version: 66.06
glider: 146
mission: 5
dive: 356
start: 10 7 110 18 56 56
data:
$ID,146
$MISSION,5
$DIVE,356
$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,-254530.58
$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,25
$R_STBD_OVSHOOT,54
$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
$GPS1,185001,2249.385,-15754.357,39,1.4,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-67.4
$GPS2,185602,2249.352,-15754.311,11,1.2,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.087,0.218
$KALMAN_X,-281312.6,187.3,307.6,308861.7,845.0
$KALMAN_Y,-503733.4,9.5,430.9,630661.2,-1852.0
$MHEAD_RNG_PITCHd_Wd,328.1,16060,-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,-116.8,0.0,0.0,0,106,0.00,0.00,-86.12,0.000,6,0.000,0.000,478,1797,3479,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.6,-9.7,11,127,11.18,2.72,0.00,0.000,4,0.136,0.055,2690,189,3482,0,0,0,0,0,0
$GC,260,-1.21,-116.8,41.9,-18.1,28,265,0.20,2.42,0.00,0.000,6,0.108,0.016,2732,1782,3482,0,0,0,0,0,0
$GC,524,-1.15,-116.8,83.5,-14.6,52,528,0.00,2.45,0.00,0.000,4,0.000,0.029,2732,3342,3483,0,0,0,0,0,0
$GC,592,-1.15,-116.8,92.1,-11.9,57,597,0.00,2.50,0.00,0.000,6,0.000,0.027,2732,1782,3483,0,0,0,0,0,0
$GC,858,-1.15,-116.8,122.1,-11.5,81,863,0.00,2.67,0.00,0.000,4,0.000,0.064,2732,189,3484,0,0,0,0,0,0
$GC,881,-1.15,-116.8,125.4,-11.7,82,890,0.00,2.47,0.00,0.000,6,0.000,0.022,2732,1808,3484,0,0,0,0,0,0
$GC,1143,-1.20,-116.8,154.7,-10.2,107,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1809,3484,0,0,0,0,0,0
$GC,1399,-1.25,-116.8,179.0,-9.1,131,1404,0.00,2.75,0.00,0.000,4,0.000,0.063,2732,191,3485,0,0,0,0,0,0
$GC,1451,-1.30,-116.8,184.3,-9.4,135,1456,0.00,2.42,0.00,0.000,6,0.000,0.016,2732,1810,3485,0,0,0,0,0,0
$GC,1709,-1.36,-116.8,208.8,-10.1,153,1714,0.12,2.35,0.00,0.000,4,0.200,0.025,2690,3314,3485,0,0,0,0,0,0
$GC,1730,-1.36,-116.8,211.4,-11.5,153,1734,0.00,2.40,0.00,0.000,6,0.000,0.028,2690,1811,3485,0,0,0,0,0,0
$GC,1986,-1.36,-116.8,242.5,-12.3,160,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1811,3485,0,0,0,0,0,0
$GC,2230,-1.36,-116.8,270.9,-11.5,166,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1811,3485,0,0,0,0,0,0
$GC,2475,-1.36,-116.8,295.8,-9.8,172,2479,0.00,2.40,0.00,0.000,4,0.000,0.028,2690,3314,3485,0,0,0,0,0,0
$GC,2509,-1.40,-116.8,299.3,-9.5,172,2514,0.00,2.45,0.00,0.000,6,0.000,0.035,2690,1811,3485,0,0,0,0,0,0
$GC,2759,-1.40,-116.8,320.5,-8.2,179,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1810,3485,0,0,0,0,0,0
$GC,3004,-1.40,-116.8,344.1,-9.9,185,3009,0.00,2.90,0.00,0.000,4,0.000,0.087,2690,186,3484,0,0,0,0,0,0
$GC,3025,-1.40,-116.8,346.6,-10.3,185,3029,0.00,2.47,0.00,0.000,6,0.000,0.020,2690,1772,3483,0,0,0,0,0,0
