version: 66.06
glider: 146
mission: 5
dive: 314
start: 10 2 110 11 54 38
data:
$ID,146
$MISSION,5
$DIVE,314
$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,-253455.44
$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,61
$R_STBD_OVSHOOT,60
$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
$GPS1,114801,2257.300,-15755.499,40,1.5,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.3
$GPS2,115344,2257.262,-15755.493,15,1.1,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.073,0.223
$KALMAN_X,-301837.3,-118.1,-97.0,328062.9,116.2
$KALMAN_Y,-445300.9,-221.4,109.1,587429.4,-870.9
$MHEAD_RNG_PITCHd_Wd,8.0,1604,-19.8,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,99,0.00,0.00,-78.62,0.000,2,0.000,0.000,474,1723,3239,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.2,-6.1,10,128,11.25,2.60,-4.70,0.000,4,0.138,0.035,2689,3340,3480,0,0,0,0,0,0
$GC,219,-1.29,-116.8,29.0,-14.7,26,228,0.10,2.53,0.00,0.000,6,0.086,0.031,2714,1806,3482,0,0,0,0,0,0
$GC,487,-1.20,-116.8,72.3,-16.1,51,492,0.10,2.78,0.00,0.000,4,0.130,0.058,2735,187,3483,0,0,0,0,0,0
$GC,535,-1.20,-116.8,79.1,-13.5,54,539,0.00,2.42,0.00,0.000,6,0.000,0.015,2735,1788,3483,0,0,0,0,0,0
$GC,799,-1.20,-116.8,109.5,-10.9,78,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1789,3483,0,0,0,0,0,0
$GC,1066,-1.20,-116.8,140.0,-12.2,103,1070,0.00,2.38,0.00,0.000,4,0.000,0.025,2735,3317,3484,0,0,0,0,0,0
$GC,1100,-1.25,-116.8,144.8,-11.7,105,1105,0.00,2.50,0.00,0.000,6,0.000,0.031,2735,1748,3484,0,0,0,0,0,0
$GC,1368,-1.29,-116.8,172.8,-10.3,130,1372,0.00,2.45,0.00,0.000,4,0.000,0.030,2735,3314,3485,0,0,0,0,0,0
$GC,1389,-1.35,-116.8,175.9,-10.5,131,1396,0.12,2.47,0.00,0.000,6,0.072,0.030,2690,1757,3485,0,0,0,0,0,0
$GC,1680,-1.31,-116.8,210.3,-11.9,153,1685,0.10,2.45,0.00,0.000,4,0.117,0.031,2711,3312,3485,0,0,0,0,0,0
$GC,1698,-1.31,-116.8,212.4,-11.8,153,1702,0.00,2.47,0.00,0.000,6,0.000,0.028,2711,1758,3485,0,0,0,0,0,0
$GC,1958,-1.31,-116.8,240.0,-10.7,160,1962,0.00,2.67,0.00,0.000,4,0.000,0.072,2711,193,3485,0,0,0,0,0,0
$GC,1973,-1.31,-116.8,241.9,-11.4,160,1977,0.00,2.35,0.00,0.000,6,0.000,0.021,2711,1763,3485,0,0,0,0,0,0
$GC,2242,-1.31,-116.8,270.2,-10.4,167,2246,0.00,2.42,0.00,0.000,4,0.000,0.034,2711,3313,3485,0,0,0,0,0,0
$GC,2258,-1.36,-116.8,272.0,-9.9,167,2262,0.00,2.47,0.00,0.000,6,0.000,0.036,2711,1775,3485,0,0,0,0,0,0
$GC,2519,-1.40,-116.8,297.6,-10.1,174,2523,0.00,2.42,0.00,0.000,4,0.000,0.034,2711,3308,3485,0,0,0,0,0,0
$GC,2542,-1.46,-116.8,300.0,-10.3,174,2547,0.12,2.47,0.00,0.000,6,0.071,0.038,2669,1779,3485,0,0,0,0,0,0
