version: 66.06
glider: 146
mission: 5
dive: 360
start: 10 8 110 4 43 14
data:
$ID,146
$MISSION,5
$DIVE,360
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-254610.09
$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,51
$R_STBD_OVSHOOT,63
$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
$GPS1,043337,2249.181,-15753.211,25,1.6,26,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-69.4
$GPS2,044220,2249.190,-15753.103,12,1.2,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.167,0.166
$KALMAN_X,-277335.7,241.8,-209.2,307417.3,1553.1
$KALMAN_Y,-510282.8,-340.8,-46.7,637745.2,-1117.1
$MHEAD_RNG_PITCHd_Wd,304.7,16633,-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,16,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-86.38,0.000,6,0.000,0.000,475,1743,3479,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.4,-9.2,11,125,11.25,2.58,0.00,0.000,4,0.138,0.054,2693,217,3481,0,0,0,0,0,0
$GC,209,-1.22,-116.8,34.2,-18.8,24,219,0.15,2.40,0.00,0.000,6,0.092,0.015,2729,1784,3481,0,0,0,0,0,0
$GC,476,-1.14,-116.8,75.0,-15.4,49,481,0.10,2.70,0.00,0.000,4,0.129,0.060,2749,215,3482,0,0,0,0,0,0
$GC,500,-1.08,-116.8,78.6,-14.8,50,504,0.00,2.35,0.00,0.000,6,0.000,0.019,2750,1773,3481,0,0,0,0,0,0
$GC,763,-1.11,-116.8,107.5,-9.5,74,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1774,3482,0,0,0,0,0,0
$GC,1017,-1.19,-116.8,133.2,-10.3,98,1021,0.00,2.62,0.00,0.000,4,0.000,0.063,2749,218,3482,0,0,0,0,0,0
$GC,1037,-1.26,-116.8,135.1,-10.1,99,1042,0.10,2.33,0.00,0.000,6,0.082,0.024,2713,1772,3483,0,0,0,0,0,0
$GC,1298,-1.26,-116.8,165.8,-10.6,123,1302,0.00,2.40,0.00,0.000,4,0.000,0.032,2713,3306,3483,0,0,0,0,0,0
$GC,1322,-1.26,-116.8,167.4,-10.0,124,1326,0.00,2.40,0.00,0.000,6,0.000,0.033,2713,1798,3483,0,0,0,0,0,0
$GC,1588,-1.26,-116.8,191.7,-9.7,148,1593,0.00,2.35,0.00,0.000,4,0.000,0.024,2713,3309,3483,0,0,0,0,0,0
$GC,1623,-1.31,-116.8,195.7,-10.2,150,1635,0.00,2.45,0.00,0.000,6,0.000,0.032,2713,1794,3483,0,0,0,0,0,0
$GC,1876,-1.31,-116.8,223.6,-11.5,160,1881,0.00,2.72,0.00,0.000,4,0.000,0.069,2713,189,3483,0,0,0,0,0,0
$GC,1915,-1.31,-116.8,228.3,-12.4,161,1919,0.00,2.40,0.00,0.000,6,0.000,0.016,2713,1773,3483,0,0,0,0,0,0
$GC,2199,-1.31,-116.8,258.3,-10.2,168,2204,0.00,2.42,0.00,0.000,4,0.000,0.031,2713,3324,3483,0,0,0,0,0,0
$GC,2233,-1.39,-116.8,261.4,-8.5,168,2238,0.00,2.45,0.00,0.000,6,0.000,0.031,2713,1793,3483,0,0,0,0,0,0
$GC,2483,-1.43,-116.8,280.7,-7.5,175,2489,0.12,2.83,0.00,0.000,4,0.072,0.080,2671,186,3482,0,0,0,0,0,0
$GC,2552,-1.37,-116.8,287.6,-10.9,176,2557,0.12,2.42,0.00,0.000,6,0.112,0.027,2698,1761,3482,0,0,0,0,0,0
$GC,2808,-1.37,-116.8,311.1,-9.5,183,2812,0.00,2.55,0.00,0.000,4,0.000,0.035,2699,3354,3481,0,0,0,0,0,0
