version: 66.06
glider: 146
mission: 5
dive: 373
start: 10 9 110 19 34 59
data:
$ID,146
$MISSION,5
$DIVE,373
$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,-254902.3
$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,48
$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
$GPS1,192738,2251.900,-15753.719,10,2.0,10,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.3
$GPS2,193406,2251.871,-15753.676,13,1.6,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.138,0.190
$KALMAN_X,-267393.1,61.0,-130.9,296600.3,1257.1
$KALMAN_Y,-533677.1,202.9,423.6,665080.9,-1283.6
$MHEAD_RNG_PITCHd_Wd,313.8,11574,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.43,0.000,2,0.000,0.000,479,1738,3218,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.1,-5.4,10,127,11.27,2.58,-5.12,0.000,4,0.140,0.038,2690,3341,3480,0,0,0,0,0,0
$GC,258,-1.30,-116.8,33.6,-15.1,31,263,0.12,2.53,0.00,0.000,6,0.115,0.031,2716,1786,3482,0,0,0,0,0,0
$GC,526,-1.22,-116.8,73.1,-13.6,55,531,0.00,2.67,0.00,0.000,4,0.000,0.058,2715,193,3482,0,0,0,0,0,0
$GC,537,-1.14,-116.8,75.8,-13.7,55,547,0.12,2.47,0.00,0.000,6,0.094,0.021,2746,1825,3482,0,0,0,0,0,0
$GC,800,-1.20,-116.8,101.5,-9.3,80,805,0.00,2.75,0.00,0.000,4,0.000,0.055,2746,189,3483,0,0,0,0,0,0
$GC,836,-1.25,-116.8,105.9,-11.5,82,845,0.00,2.45,0.00,0.000,6,0.000,0.016,2746,1793,3483,0,0,0,0,0,0
$GC,1103,-1.34,-116.8,133.0,-9.9,107,1107,0.17,2.38,0.00,0.000,4,0.060,0.026,2691,3314,3484,0,0,0,0,0,0
$GC,1136,-1.34,-116.8,136.9,-11.9,109,1140,0.00,2.50,0.00,0.000,6,0.000,0.030,2690,1760,3484,0,0,0,0,0,0
$GC,1402,-1.34,-116.8,169.9,-12.7,133,1406,0.00,2.42,0.00,0.000,4,0.000,0.031,2691,3313,3485,0,0,0,0,0,0
$GC,1423,-1.34,-116.8,173.1,-11.6,134,1429,0.00,2.47,0.00,0.000,6,0.000,0.030,2690,1764,3484,0,0,0,0,0,0
$GC,1688,-1.34,-116.8,200.5,-9.6,159,1692,0.00,2.67,0.00,0.000,4,0.000,0.064,2690,197,3485,0,0,0,0,0,0
$GC,1715,-1.30,-116.8,203.9,-11.0,159,1720,0.12,2.38,0.00,0.000,6,0.111,0.016,2716,1761,3485,0,0,0,0,0,0
$GC,1966,-1.30,-116.8,225.6,-8.6,165,1970,0.00,2.45,0.00,0.000,4,0.000,0.028,2716,3328,3485,0,0,0,0,0,0
$GC,2011,-1.39,-116.8,230.0,-9.4,166,2015,0.00,2.50,0.00,0.000,6,0.000,0.034,2716,1771,3485,0,0,0,0,0,0
$GC,2290,-1.44,-116.8,257.8,-10.6,173,2292,0.12,0.00,0.00,0.000,6,0.074,0.000,2672,1771,3485,0,0,0,0,0,0
$GC,2532,-1.44,-116.8,287.5,-12.1,179,2536,0.00,2.47,0.00,0.000,4,0.000,0.028,2672,3329,3484,0,0,0,0,0,0
$GC,2547,-1.44,-116.8,289.4,-12.1,179,2552,0.00,2.53,0.00,0.000,6,0.000,0.031,2672,1767,3484,0,0,0,0,0,0
$GC,2809,-1.44,-116.8,317.0,-9.9,186,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1767,3484,0,0,0,0,0,0
