version: 66.06
glider: 146
mission: 5
dive: 35
start: 8 20 110 2 35 33
data:
$ID,146
$MISSION,5
$DIVE,35
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,375
$T_MISSION,420
$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,150
$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,-247790.55
$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,13
$R_STBD_OVSHOOT,58
$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
$GPS1,022809,2254.688,-15755.693,33,1.4,33,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-66.3
$GPS2,023438,2254.747,-15755.656,15,1.5,15,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.076,0.228
$KALMAN_X,-24253.0,96.2,-66.7,49955.0,-742.2
$KALMAN_Y,41773.3,381.0,-33.3,95237.7,51.7
$MHEAD_RNG_PITCHd_Wd,8.4,6128,-14.1,-8.000
$D_GRID,900
$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,-1.06,-146.0,0.0,0.0,0,105,0.00,0.00,-86.85,0.000,2,0.000,0.000,478,1751,3506,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.5,-6.3,11,134,11.90,2.60,-1.55,0.000,4,0.150,0.046,2761,3338,3601,0,0,0,0,0,0
$GC,237,-0.97,-146.0,33.3,-13.3,27,242,0.12,2.58,0.00,0.000,6,0.110,0.037,2788,1761,3602,0,0,0,0,0,0
$GC,504,-0.88,-146.0,69.0,-11.8,51,510,0.10,2.75,0.00,0.000,4,0.122,0.070,2809,192,3602,0,0,0,0,0,0
$GC,587,-0.88,-146.0,78.0,-9.6,57,591,0.00,2.42,0.00,0.000,6,0.000,0.018,2809,1786,3602,0,0,0,0,0,0
$GC,854,-0.88,-146.0,102.1,-9.1,81,859,0.00,2.75,0.00,0.000,4,0.000,0.064,2809,191,3603,0,0,0,0,0,0
$GC,888,-0.88,-146.0,105.6,-9.9,83,892,0.00,2.35,0.00,0.000,6,0.000,0.023,2809,1763,3603,0,0,0,0,0,0
$GC,1155,-0.88,-146.0,129.1,-9.1,107,1160,0.00,2.70,0.00,0.000,4,0.000,0.071,2809,189,3603,0,0,0,0,0,0
$GC,1188,-0.88,-146.0,132.3,-9.2,109,1192,0.00,2.33,0.00,0.000,6,0.000,0.019,2809,1746,3603,0,0,0,0,0,0
$GC,1455,-0.88,-146.0,154.0,-7.7,133,1459,0.00,2.45,0.00,0.000,4,0.000,0.027,2809,3321,3603,0,0,0,0,0,0
$GC,1478,-0.92,-146.0,156.1,-7.6,134,1483,0.00,2.53,0.00,0.000,6,0.000,0.034,2809,1742,3603,0,0,0,0,0,0
$GC,1741,-0.95,-146.0,175.5,-7.8,159,1745,0.00,2.67,0.00,0.000,4,0.000,0.071,2809,188,3603,0,0,0,0,0,0
$GC,1771,-1.00,-146.0,178.2,-9.1,161,1776,0.12,2.33,0.00,0.000,6,0.075,0.018,2769,1741,3604,0,0,0,0,0,0
$GC,2032,-0.95,-146.0,204.3,-10.1,182,2037,0.10,2.47,0.00,0.000,4,0.117,0.028,2791,3315,3603,0,0,0,0,0,0
$GC,2083,-1.01,-146.0,209.1,-8.6,183,2087,0.00,2.53,0.00,0.000,6,0.000,0.034,2791,1745,3603,0,0,0,0,0,0
$GC,2354,-1.01,-146.0,231.0,-7.9,190,2359,0.00,2.70,0.00,0.000,4,0.000,0.078,2791,189,3603,0,0,0,0,0,0