$GC,3281,-1.40,-116.8,372.5,-10.2,192,3285,0.00,2.55,0.00,0.000,4,0.000,0.044,2690,3352,3483,0,0,0,0,0,0
$GC,3322,-1.48,-116.8,376.7,-10.5,193,3326,0.00,2.58,0.00,0.000,6,0.000,0.052,2690,1810,3483,0,0,0,0,0,0
$GC,3605,-1.52,-116.8,406.9,-10.5,200,3609,0.00,2.47,0.00,0.000,4,0.000,0.037,2690,3347,3481,0,0,0,0,0,0
$GC,3621,-1.57,-116.8,408.5,-9.7,200,3626,0.15,2.60,0.00,0.000,6,0.067,0.054,2644,1800,3481,0,0,0,0,0,0
$GC,3884,-1.52,-116.8,436.5,-10.6,207,3885,0.12,0.00,0.00,0.000,6,0.114,0.000,2670,1800,3479,0,0,0,0,0,0
$GC,4126,-1.52,-116.8,457.3,-8.2,213,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1800,3478,0,0,0,0,0,0
$GC,4369,-1.52,-116.8,477.3,-8.0,219,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1800,3476,0,0,0,0,0,0
$GC,4615,-1.52,-116.8,498.9,-9.0,225,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1800,3474,0,0,0,0,0,0
$STATE,4651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4651,begin apogee
$GC,4657,-0.31,0.0,502.8,9.1,226,4757,1.17,0.00,96.85,0.923,6,0.079,0.000,2933,1800,3001,0,0,0,0,0,0
$STATE,4758,end apogee,CONTROL_FINISHED_OK
$STATE,4758,begin climb
$GC,4760,1.38,116.8,504.7,0.0,228,4866,1.52,0.00,100.68,0.900,6,0.039,0.000,3306,1800,2524,0,0,0,0,0,0
$GC,5090,1.30,149.9,487.7,8.1,236,5124,0.12,2.80,28.27,0.865,4,0.131,0.056,3283,3385,2390,0,0,0,0,0,0
$GC,5237,1.28,169.6,474.5,8.9,239,5263,0.00,2.72,18.50,0.841,6,0.000,0.062,3283,1822,2308,0,0,0,0,0,0
$GC,5509,1.24,178.9,448.7,9.5,246,5523,0.00,2.65,8.93,0.768,4,0.000,0.041,3283,3399,2270,0,0,0,0,0,0
$GC,5558,1.24,178.9,443.4,10.7,247,5562,0.00,2.72,0.00,0.000,6,0.000,0.057,3283,1817,2268,0,0,0,0,0,0
$GC,5837,1.24,178.9,415.1,10.6,254,5841,0.00,2.60,0.00,0.000,4,0.000,0.041,3283,3403,2265,0,0,0,0,0,0
$GC,5858,1.24,178.9,412.6,10.4,254,5862,0.00,2.67,0.00,0.000,6,0.000,0.053,3283,1821,2264,0,0,0,0,0,0
$GC,6113,1.24,178.9,386.1,10.4,261,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1822,2264,0,0,0,0,0,0
$GC,6357,1.26,192.9,363.6,9.2,267,6376,0.00,2.62,12.45,0.790,4,0.000,0.038,3283,3390,2213,0,0,0,0,0,0
$GC,6434,1.26,193.9,356.0,10.0,268,6438,0.00,2.65,0.00,0.000,6,0.000,0.047,3283,1812,2211,0,0,0,0,0,0
$GC,6684,1.28,209.0,332.5,9.2,274,6704,0.00,2.62,15.43,0.788,4,0.000,0.031,3283,3400,2147,0,0,0,0,0,0
$GC,6717,1.31,233.8,329.6,8.6,274,6746,0.00,2.65,22.95,0.794,6,0.000,0.044,3283,1820,2048,0,0,0,0,0,0
$GC,7008,1.32,241.5,301.0,9.6,282,7023,0.00,2.88,7.65,0.690,4,0.000,0.080,3283,234,2015,0,0,0,0,0,0
$GC,7040,1.32,241.5,297.4,10.7,282,7044,0.00,2.53,0.00,0.000,6,0.000,0.021,3283,1829,2014,0,0,0,0,0,0
