version: 66.06
glider: 146
mission: 5
dive: 423
start: 10 16 110 2 36 47
data:
$ID,146
$MISSION,5
$DIVE,423
$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,-257571.7
$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,55
$R_STBD_OVSHOOT,52
$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
$GPS1,022742,2250.807,-15755.082,30,1.5,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.9
$GPS2,023552,2250.763,-15755.062,12,3.5,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.027,0.246
$KALMAN_X,-260718.3,-9.6,38.9,287445.6,278.5
$KALMAN_Y,-584997.4,-69.8,182.4,714872.4,-1341.8
$MHEAD_RNG_PITCHd_Wd,343.6,13403,-18.7,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.31,-116.8,0.0,0.0,0,96,0.00,0.00,-78.45,0.000,2,0.000,0.000,478,1733,3229,0,0,0,0,0,0
$GC,101,-1.31,-116.8,3.3,-6.3,10,126,11.70,2.60,-4.78,0.000,4,0.153,0.041,2705,3342,3480,0,0,0,0,0,0
$GC,218,-1.24,-116.8,27.9,-14.9,26,226,0.08,2.53,0.00,0.000,6,0.107,0.031,2724,1803,3481,0,0,0,0,0,0
$GC,496,-1.18,-116.8,69.5,-13.8,52,500,0.00,2.42,0.00,0.000,4,0.000,0.024,2724,3349,3482,0,0,0,0,0,0
$GC,532,-1.18,-116.8,75.6,-13.1,54,541,0.00,2.55,0.00,0.000,6,0.000,0.029,2725,1785,3482,0,0,0,0,0,0
$GC,801,-1.18,-116.8,104.7,-9.5,79,805,0.00,2.70,0.00,0.000,4,0.000,0.060,2724,189,3483,0,0,0,0,0,0
$GC,834,-1.18,-116.8,108.0,-9.5,81,838,0.00,2.45,0.00,0.000,6,0.000,0.022,2724,1817,3483,0,0,0,0,0,0
$GC,1101,-1.18,-116.8,125.2,-6.5,105,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1819,3484,0,0,0,0,0,0
$GC,1363,-1.18,-116.8,148.2,-9.9,130,1368,0.00,2.78,0.00,0.000,4,0.000,0.059,2724,188,3484,0,0,0,0,0,0
$GC,1397,-1.18,-116.8,152.3,-11.6,132,1406,0.00,2.40,0.00,0.000,6,0.000,0.016,2724,1762,3484,0,0,0,0,0,0
$GC,1665,-1.18,-116.8,179.8,-9.9,157,1669,0.00,2.42,0.00,0.000,4,0.000,0.032,2724,3314,3484,0,0,0,0,0,0
$GC,1708,-1.23,-116.8,184.2,-9.0,160,1713,0.00,2.45,0.00,0.000,6,0.000,0.034,2724,1776,3485,0,0,0,0,0,0
$GC,1980,-1.23,-116.8,206.6,-7.9,179,1984,0.00,2.70,0.00,0.000,4,0.000,0.067,2724,197,3485,0,0,0,0,0,0
$GC,2012,-1.23,-116.8,209.6,-8.7,179,2018,0.00,2.40,0.00,0.000,6,0.000,0.018,2724,1774,3484,0,0,0,0,0,0
$GC,2262,-1.23,-116.8,231.7,-9.2,186,2267,0.00,2.42,0.00,0.000,4,0.000,0.034,2725,3322,3484,0,0,0,0,0,0
$GC,2306,-1.30,-116.8,235.7,-10.5,187,2310,0.00,2.47,0.00,0.000,6,0.000,0.032,2725,1786,3484,0,0,0,0,0,0
$GC,2589,-1.30,-116.8,266.1,-10.8,194,2593,0.00,2.75,0.00,0.000,4,0.000,0.070,2724,198,3484,0,0,0,0,0,0
$GC,2604,-1.30,-116.8,268.2,-11.2,194,2608,0.00,2.40,0.00,0.000,6,0.000,0.025,2724,1773,3484,0,0,0,0,0,0
$GC,2868,-1.35,-116.8,293.9,-9.4,201,2872,0.00,2.75,0.00,0.000,4,0.000,0.069,2724,193,3483,0,0,0,0,0,0
$GC,2912,-1.42,-116.8,298.3,-9.8,202,2917,0.15,2.42,0.00,0.000,6,0.062,0.018,2674,1764,3483,0,0,0,0,0,0
