version: 66.06
glider: 146
mission: 5
dive: 421
start: 10 15 110 20 34 40
data:
$ID,146
$MISSION,5
$DIVE,421
$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,-257517.14
$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,14
$R_STBD_OVSHOOT,34
$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
$GPS1,202430,2249.638,-15754.651,42,1.1,42,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-63.7
$GPS2,203344,2249.612,-15754.570,12,1.8,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.053,0.230
$KALMAN_X,-260907.0,-99.6,-94.8,288694.1,429.4
$KALMAN_Y,-581702.8,-379.5,-502.4,710437.2,-152.9
$MHEAD_RNG_PITCHd_Wd,336.8,15552,-19.7,-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,-116.8,0.0,0.0,0,128,0.00,0.00,-109.90,0.000,2,0.000,0.000,476,1828,3238,0,0,0,0,0,0
$GC,131,-1.38,-116.8,3.3,-6.1,14,157,11.77,2.45,-4.65,0.000,4,0.158,0.040,2689,3360,3479,0,0,0,0,0,0
$GC,203,-1.29,-116.8,20.5,-16.7,23,213,0.10,2.62,0.00,0.000,6,0.106,0.038,2713,1763,3479,0,0,0,0,0,0
$GC,487,-1.22,-116.8,63.3,-13.3,52,493,0.10,2.70,0.00,0.000,4,0.145,0.058,2732,185,3479,0,0,0,0,0,0
$GC,536,-1.18,-116.8,69.2,-12.8,55,540,0.00,2.45,0.00,0.000,6,0.000,0.015,2732,1818,3480,0,0,0,0,0,0
$GC,803,-1.22,-116.8,95.7,-8.5,79,808,0.00,2.78,0.00,0.000,4,0.000,0.057,2732,186,3480,0,0,0,0,0,0
$GC,826,-1.22,-116.8,98.0,-7.9,80,835,0.00,2.42,0.00,0.000,6,0.000,0.015,2732,1778,3480,0,0,0,0,0,0
$GC,1093,-1.27,-116.8,115.4,-7.1,105,1097,0.00,2.38,0.00,0.000,4,0.000,0.029,2732,3310,3481,0,0,0,0,0,0
$GC,1138,-1.38,-116.8,119.3,-7.8,108,1146,0.10,2.50,0.00,0.000,6,0.037,0.029,2687,1774,3481,0,0,0,0,0,0
$GC,1403,-1.38,-116.8,146.2,-11.3,133,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1773,3481,0,0,0,0,0,0
$GC,1663,-1.38,-116.8,177.3,-12.0,158,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1772,3481,0,0,0,0,0,0
$GC,1937,-1.38,-116.8,209.9,-11.5,178,1942,0.00,2.70,0.00,0.000,4,0.000,0.068,2687,186,3481,0,0,0,0,0,0
$GC,1981,-1.38,-116.8,215.3,-11.5,179,1985,0.00,2.40,0.00,0.000,6,0.000,0.020,2687,1761,3482,0,0,0,0,0,0
$GC,2261,-1.38,-116.8,243.3,-9.7,186,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1762,3482,0,0,0,0,0,0
$GC,2503,-1.38,-116.8,267.1,-9.4,192,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1762,3481,0,0,0,0,0,0
$GC,2747,-1.38,-116.8,288.8,-8.8,198,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1762,3480,0,0,0,0,0,0
$GC,2991,-1.38,-116.8,311.2,-9.2,204,2995,0.00,2.50,0.00,0.000,4,0.000,0.031,2687,3332,3478,0,0,0,0,0,0
$GC,3025,-1.42,-116.8,314.4,-9.8,204,3031,0.00,2.58,0.00,0.000,6,0.000,0.038,2687,1773,3479,0,0,0,0,0,0
