version: 66.06
glider: 146
mission: 5
dive: 422
start: 10 15 110 23 37 54
data:
$ID,146
$MISSION,5
$DIVE,422
$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,-257537.59
$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,47
$R_STBD_OVSHOOT,59
$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
$GPS1,232852,2250.386,-15754.896,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-69.3
$GPS2,233659,2250.330,-15754.830,15,1.7,18,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.070,0.222
$KALMAN_X,-260748.1,-73.3,-176.0,288152.1,655.7
$KALMAN_Y,-583231.8,-179.2,-101.9,712696.1,-395.5
$MHEAD_RNG_PITCHd_Wd,332.5,14207,-20.0,-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,-1.39,-114.6,0.0,0.0,0,96,0.00,0.00,-78.45,0.000,2,0.000,0.000,474,1734,3225,0,0,0,0,0,0
$GC,101,-1.40,-116.8,3.2,-5.7,10,126,11.68,2.58,-4.88,0.000,4,0.155,0.036,2687,3329,3479,0,0,0,0,0,0
$GC,218,-1.34,-116.8,27.4,-15.0,26,227,0.00,2.53,0.00,0.000,6,0.000,0.031,2687,1796,3481,0,0,0,0,0,0
$GC,496,-1.26,-116.8,72.7,-14.7,52,505,0.17,0.00,0.00,0.000,6,0.119,0.000,2722,1795,3481,0,0,0,0,0,0
$GC,763,-1.26,-116.8,105.2,-10.8,77,767,0.00,2.42,0.00,0.000,4,0.000,0.031,2722,3344,3482,0,0,0,0,0,0
$GC,786,-1.31,-116.8,108.2,-10.8,78,795,0.00,2.55,0.00,0.000,6,0.000,0.030,2722,1779,3482,0,0,0,0,0,0
$GC,1053,-1.35,-116.8,133.5,-8.9,103,1057,0.00,2.70,0.00,0.000,4,0.000,0.065,2722,189,3483,0,0,0,0,0,0
$GC,1110,-1.43,-116.8,138.3,-8.3,107,1115,0.15,2.40,0.00,0.000,6,0.063,0.015,2671,1791,3483,0,0,0,0,0,0
$GC,1372,-1.37,-116.8,161.9,-9.4,131,1377,0.15,2.40,0.00,0.000,4,0.109,0.026,2701,3318,3483,0,0,0,0,0,0
$GC,1407,-1.37,-116.8,164.4,-8.2,133,1411,0.00,2.50,0.00,0.000,6,0.000,0.030,2701,1765,3484,0,0,0,0,0,0
$GC,1674,-1.37,-116.8,189.6,-9.8,157,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1763,3484,0,0,0,0,0,0
$GC,1948,-1.37,-116.8,217.5,-10.3,172,1953,0.00,2.67,0.00,0.000,4,0.000,0.071,2701,193,3484,0,0,0,0,0,0
$GC,1982,-1.37,-116.8,221.3,-11.7,172,1987,0.00,2.40,0.00,0.000,6,0.000,0.023,2701,1763,3484,0,0,0,0,0,0
$GC,2232,-1.37,-116.8,246.5,-10.1,179,2236,0.00,2.45,0.00,0.000,4,0.000,0.033,2701,3335,3484,0,0,0,0,0,0
$GC,2271,-1.46,-116.8,250.7,-10.4,180,2275,0.00,2.53,0.00,0.000,6,0.000,0.038,2701,1778,3483,0,0,0,0,0,0
$GC,2556,-1.50,-116.8,278.6,-9.6,187,2561,0.12,2.75,0.00,0.000,4,0.074,0.073,2660,193,3483,0,0,0,0,0,0
$GC,2618,-1.45,-116.8,285.7,-11.4,188,2623,0.10,2.40,0.00,0.000,6,0.125,0.018,2681,1744,3483,0,0,0,0,0,0
$GC,2880,-1.45,-116.8,310.6,-9.6,195,2885,0.00,2.55,0.00,0.000,4,0.000,0.036,2681,3350,3482,0,0,0,0,0,0
$GC,2942,-1.52,-116.8,317.2,-9.8,196,2946,0.00,2.58,0.00,0.000,6,0.000,0.043,2681,1784,3482,0,0,0,0,0,0
