version: 66.06
glider: 146
mission: 5
dive: 355
start: 10 7 110 16 3 43
data:
$ID,146
$MISSION,5
$DIVE,355
$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,-254517.17
$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,39
$R_STBD_OVSHOOT,29
$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
$GPS1,155237,2249.128,-15754.429,31,1.3,31,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.6
$GPS2,160248,2249.067,-15754.335,10,1.3,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.147,0.183
$KALMAN_X,-282015.3,77.9,-386.9,310324.2,1393.3
$KALMAN_Y,-501951.8,-44.4,-16.3,628850.8,-784.2
$MHEAD_RNG_PITCHd_Wd,311.1,16583,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.5,0.0,0.0,0,96,0.00,0.00,-78.03,0.000,2,0.000,0.000,475,1751,3219,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.2,-5.5,10,125,11.15,2.60,-5.18,0.000,4,0.133,0.035,2692,3366,3481,0,0,0,0,0,0
$GC,241,-1.33,-116.8,32.0,-16.1,29,246,0.00,2.58,0.00,0.000,6,0.000,0.030,2692,1780,3481,0,0,0,0,0,0
$GC,508,-1.21,-116.8,78.5,-16.2,53,517,0.20,0.00,0.00,0.000,6,0.103,0.000,2734,1780,3482,0,0,0,0,0,0
$GC,771,-1.21,-116.8,109.0,-11.1,78,775,0.00,2.70,0.00,0.000,4,0.000,0.065,2734,187,3483,0,0,0,0,0,0
$GC,791,-1.21,-116.8,111.0,-10.7,79,795,0.00,2.47,0.00,0.000,6,0.000,0.015,2734,1835,3482,0,0,0,0,0,0
$GC,1059,-1.21,-116.8,140.0,-11.3,103,1063,0.00,2.38,0.00,0.000,4,0.000,0.027,2734,3365,3483,0,0,0,0,0,0
$GC,1092,-1.28,-116.8,143.8,-10.1,105,1096,0.00,2.50,0.00,0.000,6,0.000,0.034,2734,1794,3484,0,0,0,0,0,0
$GC,1357,-1.34,-116.8,170.6,-10.0,129,1362,0.12,2.72,0.00,0.000,4,0.075,0.062,2692,192,3484,0,0,0,0,0,0
$GC,1398,-1.30,-116.8,176.0,-12.7,132,1403,0.10,2.50,0.00,0.000,6,0.121,0.018,2715,1839,3484,0,0,0,0,0,0
$GC,1669,-1.30,-116.8,204.5,-10.1,154,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1841,3484,0,0,0,0,0,0
$GC,1911,-1.30,-116.8,229.0,-9.9,160,1915,0.00,2.40,0.00,0.000,4,0.000,0.028,2715,3363,3484,0,0,0,0,0,0
$GC,1934,-1.34,-116.8,231.3,-10.0,160,1938,0.00,2.53,0.00,0.000,6,0.000,0.031,2715,1790,3484,0,0,0,0,0,0
$GC,2188,-1.34,-116.8,257.1,-10.4,167,2193,0.00,2.75,0.00,0.000,4,0.000,0.069,2715,193,3484,0,0,0,0,0,0
$GC,2211,-1.34,-116.8,259.6,-11.4,167,2215,0.00,2.50,0.00,0.000,6,0.000,0.020,2715,1822,3484,0,0,0,0,0,0
$GC,2466,-1.39,-116.8,285.0,-9.6,174,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1823,3484,0,0,0,0,0,0
$GC,2710,-1.44,-116.8,307.4,-9.2,180,2715,0.12,2.45,0.00,0.000,4,0.074,0.037,2672,3370,3483,0,0,0,0,0,0
$GC,2745,-1.44,-116.8,310.5,-9.2,180,2750,0.00,2.58,0.00,0.000,6,0.000,0.035,2672,1792,3483,0,0,0,0,0,0
$GC,2994,-1.44,-116.8,334.2,-9.5,187,2999,0.00,2.85,0.00,0.000,4,0.000,0.084,2671,185,3482,0,0,0,0,0,0