$GC,2394,-1.01,-146.0,234.0,-7.8,191,2398,0.00,2.35,0.00,0.000,6,0.000,0.018,2791,1755,3603,0,0,0,0,0,0
$GC,2678,-1.01,-146.0,256.6,-8.1,198,2682,0.00,2.50,0.00,0.000,4,0.000,0.035,2791,3326,3602,0,0,0,0,0,0
$GC,2706,-1.01,-146.0,259.2,-9.0,198,2710,0.00,2.55,0.00,0.000,6,0.000,0.034,2791,1746,3602,0,0,0,0,0,0
$GC,2956,-1.01,-146.0,280.9,-8.6,204,2960,0.00,2.72,0.00,0.000,4,0.000,0.085,2791,193,3602,0,0,0,0,0,0
$GC,2976,-1.01,-146.0,282.8,-9.0,204,2981,0.00,2.35,0.00,0.000,6,0.000,0.018,2791,1738,3602,0,0,0,0,0,0
$GC,3239,-1.01,-146.0,303.4,-7.7,211,3244,0.00,2.55,0.00,0.000,4,0.000,0.040,2791,3342,3602,0,0,0,0,0,0
$GC,3267,-1.06,-146.0,305.5,-7.1,211,3273,0.10,2.60,0.00,0.000,6,0.088,0.037,2756,1757,3602,0,0,0,0,0,0
$GC,3519,-1.03,-146.0,324.6,-7.6,217,3523,0.00,2.80,0.00,0.000,4,0.000,0.094,2756,185,3601,0,0,0,0,0,0
$GC,3540,-0.99,-146.0,326.6,-7.9,217,3546,0.12,2.45,0.00,0.000,6,0.109,0.025,2783,1742,3601,0,0,0,0,0,0
$GC,3796,-0.99,-146.0,344.8,-7.2,224,3800,0.00,2.62,0.00,0.000,4,0.000,0.044,2783,3356,3601,0,0,0,0,0,0
$GC,3819,-1.03,-146.0,346.5,-7.2,224,3823,0.00,2.62,0.00,0.000,6,0.000,0.050,2783,1768,3601,0,0,0,0,0,0
$GC,4074,-1.08,-146.0,364.4,-6.9,231,4079,0.00,2.88,0.00,0.000,4,0.000,0.102,2783,184,3600,0,0,0,0,0,0
$GC,4114,-1.14,-146.0,367.5,-8.1,232,4119,0.15,2.50,0.00,0.000,6,0.067,0.033,2738,1757,3599,0,0,0,0,0,0
$GC,4399,-1.10,-146.0,394.2,-9.5,239,4404,0.10,2.67,0.00,0.000,4,0.127,0.059,2759,3361,3598,0,0,0,0,0,0
$GC,4426,-1.10,-146.0,396.9,-8.7,239,4430,0.00,2.67,0.00,0.000,6,0.000,0.054,2759,1771,3598,0,0,0,0,0,0
$GC,4676,-1.10,-146.0,416.7,-7.9,245,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1771,3597,0,0,0,0,0,0
$GC,4921,-1.10,-146.0,435.0,-7.5,251,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1771,3595,0,0,0,0,0,0
$GC,5164,-1.10,-146.0,452.1,-7.0,257,5169,0.00,3.03,0.00,0.000,4,0.000,0.122,2760,185,3594,0,0,0,0,0,0
$GC,5179,-1.10,-146.0,453.4,-6.9,257,5184,0.00,2.55,0.00,0.000,6,0.000,0.034,2759,1754,3594,0,0,0,0,0,0
$GC,5441,-1.10,-146.0,473.9,-8.3,264,5446,0.00,2.75,0.00,0.000,4,0.000,0.074,2759,3358,3593,0,0,0,0,0,0
$GC,5462,-1.14,-146.0,476.0,-8.8,264,5467,0.00,2.72,0.00,0.000,6,0.000,0.066,2759,1765,3593,0,0,0,0,0,0
$GC,5717,-1.14,-146.0,498.0,-8.4,271,5722,0.00,3.05,0.00,0.000,4,0.000,0.133,2759,185,3591,0,0,0,0,0,0
$GC,5758,-1.18,-146.0,501.1,-8.1,272,5763,0.00,2.60,0.00,0.000,6,0.000,0.039,2759,1763,3590,0,0,0,0,0,0
$GC,6041,-1.18,-146.0,519.8,-6.3,279,6046,0.00,2.80,0.00,0.000,4,0.000,0.082,2759,3356,3588,0,0,0,0,0,0
$GC,6074,-1.24,-146.0,522.0,-6.7,279,6080,0.12,2.78,0.00,0.000,6,0.074,0.066,2719,1756,3588,0,0,0,0,0,0
