version: 66.06
glider: 146
mission: 5
dive: 398
start: 10 12 110 23 7 11
data:
$ID,146
$MISSION,5
$DIVE,398
$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,-255502.92
$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,38
$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
$GPS1,225216,2249.892,-15743.277,7,99.0,26,10.1
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.2
$GPS2,230616,2249.920,-15743.220,12,3.9,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.153,-0.081
$KALMAN_X,-262247.4,26.6,70.2,309284.2,570.8
$KALMAN_Y,-567198.2,245.1,633.1,694737.1,-895.0
$MHEAD_RNG_PITCHd_Wd,107.8,2690,-27.3,-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,12,begin dive
$GC,15,-1.78,-63.2,0.0,0.0,0,103,0.00,0.00,-79.68,0.000,6,0.000,0.000,473,1753,3259,0,0,0,0,0,0
$GC,106,-1.79,-69.3,4.5,-9.4,11,123,11.00,2.58,-0.45,0.000,4,0.146,0.063,2601,204,3285,0,0,0,0,0,0
$GC,169,-1.67,-69.3,22.6,-22.0,19,177,0.12,2.45,0.00,0.000,6,0.129,0.015,2629,1794,3286,0,0,0,0,0,0
$GC,442,-1.67,-69.3,71.4,-17.1,46,446,0.00,2.38,0.00,0.000,4,0.000,0.028,2629,3324,3286,0,0,0,0,0,0
$GC,488,-1.75,-69.3,78.2,-13.9,49,493,0.00,2.42,0.00,0.000,6,0.000,0.028,2629,1804,3287,0,0,0,0,0,0
$GC,757,-1.82,-69.3,110.2,-10.9,73,762,0.12,2.40,0.00,0.000,4,0.074,0.028,2589,3328,3287,0,0,0,0,0,0
$GC,873,-1.82,-69.3,126.2,-12.9,82,883,0.00,2.45,0.00,0.000,6,0.000,0.028,2589,1810,3288,0,0,0,0,0,0
$GC,1134,-1.82,-69.3,161.1,-13.3,107,1138,0.00,2.35,0.00,0.000,4,0.000,0.023,2589,3323,3288,0,0,0,0,0,0
$GC,1221,-1.86,-69.3,172.4,-12.7,114,1225,0.00,2.40,0.00,0.000,6,0.000,0.033,2589,1807,3288,0,0,0,0,0,0
$GC,1493,-1.86,-69.3,205.1,-11.8,136,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1807,3288,0,0,0,0,0,0
$GC,1734,-1.86,-69.3,236.1,-13.3,142,1738,0.00,2.38,0.00,0.000,4,0.000,0.025,2589,3325,3288,0,0,0,0,0,0
$GC,1762,-1.90,-69.3,239.8,-14.0,142,1767,0.00,2.45,0.00,0.000,6,0.000,0.031,2589,1805,3288,0,0,0,0,0,0
$GC,2013,-1.94,-69.3,271.6,-12.4,148,2017,0.00,2.78,0.00,0.000,4,0.000,0.074,2589,189,3289,0,0,0,0,0,0
$GC,2039,-1.94,-69.3,274.8,-11.7,148,2044,0.00,2.45,0.00,0.000,6,0.000,0.018,2589,1781,3288,0,0,0,0,0,0
$GC,2295,-1.99,-69.3,301.9,-10.3,155,2300,0.00,2.45,0.00,0.000,4,0.000,0.030,2589,3338,3288,0,0,0,0,0,0
$GC,2364,-2.07,-69.3,308.7,-10.3,156,2369,0.17,2.50,0.00,0.000,6,0.061,0.037,2534,1809,3288,0,0,0,0,0,0
$GC,2619,-2.07,-69.3,343.2,-14.3,163,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1809,3287,0,0,0,0,0,0
