version: 66.06
glider: 146
mission: 5
dive: 371
start: 10 9 110 13 48 25
data:
$ID,146
$MISSION,5
$DIVE,371
$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,-254854.91
$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,55
$R_STBD_OVSHOOT,56
$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
$GPS1,132524,2250.838,-15753.723,23,1.5,41,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.2
$GPS2,134731,2250.472,-15753.582,11,1.1,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.021,0.234
$KALMAN_X,-268754.6,-157.4,128.1,298079.7,0.9
$KALMAN_Y,-530498.1,-258.2,-592.4,660800.9,-1165.3
$MHEAD_RNG_PITCHd_Wd,344.9,14150,-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,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.07,0.000,3,0.000,0.000,473,1732,3479,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.4,-9.4,11,125,11.43,2.55,0.00,0.000,4,0.145,0.028,2688,3349,3482,0,0,0,0,0,0
$GC,233,-1.29,-116.8,34.6,-14.8,27,238,0.15,2.50,0.00,0.000,6,0.120,0.029,2718,1795,3482,0,0,0,0,0,0
$GC,501,-1.23,-116.8,70.3,-11.5,51,505,0.00,2.45,0.00,0.000,4,0.000,0.025,2718,3349,3482,0,0,0,0,0,0
$GC,522,-1.23,-116.8,73.4,-11.9,52,527,0.00,2.53,0.00,0.000,6,0.000,0.028,2718,1782,3482,0,0,0,0,0,0
$GC,785,-1.23,-116.8,101.2,-10.4,76,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1781,3483,0,0,0,0,0,0
$GC,1038,-1.23,-116.8,129.0,-11.3,100,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1780,3483,0,0,0,0,0,0
$GC,1299,-1.23,-116.8,156.9,-10.6,124,1304,0.00,2.45,0.00,0.000,4,0.000,0.031,2718,3350,3483,0,0,0,0,0,0
$GC,1321,-1.27,-116.8,160.0,-10.1,125,1327,0.00,2.47,0.00,0.000,6,0.000,0.028,2718,1796,3483,0,0,0,0,0,0
$GC,1584,-1.27,-116.8,186.0,-9.8,150,1589,0.00,2.72,0.00,0.000,4,0.000,0.067,2718,196,3483,0,0,0,0,0,0
$GC,1608,-1.27,-116.8,188.7,-10.9,151,1615,0.00,2.45,0.00,0.000,6,0.000,0.016,2718,1820,3483,0,0,0,0,0,0
$GC,1893,-1.27,-116.8,217.3,-10.3,167,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1821,3483,0,0,0,0,0,0
$GC,2137,-1.31,-116.8,244.9,-11.4,173,2141,0.00,2.35,0.00,0.000,4,0.000,0.031,2718,3327,3482,0,0,0,0,0,0
$GC,2161,-1.37,-116.8,247.7,-12.2,173,2165,0.00,2.42,0.00,0.000,6,0.000,0.034,2718,1809,3482,0,0,0,0,0,0
$GC,2416,-1.42,-116.8,274.5,-10.2,180,2421,0.12,2.80,0.00,0.000,4,0.076,0.074,2678,194,3481,0,0,0,0,0,0
$GC,2438,-1.42,-116.8,277.2,-11.9,180,2442,0.00,2.45,0.00,0.000,6,0.000,0.019,2678,1789,3481,0,0,0,0,0,0
$GC,2694,-1.42,-116.8,304.7,-10.2,187,2698,0.00,2.47,0.00,0.000,4,0.000,0.030,2678,3350,3480,0,0,0,0,0,0
$GC,2743,-1.42,-116.8,309.7,-8.8,188,2748,0.00,2.47,0.00,0.000,6,0.000,0.037,2678,1814,3480,0,0,0,0,0,0
$GC,3016,-1.42,-116.8,333.2,-8.7,195,3020,0.00,2.88,0.00,0.000,4,0.000,0.079,2678,192,3479,0,0,0,0,0,0
