version: 66.06
glider: 146
mission: 5
dive: 367
start: 10 9 110 1 33 16
data:
$ID,146
$MISSION,5
$DIVE,367
$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,-254796.7
$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,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
$GPS1,012149,2250.212,-15753.505,7,1.4,12,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-69.4
$GPS2,013222,2250.132,-15753.464,14,99.0,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.064,0.226
$KALMAN_X,-271270.2,214.8,-222.4,300780.5,480.3
$KALMAN_Y,-522550.2,-149.9,-583.9,652096.7,-1390.7
$MHEAD_RNG_PITCHd_Wd,334.1,14805,-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,-85.50,0.000,6,0.000,0.000,479,1749,3478,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.8,-10.2,11,126,11.30,2.53,0.00,0.000,4,0.142,0.025,2688,3343,3481,0,0,0,0,0,0
$GC,259,-1.30,-116.8,39.1,-15.4,29,265,0.12,2.53,0.00,0.000,6,0.114,0.031,2714,1779,3482,0,0,0,0,0,0
$GC,527,-1.22,-116.8,77.9,-13.4,53,532,0.00,2.70,0.00,0.000,4,0.000,0.060,2714,193,3482,0,0,0,0,0,0
$GC,561,-1.16,-116.8,82.9,-13.0,55,566,0.15,2.40,0.00,0.000,6,0.110,0.015,2745,1786,3482,0,0,0,0,0,0
$GC,830,-1.22,-116.8,109.5,-10.0,79,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1788,3482,0,0,0,0,0,0
$GC,1092,-1.30,-116.8,134.7,-8.7,104,1097,0.12,2.42,0.00,0.000,4,0.074,0.029,2703,3322,3483,0,0,0,0,0,0
$GC,1151,-1.34,-116.8,140.3,-9.5,108,1160,0.00,2.55,0.00,0.000,6,0.000,0.028,2702,1744,3483,0,0,0,0,0,0
$GC,1417,-1.34,-116.8,165.3,-9.9,133,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1744,3483,0,0,0,0,0,0
$GC,1680,-1.34,-116.8,190.7,-10.0,158,1684,0.00,2.47,0.00,0.000,4,0.000,0.031,2702,3331,3484,0,0,0,0,0,0
$GC,1697,-1.34,-116.8,192.6,-10.0,159,1701,0.00,2.53,0.00,0.000,6,0.000,0.028,2702,1751,3483,0,0,0,0,0,0
$GC,1980,-1.34,-116.8,221.7,-10.4,171,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1751,3483,0,0,0,0,0,0
$GC,2225,-1.34,-116.8,248.1,-10.8,177,2230,0.00,2.45,0.00,0.000,4,0.000,0.026,2702,3320,3483,0,0,0,0,0,0
$GC,2249,-1.34,-116.8,250.7,-10.8,177,2253,0.00,2.50,0.00,0.000,6,0.000,0.034,2702,1762,3483,0,0,0,0,0,0
$GC,2503,-1.34,-116.8,277.5,-10.5,184,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1762,3483,0,0,0,0,0,0
$GC,2747,-1.34,-116.8,300.4,-9.2,190,2751,0.00,2.47,0.00,0.000,4,0.000,0.031,2702,3320,3482,0,0,0,0,0,0
$GC,2771,-1.39,-116.8,302.4,-8.7,190,2776,0.00,2.55,0.00,0.000,6,0.000,0.043,2702,1767,3482,0,0,0,0,0,0
$GC,3027,-1.44,-116.8,325.7,-9.4,197,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1764,3481,0,0,0,0,0,0
