version: 66.06
glider: 146
mission: 5
dive: 376
start: 10 10 110 4 25 7
data:
$ID,146
$MISSION,5
$DIVE,376
$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,-254949.17
$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,41
$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
$GPS1,041737,2252.112,-15753.861,36,1.2,36,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.9
$GPS2,042413,2252.058,-15753.868,9,1.3,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.074,0.223
$KALMAN_X,-265969.0,91.6,-420.1,295101.7,466.1
$KALMAN_Y,-538406.9,-63.6,-722.2,671569.4,-667.6
$MHEAD_RNG_PITCHd_Wd,331.4,11173,-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,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.05,0.000,2,0.000,0.000,473,1740,3223,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-5.8,10,127,11.32,2.58,-4.90,0.000,4,0.141,0.038,2687,3343,3477,0,0,0,0,0,0
$GC,233,-1.30,-116.8,32.1,-15.6,28,243,0.10,2.55,0.00,0.000,6,0.104,0.031,2711,1786,3478,0,0,0,0,0,0
$GC,501,-1.22,-116.8,70.8,-13.9,53,506,0.10,2.75,0.00,0.000,4,0.140,0.066,2731,188,3480,0,0,0,0,0,0
$GC,525,-1.22,-116.8,74.9,-12.7,54,534,0.00,2.45,0.00,0.000,6,0.000,0.016,2731,1787,3479,0,0,0,0,0,0
$GC,792,-1.27,-116.8,102.6,-10.3,79,796,0.00,2.38,0.00,0.000,4,0.000,0.023,2731,3319,3480,0,0,0,0,0,0
$GC,828,-1.34,-116.8,106.6,-9.7,81,834,0.10,2.53,0.00,0.000,6,0.081,0.028,2692,1751,3480,0,0,0,0,0,0
$GC,1090,-1.34,-116.8,136.3,-11.5,106,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1750,3481,0,0,0,0,0,0
$GC,1349,-1.34,-116.8,165.8,-11.4,130,1353,0.00,2.45,0.00,0.000,4,0.000,0.024,2692,3317,3481,0,0,0,0,0,0
$GC,1370,-1.34,-116.8,168.9,-11.5,131,1375,0.00,2.50,0.00,0.000,6,0.000,0.033,2692,1757,3481,0,0,0,0,0,0
$GC,1634,-1.34,-116.8,199.2,-11.7,156,1639,0.00,2.67,0.00,0.000,4,0.000,0.067,2691,195,3481,0,0,0,0,0,0
$GC,1673,-1.34,-116.8,204.4,-13.2,157,1677,0.00,2.35,0.00,0.000,6,0.000,0.023,2692,1746,3481,0,0,0,0,0,0
$GC,1956,-1.34,-116.8,235.9,-11.0,164,1960,0.00,2.45,0.00,0.000,4,0.000,0.032,2692,3318,3481,0,0,0,0,0,0
$GC,1984,-1.34,-116.8,238.7,-10.3,164,1989,0.00,2.53,0.00,0.000,6,0.000,0.032,2691,1758,3481,0,0,0,0,0,0
$GC,2234,-1.34,-116.8,264.9,-10.6,170,2238,0.00,2.45,0.00,0.000,4,0.000,0.032,2692,3317,3481,0,0,0,0,0,0
$GC,2260,-1.34,-116.8,267.8,-10.5,170,2265,0.00,2.50,0.00,0.000,6,0.000,0.032,2692,1758,3481,0,0,0,0,0,0
$GC,2510,-1.34,-116.8,293.1,-10.2,176,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1754,3481,0,0,0,0,0,0
$GC,2756,-1.34,-116.8,317.5,-10.2,182,2760,0.00,2.47,0.00,0.000,4,0.000,0.035,2692,3318,3481,0,0,0,0,0,0
$GC,2776,-1.34,-116.8,320.0,-10.4,182,2781,0.00,2.55,0.00,0.000,6,0.000,0.043,2692,1763,3481,0,0,0,0,0,0