$GC,2859,-1.45,-116.8,315.9,-9.5,184,2863,0.00,2.55,0.00,0.000,6,0.000,0.044,2698,1801,3481,0,0,0,0,0,0
$GC,3130,-1.45,-116.8,343.7,-10.2,191,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1801,3480,0,0,0,0,0,0
$GC,3375,-1.50,-116.8,367.3,-9.8,197,3377,0.10,0.00,0.00,0.000,6,0.085,0.000,2662,1800,3479,0,0,0,0,0,0
$GC,3619,-1.50,-116.8,394.0,-10.9,203,3624,0.00,2.92,0.00,0.000,4,0.000,0.100,2661,188,3477,0,0,0,0,0,0
$GC,3652,-1.44,-116.8,398.1,-12.6,203,3658,0.10,2.50,0.00,0.000,6,0.127,0.025,2683,1779,3477,0,0,0,0,0,0
$GC,3902,-1.44,-116.8,422.6,-9.6,210,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1779,3475,0,0,0,0,0,0
$GC,4146,-1.44,-116.8,445.5,-9.5,216,4150,0.00,2.58,0.00,0.000,4,0.000,0.048,2684,3353,3473,0,0,0,0,0,0
$GC,4187,-1.50,-116.8,448.9,-8.8,217,4192,0.00,2.62,0.00,0.000,6,0.000,0.054,2683,1800,3473,0,0,0,0,0,0
$GC,4470,-1.50,-116.8,473.0,-8.6,224,4475,0.00,2.55,0.00,0.000,4,0.000,0.052,2683,3352,3471,0,0,0,0,0,0
$GC,4528,-1.58,-116.8,478.2,-9.0,225,4533,0.12,2.65,0.00,0.000,6,0.074,0.058,2644,1804,3471,0,0,0,0,0,0
$STATE,4752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4752,begin apogee
$GC,4757,-0.31,0.0,502.4,10.9,231,4857,1.30,0.00,95.90,0.920,6,0.084,0.000,2932,1804,3001,0,0,0,0,0,0
$STATE,4858,end apogee,CONTROL_FINISHED_OK
$STATE,4858,begin climb
$GC,4860,1.38,116.8,504.9,0.0,233,4973,1.55,2.78,100.47,0.900,4,0.044,0.050,3307,3387,2523,0,0,0,0,0,0
$GC,4990,1.35,195.9,503.7,5.5,236,5064,0.00,2.72,68.65,0.884,6,0.000,0.056,3308,1821,2202,0,0,0,0,0,0
$GC,5327,1.25,195.9,467.0,11.6,245,5332,0.17,2.62,0.00,0.000,4,0.207,0.041,3273,3397,2192,0,0,0,0,0,0
$GC,5360,1.25,195.9,463.3,11.4,245,5366,0.00,2.72,0.00,0.000,6,0.000,0.061,3274,1822,2191,0,0,0,0,0,0
$GC,5610,1.25,195.9,437.9,10.1,252,5614,0.00,2.60,0.00,0.000,4,0.000,0.039,3273,3403,2189,0,0,0,0,0,0
$GC,5633,1.26,203.8,435.8,9.6,252,5648,0.00,2.70,6.15,0.689,6,0.000,0.059,3273,1829,2169,0,0,0,0,0,0
$GC,5891,1.26,203.8,410.3,10.2,259,5896,0.00,2.60,0.00,0.000,4,0.000,0.038,3273,3408,2167,0,0,0,0,0,0
$GC,5932,1.26,203.8,406.0,11.3,260,5937,0.00,2.67,0.00,0.000,6,0.000,0.058,3273,1842,2166,0,0,0,0,0,0
$GC,6216,1.26,203.8,375.2,10.9,267,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1842,2165,0,0,0,0,0,0
$GC,6459,1.27,205.6,350.5,9.9,273,6463,0.00,2.88,0.00,0.000,4,0.000,0.082,3273,233,2164,0,0,0,0,0,0
$GC,6486,1.20,205.6,347.5,11.7,273,6490,0.00,2.58,0.00,0.000,6,0.000,0.026,3273,1858,2162,0,0,0,0,0,0
$GC,6737,1.20,205.6,321.3,10.5,279,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1860,2162,0,0,0,0,0,0
$GC,6979,1.20,207.5,297.1,9.9,285,6984,0.00,2.47,0.00,0.000,4,0.000,0.038,3273,3399,2161,0,0,0,0,0,0