$GC,3190,-1.39,-116.8,324.0,-8.9,209,3195,0.10,2.55,0.00,0.000,4,0.127,0.035,2696,3348,3482,0,0,0,0,0,0
$GC,3242,-1.44,-116.8,327.9,-7.1,210,3247,0.00,2.58,0.00,0.000,6,0.000,0.042,2696,1782,3482,0,0,0,0,0,0
$GC,3514,-1.44,-116.8,348.2,-7.6,217,3518,0.00,2.83,0.00,0.000,4,0.000,0.091,2695,187,3481,0,0,0,0,0,0
$GC,3555,-1.44,-116.8,351.6,-8.6,218,3559,0.00,2.50,0.00,0.000,6,0.000,0.023,2695,1768,3480,0,0,0,0,0,0
$GC,3838,-1.44,-116.8,377.2,-9.5,225,3842,0.00,2.58,0.00,0.000,4,0.000,0.046,2695,3351,3478,0,0,0,0,0,0
$GC,3912,-1.49,-116.8,384.7,-9.8,226,3917,0.00,2.62,0.00,0.000,6,0.000,0.049,2696,1787,3478,0,0,0,0,0,0
$GC,4163,-1.49,-116.8,411.1,-10.5,232,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1787,3477,0,0,0,0,0,0
$GC,4406,-1.49,-116.8,434.0,-9.1,238,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1787,3475,0,0,0,0,0,0
$GC,4649,-1.49,-116.8,454.3,-8.3,244,4654,0.00,2.60,0.00,0.000,4,0.000,0.049,2695,3350,3474,0,0,0,0,0,0
$GC,4673,-1.49,-116.8,456.2,-8.1,244,4677,0.00,2.65,0.00,0.000,6,0.000,0.054,2696,1793,3474,0,0,0,0,0,0
$GC,4928,-1.49,-116.8,477.8,-8.6,251,4932,0.00,2.55,0.00,0.000,4,0.000,0.051,2696,3343,3472,0,0,0,0,0,0
$GC,4961,-1.55,-116.8,481.0,-9.5,251,4967,0.15,2.65,0.00,0.000,6,0.067,0.061,2650,1796,3471,0,0,0,0,0,0
$STATE,5168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5168,begin apogee
$GC,5175,-0.31,0.0,504.3,11.5,257,5276,1.27,0.00,97.85,0.935,6,0.090,0.000,2928,1796,3001,0,0,0,0,0,0
$STATE,5277,end apogee,CONTROL_FINISHED_OK
$STATE,5277,begin climb
$GC,5280,1.31,116.8,507.4,0.0,259,5391,1.52,2.78,101.72,0.910,4,0.044,0.051,3291,3390,2523,0,0,0,0,0,0
$GC,5411,1.32,227.3,506.7,4.3,263,5518,0.00,2.75,96.68,0.896,6,0.000,0.061,3291,1814,2072,0,0,0,0,0,0
$GC,5781,1.23,227.3,468.0,11.3,272,5783,0.10,0.00,0.00,0.000,6,0.141,0.000,3272,1814,2064,0,0,0,0,0,0
$GC,6023,1.19,227.3,442.9,10.1,278,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1814,2061,0,0,0,0,0,0
$GC,6267,1.16,230.3,418.7,9.9,284,6271,0.00,2.62,0.00,0.000,4,0.000,0.037,3272,3407,2059,0,0,0,0,0,0
$GC,6316,1.16,230.3,413.6,10.6,285,6321,0.00,2.72,0.00,0.000,6,0.000,0.057,3271,1815,2059,0,0,0,0,0,0
$GC,6590,1.16,230.3,384.9,10.8,292,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1815,2057,0,0,0,0,0,0
$GC,6832,1.16,230.3,357.4,11.5,298,6836,0.00,2.58,0.00,0.000,4,0.000,0.037,3272,3401,2056,0,0,0,0,0,0
$GC,6853,1.16,230.3,354.7,12.0,298,6858,0.00,2.65,0.00,0.000,6,0.000,0.049,3271,1820,2056,0,0,0,0,0,0
$GC,7110,1.16,230.3,325.6,11.3,305,7115,0.00,2.85,0.00,0.000,4,0.000,0.085,3272,235,2056,0,0,0,0,0,0
$GC,7153,1.07,230.3,320.3,13.0,306,7158,0.20,2.53,0.00,0.000,6,0.113,0.028,3232,1827,2054,0,0,0,0,0,0
$GC,7437,1.18,268.2,294.8,8.1,313,7479,0.10,2.60,34.90,0.793,4,0.097,0.035,3259,3395,1906,0,0,0,0,0,0