$GC,3016,-1.40,-116.8,336.5,-9.9,187,3021,0.10,2.50,0.00,0.000,6,0.125,0.027,2692,1803,3482,0,0,0,0,0,0
$GC,3273,-1.40,-116.8,358.0,-8.5,194,3278,0.00,2.47,0.00,0.000,4,0.000,0.040,2692,3345,3481,0,0,0,0,0,0
$GC,3296,-1.44,-116.8,360.2,-8.7,194,3300,0.00,2.58,0.00,0.000,6,0.000,0.048,2692,1792,3481,0,0,0,0,0,0
$GC,3553,-1.48,-116.8,384.9,-9.9,201,3557,0.00,2.53,0.00,0.000,4,0.000,0.042,2692,3346,3480,0,0,0,0,0,0
$GC,3597,-1.55,-116.8,389.9,-10.5,202,3602,0.12,2.60,0.00,0.000,6,0.073,0.054,2652,1797,3480,0,0,0,0,0,0
$GC,3875,-1.50,-116.8,423.2,-12.1,209,3877,0.10,0.00,0.00,0.000,6,0.121,0.000,2672,1797,3478,0,0,0,0,0,0
$GC,4120,-1.50,-116.8,447.7,-10.0,215,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1797,3476,0,0,0,0,0,0
$GC,4362,-1.50,-116.8,472.1,-9.8,221,4367,0.00,3.00,0.00,0.000,4,0.000,0.107,2672,186,3474,0,0,0,0,0,0
$GC,4385,-1.50,-116.8,474.4,-10.4,221,4389,0.00,2.55,0.00,0.000,6,0.000,0.031,2672,1769,3474,0,0,0,0,0,0
$STATE,4637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4637,begin apogee
$GC,4645,-0.31,0.0,500.7,10.6,228,4745,1.15,0.00,96.35,0.917,6,0.079,0.000,2930,1830,3001,0,0,0,0,0,0
$STATE,4746,end apogee,CONTROL_FINISHED_OK
$STATE,4746,begin climb
$GC,4748,1.38,116.8,503.4,0.0,230,4853,1.52,0.00,100.53,0.895,6,0.052,0.000,3300,1829,2524,0,0,0,0,0,0
$GC,5076,1.31,151.8,486.8,8.0,238,5111,0.00,2.75,29.90,0.866,4,0.000,0.063,3300,3400,2382,0,0,0,0,0,0
$GC,5124,1.24,176.2,482.6,8.6,238,5156,0.15,2.72,23.05,0.845,6,0.130,0.052,3272,1825,2280,0,0,0,0,0,0
$GC,5399,1.29,215.9,459.3,7.7,245,5440,0.00,2.67,34.88,0.863,4,0.000,0.044,3272,3404,2119,0,0,0,0,0,0
$GC,5464,1.33,248.6,454.3,8.1,246,5500,0.00,2.72,29.90,0.848,6,0.000,0.058,3272,1827,1987,0,0,0,0,0,0
$GC,5768,1.33,253.6,426.4,9.8,254,5778,0.00,3.03,4.60,0.597,4,0.000,0.107,3272,232,1966,0,0,0,0,0,0
$GC,5814,1.27,253.6,420.9,12.3,255,5818,0.00,2.58,0.00,0.000,6,0.000,0.025,3272,1827,1965,0,0,0,0,0,0
$GC,6091,1.27,253.6,387.8,12.0,262,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1827,1963,0,0,0,0,0,0
$GC,6334,1.27,253.6,357.3,12.6,268,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1827,1962,0,0,0,0,0,0
$GC,6580,1.27,253.6,329.1,11.2,274,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1827,1961,0,0,0,0,0,0
$GC,6823,1.31,253.7,304.5,10.0,280,6827,0.00,2.80,0.00,0.000,4,0.000,0.067,3272,227,1960,0,0,0,0,0,0
$GC,6862,1.31,253.7,299.9,11.9,281,6866,0.00,2.53,0.00,0.000,6,0.000,0.021,3272,1825,1958,0,0,0,0,0,0
$GC,7147,1.37,263.4,273.0,9.5,288,7161,0.10,2.58,8.82,0.696,4,0.097,0.035,3299,3396,1926,0,0,0,0,0,0
