version: 66.06
glider: 146
mission: 5
dive: 434
start: 10 17 110 13 23 40
data:
$ID,146
$MISSION,5
$DIVE,434
$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,-257873.42
$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,45
$R_STBD_OVSHOOT,57
$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
$GPS1,131152,2257.143,-15755.183,13,5.3,32,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-69.4
$GPS2,132244,2257.085,-15755.143,13,1.5,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.043,0.204
$KALMAN_X,-258384.1,-81.7,41.3,285039.1,-180.3
$KALMAN_Y,-600598.1,161.2,-240.5,742366.8,-337.6
$MHEAD_RNG_PITCHd_Wd,1.7,1711,-22.7,-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,-1.53,-90.5,0.0,0.0,0,104,0.00,0.00,-83.53,0.000,6,0.000,0.000,474,1743,3370,0,0,0,0,0,0
$GC,107,-1.55,-110.2,4.3,-8.6,11,125,11.52,2.53,-1.50,0.000,4,0.156,0.035,2653,3341,3453,0,0,0,0,0,0
$GC,210,-1.51,-110.2,29.3,-17.2,25,220,0.00,2.55,0.00,0.000,6,0.000,0.032,2653,1794,3454,0,0,0,0,0,0
$GC,476,-1.45,-110.2,75.2,-14.4,50,486,0.15,0.00,0.00,0.000,6,0.133,0.000,2682,1794,3455,0,0,0,0,0,0
$GC,743,-1.45,-110.2,106.2,-11.2,75,747,0.00,2.42,0.00,0.000,4,0.000,0.031,2682,3342,3455,0,0,0,0,0,0
$GC,765,-1.50,-110.2,109.3,-11.3,76,774,0.00,2.53,0.00,0.000,6,0.000,0.028,2682,1782,3456,0,0,0,0,0,0
$GC,1033,-1.55,-116.8,134.5,-9.2,101,1039,0.00,2.72,-0.20,0.000,4,0.000,0.071,2682,189,3484,0,0,0,0,0,0
$GC,1079,-1.61,-116.8,139.8,-10.2,104,1089,0.12,2.45,0.00,0.000,6,0.041,0.018,2635,1783,3484,0,0,0,0,0,0
$GC,1343,-1.61,-116.8,170.0,-12.2,129,1347,0.00,2.40,0.00,0.000,4,0.000,0.028,2635,3324,3485,0,0,0,0,0,0
$GC,1371,-1.61,-116.8,174.0,-12.4,131,1376,0.00,2.45,0.00,0.000,6,0.000,0.028,2635,1786,3485,0,0,0,0,0,0
$GC,1650,-1.61,-116.8,211.4,-14.3,151,1654,0.00,2.72,0.00,0.000,4,0.000,0.063,2634,196,3485,0,0,0,0,0,0
$GC,1673,-1.57,-116.8,214.4,-13.5,151,1678,0.10,2.40,0.00,0.000,6,0.128,0.023,2654,1787,3485,0,0,0,0,0,0
$GC,1928,-1.57,-116.8,247.3,-12.9,158,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1788,3485,0,0,0,0,0,0
$GC,2171,-1.57,-116.8,277.1,-12.0,164,2175,0.00,2.40,0.00,0.000,4,0.000,0.035,2654,3317,3484,0,0,0,0,0,0
$GC,2195,-1.63,-116.8,279.6,-11.2,164,2199,0.00,2.50,0.00,0.000,6,0.000,0.038,2654,1773,3484,0,0,0,0,0,0
$GC,2450,-1.67,-116.8,308.4,-11.3,171,2454,0.00,2.47,0.00,0.000,4,0.000,0.031,2654,3316,3483,0,0,0,0,0,0
$GC,2479,-1.72,-116.8,311.5,-11.2,171,2484,0.12,2.53,0.00,0.000,6,0.075,0.037,2613,1786,3483,0,0,0,0,0,0
$GC,2730,-1.72,-116.8,342.3,-12.4,177,2735,0.00,2.85,0.00,0.000,4,0.000,0.090,2613,187,3483,0,0,0,0,0,0
$GC,2791,-1.67,-116.8,351.0,-14.3,178,2796,0.10,2.45,0.00,0.000,6,0.133,0.030,2632,1741,3482,0,0,0,0,0,0
