version: 66.06
glider: 146
mission: 5
dive: 393
start: 10 12 110 8 11 55
data:
$ID,146
$MISSION,5
$DIVE,393
$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,-255365.97
$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,41
$R_STBD_OVSHOOT,51
$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
$GPS1,075736,2253.777,-15749.649,11,1.9,21,10.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.9
$GPS2,081100,2253.769,-15749.653,42,0.9,42,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.136
$KALMAN_X,-263126.6,144.3,-238.3,299276.6,217.2
$KALMAN_Y,-563126.7,-247.1,-149.0,699062.8,-73.2
$MHEAD_RNG_PITCHd_Wd,115.2,15770,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.30,0.000,2,0.000,0.000,474,1747,3231,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.3,-6.2,10,126,11.20,0.00,-4.78,0.000,6,0.137,0.000,2692,1747,3480,0,0,0,0,0,0
$GC,403,-1.26,-116.8,59.0,-13.1,44,408,0.15,2.55,0.00,0.000,4,0.118,0.024,2723,3350,3482,0,0,0,0,0,0
$GC,437,-1.26,-116.8,63.3,-11.9,46,442,0.00,2.53,0.00,0.000,6,0.000,0.030,2722,1780,3482,0,0,0,0,0,0
$GC,700,-1.26,-116.8,91.7,-11.6,70,704,0.00,2.70,0.00,0.000,4,0.000,0.066,2722,189,3482,0,0,0,0,0,0
$GC,747,-1.26,-116.8,97.5,-11.2,73,753,0.00,2.42,0.00,0.000,6,0.000,0.015,2722,1799,3482,0,0,0,0,0,0
$GC,1010,-1.30,-116.8,124.8,-10.7,98,1014,0.00,2.38,0.00,0.000,4,0.000,0.028,2723,3319,3483,0,0,0,0,0,0
$GC,1051,-1.39,-116.8,129.4,-9.9,101,1057,0.12,2.50,0.00,0.000,6,0.069,0.035,2678,1768,3483,0,0,0,0,0,0
$GC,1316,-1.34,-116.8,158.1,-11.1,126,1321,0.12,2.67,0.00,0.000,4,0.113,0.064,2705,193,3484,0,0,0,0,0,0
$GC,1371,-1.34,-116.8,164.2,-10.8,130,1376,0.00,2.38,0.00,0.000,6,0.000,0.015,2705,1763,3483,0,0,0,0,0,0
$GC,1639,-1.34,-116.8,191.0,-10.6,154,1643,0.00,2.42,0.00,0.000,4,0.000,0.031,2706,3322,3483,0,0,0,0,0,0
$GC,1685,-1.41,-116.8,196.5,-9.7,157,1691,0.00,2.50,0.00,0.000,6,0.000,0.031,2706,1772,3483,0,0,0,0,0,0
$GC,1968,-1.41,-116.8,226.8,-10.9,167,1973,0.00,2.45,0.00,0.000,4,0.000,0.028,2705,3323,3483,0,0,0,0,0,0
$GC,1990,-1.46,-116.8,229.4,-10.6,167,1995,0.10,2.47,0.00,0.000,6,0.081,0.032,2663,1774,3483,0,0,0,0,0,0
$GC,2246,-1.41,-116.8,260.4,-12.2,174,2251,0.12,2.75,0.00,0.000,4,0.113,0.072,2690,187,3483,0,0,0,0,0,0
$GC,2291,-1.41,-116.8,265.8,-10.9,175,2296,0.00,2.40,0.00,0.000,6,0.000,0.021,2690,1750,3483,0,0,0,0,0,0
$GC,2570,-1.41,-116.8,293.1,-9.7,182,2574,0.00,2.53,0.00,0.000,4,0.000,0.029,2690,3341,3482,0,0,0,0,0,0
$GC,2591,-1.45,-116.8,295.1,-8.9,182,2596,0.00,2.58,0.00,0.000,6,0.000,0.036,2690,1760,3482,0,0,0,0,0,0