$GC,3038,-1.42,-116.8,335.6,-10.2,195,3042,0.00,2.53,0.00,0.000,6,0.000,0.021,2678,1815,3479,0,0,0,0,0,0
$GC,3293,-1.42,-116.8,359.6,-9.4,202,3297,0.00,2.47,0.00,0.000,4,0.000,0.044,2678,3354,3477,0,0,0,0,0,0
$GC,3319,-1.42,-116.8,362.4,-10.2,202,3324,0.00,2.50,0.00,0.000,6,0.000,0.046,2678,1819,3477,0,0,0,0,0,0
$GC,3571,-1.42,-116.8,387.1,-10.0,208,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1819,3475,0,0,0,0,0,0
$GC,3813,-1.42,-116.8,410.6,-9.5,214,3818,0.00,2.47,0.00,0.000,4,0.000,0.044,2678,3345,3474,0,0,0,0,0,0
$GC,3858,-1.46,-116.8,414.9,-10.0,215,3863,0.00,2.55,0.00,0.000,6,0.000,0.056,2678,1820,3474,0,0,0,0,0,0
$GC,4138,-1.46,-116.8,441.5,-9.7,222,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1820,3472,0,0,0,0,0,0
$GC,4380,-1.46,-116.8,465.1,-9.8,228,4384,0.00,2.50,0.00,0.000,4,0.000,0.050,2678,3343,3470,0,0,0,0,0,0
$GC,4402,-1.50,-116.8,467.4,-10.0,228,4407,0.00,2.60,0.00,0.000,6,0.000,0.058,2678,1820,3469,0,0,0,0,0,0
$GC,4659,-1.54,-116.8,493.2,-10.3,235,4664,0.00,3.10,0.00,0.000,4,0.000,0.118,2678,181,3468,0,0,0,0,0,0
$GC,4700,-1.54,-116.8,498.0,-11.8,236,4704,0.00,2.60,0.00,0.000,6,0.000,0.035,2678,1798,3467,0,0,0,0,0,0
$STATE,4714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4715,begin apogee
$GC,4720,-0.31,0.0,500.1,12.1,236,4821,1.12,0.00,95.82,0.922,6,0.091,0.000,2929,1798,3000,0,0,0,0,0,0
$STATE,4822,end apogee,CONTROL_FINISHED_OK
$STATE,4822,begin climb
$GC,4826,1.38,116.8,503.9,0.0,239,4932,1.58,0.00,102.03,0.900,6,0.046,0.000,3307,1798,2523,0,0,0,0,0,0
$GC,5146,1.30,155.3,488.0,7.8,247,5182,0.12,0.00,33.42,0.874,6,0.261,0.000,3284,1798,2367,0,0,0,0,0,0
$GC,5429,1.25,165.2,462.5,9.5,253,5444,0.00,2.75,9.27,0.776,4,0.000,0.056,3284,3405,2326,0,0,0,0,0,0
$GC,5488,1.25,165.2,456.3,10.1,254,5493,0.00,2.67,0.00,0.000,6,0.000,0.053,3284,1814,2324,0,0,0,0,0,0
$GC,5750,1.20,165.2,428.4,10.8,261,5755,0.12,2.65,0.00,0.000,4,0.137,0.039,3261,3410,2321,0,0,0,0,0,0
$GC,5784,1.20,165.2,424.9,10.1,261,5790,0.00,2.72,0.00,0.000,6,0.000,0.054,3261,1812,2320,0,0,0,0,0,0
$GC,6034,1.22,186.6,402.1,8.8,268,6059,0.00,2.67,19.35,0.837,4,0.000,0.035,3261,3411,2240,0,0,0,0,0,0
$GC,6190,1.28,199.2,388.0,9.3,271,6209,0.00,2.67,12.73,0.796,6,0.000,0.046,3261,1832,2187,0,0,0,0,0,0
$GC,6494,1.34,246.5,363.7,7.3,279,6544,0.12,2.65,42.28,0.838,4,0.181,0.036,3294,3408,1995,0,0,0,0,0,0
$GC,6581,1.34,247.2,356.4,10.0,281,6586,0.00,2.65,0.00,0.000,6,0.000,0.045,3294,1832,1992,0,0,0,0,0,0
$GC,6865,1.35,255.8,329.0,9.5,288,6876,0.00,0.00,8.90,0.724,6,0.000,0.000,3294,1831,1958,0,0,0,0,0,0
$GC,7109,1.35,255.8,303.3,10.6,294,7113,0.00,2.58,0.00,0.000,4,0.000,0.032,3294,3416,1954,0,0,0,0,0,0
$GC,7136,1.35,255.8,300.0,11.7,294,7141,0.00,2.58,0.00,0.000,6,0.000,0.038,3294,1846,1953,0,0,0,0,0,0