$GC,3051,-1.67,-116.8,382.6,-12.1,185,3056,0.00,2.62,0.00,0.000,4,0.000,0.043,2632,3350,3481,0,0,0,0,0,0
$GC,3092,-1.73,-116.8,387.4,-12.3,186,3097,0.00,2.62,0.00,0.000,6,0.000,0.053,2632,1789,3481,0,0,0,0,0,0
$GC,3375,-1.73,-116.8,422.3,-12.3,193,3380,0.00,2.92,0.00,0.000,4,0.000,0.098,2632,182,3479,0,0,0,0,0,0
$GC,3396,-1.73,-116.8,425.1,-12.6,193,3401,0.00,2.53,0.00,0.000,6,0.000,0.032,2632,1775,3479,0,0,0,0,0,0
$GC,3654,-1.73,-116.8,454.0,-11.2,200,3658,0.00,2.62,0.00,0.000,4,0.000,0.053,2632,3352,3477,0,0,0,0,0,0
$GC,3686,-1.79,-116.8,457.6,-10.1,200,3692,0.00,2.65,0.00,0.000,6,0.000,0.058,2632,1790,3477,0,0,0,0,0,0
$GC,3936,-1.79,-116.8,483.5,-10.4,207,3940,0.00,2.62,0.00,0.000,4,0.000,0.052,2632,3356,3475,0,0,0,0,0,0
$GC,3958,-1.79,-116.8,486.1,-11.3,207,3963,0.00,2.67,0.00,0.000,6,0.000,0.060,2632,1783,3475,0,0,0,0,0,0
$STATE,4089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4089,begin apogee
$GC,4094,-0.31,0.0,500.6,10.9,211,4196,1.38,0.00,98.03,0.915,6,0.097,0.000,2931,1783,3001,0,0,0,0,0,0
$STATE,4197,end apogee,CONTROL_FINISHED_OK
$STATE,4197,begin climb
$GC,4200,1.56,116.8,502.5,0.0,213,4305,1.73,0.00,101.47,0.891,6,0.044,0.000,3351,1783,2524,0,0,0,0,0,0
$GC,4537,1.46,136.2,483.3,8.6,222,4562,0.15,2.83,16.58,0.834,4,0.195,0.046,3322,3396,2444,0,0,0,0,0,0
$GC,4591,1.45,158.9,478.7,8.3,223,4621,0.00,2.70,21.38,0.845,6,0.000,0.058,3322,1822,2352,0,0,0,0,0,0
$GC,4867,1.41,166.1,452.4,9.5,230,4881,0.00,2.70,6.75,0.715,4,0.000,0.044,3322,3401,2323,0,0,0,0,0,0
$GC,4932,1.41,166.1,445.4,10.2,231,4936,0.00,2.67,0.00,0.000,6,0.000,0.052,3322,1832,2322,0,0,0,0,0,0
$GC,5194,1.41,167.4,419.5,9.9,238,5199,0.00,2.60,0.00,0.000,4,0.000,0.036,3322,3416,2319,0,0,0,0,0,0
$GC,5255,1.41,167.4,412.8,10.3,239,5260,0.00,2.67,0.00,0.000,6,0.000,0.053,3322,1839,2319,0,0,0,0,0,0
$GC,5517,1.42,173.6,387.5,9.6,246,5526,0.00,0.00,7.43,0.726,6,0.000,0.000,3322,1839,2293,0,0,0,0,0,0
$GC,5762,1.44,190.4,365.4,8.8,252,5786,0.00,2.67,16.55,0.805,4,0.000,0.038,3323,3417,2223,0,0,0,0,0,0
$GC,5842,1.44,190.4,357.4,10.3,253,5848,0.00,2.65,0.00,0.000,6,0.000,0.044,3322,1846,2220,0,0,0,0,0,0
$GC,6092,1.45,195.6,332.9,9.7,260,6103,0.00,2.88,5.60,0.643,4,0.000,0.078,3322,236,2202,0,0,0,0,0,0
$GC,6121,1.39,195.6,329.8,10.8,260,6126,0.00,2.60,0.00,0.000,6,0.000,0.025,3322,1856,2201,0,0,0,0,0,0
$GC,6371,1.39,195.6,302.8,10.7,266,6375,0.00,2.50,0.00,0.000,4,0.000,0.041,3322,3400,2199,0,0,0,0,0,0
$GC,6420,1.39,195.6,297.3,11.1,267,6425,0.00,2.58,0.00,0.000,6,0.000,0.038,3322,1840,2199,0,0,0,0,0,0
$GC,6699,1.39,200.0,269.1,9.7,274,6709,0.00,2.55,4.82,0.579,4,0.000,0.032,3322,3397,2185,0,0,0,0,0,0
