version: 66.06
glider: 146
mission: 5
dive: 361
start: 10 8 110 7 42 54
data:
$ID,146
$MISSION,5
$DIVE,361
$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,-254643.91
$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,38
$R_STBD_OVSHOOT,64
$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
$GPS1,072800,2249.348,-15753.490,38,1.4,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.7
$GPS2,074201,2249.309,-15753.301,14,1.1,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.083,0.220
$KALMAN_X,-276410.7,103.8,334.3,305757.5,766.7
$KALMAN_Y,-512175.7,-301.7,370.8,639393.4,-1842.2
$MHEAD_RNG_PITCHd_Wd,329.1,16355,-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,-116.7,0.0,0.0,0,96,0.00,0.00,-78.18,0.000,2,0.000,0.000,480,1749,3220,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.1,-5.1,10,125,11.27,2.55,-5.10,0.000,4,0.140,0.042,2690,3335,3479,0,0,0,0,0,0
$GC,256,-1.32,-116.8,34.9,-15.2,31,266,0.00,2.53,0.00,0.000,6,0.000,0.030,2690,1784,3481,0,0,0,0,0,0
$GC,523,-1.19,-116.8,78.1,-15.9,56,528,0.22,2.70,0.00,0.000,4,0.099,0.063,2739,195,3481,0,0,0,0,0,0
$GC,572,-1.13,-116.8,84.9,-14.3,59,576,0.00,2.38,0.00,0.000,6,0.000,0.018,2739,1786,3480,0,0,0,0,0,0
$GC,838,-1.13,-116.8,117.0,-11.6,83,842,0.00,2.35,0.00,0.000,4,0.000,0.031,2739,3311,3481,0,0,0,0,0,0
$GC,881,-1.24,-116.8,122.1,-11.0,86,885,0.00,2.47,0.00,0.000,6,0.000,0.030,2739,1769,3482,0,0,0,0,0,0
$GC,1144,-1.30,-116.8,150.6,-10.5,110,1149,0.10,2.65,0.00,0.000,4,0.084,0.060,2704,197,3482,0,0,0,0,0,0
$GC,1185,-1.30,-116.8,155.6,-12.2,113,1190,0.00,2.35,0.00,0.000,6,0.000,0.021,2704,1781,3482,0,0,0,0,0,0
$GC,1448,-1.30,-116.8,185.7,-11.2,137,1452,0.00,2.38,0.00,0.000,4,0.000,0.025,2705,3320,3482,0,0,0,0,0,0
$GC,1504,-1.36,-116.8,192.1,-10.8,141,1513,0.00,2.47,0.00,0.000,6,0.000,0.033,2704,1790,3482,0,0,0,0,0,0
$GC,1788,-1.36,-116.8,222.3,-10.6,154,1793,0.00,2.70,0.00,0.000,4,0.000,0.071,2704,197,3482,0,0,0,0,0,0
$GC,1804,-1.36,-116.8,224.2,-10.6,154,1808,0.00,2.42,0.00,0.000,6,0.000,0.018,2704,1810,3482,0,0,0,0,0,0
$GC,2070,-1.36,-116.8,252.3,-10.6,161,2074,0.00,2.35,0.00,0.000,4,0.000,0.028,2704,3318,3482,0,0,0,0,0,0
$GC,2093,-1.41,-116.8,254.5,-10.3,161,2097,0.00,2.45,0.00,0.000,6,0.000,0.031,2704,1790,3482,0,0,0,0,0,0
$GC,2348,-1.41,-116.8,280.4,-9.8,168,2352,0.00,2.80,0.00,0.000,4,0.000,0.080,2705,186,3482,0,0,0,0,0,0
$GC,2409,-1.46,-116.8,286.7,-10.6,169,2413,0.00,2.42,0.00,0.000,6,0.000,0.026,2705,1760,3482,0,0,0,0,0,0
$GC,2671,-1.50,-116.8,310.0,-8.9,176,2676,0.15,2.55,0.00,0.000,4,0.067,0.041,2658,3348,3481,0,0,0,0,0,0
$GC,2732,-1.50,-116.8,316.5,-10.6,177,2736,0.00,2.58,0.00,0.000,6,0.000,0.041,2658,1783,3481,0,0,0,0,0,0
