version: 66.06
glider: 146
mission: 5
dive: 394
start: 10 12 110 11 6 36
data:
$ID,146
$MISSION,5
$DIVE,394
$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,-255396.84
$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,34
$R_STBD_OVSHOOT,55
$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
$GPS1,105352,2252.833,-15748.313,10,2.2,29,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.7
$GPS2,110543,2252.855,-15748.289,11,1.8,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,-0.072
$KALMAN_X,-262843.2,-23.4,79.6,301193.1,283.7
$KALMAN_Y,-564154.4,-192.2,497.5,697702.9,-943.0
$MHEAD_RNG_PITCHd_Wd,97.7,12894,-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,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.30,0.000,2,0.000,0.000,476,1750,3220,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.1,-5.0,10,128,11.32,0.00,-5.03,0.000,6,0.142,0.000,2690,1751,3479,0,0,0,0,0,0
$GC,405,-1.23,-116.8,59.9,-15.4,44,410,0.20,2.50,0.00,0.000,4,0.112,0.023,2730,3342,3481,0,0,0,0,0,0
$GC,441,-1.23,-116.8,65.4,-12.6,46,450,0.00,2.55,0.00,0.000,6,0.000,0.028,2731,1774,3481,0,0,0,0,0,0
$GC,706,-1.23,-116.8,96.9,-10.1,71,710,0.00,2.45,0.00,0.000,4,0.000,0.024,2731,3341,3481,0,0,0,0,0,0
$GC,738,-1.28,-116.8,99.7,-8.4,73,742,0.00,2.55,0.00,0.000,6,0.000,0.028,2731,1760,3482,0,0,0,0,0,0
$GC,1006,-1.32,-116.8,122.8,-10.4,97,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1760,3483,0,0,0,0,0,0
$GC,1270,-1.37,-116.8,152.2,-9.5,122,1275,0.12,2.50,0.00,0.000,4,0.072,0.032,2689,3343,3483,0,0,0,0,0,0
$GC,1292,-1.37,-116.8,154.9,-10.9,123,1301,0.00,2.53,0.00,0.000,6,0.000,0.033,2689,1786,3483,0,0,0,0,0,0
$GC,1557,-1.37,-116.8,181.2,-10.7,148,1562,0.00,2.70,0.00,0.000,4,0.000,0.067,2689,192,3483,0,0,0,0,0,0
$GC,1580,-1.33,-116.8,184.1,-11.3,149,1586,0.10,2.42,0.00,0.000,6,0.122,0.022,2709,1806,3483,0,0,0,0,0,0
$GC,1837,-1.33,-116.8,213.9,-11.4,165,1841,0.00,2.38,0.00,0.000,4,0.000,0.030,2709,3322,3483,0,0,0,0,0,0
$GC,1864,-1.37,-116.8,217.1,-11.0,165,1868,0.00,2.50,0.00,0.000,6,0.000,0.030,2709,1775,3483,0,0,0,0,0,0
$GC,2116,-1.37,-116.8,241.0,-9.2,171,2120,0.00,2.42,0.00,0.000,4,0.000,0.026,2709,3324,3483,0,0,0,0,0,0
$GC,2143,-1.43,-116.8,243.7,-9.3,171,2147,0.00,2.50,0.00,0.000,6,0.000,0.033,2709,1776,3483,0,0,0,0,0,0
$GC,2393,-1.48,-116.8,266.4,-9.1,177,2399,0.12,2.72,0.00,0.000,4,0.074,0.070,2667,194,3483,0,0,0,0,0,0
$GC,2413,-1.48,-116.8,268.2,-9.5,177,2417,0.00,2.40,0.00,0.000,6,0.000,0.024,2667,1778,3483,0,0,0,0,0,0
$GC,2673,-1.48,-116.8,294.8,-10.2,184,2677,0.00,2.45,0.00,0.000,4,0.000,0.029,2667,3325,3483,0,0,0,0,0,0