$GC,2797,-1.46,-116.8,329.2,-11.2,181,2802,0.00,2.80,0.00,0.000,4,0.000,0.088,2668,187,3484,0,0,0,0,0,0
$GC,2812,-1.46,-116.8,331.2,-11.4,181,2816,0.00,2.40,0.00,0.000,6,0.000,0.021,2669,1726,3484,0,0,0,0,0,0
$GC,3081,-1.46,-116.8,360.5,-11.1,188,3085,0.00,2.65,0.00,0.000,4,0.000,0.048,2669,3351,3483,0,0,0,0,0,0
$GC,3113,-1.46,-116.8,364.1,-9.9,188,3119,0.00,2.67,0.00,0.000,6,0.000,0.052,2668,1753,3483,0,0,0,0,0,0
$GC,3363,-1.46,-116.8,389.3,-10.2,195,3368,0.00,2.83,0.00,0.000,4,0.000,0.094,2668,182,3482,0,0,0,0,0,0
$GC,3384,-1.46,-116.8,391.7,-11.1,195,3388,0.00,2.50,0.00,0.000,6,0.000,0.033,2668,1757,3482,0,0,0,0,0,0
$GC,3647,-1.46,-116.8,419.9,-10.9,202,3651,0.00,2.62,0.00,0.000,4,0.000,0.050,2669,3352,3481,0,0,0,0,0,0
$GC,3668,-1.46,-116.8,422.5,-11.1,202,3672,0.00,2.70,0.00,0.000,6,0.000,0.058,2669,1758,3480,0,0,0,0,0,0
$GC,3923,-1.46,-116.8,450.6,-10.9,209,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1758,3478,0,0,0,0,0,0
$GC,4168,-1.46,-116.8,478.2,-11.2,215,4173,0.00,2.92,0.00,0.000,4,0.000,0.110,2669,182,3477,0,0,0,0,0,0
$GC,4200,-1.46,-116.8,482.0,-11.2,215,4206,0.00,2.53,0.00,0.000,6,0.000,0.038,2668,1756,3477,0,0,0,0,0,0
$STATE,4407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4407,begin apogee
$GC,4414,-0.31,0.0,502.9,9.9,221,4514,1.17,0.00,97.10,0.911,6,0.080,0.000,2931,1831,3001,0,0,0,0,0,0
$STATE,4515,end apogee,CONTROL_FINISHED_OK
$STATE,4515,begin climb
$GC,4519,1.38,116.8,504.7,0.0,223,4623,1.58,0.00,100.12,0.887,6,0.048,0.000,3308,1831,2524,0,0,0,0,0,0
$GC,4854,1.28,141.0,483.8,8.6,232,4878,0.15,0.00,20.75,0.844,6,0.130,0.000,3280,1830,2426,0,0,0,0,0,0
$GC,5098,1.25,163.3,462.7,8.8,238,5124,0.00,2.70,20.50,0.841,4,0.000,0.051,3280,3401,2333,0,0,0,0,0,0
$GC,5142,1.22,183.6,458.7,8.9,239,5167,0.00,2.70,19.33,0.829,6,0.000,0.055,3280,1822,2251,0,0,0,0,0,0
$GC,5417,1.22,183.6,430.9,10.2,246,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1822,2244,0,0,0,0,0,0
$GC,5663,1.23,188.8,407.0,9.7,252,5672,0.00,2.62,4.35,0.583,4,0.000,0.042,3280,3399,2231,0,0,0,0,0,0
$GC,5728,1.23,189.7,400.3,10.0,253,5733,0.00,2.67,0.00,0.000,6,0.000,0.049,3279,1829,2230,0,0,0,0,0,0
$GC,5984,1.24,196.1,375.4,9.7,260,5999,0.00,2.62,7.78,0.726,4,0.000,0.038,3280,3398,2201,0,0,0,0,0,0
$GC,6039,1.25,204.4,369.9,9.6,261,6054,0.00,2.60,9.30,0.745,6,0.000,0.043,3280,1841,2167,0,0,0,0,0,0
$GC,6310,1.25,207.2,342.8,9.9,268,6314,0.00,2.55,0.00,0.000,4,0.000,0.034,3280,3405,2163,0,0,0,0,0,0
$GC,6340,1.26,216.4,340.1,9.5,268,6359,0.00,2.58,11.62,0.759,6,0.000,0.044,3279,1847,2117,0,0,0,0,0,0
$GC,6638,1.27,221.0,310.6,9.8,276,6648,0.00,2.88,4.88,0.595,4,0.000,0.080,3279,236,2100,0,0,0,0,0,0
