149,0.12,2.42,0.00,0.000,6,0.121,0.022,2688,1736,3476,0,0,0,0,0,0
$GC,3393,-1.43,-116.8,362.5,-10.0,203,3398,0.00,2.58,0.00,0.000,4,0.000,0.041,2688,3348,3474,0,0,0,0,0,0
$GC,3433,-1.50,-116.8,366.2,-8.8,204,3437,0.00,2.58,0.00,0.000,6,0.000,0.046,2688,1776,3475,0,0,0,0,0,0
$GC,3718,-1.50,-116.8,390.6,-8.8,211,3722,0.00,2.55,0.00,0.000,4,0.000,0.036,2688,3346,3472,0,0,0,0,0,0
$GC,3773,-1.57,-116.8,395.4,-8.1,212,3778,0.12,2.60,0.00,0.000,6,0.073,0.050,2645,1791,3472,0,0,0,0,0,0
$GC,4042,-1.53,-116.8,420.4,-9.4,219,4044,0.10,0.00,0.00,0.000,6,0.128,0.000,2665,1791,3470,0,0,0,0,0,0
$GC,4284,-1.53,-116.8,443.2,-9.5,225,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1791,3468,0,0,0,0,0,0
$GC,4527,-1.53,-116.8,468.4,-10.4,231,4532,0.00,2.58,0.00,0.000,4,0.000,0.046,2666,3346,3466,0,0,0,0,0,0
$GC,4566,-1.53,-116.8,472.5,-10.2,232,4571,0.00,2.65,0.00,0.000,6,0.000,0.055,2666,1795,3466,0,0,0,0,0,0
$STATE,4847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4847,begin apogee
$GC,4854,-0.31,0.0,502.1,10.7,239,4953,1.17,0.00,95.47,0.924,6,0.082,0.000,2928,1795,3001,0,0,0,0,0,0
$STATE,4954,end apogee,CONTROL_FINISHED_OK
$STATE,4954,begin climb
$GC,4956,1.38,116.8,504.6,0.0,241,5062,1.58,0.00,101.25,0.901,6,0.053,0.000,3306,1794,2524,0,0,0,0,0,0
$GC,5295,1.30,152.9,486.9,8.0,250,5336,0.12,2.72,31.12,0.872,4,0.130,0.045,3283,3389,2376,0,0,0,0,0,0
$GC,5377,1.28,170.8,479.9,9.0,251,5401,0.00,2.70,17.08,0.834,6,0.000,0.056,3283,1820,2304,0,0,0,0,0,0
$GC,5673,1.26,193.6,453.7,8.7,259,5699,0.00,2.62,20.85,0.846,4,0.000,0.038,3283,3393,2210,0,0,0,0,0,0
$GC,5743,1.26,198.8,446.7,9.7,260,5755,0.00,2.70,5.78,0.669,6,0.000,0.052,3283,1822,2190,0,0,0,0,0,0
$GC,6000,1.23,201.9,422.1,9.9,267,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1822,2185,0,0,0,0,0,0
$GC,6242,1.23,204.2,398.1,9.9,273,6253,0.00,2.60,5.50,0.661,4,0.000,0.040,3283,3401,2168,0,0,0,0,0,0
$GC,6282,1.24,210.6,394.3,9.7,274,6296,0.00,2.67,7.32,0.725,6,0.000,0.052,3283,1822,2142,0,0,0,0,0,0
$GC,6571,1.25,217.7,367.0,9.6,281,6585,0.00,2.62,7.57,0.726,4,0.000,0.038,3283,3392,2112,0,0,0,0,0,0
$GC,6654,1.27,234.7,359.0,9.1,282,6678,0.00,2.60,16.77,0.803,6,0.000,0.049,3283,1837,2044,0,0,0,0,0,0
$GC,6947,1.29,247.9,331.7,9.3,290,6966,0.00,2.92,12.73,0.766,4,0.000,0.084,3283,240,1989,0,0,0,0,0,0
$GC,7018,1.22,247.9,323.7,11.4,291,7022,0.00,2.55,0.00,0.000,6,0.000,0.021,3283,1846,1987,0,0,0,0,0,0
$GC,7273,1.23,253.6,298.8,9.7,298,7281,0.00,0.00,6.55,0.664,6,0.000,0.000,3283,1848,1966,0,0,0,0,0,0
$GC,7518,1.23,253.6,273.9,10.3,304,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1848,1963,0,0,0,0,0,0