$GC,2712,-1.48,-116.8,299.5,-11.5,185,2716,0.00,2.50,0.00,0.000,6,0.000,0.035,2667,1785,3483,0,0,0,0,0,0
$GC,2996,-1.48,-116.8,332.3,-11.5,192,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1785,3482,0,0,0,0,0,0
$GC,3239,-1.48,-116.8,359.1,-11.3,198,3243,0.00,2.47,0.00,0.000,4,0.000,0.039,2667,3322,3481,0,0,0,0,0,0
$GC,3288,-1.48,-116.8,365.4,-13.0,199,3292,0.00,2.55,0.00,0.000,6,0.000,0.051,2667,1796,3481,0,0,0,0,0,0
$GC,3567,-1.48,-116.8,398.0,-11.5,206,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1796,3479,0,0,0,0,0,0
$GC,3809,-1.48,-116.8,423.0,-10.3,212,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1795,3477,0,0,0,0,0,0
$GC,4053,-1.48,-116.8,447.4,-10.0,218,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1796,3475,0,0,0,0,0,0
$GC,4296,-1.48,-116.8,473.3,-10.6,224,4301,0.00,2.55,0.00,0.000,4,0.000,0.051,2667,3313,3473,0,0,0,0,0,0
$GC,4325,-1.48,-116.8,476.4,-11.1,224,4330,0.00,2.58,0.00,0.000,6,0.000,0.063,2667,1800,3474,0,0,0,0,0,0
$STATE,4573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4573,begin apogee
$GC,4578,-0.31,0.0,503.0,10.7,230,4679,1.17,0.00,97.05,0.928,6,0.093,0.000,2929,1800,3000,0,0,0,0,0,0
$STATE,4680,end apogee,CONTROL_FINISHED_OK
$STATE,4680,begin climb
$GC,4682,1.38,116.8,505.8,0.0,232,4788,1.58,0.00,101.62,0.907,6,0.047,0.000,3307,1800,2524,0,0,0,0,0,0
$GC,5021,1.29,146.3,487.3,8.3,241,5049,0.12,0.00,25.73,0.871,6,0.132,0.000,3283,1799,2404,0,0,0,0,0,0
$GC,5263,1.23,152.2,464.0,9.7,247,5274,0.00,2.65,5.80,0.687,4,0.000,0.045,3283,3369,2380,0,0,0,0,0,0
$GC,5305,1.19,155.8,460.0,9.8,248,5316,0.12,2.67,4.85,0.630,6,0.140,0.053,3261,1819,2365,0,0,0,0,0,0
$GC,5588,1.21,168.5,433.8,9.3,255,5607,0.00,2.65,12.32,0.815,4,0.000,0.039,3261,3371,2313,0,0,0,0,0,0
$GC,5632,1.21,168.5,429.1,11.4,256,5636,0.00,2.67,0.00,0.000,6,0.000,0.054,3261,1815,2312,0,0,0,0,0,0
$GC,5916,1.21,170.0,400.6,9.9,263,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1814,2308,0,0,0,0,0,0
$GC,6158,1.24,195.2,378.9,8.6,269,6188,0.00,2.95,24.38,0.842,4,0.000,0.091,3261,230,2204,0,0,0,0,0,0
$GC,6230,1.20,201.5,372.6,9.7,270,6243,0.00,2.50,6.93,0.703,6,0.000,0.025,3261,1794,2178,0,0,0,0,0,0
$GC,6528,1.26,248.1,349.8,7.3,278,6577,0.00,2.72,42.08,0.834,4,0.000,0.039,3261,3404,1988,0,0,0,0,0,0
$GC,6598,1.35,278.9,344.3,8.3,279,6633,0.15,2.70,28.50,0.803,6,0.081,0.047,3298,1801,1863,0,0,0,0,0,0
$GC,6901,1.35,278.9,309.3,11.8,287,6906,0.00,2.78,0.00,0.000,4,0.000,0.075,3298,236,1854,0,0,0,0,0,0
$GC,6917,1.30,278.9,307.0,12.4,287,6922,0.00,2.53,0.00,0.000,6,0.000,0.024,3298,1821,1854,0,0,0,0,0,0