$GC,7292,1.32,243.2,272.9,9.9,288,7296,0.00,2.80,0.00,0.000,4,0.000,0.071,3283,236,2012,0,0,0,0,0,0
$GC,7314,1.32,243.2,270.0,11.2,288,7318,0.00,2.50,0.00,0.000,6,0.000,0.027,3283,1816,2011,0,0,0,0,0,0
$GC,7570,1.34,259.6,246.6,9.1,295,7594,0.00,2.65,16.75,0.733,4,0.000,0.037,3283,3398,1942,0,0,0,0,0,0
$GC,7629,1.43,259.6,240.7,10.4,296,7635,0.12,2.62,0.00,0.000,6,0.091,0.042,3314,1816,1940,0,0,0,0,0,0
$GC,7896,1.43,259.6,212.2,10.7,303,7901,0.00,2.72,0.00,0.000,4,0.000,0.071,3314,243,1937,0,0,0,0,0,0
$GC,7930,1.33,259.6,208.3,12.2,303,7937,0.12,2.50,0.00,0.000,6,0.130,0.020,3291,1829,1936,0,0,0,0,0,0
$GC,8191,1.33,259.6,180.7,11.4,322,8196,0.00,2.50,0.00,0.000,4,0.000,0.031,3290,3390,1936,0,0,0,0,0,0
$GC,8243,1.43,259.6,174.1,12.8,326,8248,0.00,2.53,0.00,0.000,6,0.000,0.035,3290,1836,1934,0,0,0,0,0,0
$GC,8508,1.47,259.6,145.1,10.9,350,8513,0.12,2.75,0.00,0.000,4,0.142,0.061,3324,233,1934,0,0,0,0,0,0
$GC,8554,1.40,259.6,139.0,13.4,353,8560,0.00,2.50,0.00,0.000,6,0.000,0.020,3324,1829,1935,0,0,0,0,0,0
$GC,8819,1.42,276.5,113.0,9.1,378,8836,0.00,0.00,15.27,0.612,6,0.000,0.000,3324,1832,1873,0,0,0,0,0,0
$GC,9092,1.46,311.7,88.3,8.0,404,9130,0.00,2.60,30.85,0.605,4,0.000,0.028,3324,3395,1729,0,0,0,0,0,0
$GC,9154,1.55,333.2,83.5,8.8,409,9179,0.00,2.58,19.62,0.581,6,0.000,0.033,3324,1822,1642,0,0,0,0,0,0
$GC,9435,1.63,341.7,57.7,9.5,435,9451,0.12,2.75,8.00,0.504,4,0.080,0.058,3360,232,1607,0,0,0,0,0,0
$GC,9468,1.63,341.7,54.0,11.0,437,9473,0.00,2.53,0.00,0.000,6,0.000,0.018,3360,1844,1606,0,0,0,0,0,0
$GC,9754,1.63,341.7,19.0,11.8,467,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1846,1606,0,0,0,0,0,0
$STATE,9879,end climb,SURFACE_DEPTH_REACHED
$STATE,9879,begin surface coast
$FINISH,0.4,1.021771
$STATE,9925,end surface coast,CONTROL_FINISHED_OK
$STATE,9925,begin surface
$SM_CCo,9946,73.97,0.456,1,0,1288,420.20
$SM_GC,1.09,0.00,0.00,73.97,0.000,0.000,0.456,473,1742,1288,-11.62,-0.79,420.20
$IRIDIUM_FIX,2241.69,-15754.11,010100,161616
$TT8_MAMPS,0.025311
$HUMID,49.80
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.50
$XPDR_PINGS,49
$24V_AH,23.5,50.004
$10V_AH,10.1,48.592
$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,26.850,114.375,402.200,73.975,0.000,27.700,33.071,167.405,12.250,0.000,12.778,987.029,6561.993,535.935,1791.939,510.177,33.368,1212.900,0.000,1798.907,0.000,0.535,0.000
$DEVICE_MAMPS,200.187,87.438,923.468,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.936,273.835,375.339,699.638,1058.384,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38243,491
$CAP_FILE_SIZE,102383,0
$CFSIZE,260165632,161214464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,214506,2249.142,-15754.192,6,1.4,23,10.1