$GC,2849,-1.45,-116.8,318.4,-9.0,189,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1759,3481,0,0,0,0,0,0
$GC,3091,-1.45,-116.8,339.8,-9.0,195,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1760,3480,0,0,0,0,0,0
$GC,3334,-1.45,-116.8,364.7,-10.6,201,3339,0.00,2.55,0.00,0.000,4,0.000,0.040,2690,3327,3479,0,0,0,0,0,0
$GC,3369,-1.52,-116.8,368.4,-11.1,201,3375,0.00,2.60,0.00,0.000,6,0.000,0.044,2690,1772,3479,0,0,0,0,0,0
$GC,3619,-1.56,-116.8,394.1,-10.2,208,3621,0.12,0.00,0.00,0.000,6,0.079,0.000,2650,1772,3477,0,0,0,0,0,0
$GC,3862,-1.56,-116.8,421.0,-11.2,214,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1772,3476,0,0,0,0,0,0
$GC,4108,-1.56,-116.8,447.4,-10.7,220,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1772,3474,0,0,0,0,0,0
$GC,4350,-1.56,-116.8,473.7,-10.7,226,4354,0.00,2.60,0.00,0.000,4,0.000,0.055,2650,3320,3472,0,0,0,0,0,0
$GC,4371,-1.56,-116.8,476.2,-11.4,226,4375,0.00,2.62,0.00,0.000,6,0.000,0.058,2650,1781,3471,0,0,0,0,0,0
$STATE,4583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4583,begin apogee
$GC,4588,-0.31,0.0,501.1,12.0,232,4690,1.25,0.00,97.75,0.924,6,0.094,0.000,2928,1781,3001,0,0,0,0,0,0
$STATE,4691,end apogee,CONTROL_FINISHED_OK
$STATE,4691,begin climb
$GC,4695,1.38,116.8,504.7,0.0,234,4808,1.55,3.08,100.85,0.904,4,0.041,0.117,3306,234,2522,0,0,0,0,0,0
$GC,4820,1.30,204.1,506.1,5.0,237,4908,0.10,2.55,76.05,0.887,6,0.145,0.030,3287,1782,2167,0,0,0,0,0,0
$GC,5193,1.25,204.1,467.4,11.4,246,5197,0.00,2.78,0.00,0.000,4,0.000,0.057,3287,3410,2158,0,0,0,0,0,0
$GC,5272,1.25,204.1,458.2,11.8,247,5277,0.00,2.72,0.00,0.000,6,0.000,0.053,3287,1829,2155,0,0,0,0,0,0
$GC,5522,1.20,204.1,431.7,10.3,254,5524,0.12,0.00,0.00,0.000,6,0.133,0.000,3264,1829,2154,0,0,0,0,0,0
$GC,5765,1.22,220.7,409.8,9.1,260,5781,0.00,0.00,13.38,0.807,6,0.000,0.000,3264,1829,2101,0,0,0,0,0,0
$GC,6010,1.22,220.7,384.5,10.6,266,6015,0.00,2.90,0.00,0.000,4,0.000,0.088,3264,232,2097,0,0,0,0,0,0
$GC,6038,1.17,220.7,381.1,12.0,266,6042,0.00,2.55,0.00,0.000,6,0.000,0.026,3263,1843,2096,0,0,0,0,0,0
$GC,6288,1.18,228.5,356.7,9.6,272,6302,0.00,2.60,7.85,0.726,4,0.000,0.040,3263,3400,2068,0,0,0,0,0,0
$GC,6333,1.25,243.5,352.7,9.2,273,6354,0.00,2.65,15.25,0.792,6,0.000,0.042,3263,1825,2008,0,0,0,0,0,0
$GC,6616,1.27,257.5,326.3,9.2,280,6631,0.00,0.00,13.65,0.771,6,0.000,0.000,3264,1825,1951,0,0,0,0,0,0
$GC,6859,1.31,257.5,300.8,10.5,286,6861,0.10,0.00,0.00,0.000,6,0.101,0.000,3289,1824,1947,0,0,0,0,0,0