$GC,6677,1.20,221.0,306.5,11.2,277,6682,0.00,2.58,0.00,0.000,6,0.000,0.023,3280,1863,2099,0,0,0,0,0,0
$GC,6964,1.23,249.2,281.5,8.4,284,6997,0.00,2.53,26.50,0.769,4,0.000,0.034,3280,3395,1983,0,0,0,0,0,0
$GC,7078,1.31,249.2,270.5,10.1,286,7082,0.00,2.53,0.00,0.000,6,0.000,0.038,3280,1854,1980,0,0,0,0,0,0
$GC,7334,1.31,251.8,245.2,9.9,293,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1854,1977,0,0,0,0,0,0
$GC,7577,1.37,258.7,221.3,9.6,299,7587,0.00,0.00,8.73,0.649,6,0.000,0.000,3279,1855,1945,0,0,0,0,0,0
$GC,7820,1.44,278.3,199.3,8.9,305,7846,0.15,2.83,18.60,0.683,4,0.075,0.064,3318,242,1864,0,0,0,0,0,0
$GC,7871,1.38,278.3,193.6,12.1,309,7876,0.00,2.58,0.00,0.000,6,0.000,0.026,3318,1863,1863,0,0,0,0,0,0
$GC,8134,1.38,278.3,161.4,12.8,333,8138,0.00,2.45,0.00,0.000,4,0.000,0.032,3318,3401,1861,0,0,0,0,0,0
$GC,8180,1.43,278.3,155.4,12.9,336,8189,0.00,2.55,0.00,0.000,6,0.000,0.041,3318,1864,1859,0,0,0,0,0,0
$GC,8444,1.43,278.3,126.5,10.8,361,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1864,1859,0,0,0,0,0,0
$GC,8707,1.44,287.6,98.2,9.5,386,8722,0.00,2.47,8.43,0.545,4,0.000,0.028,3318,3402,1828,0,0,0,0,0,0
$GC,8797,1.56,326.1,90.4,7.8,393,8845,0.00,2.50,34.50,0.599,6,0.000,0.038,3318,1867,1670,0,0,0,0,0,0
$GC,9099,1.63,326.1,60.9,10.8,421,9105,0.15,2.80,0.00,0.000,4,0.072,0.058,3358,240,1666,0,0,0,0,0,0
$GC,9133,1.59,326.1,56.5,14.3,423,9137,0.00,2.55,0.00,0.000,6,0.000,0.018,3358,1891,1666,0,0,0,0,0,0
$GC,9414,1.59,326.1,22.1,12.6,452,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1894,1665,0,0,0,0,0,0
$STATE,9574,end climb,SURFACE_DEPTH_REACHED
$STATE,9574,begin surface coast
$FINISH,0.5,1.013331
$STATE,9625,end surface coast,CONTROL_FINISHED_OK
$STATE,9625,begin surface
$SM_CCo,9648,88.05,0.465,1,0,1288,420.20
$SM_GC,1.04,0.00,0.00,88.05,0.000,0.000,0.465,476,1757,1288,-11.61,-0.37,420.20
$IRIDIUM_FIX,2248.70,-15748.01,271299,090946
$TT8_MAMPS,0.025311
$HUMID,48.46
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.80
$XPDR_PINGS,45
$24V_AH,23.5,44.442
$10V_AH,10.2,43.774
$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,26.750,119.075,392.475,88.050,0.000,23.359,31.537,154.563,11.250,0.000,17.245,966.062,6318.128,570.919,1739.283,492.491,33.367,1227.158,0.000,1751.553,0.000,0.536,0.000
$DEVICE_MAMPS,138.060,254.644,911.196,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.297,282.609,367.405,695.801,1052.362,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38521,482
$CAP_FILE_SIZE,99733,0
$CFSIZE,260165632,163483648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021010,143807,2258.015,-15754.843,27,2.0,27,10.1