$GC,3032,-1.34,-116.8,345.4,-9.9,189,3036,0.00,2.47,0.00,0.000,4,0.000,0.033,2692,3311,3480,0,0,0,0,0,0
$GC,3089,-1.41,-116.8,351.1,-9.9,190,3094,0.00,2.53,0.00,0.000,6,0.000,0.041,2692,1772,3480,0,0,0,0,0,0
$GC,3355,-1.41,-116.8,379.3,-10.7,197,3359,0.00,2.47,0.00,0.000,4,0.000,0.032,2692,3320,3478,0,0,0,0,0,0
$GC,3376,-1.45,-116.8,381.6,-10.5,197,3381,0.00,2.55,0.00,0.000,6,0.000,0.047,2692,1783,3478,0,0,0,0,0,0
$GC,3633,-1.49,-116.8,407.4,-10.2,204,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1783,3476,0,0,0,0,0,0
$GC,3875,-1.54,-116.8,432.8,-10.4,210,3877,0.12,0.00,0.00,0.000,6,0.077,0.000,2652,1783,3475,0,0,0,0,0,0
$GC,4119,-1.54,-116.8,461.7,-11.9,216,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1783,3473,0,0,0,0,0,0
$GC,4364,-1.54,-116.8,491.4,-12.1,222,4368,0.00,2.53,0.00,0.000,4,0.000,0.055,2652,3305,3471,0,0,0,0,0,0
$GC,4385,-1.54,-116.8,494.4,-12.8,222,4390,0.00,2.62,0.00,0.000,6,0.000,0.058,2651,1772,3472,0,0,0,0,0,0
$STATE,4435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4435,begin apogee
$GC,4441,-0.31,0.0,500.3,11.7,224,4541,1.27,0.00,96.47,0.917,6,0.091,0.000,2929,1772,3001,0,0,0,0,0,0
$STATE,4542,end apogee,CONTROL_FINISHED_OK
$STATE,4542,begin climb
$GC,4544,1.38,116.8,503.2,0.0,226,4649,1.58,0.00,100.93,0.894,6,0.048,0.000,3308,1772,2524,0,0,0,0,0,0
$GC,4884,1.28,134.1,482.2,9.0,235,4901,0.15,0.00,14.82,0.822,6,0.130,0.000,3279,1772,2454,0,0,0,0,0,0
$GC,5126,1.23,147.2,459.7,9.3,241,5145,0.00,2.72,12.32,0.805,4,0.000,0.041,3279,3358,2399,0,0,0,0,0,0
$GC,5203,1.24,148.3,452.0,10.0,242,5207,0.00,2.62,0.00,0.000,6,0.000,0.051,3279,1825,2398,0,0,0,0,0,0
$GC,5453,1.21,168.6,429.5,8.9,248,5475,0.00,0.00,20.08,0.834,6,0.000,0.000,3279,1825,2313,0,0,0,0,0,0
$GC,5696,1.23,187.4,407.7,9.0,254,5716,0.00,0.00,17.50,0.819,6,0.000,0.000,3279,1825,2237,0,0,0,0,0,0
$GC,5942,1.25,202.2,385.3,9.2,260,5958,0.00,0.00,14.27,0.797,6,0.000,0.000,3279,1824,2176,0,0,0,0,0,0
$GC,6184,1.26,211.5,361.9,9.5,266,6198,0.00,2.58,9.40,0.744,4,0.000,0.034,3279,3370,2137,0,0,0,0,0,0
$GC,6243,1.26,211.5,356.0,10.2,267,6248,0.00,2.60,0.00,0.000,6,0.000,0.048,3279,1831,2135,0,0,0,0,0,0
$GC,6512,1.27,219.7,330.8,9.6,274,6522,0.00,0.00,8.27,0.715,6,0.000,0.000,3279,1831,2105,0,0,0,0,0,0
$GC,6754,1.29,230.6,308.2,9.4,280,6770,0.00,2.53,11.35,0.742,4,0.000,0.032,3279,3365,2059,0,0,0,0,0,0
$GC,6804,1.34,230.6,303.3,10.5,281,6809,0.00,2.58,0.00,0.000,6,0.000,0.041,3279,1829,2057,0,0,0,0,0,0
$GC,7077,1.34,230.6,273.9,11.1,288,7082,0.00,2.80,0.00,0.000,4,0.000,0.077,3279,239,2055,0,0,0,0,0,0
$GC,7117,1.29,230.6,269.3,11.4,289,7121,0.00,2.47,0.00,0.000,6,0.000,0.021,3279,1809,2054,0,0,0,0,0,0