$GC,7392,1.35,255.8,272.9,10.4,301,7397,0.00,2.83,0.00,0.000,4,0.000,0.075,3294,236,1952,0,0,0,0,0,0
$GC,7413,1.31,255.8,270.2,11.8,301,7418,0.00,2.58,0.00,0.000,6,0.000,0.025,3294,1861,1951,0,0,0,0,0,0
$GC,7670,1.31,255.8,242.9,10.4,308,7674,0.00,2.83,0.00,0.000,4,0.000,0.066,3294,237,1951,0,0,0,0,0,0
$GC,7685,1.31,255.8,241.1,10.1,308,7689,0.00,2.53,0.00,0.000,6,0.000,0.023,3294,1839,1950,0,0,0,0,0,0
$GC,7947,1.31,261.4,215.6,9.7,315,7957,0.00,2.53,5.20,0.567,4,0.000,0.031,3294,3397,1934,0,0,0,0,0,0
$GC,7969,1.31,261.4,213.4,10.1,315,7974,0.00,2.60,0.00,0.000,6,0.000,0.038,3294,1826,1934,0,0,0,0,0,0
$GC,8232,1.35,286.7,189.2,8.6,328,8261,0.00,0.00,24.08,0.696,6,0.000,0.000,3294,1826,1830,0,0,0,0,0,0
$GC,8520,1.38,311.6,162.7,8.6,355,8555,0.00,2.62,22.40,0.664,4,0.000,0.034,3294,3391,1729,0,0,0,0,0,0
$GC,8568,1.44,314.5,157.4,9.9,359,8578,0.00,2.58,3.97,0.441,6,0.000,0.039,3294,1839,1717,0,0,0,0,0,0
$GC,8835,1.48,314.5,130.0,11.0,384,8837,0.12,0.00,0.00,0.000,6,0.087,0.000,3326,1839,1715,0,0,0,0,0,0
$GC,9088,1.48,314.5,96.4,14.4,408,9092,0.00,2.50,0.00,0.000,4,0.000,0.028,3326,3389,1715,0,0,0,0,0,0
$GC,9133,1.54,314.5,90.8,14.5,411,9138,0.00,2.50,0.00,0.000,6,0.000,0.034,3326,1852,1714,0,0,0,0,0,0
$GC,9401,1.58,314.5,55.5,13.3,435,9406,0.00,2.75,0.00,0.000,4,0.000,0.060,3326,240,1714,0,0,0,0,0,0
$GC,9508,1.58,314.5,42.6,11.4,443,9512,0.00,2.50,0.00,0.000,6,0.000,0.019,3326,1845,1713,0,0,0,0,0,0
$GC,9808,1.73,387.4,17.6,5.8,477,9884,0.22,2.55,62.33,0.543,4,0.060,0.030,3387,3386,1419,0,0,0,0,0,0
$GC,9897,1.70,387.4,7.2,13.8,487,9906,0.00,2.58,0.00,0.000,6,0.000,0.036,3387,1846,1419,0,0,0,0,0,0
$STATE,9921,end climb,SURFACE_DEPTH_REACHED
$STATE,9921,begin surface coast
$FINISH,0.4,0.998858
$STATE,9957,end surface coast,CONTROL_FINISHED_OK
$STATE,9957,begin surface
$SM_CCo,9979,32.88,0.360,1,0,1288,420.20
$SM_GC,0.96,0.00,0.00,32.88,0.000,0.000,0.360,476,1742,1288,-11.62,-0.79,420.20
$IRIDIUM_FIX,2241.69,-15754.11,030100,131330
$TT8_MAMPS,0.026078
$HUMID,51.45
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.70
$XPDR_PINGS,55
$24V_AH,23.5,51.975
$10V_AH,10.1,50.294
$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,27.075,124.475,441.775,32.875,0.000,106.060,129.055,755.320,13.750,0.000,13.044,995.663,6713.443,525.665,1816.012,1294.501,33.365,1236.999,0.000,1820.548,0.000,0.536,0.000
$DEVICE_MAMPS,260.780,118.118,921.934,360.490,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.842,275.686,377.253,706.042,1068.049,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,38293,495
$CAP_FILE_SIZE,118402,0
$CFSIZE,260165632,160415744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091010,163701,2251.206,-15753.606,58,0.9,58,10.1