version: 66.06
glider: 146
mission: 5
dive: 369
start: 10 9 110 7 33 8
data:
$ID,146
$MISSION,5
$DIVE,369
$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,-254825.33
$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,46
$R_STBD_OVSHOOT,59
$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
$GPS1,072004,2250.721,-15754.009,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.4
$GPS2,073214,2250.678,-15753.886,14,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.085,0.219
$KALMAN_X,-270306.8,100.9,56.1,298926.7,742.2
$KALMAN_Y,-526321.2,-555.4,366.2,656336.4,-1467.0
$MHEAD_RNG_PITCHd_Wd,328.8,13692,-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,19,-1.38,-116.8,0.0,0.0,0,107,0.00,0.00,-84.93,0.000,2,0.000,0.000,474,1738,3439,0,0,0,0,0,0
$GC,110,-1.38,-116.8,3.9,-7.5,11,127,11.25,2.53,-0.68,0.000,4,0.139,0.035,2688,3338,3478,0,0,0,0,0,0
$GC,236,-1.31,-116.8,33.9,-15.2,27,242,0.12,2.53,0.00,0.000,6,0.182,0.030,2714,1783,3480,0,0,0,0,0,0
$GC,505,-1.23,-116.8,78.1,-15.3,51,509,0.00,2.72,0.00,0.000,4,0.000,0.059,2714,189,3480,0,0,0,0,0,0
$GC,552,-1.16,-116.8,86.5,-14.9,54,560,0.12,2.45,0.00,0.000,6,0.084,0.015,2746,1788,3481,0,0,0,0,0,0
$GC,820,-1.22,-116.8,114.4,-8.8,79,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1789,3481,0,0,0,0,0,0
$GC,1081,-1.30,-116.8,140.0,-10.2,104,1086,0.12,2.40,0.00,0.000,4,0.073,0.028,2705,3324,3481,0,0,0,0,0,0
$GC,1105,-1.35,-116.8,141.8,-10.2,105,1110,0.00,2.50,0.00,0.000,6,0.000,0.033,2705,1767,3481,0,0,0,0,0,0
$GC,1368,-1.35,-116.8,171.2,-10.1,129,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1767,3481,0,0,0,0,0,0
$GC,1621,-1.35,-116.8,196.2,-9.7,153,1626,0.00,2.42,0.00,0.000,4,0.000,0.031,2705,3318,3481,0,0,0,0,0,0
$GC,1651,-1.39,-116.8,199.2,-9.6,155,1656,0.00,2.47,0.00,0.000,6,0.000,0.035,2705,1775,3481,0,0,0,0,0,0
$GC,1912,-1.39,-116.8,224.9,-9.9,162,1916,0.00,2.67,0.00,0.000,4,0.000,0.065,2705,196,3481,0,0,0,0,0,0
$GC,1940,-1.39,-116.8,227.9,-10.7,162,1944,0.00,2.40,0.00,0.000,6,0.000,0.020,2706,1766,3481,0,0,0,0,0,0
$GC,2190,-1.39,-116.8,252.0,-9.5,168,2194,0.00,2.45,0.00,0.000,4,0.000,0.034,2705,3338,3481,0,0,0,0,0,0
$GC,2217,-1.45,-116.8,254.5,-9.2,168,2222,0.00,2.53,0.00,0.000,6,0.000,0.031,2705,1778,3481,0,0,0,0,0,0
$GC,2469,-1.45,-116.8,277.5,-9.3,174,2473,0.00,2.72,0.00,0.000,4,0.000,0.076,2705,193,3481,0,0,0,0,0,0
$GC,2513,-1.51,-116.8,282.4,-10.1,175,2518,0.15,2.42,0.00,0.000,6,0.062,0.021,2653,1761,3480,0,0,0,0,0,0
$GC,2792,-1.45,-116.8,316.9,-12.8,182,2797,0.15,2.55,0.00,0.000,4,0.107,0.035,2685,3349,3480,0,0,0,0,0,0
$GC,2832,-1.51,-116.8,321.9,-11.4,183,2837,0.00,2.58,0.00,0.000,6,0.000,0.041,2685,1783,3480,0,0,0,0,0,0