$GC,7511,1.25,278.3,288.7,9.5,314,7529,0.00,2.60,10.65,0.716,6,0.000,0.044,3259,1827,1864,0,0,0,0,0,0
$GC,7771,1.33,305.4,266.0,8.6,321,7802,0.12,2.88,24.45,0.759,4,0.091,0.077,3291,236,1756,0,0,0,0,0,0
$GC,7868,1.33,305.4,255.6,12.0,323,7873,0.00,2.53,0.00,0.000,6,0.000,0.023,3291,1819,1752,0,0,0,0,0,0
$GC,8140,1.33,305.4,224.0,11.5,330,8144,0.00,2.58,0.00,0.000,4,0.000,0.037,3291,3402,1750,0,0,0,0,0,0
$GC,8168,1.33,305.4,220.7,11.5,330,8172,0.00,2.65,0.00,0.000,6,0.000,0.041,3291,1810,1749,0,0,0,0,0,0
$GC,8419,1.33,305.4,191.1,11.9,339,8424,0.00,2.75,0.00,0.000,4,0.000,0.073,3292,240,1748,0,0,0,0,0,0
$GC,8488,1.28,305.4,182.5,12.4,344,8494,0.00,2.47,0.00,0.000,6,0.000,0.023,3291,1807,1747,0,0,0,0,0,0
$GC,8752,1.31,331.1,158.2,8.7,369,8780,0.00,2.58,22.95,0.672,4,0.000,0.029,3291,3387,1650,0,0,0,0,0,0
$GC,8792,1.32,342.5,154.1,9.5,372,8810,0.00,2.65,11.48,0.624,6,0.000,0.039,3292,1794,1603,0,0,0,0,0,0
$GC,9071,1.32,342.5,127.8,10.3,398,9076,0.00,2.70,0.00,0.000,4,0.000,0.071,3291,240,1598,0,0,0,0,0,0
$GC,9093,1.32,342.5,125.2,11.2,399,9099,0.00,2.45,0.00,0.000,6,0.000,0.027,3291,1805,1598,0,0,0,0,0,0
$GC,9358,1.36,342.5,94.8,12.4,424,9363,0.00,2.70,0.00,0.000,4,0.000,0.061,3291,237,1598,0,0,0,0,0,0
$GC,9393,1.36,342.5,89.3,14.2,426,9403,0.00,2.42,0.00,0.000,6,0.000,0.021,3291,1782,1597,0,0,0,0,0,0
$GC,9662,1.45,342.5,60.5,10.5,451,9667,0.10,2.58,0.00,0.000,4,0.093,0.028,3321,3387,1597,0,0,0,0,0,0
$GC,9673,1.54,342.6,58.6,10.0,451,9682,0.00,2.62,0.00,0.000,6,0.000,0.034,3322,1800,1596,0,0,0,0,0,0
$GC,9940,1.60,352.6,32.9,9.5,476,9955,0.10,2.55,9.20,0.515,4,0.094,0.027,3350,3390,1561,0,0,0,0,0,0
$GC,9974,1.60,352.6,29.4,10.6,478,9983,0.00,2.62,0.00,0.000,6,0.000,0.034,3350,1805,1561,0,0,0,0,0,0
$STATE,10205,end climb,SURFACE_DEPTH_REACHED
$STATE,10205,begin surface coast
$FINISH,0.4,1.011382
$STATE,10254,end surface coast,CONTROL_FINISHED_OK
$STATE,10254,begin surface
$SM_CCo,10278,63.08,0.450,1,0,1287,420.20
$SM_GC,0.99,0.00,0.00,63.08,0.000,0.000,0.450,474,1736,1287,-11.62,-0.96,420.20
$IRIDIUM_FIX,2241.69,-15754.99,090100,232349
$TT8_MAMPS,0.026078
$HUMID,53.46
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,21.00
$XPDR_PINGS,73
$24V_AH,23.4,58.905
$10V_AH,10.0,56.353
$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,27.400,140.175,409.875,63.075,0.000,28.909,33.783,271.650,18.250,0.000,33.482,1054.742,6623.191,536.503,1976.890,646.265,33.376,1291.401,0.000,1963.879,0.000,0.534,0.000
$DEVICE_MAMPS,152.633,164.905,934.973,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.979,297.000,400.019,756.440,1144.256,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,41635,518
$CAP_FILE_SIZE,113015,0
$CFSIZE,260165632,157585408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161010,053022,2251.366,-15755.041,8,99.0,27,10.1