$GC,6789,1.44,203.9,260.7,9.8,276,6800,0.00,2.55,5.50,0.607,6,0.000,0.038,3322,1856,2169,0,0,0,0,0,0
$GC,7069,1.47,225.5,237.8,8.4,283,7091,0.00,0.00,20.45,0.736,6,0.000,0.000,3322,1856,2081,0,0,0,0,0,0
$GC,7311,1.48,230.7,214.3,9.7,289,7321,0.00,2.50,5.75,0.589,4,0.000,0.035,3323,3398,2058,0,0,0,0,0,0
$GC,7338,1.52,230.7,211.3,11.1,289,7342,0.00,2.55,0.00,0.000,6,0.000,0.041,3322,1847,2058,0,0,0,0,0,0
$GC,7600,1.56,231.5,186.3,10.0,304,7604,0.00,2.78,0.00,0.000,4,0.000,0.068,3322,241,2057,0,0,0,0,0,0
$GC,7616,1.56,231.5,183.8,10.9,305,7620,0.00,2.58,0.00,0.000,6,0.000,0.023,3322,1870,2056,0,0,0,0,0,0
$GC,7881,1.61,231.5,155.2,10.5,329,7885,0.12,2.45,0.00,0.000,4,0.089,0.031,3353,3390,2055,0,0,0,0,0,0
$GC,7958,1.61,231.5,146.6,11.3,335,7962,0.00,2.50,0.00,0.000,6,0.000,0.035,3354,1853,2055,0,0,0,0,0,0
$GC,8226,1.61,231.5,118.9,10.5,359,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1853,2055,0,0,0,0,0,0
$GC,8487,1.62,241.1,93.2,9.3,384,8505,0.00,2.88,10.07,0.581,4,0.000,0.067,3353,237,2016,0,0,0,0,0,0
$GC,8511,1.64,256.5,91.1,8.9,386,8535,0.00,2.58,15.12,0.594,6,0.000,0.021,3353,1879,1954,0,0,0,0,0,0
$GC,8794,1.69,257.0,63.6,10.0,412,8798,0.00,2.42,0.00,0.000,4,0.000,0.029,3353,3394,1951,0,0,0,0,0,0
$GC,8866,1.80,278.4,57.2,8.4,417,8896,0.15,2.45,20.23,0.577,6,0.074,0.033,3395,1894,1864,0,0,0,0,0,0
$GC,9152,1.81,286.7,29.7,9.4,443,9170,0.00,2.90,7.85,0.496,4,0.000,0.059,3395,241,1831,0,0,0,0,0,0
$GC,9188,1.76,286.7,25.9,10.7,447,9197,0.00,2.65,0.00,0.000,6,0.000,0.020,3395,1905,1830,0,0,0,0,0,0
$STATE,9400,end climb,SURFACE_DEPTH_REACHED
$STATE,9400,begin surface coast
$FINISH,0.3,1.020363
$STATE,9456,end surface coast,CONTROL_FINISHED_OK
$STATE,9456,begin surface
$SM_CCo,9478,116.18,0.489,1,0,1287,420.20
$SM_GC,0.99,0.00,0.00,116.18,0.000,0.000,0.489,476,1738,1287,-11.61,-0.90,420.20
$IRIDIUM_FIX,2246.36,-15756.28,110100,131342
$TT8_MAMPS,0.026078
$HUMID,52.99
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.30
$XPDR_PINGS,77
$24V_AH,23.4,60.397
$10V_AH,9.9,57.700
$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,27.550,130.250,363.575,116.175,0.000,54.229,63.237,327.879,19.250,0.000,14.695,987.273,6122.329,582.569,1822.135,741.617,33.367,1266.193,0.000,1830.567,0.000,0.533,0.000
$DEVICE_MAMPS,194.818,98.176,915.031,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.935,281.677,379.429,731.680,1106.637,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,38293,485
$CAP_FILE_SIZE,107254,0
$CFSIZE,260165632,156954624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171010,160502,2257.932,-15755.043,39,1.3,40,10.1