$GC,7104,1.31,257.5,272.7,11.6,292,7109,0.00,2.80,0.00,0.000,4,0.000,0.073,3289,236,1945,0,0,0,0,0,0
$GC,7137,1.25,257.5,268.3,12.7,292,7143,0.00,2.55,0.00,0.000,6,0.000,0.021,3289,1846,1944,0,0,0,0,0,0
$GC,7387,1.26,269.4,243.8,9.4,299,7400,0.00,0.00,11.43,0.712,6,0.000,0.000,3289,1847,1901,0,0,0,0,0,0
$GC,7632,1.33,291.1,222.1,8.8,305,7658,0.00,2.88,20.38,0.724,4,0.000,0.064,3289,231,1812,0,0,0,0,0,0
$GC,7670,1.33,291.1,218.2,10.2,306,7674,0.00,2.53,0.00,0.000,6,0.000,0.025,3289,1816,1811,0,0,0,0,0,0
$GC,7931,1.33,291.1,191.8,10.7,316,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1817,1809,0,0,0,0,0,0
$GC,8194,1.38,308.6,166.4,9.0,341,8219,0.00,2.60,16.17,0.667,4,0.000,0.031,3289,3388,1741,0,0,0,0,0,0
$GC,8258,1.51,319.2,160.9,9.4,346,8275,0.17,2.65,10.73,0.630,6,0.071,0.037,3334,1794,1699,0,0,0,0,0,0
$GC,8533,1.47,319.2,126.9,13.6,371,8538,0.00,2.70,0.00,0.000,4,0.000,0.068,3334,232,1696,0,0,0,0,0,0
$GC,8589,1.41,319.2,118.3,15.9,375,8595,0.12,2.47,0.00,0.000,6,0.128,0.019,3310,1811,1694,0,0,0,0,0,0
$GC,8856,1.47,366.7,91.4,7.3,399,8904,0.00,2.58,41.40,0.617,4,0.000,0.027,3310,3385,1504,0,0,0,0,0,0
$GC,8922,1.61,397.7,85.7,8.2,404,8958,0.12,2.67,28.12,0.596,6,0.048,0.035,3349,1793,1378,0,0,0,0,0,0
$GC,9224,1.61,397.7,50.3,13.6,432,9228,0.00,2.58,0.00,0.000,4,0.000,0.028,3349,3389,1374,0,0,0,0,0,0
$GC,9284,1.74,397.7,43.5,12.0,436,9289,0.12,2.60,0.00,0.000,6,0.086,0.039,3384,1813,1372,0,0,0,0,0,0
$STATE,9565,end climb,SURFACE_DEPTH_REACHED
$STATE,9565,begin surface coast
$FINISH,0.3,1.023304
$STATE,9593,end surface coast,CONTROL_FINISHED_OK
$STATE,9593,begin surface
$SM_CCo,9617,24.12,0.303,1,0,1287,420.20
$SM_GC,0.89,0.00,0.00,24.12,0.000,0.000,0.303,477,1752,1287,-11.61,-0.51,420.20
$IRIDIUM_FIX,2246.36,-15748.01,060100,080845
$TT8_MAMPS,0.026078
$HUMID,54.80
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.90
$XPDR_PINGS,44
$24V_AH,23.4,54.980
$10V_AH,10.0,52.834
$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,27.425,104.100,453.000,24.125,0.000,59.068,94.570,412.171,11.000,0.000,44.303,942.017,6401.836,510.543,1734.154,862.100,33.400,1173.469,0.000,1714.961,0.000,0.534,0.000
$DEVICE_MAMPS,144.963,127.322,924.235,302.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.468,270.768,364.514,676.694,1024.523,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,38287,476
$CAP_FILE_SIZE,104088,0
$CFSIZE,260165632,159232000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121010,105352,2252.833,-15748.313,10,2.2,29,10.1