$GC,7007,1.23,230.1,294.5,8.7,285,7037,0.00,2.58,23.20,0.782,6,0.000,0.043,3273,1831,2062,0,0,0,0,0,0
$GC,7308,1.28,271.2,270.2,7.7,293,7352,0.00,2.62,37.00,0.769,4,0.000,0.037,3273,3392,1895,0,0,0,0,0,0
$GC,7369,1.41,319.3,265.5,7.3,294,7419,0.15,2.60,42.78,0.755,6,0.085,0.041,3310,1833,1700,0,0,0,0,0,0
$GC,7675,1.41,319.3,231.9,11.8,302,7680,0.00,2.80,0.00,0.000,4,0.000,0.072,3311,241,1693,0,0,0,0,0,0
$GC,7708,1.33,319.3,227.4,13.8,302,7714,0.10,2.55,0.00,0.000,6,0.142,0.027,3291,1850,1692,0,0,0,0,0,0
$GC,7957,1.33,319.3,198.3,11.7,309,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1852,1691,0,0,0,0,0,0
$GC,8214,1.37,319.3,167.2,12.5,333,8218,0.00,2.47,0.00,0.000,4,0.000,0.035,3291,3398,1689,0,0,0,0,0,0
$GC,8248,1.45,319.3,162.6,12.7,335,8254,0.10,2.58,0.00,0.000,6,0.097,0.039,3317,1828,1688,0,0,0,0,0,0
$GC,8512,1.45,319.3,130.1,11.6,360,8516,0.00,2.72,0.00,0.000,4,0.000,0.064,3316,243,1688,0,0,0,0,0,0
$GC,8541,1.38,319.3,126.0,13.4,362,8545,0.00,2.50,0.00,0.000,6,0.000,0.021,3317,1850,1687,0,0,0,0,0,0
$GC,8805,1.38,319.3,98.0,10.1,386,8810,0.00,2.75,0.00,0.000,4,0.000,0.059,3317,240,1687,0,0,0,0,0,0
$GC,8826,1.38,319.3,95.8,10.5,387,8831,0.00,2.47,0.00,0.000,6,0.000,0.020,3317,1838,1687,0,0,0,0,0,0
$GC,9095,1.46,332.2,70.4,9.3,411,9112,0.00,2.50,10.65,0.548,4,0.000,0.027,3317,3372,1645,0,0,0,0,0,0
$GC,9136,1.59,354.9,66.6,8.7,414,9165,0.12,2.55,20.80,0.571,6,0.080,0.035,3351,1821,1553,0,0,0,0,0,0
$GC,9422,1.59,354.9,33.6,12.0,440,9427,0.00,2.70,0.00,0.000,4,0.000,0.061,3351,240,1550,0,0,0,0,0,0
$GC,9442,1.59,354.9,30.9,11.6,441,9447,0.00,2.45,0.00,0.000,6,0.000,0.019,3351,1824,1548,0,0,0,0,0,0
$STATE,9675,end climb,SURFACE_DEPTH_REACHED
$STATE,9675,begin surface coast
$FINISH,0.3,1.009039
$STATE,9717,end surface coast,CONTROL_FINISHED_OK
$STATE,9718,begin surface
$SM_CCo,9741,60.90,0.441,1,0,1288,420.20
$SM_GC,1.05,0.00,0.00,60.90,0.000,0.000,0.441,480,1749,1288,-11.59,-0.59,420.20
$IRIDIUM_FIX,2239.35,-15754.99,020100,020231
$TT8_MAMPS,0.026078
$HUMID,50.82
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.20
$XPDR_PINGS,53
$24V_AH,23.5,50.474
$10V_AH,10.1,49.029
$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,27.350,129.050,405.600,60.900,0.000,29.584,30.828,283.233,13.250,0.000,14.420,986.114,6370.130,518.119,1779.696,679.071,33.362,1220.866,0.000,1782.045,0.000,0.535,0.000
$DEVICE_MAMPS,207.090,100.477,920.400,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.863,284.126,366.850,686.926,1039.086,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,38200,481
$CAP_FILE_SIZE,108996,0
$CFSIZE,260165632,161013760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,072800,2249.348,-15753.490,38,1.4,38,10.1