$GC,7403,1.32,254.2,242.5,8.7,296,7431,0.00,2.65,21.55,0.739,4,0.000,0.032,3279,3389,1963,0,0,0,0,0,0
$GC,7449,1.42,288.1,238.5,8.1,297,7486,0.12,2.58,31.00,0.732,6,0.085,0.043,3312,1829,1826,0,0,0,0,0,0
$GC,7732,1.42,288.1,210.2,10.2,304,7736,0.00,2.55,0.00,0.000,4,0.000,0.035,3312,3396,1819,0,0,0,0,0,0
$GC,7758,1.42,288.1,206.9,11.2,304,7763,0.00,2.55,0.00,0.000,6,0.000,0.037,3312,1850,1818,0,0,0,0,0,0
$GC,8022,1.42,288.1,179.1,10.9,323,8026,0.00,2.80,0.00,0.000,4,0.000,0.073,3312,234,1817,0,0,0,0,0,0
$GC,8042,1.37,288.1,177.0,11.5,324,8046,0.00,2.55,0.00,0.000,6,0.000,0.021,3312,1853,1816,0,0,0,0,0,0
$GC,8304,1.37,288.1,147.7,10.6,348,8309,0.00,2.78,0.00,0.000,4,0.000,0.064,3312,241,1816,0,0,0,0,0,0
$GC,8325,1.32,288.1,145.7,10.4,349,8330,0.12,2.53,0.00,0.000,6,0.133,0.026,3289,1855,1815,0,0,0,0,0,0
$GC,8590,1.42,332.0,123.4,7.5,373,8638,0.00,2.90,37.45,0.642,4,0.000,0.064,3289,242,1645,0,0,0,0,0,0
$GC,8673,1.42,332.0,115.2,10.3,380,8678,0.00,2.53,0.00,0.000,6,0.000,0.022,3288,1849,1644,0,0,0,0,0,0
$GC,8938,1.53,336.4,88.9,9.8,404,8954,0.17,2.83,4.40,0.437,4,0.121,0.059,3335,241,1629,0,0,0,0,0,0
$GC,9006,1.48,336.4,81.1,12.2,409,9011,0.00,2.47,0.00,0.000,6,0.000,0.020,3335,1830,1628,0,0,0,0,0,0
$GC,9273,1.48,337.9,53.5,10.0,433,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1831,1628,0,0,0,0,0,0
$GC,9548,1.54,362.1,27.7,8.6,460,9584,0.00,2.80,23.05,0.542,4,0.000,0.057,3335,245,1523,0,0,0,0,0,0
$GC,9609,1.56,371.6,22.3,9.5,467,9627,0.00,2.47,9.95,0.493,6,0.000,0.019,3335,1822,1484,0,0,0,0,0,0
$STATE,9774,end climb,SURFACE_DEPTH_REACHED
$STATE,9775,begin surface coast
$FINISH,0.4,1.023291
$STATE,9830,end surface coast,CONTROL_FINISHED_OK
$STATE,9830,begin surface
$SM_CCo,9854,46.50,0.411,1,0,1287,420.20
$SM_GC,1.19,0.00,0.00,46.50,0.000,0.000,0.411,476,1730,1287,-11.62,-1.13,420.20
$IRIDIUM_FIX,2241.69,-15754.11,040100,010130
$TT8_MAMPS,0.025311
$HUMID,51.45
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.30
$XPDR_PINGS,49
$24V_AH,23.5,52.581
$10V_AH,10.1,50.852
$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,26.900,113.300,432.825,46.500,0.000,30.133,34.171,191.354,12.250,0.000,16.058,993.103,6391.059,555.817,1807.149,555.882,33.366,1225.304,0.000,1822.441,0.000,0.534,0.000
$DEVICE_MAMPS,141.128,91.273,916.565,411.112,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.985,288.013,387.099,753.325,1140.554,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38447,499
$CAP_FILE_SIZE,100973,0
$CFSIZE,260165632,160157696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101010,071119,2252.772,-15754.086,9,2.0,26,10.1