$GC,7179,1.30,278.9,274.5,12.7,294,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1822,1852,0,0,0,0,0,0
$GC,7421,1.30,278.9,248.2,10.3,300,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1823,1851,0,0,0,0,0,0
$GC,7665,1.30,278.9,223.5,10.2,306,7669,0.00,2.78,0.00,0.000,4,0.000,0.069,3298,236,1850,0,0,0,0,0,0
$GC,7706,1.25,278.9,219.1,11.8,307,7711,0.12,2.50,0.00,0.000,6,0.126,0.027,3273,1817,1849,0,0,0,0,0,0
$GC,7960,1.36,320.2,197.8,7.7,314,8004,0.10,2.88,34.70,0.719,4,0.097,0.067,3301,236,1694,0,0,0,0,0,0
$GC,8021,1.36,320.2,191.8,12.0,319,8026,0.00,2.50,0.00,0.000,6,0.000,0.027,3301,1816,1693,0,0,0,0,0,0
$GC,8289,1.36,320.2,157.1,13.2,343,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1818,1690,0,0,0,0,0,0
$GC,8550,1.36,320.5,126.5,10.0,368,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1818,1689,0,0,0,0,0,0
$GC,8807,1.43,339.6,103.9,8.9,392,8831,0.00,2.58,17.20,0.614,4,0.000,0.029,3301,3391,1615,0,0,0,0,0,0
$GC,8849,1.53,364.5,100.5,8.6,395,8878,0.12,2.65,22.60,0.613,6,0.084,0.035,3334,1794,1515,0,0,0,0,0,0
$GC,9136,1.55,381.9,69.9,9.0,421,9164,0.00,2.75,16.02,0.574,4,0.000,0.061,3335,241,1442,0,0,0,0,0,0
$GC,9184,1.58,406.0,66.3,8.7,424,9212,0.00,2.45,22.38,0.578,6,0.000,0.019,3335,1808,1345,0,0,0,0,0,0
$GC,9468,1.63,406.0,38.9,11.4,450,9472,0.00,2.53,0.00,0.000,4,0.000,0.026,3335,3390,1342,0,0,0,0,0,0
$GC,9526,1.77,406.0,31.9,11.8,454,9531,0.22,2.65,0.00,0.000,6,0.062,0.036,3396,1788,1341,0,0,0,0,0,0
$STATE,9725,end climb,SURFACE_DEPTH_REACHED
$STATE,9725,begin surface coast
$FINISH,0.4,1.013148
$STATE,9768,end surface coast,CONTROL_FINISHED_OK
$STATE,9768,begin surface
$SM_CCo,9789,17.33,0.200,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,17.33,0.000,0.000,0.200,474,1786,1288,-11.62,0.45,420.20
$IRIDIUM_FIX,2244.02,-15746.73,060100,111139
$TT8_MAMPS,0.025311
$HUMID,53.18
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.50
$XPDR_PINGS,42
$24V_AH,23.4,55.116
$10V_AH,10.0,52.944
$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,27.500,103.300,462.150,17.325,0.000,49.026,64.102,378.753,10.500,0.000,30.242,964.031,6483.322,532.126,1771.508,774.442,33.365,1197.872,0.000,1761.017,0.000,0.534,0.000
$DEVICE_MAMPS,141.895,90.506,928.070,200.187,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.744,282.706,374.400,702.944,1063.207,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,38296,487
$CAP_FILE_SIZE,102775,0
$CFSIZE,260165632,159178752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121010,135201,2251.683,-15746.933,71,1.0,71,10.1