$GC,2865,-1.92,-69.3,389.4,-19.5,169,2870,0.22,2.50,0.00,0.000,4,0.107,0.042,2580,3335,3286,0,0,0,0,0,0
$GC,2876,-1.82,-69.3,391.5,-19.2,169,2881,0.10,2.58,0.00,0.000,6,0.130,0.055,2602,1796,3286,0,0,0,0,0,0
$GC,3142,-1.82,-69.3,434.3,-15.7,176,3147,0.00,2.95,0.00,0.000,4,0.000,0.099,2602,183,3284,0,0,0,0,0,0
$GC,3400,-1.91,-75.1,464.7,-9.4,181,3405,0.00,2.62,0.00,0.000,6,0.000,0.035,2602,1808,3282,0,0,0,0,0,0
$GC,3650,-2.03,-83.0,487.3,-9.2,188,3655,0.20,2.65,0.00,0.000,4,0.058,0.069,2544,3361,3280,0,0,0,0,0,0
$GC,3736,-2.03,-83.0,497.2,-11.8,190,3741,0.00,2.55,0.00,0.000,6,0.000,0.063,2544,1851,3279,0,0,0,0,0,0
$STATE,3755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3755,begin apogee
$GC,3761,-0.31,0.0,500.0,12.0,190,3824,1.75,0.00,58.33,0.913,6,0.113,0.000,2929,1810,3001,0,0,0,0,0,0
$STATE,3824,end apogee,CONTROL_FINISHED_OK
$STATE,3824,begin climb
$GC,3828,1.81,83.0,501.5,0.0,192,3911,1.92,3.03,71.97,0.894,4,0.044,0.105,3397,233,2661,0,0,0,0,0,0
$GC,3919,1.77,137.2,499.2,4.3,194,3973,0.00,2.60,48.53,0.878,6,0.000,0.036,3397,1824,2442,0,0,0,0,0,0
$GC,4241,1.72,137.2,463.9,11.8,202,4246,0.12,2.67,0.00,0.000,4,0.218,0.054,3375,3401,2431,0,0,0,0,0,0
$GC,4268,1.72,137.2,460.7,11.4,202,4273,0.00,2.70,0.00,0.000,6,0.000,0.054,3375,1818,2429,0,0,0,0,0,0
$GC,4518,1.72,137.2,434.7,10.2,208,4523,0.00,2.92,0.00,0.000,4,0.000,0.101,3375,236,2427,0,0,0,0,0,0
$GC,4570,1.61,137.2,428.7,11.6,209,4575,0.12,2.55,0.00,0.000,6,0.153,0.025,3354,1813,2426,0,0,0,0,0,0
$GC,4842,1.61,142.4,402.1,9.5,216,4847,0.00,2.80,0.00,0.000,4,0.000,0.073,3354,229,2423,0,0,0,0,0,0
$GC,4899,1.56,142.4,396.3,10.8,217,4903,0.00,2.53,0.00,0.000,6,0.000,0.030,3354,1802,2423,0,0,0,0,0,0
$GC,5165,1.63,160.5,374.0,8.1,224,5186,0.00,0.00,18.90,0.826,6,0.000,0.000,3354,1802,2345,0,0,0,0,0,0
$GC,5409,1.70,175.7,353.7,8.4,230,5426,0.00,0.00,14.62,0.797,6,0.000,0.000,3354,1803,2284,0,0,0,0,0,0
$GC,5654,1.76,175.7,327.9,10.8,236,5660,0.12,2.78,0.00,0.000,4,0.090,0.072,3385,232,2280,0,0,0,0,0,0
$GC,5670,1.76,175.7,325.5,11.2,236,5675,0.00,2.53,0.00,0.000,6,0.000,0.027,3385,1811,2279,0,0,0,0,0,0
$GC,5937,1.76,175.7,294.4,11.1,243,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1813,2278,0,0,0,0,0,0
$GC,6183,1.78,188.6,272.2,8.7,249,6201,0.00,2.67,11.57,0.737,4,0.000,0.035,3385,3404,2232,0,0,0,0,0,0
$GC,6207,1.79,198.9,269.8,8.9,249,6224,0.00,2.70,11.05,0.716,6,0.000,0.041,3385,1788,2190,0,0,0,0,0,0