$GC,3054,-1.44,-116.8,338.6,-8.7,192,3058,0.00,2.50,0.00,0.000,4,0.000,0.035,2672,3317,3483,0,0,0,0,0,0
$GC,3103,-1.44,-116.8,343.2,-8.3,193,3108,0.00,2.55,0.00,0.000,6,0.000,0.044,2671,1775,3483,0,0,0,0,0,0
$GC,3376,-1.44,-116.8,368.0,-9.3,200,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1775,3482,0,0,0,0,0,0
$GC,3621,-1.44,-116.8,393.4,-10.6,206,3625,0.00,2.50,0.00,0.000,4,0.000,0.037,2672,3312,3481,0,0,0,0,0,0
$GC,3681,-1.44,-116.8,400.1,-10.0,207,3686,0.00,2.58,0.00,0.000,6,0.000,0.054,2672,1780,3480,0,0,0,0,0,0
$GC,3942,-1.44,-116.8,426.2,-9.6,214,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1780,3479,0,0,0,0,0,0
$GC,4187,-1.44,-116.8,447.0,-8.4,220,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1780,3477,0,0,0,0,0,0
$GC,4430,-1.44,-116.8,467.2,-8.1,226,4434,0.00,2.55,0.00,0.000,4,0.000,0.044,2672,3314,3475,0,0,0,0,0,0
$GC,4457,-1.48,-116.8,469.8,-9.4,226,4461,0.00,2.60,0.00,0.000,6,0.000,0.058,2671,1783,3475,0,0,0,0,0,0
$GC,4708,-1.48,-116.8,493.7,-9.8,232,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1783,3473,0,0,0,0,0,0
$STATE,4785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4785,begin apogee
$GC,4791,-0.31,0.0,502.0,10.1,234,4892,1.17,0.00,97.45,0.930,6,0.100,0.000,2928,1783,3001,0,0,0,0,0,0
$STATE,4893,end apogee,CONTROL_FINISHED_OK
$STATE,4893,begin climb
$GC,4895,1.38,116.8,504.6,0.0,236,5002,1.58,0.00,102.10,0.907,6,0.041,0.000,3307,1783,2523,0,0,0,0,0,0
$GC,5234,1.29,148.1,487.4,8.2,245,5269,0.12,2.78,26.88,0.872,4,0.134,0.051,3283,3362,2396,0,0,0,0,0,0
$GC,5388,1.25,148.1,472.5,10.7,248,5393,0.00,2.65,0.00,0.000,6,0.000,0.054,3283,1819,2392,0,0,0,0,0,0
$GC,5651,1.19,152.3,447.0,9.8,255,5657,0.12,2.55,0.00,0.000,4,0.138,0.039,3260,3362,2388,0,0,0,0,0,0
$GC,5752,1.24,190.8,438.5,7.8,257,5796,0.00,2.60,37.83,0.874,6,0.000,0.051,3260,1839,2222,0,0,0,0,0,0
$GC,6067,1.29,235.6,414.8,7.4,265,6113,0.00,3.05,40.50,0.863,4,0.000,0.098,3260,228,2039,0,0,0,0,0,0
$GC,6130,1.32,261.3,409.6,8.6,266,6161,0.12,2.53,24.42,0.834,6,0.089,0.025,3291,1798,1935,0,0,0,0,0,0
$GC,6431,1.32,261.3,377.4,11.2,274,6435,0.00,2.62,0.00,0.000,4,0.000,0.036,3292,3399,1926,0,0,0,0,0,0
$GC,6470,1.32,261.3,372.3,12.5,275,6474,0.00,2.65,0.00,0.000,6,0.000,0.045,3292,1830,1925,0,0,0,0,0,0
$GC,6752,1.32,261.3,337.7,12.4,282,6757,0.00,2.85,0.00,0.000,4,0.000,0.085,3292,235,1923,0,0,0,0,0,0
$GC,6775,1.27,261.3,334.6,14.3,282,6780,0.00,2.55,0.00,0.000,6,0.000,0.027,3292,1836,1922,0,0,0,0,0,0
$GC,7030,1.27,261.3,303.8,11.7,289,7034,0.00,2.53,0.00,0.000,4,0.000,0.035,3292,3401,1921,0,0,0,0,0,0