$GC,6325,-1.19,-146.0,541.6,-8.0,286,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1756,3586,0,0,0,0,0,0
$GC,6568,-1.15,-146.0,559.6,-7.4,292,6570,0.12,0.00,0.00,0.000,6,0.116,0.000,2747,1756,3585,0,0,0,0,0,0
$GC,6811,-1.15,-146.0,576.3,-6.7,298,6816,0.00,2.80,0.00,0.000,4,0.000,0.074,2747,3357,3583,0,0,0,0,0,0
$GC,6846,-1.19,-146.0,578.7,-6.6,298,6851,0.00,2.83,0.00,0.000,6,0.000,0.081,2746,1767,3584,0,0,0,0,0,0
$GC,7096,-1.19,-146.0,594.4,-6.0,305,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1767,3581,0,0,0,0,0,0
$GC,7339,-1.19,-146.0,607.0,-5.1,311,7344,0.00,2.80,0.00,0.000,4,0.000,0.080,2747,3358,3580,0,0,0,0,0,0
$GC,7362,-1.19,-146.0,608.2,-5.4,311,7367,0.00,2.85,0.00,0.000,6,0.000,0.090,2747,1768,3580,0,0,0,0,0,0
$GC,7617,-1.19,-146.0,621.9,-5.5,318,7622,0.00,2.83,0.00,0.000,4,0.000,0.081,2747,3358,3578,0,0,0,0,0,0
$GC,7638,-1.19,-146.0,623.4,-6.2,318,7643,0.00,2.90,0.00,0.000,6,0.000,0.091,2747,1768,3578,0,0,0,0,0,0
$GC,7894,-1.19,-146.0,639.3,-6.2,325,7898,0.00,2.85,0.00,0.000,4,0.000,0.088,2747,3357,3576,0,0,0,0,0,0
$GC,7922,-1.23,-146.0,641.1,-6.6,325,7927,0.00,2.92,0.00,0.000,6,0.000,0.100,2747,1779,3576,0,0,0,0,0,0
$GC,8172,-1.23,-146.0,658.4,-7.0,331,8177,0.00,3.28,0.00,0.000,4,0.000,0.163,2747,182,3575,0,0,0,0,0,0
$GC,8193,-1.23,-146.0,660.2,-8.0,331,8198,0.00,2.78,0.00,0.000,6,0.000,0.077,2747,1772,3574,0,0,0,0,0,0
$GC,8456,-1.23,-146.0,680.6,-8.0,338,8460,0.00,2.95,0.00,0.000,4,0.000,0.115,2747,3359,3573,0,0,0,0,0,0
$GC,8488,-1.28,-146.0,683.4,-8.1,338,8495,0.12,3.03,0.00,0.000,6,0.080,0.120,2714,1781,3573,0,0,0,0,0,0
$GC,8738,-1.28,-146.0,705.3,-8.7,345,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1781,3572,0,0,0,0,0,0
$GC,8984,-1.28,-146.0,723.1,-7.0,351,8988,0.00,3.05,0.00,0.000,4,0.000,0.121,2714,3364,3570,0,0,0,0,0,0
$GC,9005,-1.28,-146.0,724.8,-7.0,351,9010,0.00,2.85,0.00,0.000,6,0.000,0.083,2713,1782,3570,0,0,0,0,0,0
$GC,9260,-1.28,-146.0,740.4,-6.0,358,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1782,3569,0,0,0,0,0,0
$GC,9505,-1.28,-146.0,754.6,-5.8,364,9509,0.00,2.78,0.00,0.000,4,0.000,0.079,2714,3361,3568,0,0,0,0,0,0
$GC,9538,-1.28,-146.0,756.9,-7.1,364,9543,0.00,2.83,0.00,0.000,6,0.000,0.088,2714,1793,3568,0,0,0,0,0,0
$GC,9788,-1.28,-146.0,773.5,-6.8,371,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1793,3567,0,0,0,0,0,0
$GC,10031,-1.28,-146.0,791.5,-7.5,377,10036,0.00,3.22,0.00,0.000,4,0.000,0.147,2714,179,3566,0,0,0,0,0,0
$GC,10054,-1.23,-146.0,793.4,-8.7,377,10059,0.00,2.72,0.00,0.000,6,0.000,0.052,2713,1802,3566,0,0,0,0,0,0