$GC,7206,1.43,263.4,266.7,10.7,289,7211,0.00,2.62,0.00,0.000,6,0.000,0.041,3299,1809,1925,0,0,0,0,0,0
$GC,7476,1.45,278.5,241.9,9.2,296,7496,0.00,2.78,14.73,0.717,4,0.000,0.073,3299,237,1864,0,0,0,0,0,0
$GC,7507,1.45,279.3,238.6,10.0,296,7512,0.00,2.50,0.00,0.000,6,0.000,0.020,3299,1818,1863,0,0,0,0,0,0
$GC,7757,1.45,279.7,213.5,10.0,303,7761,0.00,2.53,0.00,0.000,4,0.000,0.038,3299,3388,1861,0,0,0,0,0,0
$GC,7774,1.45,283.3,211.7,9.8,303,7784,0.00,2.60,5.30,0.558,6,0.000,0.036,3299,1808,1844,0,0,0,0,0,0
$GC,8044,1.45,283.3,182.6,11.0,319,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1807,1843,0,0,0,0,0,0
$GC,8305,1.45,283.3,155.2,10.2,344,8309,0.00,2.70,0.00,0.000,4,0.000,0.067,3300,232,1843,0,0,0,0,0,0
$GC,8327,1.45,283.3,152.7,11.7,345,8337,0.00,2.50,0.00,0.000,6,0.000,0.026,3299,1817,1842,0,0,0,0,0,0
$GC,8590,1.51,283.3,126.8,10.3,370,8595,0.12,2.50,0.00,0.000,4,0.080,0.036,3334,3386,1841,0,0,0,0,0,0
$GC,8613,1.54,283.3,124.7,10.6,371,8617,0.00,2.58,0.00,0.000,6,0.000,0.032,3334,1804,1841,0,0,0,0,0,0
$GC,8878,1.54,283.3,95.8,11.2,395,8883,0.00,2.53,0.00,0.000,4,0.000,0.031,3333,3387,1841,0,0,0,0,0,0
$GC,8919,1.60,283.3,90.7,11.0,398,8923,0.00,2.58,0.00,0.000,6,0.000,0.034,3333,1807,1841,0,0,0,0,0,0
$GC,9187,1.61,295.8,64.7,9.3,422,9209,0.00,2.58,11.82,0.546,4,0.000,0.029,3334,3381,1794,0,0,0,0,0,0
$GC,9227,1.68,311.6,60.9,9.1,425,9248,0.12,2.60,15.30,0.551,6,0.083,0.036,3368,1794,1730,0,0,0,0,0,0
$GC,9508,1.68,311.6,30.0,10.9,450,9512,0.00,2.55,0.00,0.000,4,0.000,0.026,3368,3387,1726,0,0,0,0,0,0
$GC,9556,1.68,311.6,24.5,10.9,456,9566,0.00,2.62,0.00,0.000,6,0.000,0.035,3368,1801,1725,0,0,0,0,0,0
$STATE,9738,end climb,SURFACE_DEPTH_REACHED
$STATE,9741,begin surface coast
$FINISH,0.4,1.012045
$STATE,9777,end surface coast,CONTROL_FINISHED_OK
$STATE,9777,begin surface
$SM_CCo,9798,94.40,0.469,1,0,1287,420.20
$SM_GC,1.06,0.00,0.00,94.40,0.000,0.000,0.469,479,1798,1287,-11.60,0.79,420.20
$IRIDIUM_FIX,2239.35,-15757.16,010100,161634
$TT8_MAMPS,0.026078
$HUMID,49.17
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.60
$XPDR_PINGS,50
$24V_AH,23.5,49.888
$10V_AH,10.1,48.484
$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,27.025,119.925,375.175,94.400,0.000,61.542,67.752,275.464,12.500,0.000,16.263,986.037,6549.102,544.447,1739.071,693.667,33.367,1200.734,0.000,1745.809,0.000,0.536,0.000
$DEVICE_MAMPS,133.458,126.555,917.332,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.441,278.820,372.294,699.745,1058.382,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38346,487
$CAP_FILE_SIZE,106384,0
$CFSIZE,260165632,161263616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,185001,2249.385,-15754.357,39,1.4,39,10.1