$GC,2995,-1.46,-116.8,344.9,-10.8,184,2997,0.10,0.00,0.00,0.000,6,0.133,0.000,2679,1783,3480,0,0,0,0,0,0
$GC,3237,-1.46,-116.8,369.5,-10.0,190,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1783,3479,0,0,0,0,0,0
$GC,3481,-1.46,-116.8,393.7,-9.9,196,3485,0.00,2.53,0.00,0.000,4,0.000,0.040,2679,3339,3477,0,0,0,0,0,0
$GC,3516,-1.51,-116.8,396.9,-9.7,196,3521,0.00,2.62,0.00,0.000,6,0.000,0.056,2679,1789,3477,0,0,0,0,0,0
$GC,3766,-1.51,-116.8,419.7,-8.9,203,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1789,3475,0,0,0,0,0,0
$GC,4009,-1.51,-116.8,442.4,-9.3,209,4014,0.00,2.55,0.00,0.000,4,0.000,0.050,2679,3335,3473,0,0,0,0,0,0
$GC,4037,-1.55,-116.8,445.0,-9.1,209,4042,0.00,2.65,0.00,0.000,6,0.000,0.064,2678,1794,3473,0,0,0,0,0,0
$GC,4288,-1.55,-116.8,469.5,-10.2,215,4293,0.00,2.53,0.00,0.000,4,0.000,0.051,2679,3334,3471,0,0,0,0,0,0
$GC,4344,-1.62,-116.8,475.6,-10.5,216,4349,0.15,2.62,0.00,0.000,6,0.064,0.060,2633,1802,3471,0,0,0,0,0,0
$STATE,4567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4568,begin apogee
$GC,4575,-0.31,0.0,503.7,12.8,222,4674,1.33,0.00,96.00,0.923,6,0.082,0.000,2928,1802,3001,0,0,0,0,0,0
$STATE,4675,end apogee,CONTROL_FINISHED_OK
$STATE,4675,begin climb
$GC,4678,1.38,116.8,507.7,0.0,224,4788,1.58,3.05,100.35,0.901,4,0.041,0.117,3308,233,2522,0,0,0,0,0,0
$GC,4797,1.34,213.5,508.8,4.4,227,4887,0.00,2.55,83.30,0.889,6,0.000,0.038,3308,1801,2130,0,0,0,0,0,0
$GC,5141,1.25,213.5,474.0,11.2,236,5146,0.17,2.72,0.00,0.000,4,0.136,0.054,3274,3408,2122,0,0,0,0,0,0
$GC,5176,1.25,213.6,470.2,10.0,236,5181,0.00,2.70,0.00,0.000,6,0.000,0.051,3273,1821,2119,0,0,0,0,0,0
$GC,5425,1.25,213.6,443.8,10.6,243,5430,0.00,2.62,0.00,0.000,4,0.000,0.038,3274,3416,2118,0,0,0,0,0,0
$GC,5446,1.25,213.6,441.3,11.5,243,5451,0.00,2.70,0.00,0.000,6,0.000,0.054,3274,1827,2117,0,0,0,0,0,0
$GC,5702,1.25,213.6,415.2,10.2,250,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1827,2116,0,0,0,0,0,0
$GC,5947,1.25,213.6,390.5,10.1,256,5951,0.00,2.58,0.00,0.000,4,0.000,0.034,3274,3410,2113,0,0,0,0,0,0
$GC,5985,1.25,213.6,386.0,11.1,257,5990,0.00,2.67,0.00,0.000,6,0.000,0.046,3274,1825,2113,0,0,0,0,0,0
$GC,6268,1.25,213.6,354.2,11.3,264,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1824,2112,0,0,0,0,0,0
$GC,6513,1.25,213.6,329.1,10.1,270,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1824,2111,0,0,0,0,0,0
$GC,6756,1.28,242.1,307.9,8.4,276,6781,0.00,0.00,23.40,0.795,6,0.000,0.000,3274,1825,2013,0,0,0,0,0,0
$GC,7000,1.31,265.1,286.2,8.7,282,7028,0.00,2.62,21.35,0.772,4,0.000,0.034,3274,3416,1918,0,0,0,0,0,0
$GC,7043,1.38,283.0,282.6,9.0,283,7068,0.12,2.65,17.42,0.748,6,0.094,0.042,3305,1822,1845,0,0,0,0,0,0