$GC,3202,-1.52,-116.8,343.7,-10.4,203,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1783,3480,0,0,0,0,0,0
$GC,3448,-1.52,-116.8,367.0,-9.2,209,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1783,3479,0,0,0,0,0,0
$GC,3690,-1.52,-116.8,388.6,-8.9,215,3694,0.00,2.53,0.00,0.000,4,0.000,0.043,2681,3342,3478,0,0,0,0,0,0
$GC,3730,-1.57,-116.8,392.1,-9.1,216,3735,0.10,2.62,0.00,0.000,6,0.087,0.048,2644,1784,3478,0,0,0,0,0,0
$GC,4015,-1.53,-116.8,422.4,-10.9,223,4017,0.10,0.00,0.00,0.000,6,0.129,0.000,2664,1783,3476,0,0,0,0,0,0
$GC,4257,-1.53,-116.8,447.2,-10.1,229,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1783,3474,0,0,0,0,0,0
$GC,4502,-1.53,-116.8,472.5,-10.4,235,4507,0.00,2.58,0.00,0.000,4,0.000,0.048,2665,3331,3473,0,0,0,0,0,0
$GC,4548,-1.59,-116.8,477.7,-10.9,236,4553,0.00,2.65,0.00,0.000,6,0.000,0.060,2664,1782,3473,0,0,0,0,0,0
$STATE,4742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4742,begin apogee
$GC,4748,-0.31,0.0,500.4,11.7,241,4849,1.23,0.00,97.43,0.923,6,0.103,0.000,2931,1782,3001,0,0,0,0,0,0
$STATE,4849,end apogee,CONTROL_FINISHED_OK
$STATE,4850,begin climb
$GC,4852,1.40,116.8,504.5,0.0,243,4964,1.58,2.83,101.57,0.901,4,0.051,0.051,3309,3378,2522,0,0,0,0,0,0
$GC,5001,1.38,203.1,505.0,5.0,247,5082,0.00,2.72,75.10,0.889,6,0.000,0.057,3309,1815,2172,0,0,0,0,0,0
$GC,5358,1.30,203.1,470.3,11.0,256,5363,0.12,2.62,0.00,0.000,4,0.134,0.041,3286,3387,2162,0,0,0,0,0,0
$GC,5437,1.30,203.1,461.6,11.4,257,5443,0.00,2.70,0.00,0.000,6,0.000,0.058,3286,1828,2160,0,0,0,0,0,0
$GC,5687,1.30,203.1,434.5,10.8,264,5691,0.00,2.58,0.00,0.000,4,0.000,0.041,3286,3387,2158,0,0,0,0,0,0
$GC,5732,1.30,203.1,429.6,10.8,265,5737,0.00,2.65,0.00,0.000,6,0.000,0.059,3285,1836,2157,0,0,0,0,0,0
$GC,6009,1.30,203.1,401.5,10.1,272,6014,0.00,2.97,0.00,0.000,4,0.000,0.098,3286,227,2156,0,0,0,0,0,0
$GC,6025,1.24,203.1,399.8,10.1,272,6030,0.00,2.58,0.00,0.000,6,0.000,0.027,3286,1838,2155,0,0,0,0,0,0
$GC,6286,1.25,210.1,374.4,9.6,279,6295,0.00,2.58,4.22,0.562,4,0.000,0.043,3286,3402,2144,0,0,0,0,0,0
$GC,6334,1.25,213.0,369.7,9.9,280,6344,0.00,2.60,4.55,0.597,6,0.000,0.049,3286,1842,2131,0,0,0,0,0,0
$GC,6613,1.28,231.1,344.3,9.0,287,6633,0.00,0.00,17.95,0.802,6,0.000,0.000,3286,1842,2057,0,0,0,0,0,0
$GC,6855,1.28,236.3,321.0,9.7,293,6866,0.00,2.88,5.72,0.647,4,0.000,0.083,3286,237,2037,0,0,0,0,0,0
$GC,6888,1.22,236.3,317.2,11.2,293,6894,0.00,2.60,0.00,0.000,6,0.000,0.025,3286,1863,2036,0,0,0,0,0,0
$GC,7140,1.23,244.7,293.4,9.5,300,7154,0.00,2.55,8.93,0.713,4,0.000,0.039,3285,3392,2002,0,0,0,0,0,0
$GC,7184,1.29,251.1,289.1,9.7,301,7199,0.00,2.58,7.40,0.675,6,0.000,0.038,3286,1850,1976,0,0,0,0,0,0