$GC,3115,-1.51,-116.8,350.6,-9.8,190,3120,0.00,2.50,0.00,0.000,4,0.000,0.037,2684,3345,3479,0,0,0,0,0,0
$GC,3144,-1.51,-116.8,353.3,-9.2,190,3149,0.00,2.60,0.00,0.000,6,0.000,0.043,2685,1785,3479,0,0,0,0,0,0
$GC,3394,-1.51,-116.8,375.2,-8.5,196,3399,0.00,2.50,0.00,0.000,4,0.000,0.037,2685,3346,3477,0,0,0,0,0,0
$GC,3417,-1.55,-116.8,377.2,-8.5,196,3422,0.10,2.62,0.00,0.000,6,0.084,0.052,2650,1785,3477,0,0,0,0,0,0
$GC,3674,-1.51,-116.8,401.1,-9.5,203,3679,0.00,2.90,0.00,0.000,4,0.000,0.101,2650,180,3475,0,0,0,0,0,0
$GC,3696,-1.45,-116.8,403.8,-10.8,203,3701,0.15,2.53,0.00,0.000,6,0.110,0.031,2682,1785,3475,0,0,0,0,0,0
$GC,3951,-1.45,-116.8,427.9,-9.5,210,3956,0.00,2.58,0.00,0.000,4,0.000,0.049,2682,3355,3473,0,0,0,0,0,0
$GC,3993,-1.52,-116.8,432.0,-10.1,211,3998,0.00,2.65,0.00,0.000,6,0.000,0.058,2682,1794,3473,0,0,0,0,0,0
$GC,4276,-1.55,-116.8,460.9,-10.0,218,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1794,3471,0,0,0,0,0,0
$GC,4520,-1.60,-116.8,483.4,-9.3,224,4522,0.12,0.00,0.00,0.000,6,0.080,0.000,2644,1794,3469,0,0,0,0,0,0
$STATE,4679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4680,begin apogee
$GC,4687,-0.31,0.0,500.9,10.8,228,4787,1.27,0.00,96.40,0.925,6,0.081,0.000,2929,1794,3001,0,0,0,0,0,0
$STATE,4788,end apogee,CONTROL_FINISHED_OK
$STATE,4788,begin climb
$GC,4790,1.38,116.8,503.2,0.0,230,4904,1.55,3.10,99.97,0.900,4,0.042,0.115,3305,228,2522,0,0,0,0,0,0
$GC,4910,1.31,187.0,501.0,6.0,232,4979,0.00,2.62,61.45,0.882,6,0.000,0.031,3306,1815,2238,0,0,0,0,0,0
$GC,5242,1.22,187.0,466.6,10.7,241,5248,0.20,2.72,0.00,0.000,4,0.196,0.053,3267,3414,2229,0,0,0,0,0,0
$GC,5293,1.22,188.0,461.4,10.0,242,5297,0.00,2.70,0.00,0.000,6,0.000,0.049,3266,1822,2226,0,0,0,0,0,0
$GC,5564,1.25,207.4,436.9,8.9,249,5583,0.00,0.00,17.27,0.834,6,0.000,0.000,3266,1822,2155,0,0,0,0,0,0
$GC,5810,1.25,210.9,413.3,9.8,255,5819,0.00,2.65,3.95,0.550,4,0.000,0.036,3266,3419,2141,0,0,0,0,0,0
$GC,5841,1.25,210.9,409.6,10.4,255,5846,0.00,2.72,0.00,0.000,6,0.000,0.053,3266,1821,2140,0,0,0,0,0,0
$GC,6091,1.25,210.9,383.7,10.5,261,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1821,2139,0,0,0,0,0,0
$GC,6337,1.25,210.9,357.9,10.7,267,6341,0.00,2.85,0.00,0.000,4,0.000,0.083,3266,233,2137,0,0,0,0,0,0
$GC,6365,1.20,210.9,354.6,11.3,267,6370,0.00,2.53,0.00,0.000,6,0.000,0.022,3266,1840,2136,0,0,0,0,0,0
$GC,6615,1.21,217.1,329.9,9.7,273,6629,0.00,2.60,6.60,0.690,4,0.000,0.034,3266,3400,2114,0,0,0,0,0,0
$GC,6664,1.27,217.1,325.2,10.1,274,6669,0.00,2.62,0.00,0.000,6,0.000,0.042,3266,1818,2114,0,0,0,0,0,0
$GC,6942,1.31,245.1,300.8,8.4,281,6975,0.00,2.88,26.25,0.795,4,0.000,0.076,3266,232,2000,0,0,0,0,0,0