$GC,7332,1.38,283.0,252.8,10.2,290,7337,0.00,2.78,0.00,0.000,4,0.000,0.077,3305,240,1840,0,0,0,0,0,0
$GC,7387,1.32,283.0,245.7,12.9,291,7392,0.00,2.53,0.00,0.000,6,0.000,0.022,3305,1845,1839,0,0,0,0,0,0
$GC,7655,1.32,283.0,218.3,10.5,298,7659,0.00,2.47,0.00,0.000,4,0.000,0.037,3305,3396,1837,0,0,0,0,0,0
$GC,7716,1.37,283.0,211.6,10.6,299,7720,0.00,2.58,0.00,0.000,6,0.000,0.038,3305,1835,1836,0,0,0,0,0,0
$GC,7973,1.37,283.0,184.5,11.1,314,7977,0.00,2.78,0.00,0.000,4,0.000,0.071,3305,234,1836,0,0,0,0,0,0
$GC,8008,1.30,283.0,179.8,12.6,316,8015,0.10,2.53,0.00,0.000,6,0.137,0.025,3285,1838,1835,0,0,0,0,0,0
$GC,8273,1.37,300.0,155.4,9.1,341,8298,0.00,2.55,14.05,0.642,4,0.000,0.031,3284,3385,1777,0,0,0,0,0,0
$GC,8322,1.47,304.6,150.4,9.8,345,8337,0.15,2.58,5.78,0.532,6,0.078,0.040,3323,1820,1758,0,0,0,0,0,0
$GC,8587,1.47,304.6,122.2,10.1,370,8592,0.00,2.72,0.00,0.000,4,0.000,0.067,3322,241,1756,0,0,0,0,0,0
$GC,8655,1.41,304.6,114.7,13.0,375,8659,0.00,2.47,0.00,0.000,6,0.000,0.020,3323,1840,1755,0,0,0,0,0,0
$GC,8923,1.41,304.6,87.4,10.2,399,8927,0.00,2.47,0.00,0.000,4,0.000,0.035,3322,3390,1755,0,0,0,0,0,0
$GC,8956,1.49,304.6,83.0,10.8,401,8962,0.00,2.55,0.00,0.000,6,0.000,0.038,3322,1836,1754,0,0,0,0,0,0
$GC,9223,1.56,314.8,55.7,9.5,426,9240,0.00,2.80,10.15,0.532,4,0.000,0.064,3322,242,1716,0,0,0,0,0,0
$GC,9278,1.56,314.8,50.3,10.3,430,9282,0.00,2.53,0.00,0.000,6,0.000,0.019,3322,1858,1715,0,0,0,0,0,0
$GC,9551,1.65,336.7,26.9,8.8,456,9576,0.15,2.45,19.85,0.533,4,0.116,0.025,3362,3393,1628,0,0,0,0,0,0
$GC,9596,1.65,336.7,22.3,10.4,461,9605,0.00,2.58,0.00,0.000,6,0.000,0.040,3362,1849,1627,0,0,0,0,0,0
$STATE,9764,end climb,SURFACE_DEPTH_REACHED
$STATE,9764,begin surface coast
$FINISH,0.4,1.009961
$STATE,9808,end surface coast,CONTROL_FINISHED_OK
$STATE,9808,begin surface
$SM_CCo,9832,74.88,0.455,1,0,1288,420.20
$SM_GC,1.09,0.00,0.00,74.88,0.000,0.000,0.455,481,1737,1288,-11.59,-0.93,420.20
$IRIDIUM_FIX,2241.69,-15751.94,020100,070707
$TT8_MAMPS,0.026078
$HUMID,50.55
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.60
$XPDR_PINGS,57
$24V_AH,23.5,50.610
$10V_AH,10.1,49.144
$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,27.325,128.950,391.650,74.875,0.000,53.994,69.215,420.661,14.250,0.000,33.181,991.506,6462.210,538.778,1844.298,893.599,33.373,1233.620,0.000,1827.927,0.000,0.536,0.000
$DEVICE_MAMPS,140.361,117.351,923.468,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.796,274.428,376.299,725.322,1095.808,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,38403,491
$CAP_FILE_SIZE,112250,0
$CFSIZE,260165632,160956416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,102925,2249.363,-15753.376,38,1.0,38,10.1