$GC,7473,1.30,260.0,261.7,9.5,308,7488,0.00,2.88,9.15,0.695,4,0.000,0.074,3286,236,1940,0,0,0,0,0,0
$GC,7568,1.26,260.0,251.2,11.6,310,7572,0.00,2.58,0.00,0.000,6,0.000,0.022,3286,1861,1939,0,0,0,0,0,0
$GC,7845,1.26,261.4,223.3,10.0,317,7850,0.00,2.47,0.00,0.000,4,0.000,0.039,3286,3396,1938,0,0,0,0,0,0
$GC,7897,1.36,265.0,218.2,9.8,318,7908,0.00,2.53,5.57,0.584,6,0.000,0.041,3286,1864,1920,0,0,0,0,0,0
$GC,8161,1.43,283.6,194.0,8.9,327,8186,0.10,2.90,18.40,0.695,4,0.100,0.071,3313,233,1843,0,0,0,0,0,0
$GC,8253,1.36,283.6,184.1,11.8,334,8259,0.00,2.58,0.00,0.000,6,0.000,0.022,3313,1855,1839,0,0,0,0,0,0
$GC,8516,1.38,296.2,158.8,9.3,359,8540,0.00,2.55,11.65,0.637,4,0.000,0.031,3313,3396,1792,0,0,0,0,0,0
$GC,8569,1.45,296.2,153.3,10.3,363,8578,0.00,2.58,0.00,0.000,6,0.000,0.037,3313,1854,1791,0,0,0,0,0,0
$GC,8832,1.45,296.2,124.1,12.8,388,8837,0.00,2.80,0.00,0.000,4,0.000,0.071,3313,234,1789,0,0,0,0,0,0
$GC,8854,1.45,296.2,120.8,13.4,389,8860,0.00,2.55,0.00,0.000,6,0.000,0.021,3313,1857,1788,0,0,0,0,0,0
$GC,9119,1.49,296.2,89.9,11.7,414,9123,0.00,2.80,0.00,0.000,4,0.000,0.063,3313,238,1787,0,0,0,0,0,0
$GC,9162,1.49,296.2,84.5,11.4,417,9167,0.00,2.53,0.00,0.000,6,0.000,0.020,3313,1849,1787,0,0,0,0,0,0
$GC,9431,1.59,327.1,59.8,8.2,441,9472,0.15,2.55,27.58,0.584,4,0.077,0.028,3352,3387,1666,0,0,0,0,0,0
$GC,9562,1.69,337.0,47.6,9.5,451,9578,0.00,2.53,9.43,0.520,6,0.000,0.035,3352,1857,1626,0,0,0,0,0,0
$GC,9854,1.72,360.5,19.3,8.7,484,9882,0.10,2.80,20.73,0.532,4,0.091,0.059,3380,241,1531,0,0,0,0,0,0
$GC,9895,1.67,360.5,14.9,11.3,488,9904,0.00,2.60,0.00,0.000,6,0.000,0.025,3380,1868,1530,0,0,0,0,0,0
$STATE,9980,end climb,SURFACE_DEPTH_REACHED
$STATE,9980,begin surface coast
$FINISH,0.4,1.011168
$STATE,10026,end surface coast,CONTROL_FINISHED_OK
$STATE,10026,begin surface
$SM_CCo,10048,55.67,0.435,1,0,1288,420.20
$SM_GC,0.97,0.00,0.00,55.67,0.000,0.000,0.435,478,1733,1288,-11.60,-1.05,420.20
$IRIDIUM_FIX,2239.35,-15754.99,090100,202040
$TT8_MAMPS,0.026078
$HUMID,53.22
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.30
$XPDR_PINGS,69
$24V_AH,23.4,58.775
$10V_AH,10.0,56.236
$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,27.750,130.575,425.375,55.675,0.000,30.234,31.427,285.689,17.250,0.000,19.833,1028.475,6443.644,544.519,1939.178,643.636,33.371,1299.614,0.000,1930.511,0.000,0.534,0.000
$DEVICE_MAMPS,154.934,98.176,923.468,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.076,291.544,389.734,741.309,1121.323,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,41630,506
$CAP_FILE_SIZE,111108,0
$CFSIZE,260165632,157638656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161010,022742,2250.807,-15755.082,30,1.5,36,10.1