$GC,7760,1.23,253.6,248.0,10.5,310,7764,0.00,2.47,0.00,0.000,4,0.000,0.031,3283,3390,1962,0,0,0,0,0,0
$GC,7782,1.28,254.1,245.8,10.0,310,7786,0.00,2.58,0.00,0.000,6,0.000,0.036,3283,1822,1961,0,0,0,0,0,0
$GC,8037,1.29,259.2,220.7,9.7,317,8048,0.00,2.55,5.75,0.594,4,0.000,0.031,3283,3390,1943,0,0,0,0,0,0
$GC,8065,1.36,275.0,217.9,9.1,317,8086,0.00,2.55,15.80,0.703,6,0.000,0.035,3283,1842,1879,0,0,0,0,0,0
$GC,8344,1.39,301.1,192.9,8.5,329,8371,0.00,0.00,23.62,0.696,6,0.000,0.000,3283,1842,1773,0,0,0,0,0,0
$GC,8628,1.44,301.5,165.7,10.0,356,8630,0.12,0.00,0.00,0.000,6,0.084,0.000,3315,1841,1768,0,0,0,0,0,0
$GC,8882,1.44,301.5,136.0,11.6,380,8886,0.00,2.78,0.00,0.000,4,0.000,0.069,3315,236,1768,0,0,0,0,0,0
$GC,8911,1.38,301.5,131.8,14.3,382,8916,0.00,2.55,0.00,0.000,6,0.000,0.026,3315,1863,1767,0,0,0,0,0,0
$GC,9174,1.38,301.5,99.6,12.6,406,9178,0.00,2.42,0.00,0.000,4,0.000,0.034,3315,3395,1766,0,0,0,0,0,0
$GC,9233,1.47,301.5,91.8,13.7,410,9242,0.00,2.55,0.00,0.000,6,0.000,0.041,3315,1856,1765,0,0,0,0,0,0
$GC,9500,1.57,327.3,62.5,8.6,435,9531,0.12,2.85,23.35,0.584,4,0.080,0.058,3351,241,1664,0,0,0,0,0,0
$GC,9544,1.59,338.3,58.6,9.4,438,9562,0.00,2.55,10.52,0.535,6,0.000,0.025,3350,1869,1620,0,0,0,0,0,0
$GC,9829,1.61,357.2,31.4,9.0,464,9852,0.00,2.42,17.30,0.542,4,0.000,0.026,3350,3378,1543,0,0,0,0,0,0
$GC,9879,1.69,377.4,27.0,8.9,469,9905,0.00,2.55,18.77,0.534,6,0.000,0.034,3351,1844,1461,0,0,0,0,0,0
$STATE,10078,end climb,SURFACE_DEPTH_REACHED
$STATE,10078,begin surface coast
$FINISH,0.5,1.023192
$STATE,10123,end surface coast,CONTROL_FINISHED_OK
$STATE,10123,begin surface
$SM_CCo,10146,41.35,0.400,1,0,1287,420.20
$SM_GC,1.00,0.00,0.00,41.35,0.000,0.000,0.400,479,1751,1287,-11.60,-0.54,420.20
$IRIDIUM_FIX,2248.70,-15758.45,050100,161657
$TT8_MAMPS,0.026078
$HUMID,52.63
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.50
$XPDR_PINGS,47
$24V_AH,23.5,54.274
$10V_AH,10.0,52.252
$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,27.150,113.575,443.125,41.350,0.000,140.119,192.965,1033.763,11.750,0.000,14.415,1018.813,6879.895,533.064,1847.769,1690.496,33.367,1241.184,0.000,1854.334,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,86.671,924.235,400.374,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.315,296.194,384.792,738.091,1116.313,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,41381,504
$CAP_FILE_SIZE,125168,0
$CFSIZE,260165632,159481856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111010,193736,2257.644,-15755.007,8,2.0,24,10.1