$GC,3275,-1.42,-116.8,339.0,-9.8,211,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1772,3478,0,0,0,0,0,0
$GC,3519,-1.42,-116.8,363.5,-10.1,217,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1773,3477,0,0,0,0,0,0
$GC,3764,-1.42,-116.8,387.5,-9.7,223,3769,0.00,2.53,0.00,0.000,4,0.000,0.036,2687,3321,3474,0,0,0,0,0,0
$GC,3792,-1.46,-116.8,390.2,-9.0,223,3797,0.00,2.58,0.00,0.000,6,0.000,0.051,2687,1780,3474,0,0,0,0,0,0
$GC,4042,-1.46,-116.8,412.5,-8.8,229,4047,0.00,2.53,0.00,0.000,4,0.000,0.041,2687,3326,3472,0,0,0,0,0,0
$GC,4072,-1.51,-116.8,415.1,-9.4,229,4076,0.00,2.62,0.00,0.000,6,0.000,0.057,2686,1782,3473,0,0,0,0,0,0
$GC,4323,-1.55,-116.8,437.3,-8.8,235,4328,0.10,2.95,0.00,0.000,4,0.085,0.104,2651,182,3471,0,0,0,0,0,0
$GC,4339,-1.55,-116.8,439.2,-9.1,235,4343,0.00,2.50,0.00,0.000,6,0.000,0.031,2651,1749,3471,0,0,0,0,0,0
$GC,4601,-1.55,-116.8,466.4,-10.3,242,4605,0.00,2.65,0.00,0.000,4,0.000,0.054,2652,3354,3469,0,0,0,0,0,0
$GC,4628,-1.55,-116.8,469.5,-11.2,242,4632,0.00,2.67,0.00,0.000,6,0.000,0.060,2651,1785,3468,0,0,0,0,0,0
$GC,4878,-1.55,-116.8,494.6,-10.1,248,4882,0.00,2.60,0.00,0.000,4,0.000,0.052,2651,3348,3467,0,0,0,0,0,0
$GC,4904,-1.55,-116.8,497.5,-10.7,248,4909,0.00,2.67,0.00,0.000,6,0.000,0.056,2651,1783,3466,0,0,0,0,0,0
$STATE,4949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4949,begin apogee
$GC,4956,-0.31,0.0,502.0,9.7,249,5057,1.27,0.00,96.70,0.920,6,0.104,0.000,2928,1783,3001,0,0,0,0,0,0
$STATE,5057,end apogee,CONTROL_FINISHED_OK
$STATE,5057,begin climb
$GC,5060,1.38,116.8,504.0,0.0,251,5167,1.58,0.00,102.18,0.897,6,0.045,0.000,3306,1783,2524,0,0,0,0,0,0
$GC,5434,1.30,160.2,483.3,7.5,261,5479,0.10,2.83,37.80,0.876,4,0.140,0.046,3287,3395,2346,0,0,0,0,0,0
$GC,5565,1.29,180.7,472.6,8.9,264,5589,0.00,2.70,19.23,0.841,6,0.000,0.051,3287,1830,2264,0,0,0,0,0,0
$GC,5849,1.25,191.5,446.5,9.4,271,5865,0.00,2.65,10.12,0.785,4,0.000,0.038,3287,3411,2220,0,0,0,0,0,0
$GC,5909,1.26,197.2,440.2,9.7,272,5923,0.00,2.70,6.70,0.707,6,0.000,0.054,3287,1838,2196,0,0,0,0,0,0
$GC,6176,1.26,197.3,414.1,10.0,279,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1838,2192,0,0,0,0,0,0
$GC,6417,1.26,197.3,389.0,10.4,285,6422,0.00,2.58,0.00,0.000,4,0.000,0.039,3287,3411,2190,0,0,0,0,0,0
$GC,6478,1.26,197.3,382.1,11.6,286,6483,0.00,2.67,0.00,0.000,6,0.000,0.049,3287,1829,2190,0,0,0,0,0,0
$GC,6747,1.26,197.3,353.9,10.5,293,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1829,2188,0,0,0,0,0,0
$GC,6989,1.27,208.7,330.5,9.4,299,7001,0.00,0.00,10.32,0.754,6,0.000,0.000,3287,1829,2150,0,0,0,0,0,0
$GC,7233,1.31,240.1,310.0,8.2,305,7264,0.00,0.00,29.33,0.796,6,0.000,0.000,3287,1829,2022,0,0,0,0,0,0