$GC,3270,-1.49,-116.8,350.6,-10.2,203,3275,0.12,2.47,0.00,0.000,4,0.074,0.039,2662,3316,3480,0,0,0,0,0,0
$GC,3288,-1.49,-116.8,352.3,-9.8,203,3292,0.00,2.55,0.00,0.000,6,0.000,0.044,2662,1778,3480,0,0,0,0,0,0
$GC,3548,-1.49,-116.8,381.1,-11.0,210,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1778,3478,0,0,0,0,0,0
$GC,3792,-1.49,-116.8,406.4,-10.2,216,3796,0.00,2.50,0.00,0.000,4,0.000,0.040,2662,3322,3478,0,0,0,0,0,0
$GC,3834,-1.49,-116.8,410.2,-10.4,217,3838,0.00,2.60,0.00,0.000,6,0.000,0.058,2662,1783,3477,0,0,0,0,0,0
$GC,4117,-1.49,-116.8,436.8,-9.4,224,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1783,3476,0,0,0,0,0,0
$GC,4360,-1.49,-116.8,461.7,-10.3,230,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1783,3474,0,0,0,0,0,0
$GC,4604,-1.49,-116.8,487.9,-10.8,236,4608,0.00,2.58,0.00,0.000,4,0.000,0.053,2662,3312,3472,0,0,0,0,0,0
$GC,4626,-1.49,-116.8,490.3,-11.1,236,4631,0.00,2.65,0.00,0.000,6,0.000,0.064,2662,1778,3473,0,0,0,0,0,0
$STATE,4716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4716,begin apogee
$GC,4722,-0.31,0.0,500.3,10.6,239,4823,1.20,0.00,97.72,0.922,6,0.081,0.000,2930,1778,3001,0,0,0,0,0,0
$STATE,4824,end apogee,CONTROL_FINISHED_OK
$STATE,4824,begin climb
$GC,4827,1.38,116.8,502.9,0.0,241,4933,1.58,0.00,102.53,0.898,6,0.040,0.000,3310,1778,2524,0,0,0,0,0,0
$GC,5165,1.28,142.8,484.2,8.5,250,5195,0.15,2.75,22.55,0.856,4,0.160,0.048,3282,3359,2416,0,0,0,0,0,0
$GC,5348,1.25,158.5,467.7,9.1,254,5368,0.00,2.62,14.73,0.825,6,0.000,0.057,3282,1838,2354,0,0,0,0,0,0
$GC,5625,1.21,161.8,440.3,9.9,261,5629,0.00,2.53,0.00,0.000,4,0.000,0.043,3282,3371,2348,0,0,0,0,0,0
$GC,5652,1.21,161.8,437.5,10.9,261,5656,0.00,2.62,0.00,0.000,6,0.000,0.051,3281,1834,2347,0,0,0,0,0,0
$GC,5904,1.18,180.1,414.6,9.0,267,5929,0.12,2.58,19.52,0.838,4,0.134,0.037,3258,3371,2266,0,0,0,0,0,0
$GC,5994,1.24,227.9,407.7,7.3,269,6044,0.00,2.60,43.20,0.852,6,0.000,0.053,3258,1846,2070,0,0,0,0,0,0
$GC,6317,1.31,285.4,385.3,6.7,277,6375,0.12,3.00,51.33,0.843,4,0.213,0.098,3288,234,1835,0,0,0,0,0,0
$GC,6394,1.25,285.4,378.6,10.4,278,6399,0.00,2.55,0.00,0.000,6,0.000,0.026,3288,1821,1832,0,0,0,0,0,0
$GC,6645,1.25,285.4,350.7,11.4,285,6649,0.00,2.58,0.00,0.000,4,0.000,0.040,3288,3406,1828,0,0,0,0,0,0
$GC,6660,1.25,285.4,348.5,12.0,285,6665,0.00,2.60,0.00,0.000,6,0.000,0.042,3288,1854,1827,0,0,0,0,0,0
$GC,6921,1.25,285.4,315.7,12.8,292,6926,0.00,2.85,0.00,0.000,4,0.000,0.077,3288,238,1825,0,0,0,0,0,0
$GC,6944,1.25,285.4,312.4,15.2,292,6948,0.00,2.58,0.00,0.000,6,0.000,0.025,3288,1857,1823,0,0,0,0,0,0