$GC,6468,1.83,198.9,243.1,10.3,256,6472,0.00,2.70,0.00,0.000,4,0.000,0.073,3385,240,2185,0,0,0,0,0,0
$GC,6530,1.83,198.9,235.5,12.8,257,6534,0.00,2.45,0.00,0.000,6,0.000,0.028,3385,1803,2183,0,0,0,0,0,0
$GC,6790,1.90,206.8,210.3,9.2,264,6801,0.12,0.00,7.62,0.643,6,0.090,0.000,3416,1805,2157,0,0,0,0,0,0
$GC,7041,1.90,206.8,182.7,11.1,279,7045,0.00,2.53,0.00,0.000,4,0.000,0.031,3416,3389,2155,0,0,0,0,0,0
$GC,7071,1.90,206.8,179.0,11.5,281,7075,0.00,2.62,0.00,0.000,6,0.000,0.036,3416,1796,2154,0,0,0,0,0,0
$GC,7333,1.90,206.8,149.5,10.6,305,7337,0.00,2.55,0.00,0.000,4,0.000,0.030,3416,3390,2154,0,0,0,0,0,0
$GC,7399,1.94,206.8,142.6,10.5,310,7404,0.00,2.58,0.00,0.000,6,0.000,0.041,3416,1805,2153,0,0,0,0,0,0
$GC,7662,1.94,206.8,113.7,12.0,334,7666,0.00,2.53,0.00,0.000,4,0.000,0.029,3416,3390,2153,0,0,0,0,0,0
$GC,7740,2.00,206.8,104.7,11.2,340,7744,0.00,2.60,0.00,0.000,6,0.000,0.037,3416,1802,2153,0,0,0,0,0,0
$GC,8003,2.06,214.3,79.8,9.2,364,8019,0.12,2.60,7.70,0.542,4,0.084,0.028,3450,3394,2125,0,0,0,0,0,0
$GC,8148,2.09,238.4,68.1,7.5,375,8177,0.00,2.60,22.05,0.590,6,0.000,0.035,3450,1807,2029,0,0,0,0,0,0
$GC,8433,2.09,243.1,41.5,9.5,401,8448,0.00,2.58,5.50,0.456,4,0.000,0.027,3450,3385,2008,0,0,0,0,0,0
$GC,8479,2.15,249.5,37.4,9.4,404,8494,0.00,2.58,7.28,0.489,6,0.000,0.034,3450,1814,1982,0,0,0,0,0,0
$STATE,8787,end climb,SURFACE_DEPTH_REACHED
$STATE,8787,begin surface coast
$FINISH,0.5,1.023354
$STATE,8830,end surface coast,CONTROL_FINISHED_OK
$STATE,8830,begin surface
$SM_CCo,8854,145.48,0.493,1,0,1287,420.20
$SM_GC,1.03,0.00,0.00,145.48,0.000,0.000,0.493,475,1743,1287,-11.62,-0.76,420.20
$IRIDIUM_FIX,2239.35,-15737.19,060100,202005
$TT8_MAMPS,0.026078
$HUMID,51.14
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.00
$XPDR_PINGS,50
$24V_AH,23.5,55.624
$10V_AH,10.0,53.408
$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,28.325,113.800,285.125,145.475,0.000,80.749,194.277,287.472,12.500,0.000,33.749,946.741,5776.311,500.568,1783.453,839.597,33.365,1164.138,0.000,1766.863,0.000,0.535,0.000
$DEVICE_MAMPS,217.828,151.866,913.497,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,306.043,284.629,355.479,689.335,1041.360,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,35326,452
$CAP_FILE_SIZE,101430,0
$CFSIZE,260165632,158965760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131010,013856,2248.995,-15742.305,59,1.1,59,10.1