$GC,7478,1.32,246.2,287.2,9.7,311,7489,0.00,2.60,6.07,0.637,4,0.000,0.030,3287,3414,1997,0,0,0,0,0,0
$GC,7547,1.37,250.1,280.3,9.8,312,7558,0.00,2.65,5.32,0.604,6,0.000,0.039,3287,1831,1981,0,0,0,0,0,0
$GC,7802,1.38,261.0,256.5,9.4,318,7821,0.00,2.85,11.43,0.710,4,0.000,0.074,3287,240,1935,0,0,0,0,0,0
$GC,7868,1.38,261.0,249.3,11.5,319,7872,0.00,2.55,0.00,0.000,6,0.000,0.023,3287,1839,1932,0,0,0,0,0,0
$GC,8128,1.38,261.0,222.8,10.3,326,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1840,1930,0,0,0,0,0,0
$GC,8372,1.40,276.5,199.6,9.2,332,8395,0.00,0.00,14.62,0.687,6,0.000,0.000,3287,1840,1871,0,0,0,0,0,0
$GC,8655,1.46,285.9,174.0,9.5,358,8670,0.12,2.85,9.07,0.626,4,0.087,0.066,3321,234,1834,0,0,0,0,0,0
$GC,8697,1.38,285.9,168.9,12.2,361,8702,0.00,2.53,0.00,0.000,6,0.000,0.023,3321,1821,1833,0,0,0,0,0,0
$GC,8965,1.38,285.9,139.4,11.7,385,8970,0.00,2.53,0.00,0.000,4,0.000,0.033,3321,3393,1831,0,0,0,0,0,0
$GC,8987,1.38,285.9,135.7,12.3,386,8997,0.08,2.65,0.00,0.000,6,0.110,0.037,3302,1802,1830,0,0,0,0,0,0
$GC,9255,1.38,285.9,105.6,11.4,411,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1802,1830,0,0,0,0,0,0
$GC,9520,1.46,318.9,78.4,8.1,436,9561,0.00,2.65,29.35,0.604,4,0.000,0.031,3302,3390,1699,0,0,0,0,0,0
$GC,9619,1.62,336.4,69.7,9.0,443,9643,0.17,2.65,16.00,0.571,6,0.044,0.035,3353,1802,1628,0,0,0,0,0,0
$GC,9898,1.62,336.4,40.1,11.0,469,9903,0.00,2.67,0.00,0.000,4,0.000,0.061,3353,233,1623,0,0,0,0,0,0
$GC,9947,1.62,336.4,33.9,12.1,472,9956,0.00,2.47,0.00,0.000,6,0.000,0.020,3353,1802,1622,0,0,0,0,0,0
$STATE,10227,end climb,SURFACE_DEPTH_REACHED
$STATE,10227,begin surface coast
$FINISH,0.4,1.011045
$STATE,10277,end surface coast,CONTROL_FINISHED_OK
$STATE,10277,begin surface
$SM_CCo,10300,74.53,0.461,1,0,1287,420.20
$SM_GC,1.03,0.00,0.00,74.53,0.000,0.000,0.461,474,1733,1287,-11.62,-1.05,420.20
$IRIDIUM_FIX,2239.35,-15757.16,090100,171731
$TT8_MAMPS,0.025311
$HUMID,52.79
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.00
$XPDR_PINGS,58
$24V_AH,23.4,58.649
$10V_AH,10.0,56.121
$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,27.250,104.625,404.250,74.525,0.000,29.016,33.000,344.083,14.500,0.000,13.922,1011.649,6760.966,557.568,1885.366,715.775,33.369,1267.727,0.000,1899.548,0.000,0.534,0.000
$DEVICE_MAMPS,158.002,115.050,919.633,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.719,300.830,403.345,769.206,1163.590,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,41533,518
$CAP_FILE_SIZE,105172,0
$CFSIZE,260165632,157700096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151010,232852,2250.386,-15754.896,11,99.0,30,10.1