$GC,7052,1.27,261.3,301.4,10.5,289,7056,0.00,2.60,0.00,0.000,6,0.000,0.039,3292,1832,1921,0,0,0,0,0,0
$GC,7310,1.29,279.5,277.8,9.0,296,7327,0.00,0.00,15.10,0.757,6,0.000,0.000,3292,1832,1861,0,0,0,0,0,0
$GC,7552,1.30,290.1,255.1,9.4,302,7564,0.00,0.00,10.57,0.710,6,0.000,0.000,3292,1831,1818,0,0,0,0,0,0
$GC,7795,1.30,290.1,227.5,12.0,308,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1831,1815,0,0,0,0,0,0
$GC,8040,1.30,290.1,196.2,12.9,314,8045,0.00,2.53,0.00,0.000,4,0.000,0.035,3292,3400,1813,0,0,0,0,0,0
$GC,8074,1.37,290.1,192.4,12.9,316,8079,0.00,2.58,0.00,0.000,6,0.000,0.036,3292,1836,1811,0,0,0,0,0,0
$GC,8341,1.39,308.7,163.9,9.0,340,8365,0.00,2.85,17.05,0.670,4,0.000,0.067,3292,241,1741,0,0,0,0,0,0
$GC,8380,1.40,317.6,159.9,9.5,343,8396,0.00,2.58,9.35,0.614,6,0.000,0.022,3292,1868,1706,0,0,0,0,0,0
$GC,8655,1.46,321.9,135.7,9.8,369,8667,0.10,2.85,5.35,0.518,4,0.096,0.063,3319,236,1687,0,0,0,0,0,0
$GC,8693,1.41,321.9,130.9,12.8,372,8697,0.00,2.53,0.00,0.000,6,0.000,0.021,3320,1842,1686,0,0,0,0,0,0
$GC,8956,1.45,321.9,100.7,11.7,396,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1844,1686,0,0,0,0,0,0
$GC,9216,1.54,337.2,76.4,9.2,420,9235,0.00,0.00,14.45,0.578,6,0.000,0.000,3320,1843,1624,0,0,0,0,0,0
$GC,9495,1.65,366.7,53.0,8.3,446,9532,0.17,2.55,26.25,0.568,4,0.166,0.035,3366,3383,1505,0,0,0,0,0,0
$GC,9539,1.65,366.7,47.8,11.0,449,9548,0.00,2.60,0.00,0.000,6,0.000,0.034,3366,1828,1504,0,0,0,0,0,0
$GC,9836,1.65,366.7,11.0,12.7,484,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1827,1503,0,0,0,0,0,0
$STATE,9893,end climb,SURFACE_DEPTH_REACHED
$STATE,9893,begin surface coast
$FINISH,0.4,1.020987
$STATE,9936,end surface coast,CONTROL_FINISHED_OK
$STATE,9936,begin surface
$SM_CCo,9959,50.35,0.422,1,0,1288,420.20
$SM_GC,0.97,0.00,0.00,50.35,0.000,0.000,0.422,476,1754,1288,-11.61,-0.45,420.20
$IRIDIUM_FIX,2241.69,-15817.13,030100,161655
$TT8_MAMPS,0.026078
$HUMID,51.10
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.20
$XPDR_PINGS,53
$24V_AH,23.5,52.226
$10V_AH,10.1,50.514
$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,27.100,108.600,427.300,50.350,0.000,23.523,32.887,180.295,13.250,0.000,30.484,993.402,6503.890,541.902,1834.984,529.211,33.366,1221.894,0.000,1830.053,0.000,0.534,0.000
$DEVICE_MAMPS,165.672,105.846,929.604,421.850,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.327,288.553,383.842,728.464,1101.879,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,38390,498
$CAP_FILE_SIZE,101785,0
$CFSIZE,260165632,160321536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091010,222307,2252.192,-15753.750,32,1.0,32,10.1