$GC,10309,-1.23,-146.0,813.0,-7.4,384,10314,0.00,2.80,0.00,0.000,4,0.000,0.096,2713,3358,3565,0,0,0,0,0,0
$GC,10375,-1.23,-146.0,818.3,-8.3,385,10380,0.00,2.72,0.00,0.000,6,0.000,0.077,2713,1810,3565,0,0,0,0,0,0
$GC,10638,-1.23,-146.0,837.6,-7.3,392,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1810,3563,0,0,0,0,0,0
$GC,10881,-1.23,-146.0,855.3,-7.3,398,10882,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1811,3563,0,0,0,0,0,0
$GC,11124,-1.23,-146.0,873.7,-7.5,404,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1810,3562,0,0,0,0,0,0
$GC,11369,-1.23,-146.0,892.8,-7.9,410,11374,0.00,2.70,0.00,0.000,4,0.000,0.074,2713,3365,3562,0,0,0,0,0,0
$GC,11391,-1.23,-146.0,894.6,-7.6,410,11395,0.00,2.72,0.00,0.000,6,0.000,0.081,2714,1818,3561,0,0,0,0,0,0
$STATE,11480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11480,begin apogee
$GC,11486,-0.31,0.0,901.9,8.0,413,11612,0.98,0.00,122.30,1.261,6,0.090,0.000,2928,1818,3001,0,0,0,0,0,0
$STATE,11613,end apogee,CONTROL_FINISHED_OK
$STATE,11613,begin climb
$GC,11616,1.06,146.0,906.1,0.0,416,11755,1.30,0.00,134.30,1.227,6,0.044,0.000,3237,1818,2405,0,0,0,0,0,0
$GC,11967,0.86,146.0,882.9,9.7,425,11973,0.25,2.78,0.00,0.000,4,0.120,0.068,3184,3407,2394,0,0,0,0,0,0
$GC,11989,0.73,146.0,880.8,9.1,425,11995,0.12,2.80,0.00,0.000,6,0.152,0.074,3163,1830,2393,0,0,0,0,0,0
$GC,12247,0.68,159.3,861.6,7.5,432,12260,0.00,0.00,11.40,1.083,6,0.000,0.000,3162,1830,2351,0,0,0,0,0,0
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$STATE,22201,end climb,SURFACE_DEPTH_REACHED
$STATE,22201,begin surface coast
$FINISH,0.2,1.023729
$STATE,22266,end surface coast,CONTROL_FINISHED_OK
$STATE,22266,begin surface
$SM_CCo,22288,58.97,0.432,1,0,1288,420.20
$SM_GC,0.97,0.00,0.00,58.97,0.000,0.000,0.432,479,1734,1288,-11.60,-1.02,420.20
$IRIDIUM_FIX,2244.02,-15759.32,131199,202028
$TT8_MAMPS,0.025311
$HUMID,40.35
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.20
$XPDR_PINGS,102
$24V_AH,23.2,8.825
$10V_AH,10.4,7.920
$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
$DEVICE_SECS,27.900,277.750,460.100,58.975,0.000,23.267,26.493,187.633,25.500,0.000,16.928,1799.715,16720.195,714.587,2787.335,711.521,33.371,1871.396,0.000,2789.783,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,581.447,426.740,516.746,878.770,1329.046,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,66825,853
$CAP_FILE_SIZE,203380,0
$CFSIZE,260165632,180805632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200810,084924,2257.355,-15755.254,38,1.4,38,10.1