$GC,7028,1.31,245.1,292.7,10.3,283,7033,0.00,2.53,0.00,0.000,6,0.000,0.021,3266,1818,1997,0,0,0,0,0,0
$GC,7313,1.40,282.8,270.5,7.9,290,7355,0.17,2.62,34.10,0.773,4,0.077,0.037,3310,3401,1846,0,0,0,0,0,0
$GC,7385,1.45,282.8,262.7,11.8,291,7389,0.00,2.65,0.00,0.000,6,0.000,0.040,3310,1813,1843,0,0,0,0,0,0
$GC,7641,1.45,282.8,231.7,12.3,298,7646,0.00,2.75,0.00,0.000,4,0.000,0.074,3310,241,1840,0,0,0,0,0,0
$GC,7657,1.41,282.8,229.4,12.4,298,7661,0.00,2.53,0.00,0.000,6,0.000,0.025,3310,1843,1839,0,0,0,0,0,0
$GC,7917,1.41,282.8,197.2,12.4,305,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1845,1839,0,0,0,0,0,0
$GC,8173,1.41,282.8,168.6,10.7,329,8178,0.00,2.47,0.00,0.000,4,0.000,0.031,3310,3388,1838,0,0,0,0,0,0
$GC,8190,1.41,282.8,166.6,11.2,330,8195,0.00,2.58,0.00,0.000,6,0.000,0.036,3310,1819,1836,0,0,0,0,0,0
$GC,8454,1.41,282.8,136.8,12.1,354,8459,0.00,2.53,0.00,0.000,4,0.000,0.028,3309,3396,1836,0,0,0,0,0,0
$GC,8475,1.41,282.8,134.4,11.7,355,8479,0.00,2.55,0.00,0.000,6,0.000,0.038,3310,1823,1836,0,0,0,0,0,0
$GC,8741,1.44,302.0,107.7,8.9,379,8764,0.00,2.58,16.12,0.613,4,0.000,0.028,3310,3382,1768,0,0,0,0,0,0
$GC,8773,1.51,318.7,104.6,9.1,382,8798,0.00,2.53,16.15,0.601,6,0.000,0.032,3310,1830,1699,0,0,0,0,0,0
$GC,9053,1.66,366.1,83.2,7.3,408,9101,0.22,2.78,40.80,0.602,4,0.098,0.061,3368,243,1507,0,0,0,0,0,0
$GC,9170,1.61,366.1,71.4,12.5,417,9175,0.00,2.47,0.00,0.000,6,0.000,0.019,3368,1831,1504,0,0,0,0,0,0
$GC,9438,1.61,366.1,41.3,12.8,441,9442,0.00,2.45,0.00,0.000,4,0.000,0.025,3368,3382,1503,0,0,0,0,0,0
$GC,9471,1.65,366.1,36.7,12.8,443,9475,0.00,2.55,0.00,0.000,6,0.000,0.036,3368,1817,1502,0,0,0,0,0,0
$STATE,9757,end climb,SURFACE_DEPTH_REACHED
$STATE,9757,begin surface coast
$FINISH,0.4,1.022704
$STATE,9800,end surface coast,CONTROL_FINISHED_OK
$STATE,9800,begin surface
$SM_CCo,9823,50.10,0.420,1,0,1287,420.20
$SM_GC,0.98,0.00,0.00,50.10,0.000,0.000,0.420,479,1730,1287,-11.60,-1.13,420.20
$IRIDIUM_FIX,2244.02,-15754.11,030100,040420
$TT8_MAMPS,0.026078
$HUMID,51.10
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.50
$XPDR_PINGS,46
$24V_AH,23.5,51.669
$10V_AH,10.1,50.057
$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,27.450,129.850,419.075,50.100,0.000,28.642,32.786,453.048,11.500,0.000,16.444,1005.239,6383.995,518.880,1821.810,855.108,33.367,1220.791,0.000,1821.626,0.000,0.536,0.000
$DEVICE_MAMPS,195.585,115.050,925.002,419.549,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.111,285.622,376.419,702.008,1061.027,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,38271,488
$CAP_FILE_SIZE,113410,0
$CFSIZE,260165632,160526336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091010,101924,2250.981,-15753.957,56,1.2,56,10.1