$GC,7199,1.25,285.4,276.5,14.2,299,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1858,1822,0,0,0,0,0,0
$GC,7442,1.25,285.4,246.6,11.5,305,7447,0.00,2.83,0.00,0.000,4,0.000,0.064,3288,234,1822,0,0,0,0,0,0
$GC,7465,1.25,285.4,243.7,12.7,305,7469,0.00,2.58,0.00,0.000,6,0.000,0.027,3288,1860,1821,0,0,0,0,0,0
$GC,7722,1.26,289.8,218.2,9.8,312,7726,0.00,2.45,0.00,0.000,4,0.000,0.032,3288,3394,1821,0,0,0,0,0,0
$GC,7738,1.30,291.3,216.3,10.0,312,7742,0.00,2.53,0.00,0.000,6,0.000,0.041,3288,1854,1820,0,0,0,0,0,0
$GC,7993,1.30,291.3,191.0,10.0,324,7997,0.00,2.80,0.00,0.000,4,0.000,0.066,3287,237,1820,0,0,0,0,0,0
$GC,8014,1.30,291.3,189.1,10.9,325,8019,0.00,2.55,0.00,0.000,6,0.000,0.025,3288,1863,1819,0,0,0,0,0,0
$GC,8281,1.30,291.3,161.9,10.1,349,8285,0.00,2.42,0.00,0.000,4,0.000,0.030,3288,3390,1819,0,0,0,0,0,0
$GC,8338,1.40,302.1,155.6,9.4,353,8360,0.00,2.47,12.75,0.639,6,0.000,0.034,3288,1860,1768,0,0,0,0,0,0
$GC,8615,1.45,302.1,125.8,11.5,379,8620,0.12,2.80,0.00,0.000,4,0.083,0.067,3323,241,1766,0,0,0,0,0,0
$GC,8650,1.39,302.1,121.5,14.2,381,8655,0.00,2.55,0.00,0.000,6,0.000,0.025,3323,1872,1765,0,0,0,0,0,0
$GC,8916,1.39,302.1,88.2,13.0,405,8921,0.00,2.40,0.00,0.000,4,0.000,0.035,3323,3389,1766,0,0,0,0,0,0
$GC,9000,1.48,312.1,78.7,9.5,411,9023,0.00,2.47,9.82,0.556,6,0.000,0.033,3323,1886,1728,0,0,0,0,0,0
$GC,9279,1.60,342.0,56.6,8.3,437,9309,0.10,0.00,27.00,0.576,6,0.095,0.000,3351,1885,1605,0,0,0,0,0,0
$GC,9575,1.60,342.0,25.0,11.6,467,9586,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1886,1602,0,0,0,0,0,0
$STATE,9776,end climb,SURFACE_DEPTH_REACHED
$STATE,9777,begin surface coast
$FINISH,0.4,1.009989
$STATE,9841,end surface coast,CONTROL_FINISHED_OK
$STATE,9841,begin surface
$SM_CCo,9864,72.15,0.455,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,72.15,0.000,0.000,0.455,476,1747,1288,-11.61,-0.65,420.20
$IRIDIUM_FIX,2241.69,-15757.16,020100,222253
$TT8_MAMPS,0.026078
$HUMID,51.73
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.10
$XPDR_PINGS,48
$24V_AH,23.5,51.402
$10V_AH,10.2,49.830
$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,26.975,108.325,401.150,72.150,0.000,27.124,32.999,342.021,12.000,0.000,36.972,1003.376,6404.498,534.675,1862.691,747.369,33.370,1213.420,0.000,1854.033,0.000,0.536,0.000
$DEVICE_MAMPS,213.226,98.176,921.934,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.563,302.873,395.138,757.279,1145.467,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,38646,505
$CAP_FILE_SIZE,104678,0
$CFSIZE,260165632,160641024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091010,042006,2250.405,-15753.773,27,1.2,27,10.1