version: 66.06
glider: 146
mission: 5
dive: 425
start: 10 16 110 9 5 51
data:
$ID,146
$MISSION,5
$DIVE,425
$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,-257631.86
$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,12
$R_STBD_OVSHOOT,89
$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
$GPS1,085630,2251.902,-15754.719,39,1.3,45,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-64.0
$GPS2,090455,2251.869,-15754.691,8,1.2,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.024,0.233
$KALMAN_X,-259935.1,79.4,93.5,287146.2,167.5
$KALMAN_Y,-587783.4,-10.1,-318.7,720143.2,-768.6
$MHEAD_RNG_PITCHd_Wd,344.0,11366,-19.9,-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,-1.39,-116.1,0.0,0.0,0,112,0.00,0.00,-92.78,0.000,2,0.000,0.000,476,1811,3361,0,0,0,0,0,0
$GC,115,-1.39,-116.8,3.7,-6.5,12,141,11.62,2.40,-2.17,0.000,4,0.153,0.040,2690,3303,3482,0,0,0,0,0,0
$GC,186,-1.32,-116.8,23.6,-17.7,21,194,0.08,2.55,0.00,0.000,6,0.110,0.037,2708,1759,3482,0,0,0,0,0,0
$GC,465,-1.22,-116.8,68.5,-16.2,49,474,0.12,0.00,0.00,0.000,6,0.126,0.000,2732,1759,3483,0,0,0,0,0,0
$GC,730,-1.26,-116.8,102.4,-9.5,74,735,0.00,2.65,0.00,0.000,4,0.000,0.060,2732,189,3484,0,0,0,0,0,0
$GC,753,-1.30,-116.8,104.3,-9.1,75,758,0.00,2.38,0.00,0.000,6,0.000,0.018,2732,1785,3484,0,0,0,0,0,0
$GC,1020,-1.37,-116.8,122.3,-6.7,99,1025,0.12,2.72,0.00,0.000,4,0.069,0.065,2689,189,3485,0,0,0,0,0,0
$GC,1044,-1.37,-116.8,124.7,-7.9,100,1053,0.00,2.38,0.00,0.000,6,0.000,0.016,2689,1756,3485,0,0,0,0,0,0
$GC,1306,-1.37,-116.8,151.4,-11.0,125,1310,0.00,2.42,0.00,0.000,4,0.000,0.031,2689,3314,3485,0,0,0,0,0,0
$GC,1347,-1.37,-116.8,156.0,-10.5,128,1352,0.00,2.47,0.00,0.000,6,0.000,0.031,2689,1768,3485,0,0,0,0,0,0
$GC,1610,-1.37,-116.8,183.6,-10.2,152,1614,0.00,2.67,0.00,0.000,4,0.000,0.063,2689,196,3486,0,0,0,0,0,0
$GC,1643,-1.37,-116.8,186.8,-11.1,154,1647,0.00,2.38,0.00,0.000,6,0.000,0.017,2689,1759,3486,0,0,0,0,0,0
$GC,1921,-1.37,-116.8,210.7,-8.4,171,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1760,3486,0,0,0,0,0,0
$GC,2163,-1.37,-116.8,233.6,-9.6,177,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1762,3485,0,0,0,0,0,0
$GC,2407,-1.37,-116.8,260.7,-11.4,183,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1762,3485,0,0,0,0,0,0
$GC,2652,-1.37,-116.8,287.8,-11.2,189,2656,0.00,2.50,0.00,0.000,4,0.000,0.030,2689,3326,3484,0,0,0,0,0,0
$GC,2667,-1.37,-116.8,289.9,-11.3,189,2672,0.00,2.53,0.00,0.000,6,0.000,0.035,2689,1771,3484,0,0,0,0,0,0
$GC,2929,-1.37,-116.8,314.9,-9.1,196,2933,0.00,2.80,0.00,0.000,4,0.000,0.080,2689,188,3483,0,0,0,0,0,0
$GC,2985,-1.37,-116.8,320.2,-10.1,197,2989,0.00,2.42,0.00,0.000,6,0.000,0.025,2689,1731,3483,0,0,0,0,0,0
$GC,3251,-1.37,-116.8,344.3,-9.2,204,3256,0.00,2.62,0.00,0.000,4,0.000,0.044,2690,3354,3482,0,0,0,0,0,0
$GC,3285,-1.43,-116.8,347.4,-10.0,204,3291,0.00,2.62,0.00,0.000,6,0.000,0.040,2689,1768,3482,0,0,0,0,0,0
$GC,3537,-1.43,-116.8,372.7,-10.3,211,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1768,3480,0,0,0,0,0,0
$GC,3779,-1.47,-116.8,398.0,-10.2,217,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1768,3479,0,0,0,0,0,0
$GC,4023,-1.51,-116.8,421.8,-9.7,223,4028,0.00,2.60,0.00,0.000,4,0.000,0.044,2689,3354,3477,0,0,0,0,0,0
$GC,4045,-1.58,-116.8,423.9,-9.3,223,4050,0.15,2.67,0.00,0.000,6,0.066,0.053,2643,1775,3477,0,0,0,0,0,0
$GC,4302,-1.53,-116.8,452.9,-11.4,230,4304,0.10,0.00,0.00,0.000,6,0.130,0.000,2663,1774,3475,0,0,0,0,0,0
$GC,4544,-1.53,-116.8,477.2,-9.9,236,4549,0.00,2.62,0.00,0.000,4,0.000,0.048,2663,3350,3474,0,0,0,0,0,0
$GC,4602,-1.58,-116.8,483.1,-10.1,237,4606,0.00,2.67,0.00,0.000,6,0.000,0.057,2663,1774,3473,0,0,0,0,0,0
$STATE,4784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4784,begin apogee
$GC,4790,-0.31,0.0,501.8,10.2,242,4892,1.23,0.00,98.40,0.923,6,0.090,0.000,2931,1773,3001,0,0,0,0,0,0
$STATE,4893,end apogee,CONTROL_FINISHED_OK
$STATE,4893,begin climb
$GC,4895,1.39,116.8,504.3,0.0,244,5009,1.55,2.83,101.55,0.903,4,0.050,0.056,3309,3378,2523,0,0,0,0,0,0
$GC,5015,1.38,216.6,505.3,4.2,246,5111,0.00,2.70,86.68,0.889,6,0.000,0.061,3308,1820,2116,0,0,0,0,0,0
$GC,5391,1.30,216.6,468.0,10.4,256,5393,0.12,0.00,0.00,0.000,6,0.153,0.000,3286,1820,2106,0,0,0,0,0,0
$GC,5633,1.32,233.9,445.9,9.0,262,5653,0.00,2.67,14.62,0.819,4,0.000,0.044,3285,3398,2047,0,0,0,0,0,0
$GC,5681,1.35,257.6,441.5,8.7,263,5712,0.00,2.72,22.77,0.840,6,0.000,0.060,3286,1823,1950,0,0,0,0,0,0
$GC,5958,1.35,257.6,414.1,10.1,270,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1823,1944,0,0,0,0,0,0
$GC,6200,1.37,273.2,391.3,9.1,276,6220,0.00,2.97,14.43,0.803,4,0.000,0.100,3285,232,1886,0,0,0,0,0,0
$GC,6240,1.32,279.0,387.8,9.7,277,6253,0.00,2.55,6.80,0.693,6,0.000,0.026,3286,1824,1862,0,0,0,0,0,0
$GC,6526,1.34,292.2,360.8,9.3,284,6546,0.00,2.90,12.82,0.782,4,0.000,0.074,3285,234,1808,0,0,0,0,0,0
$GC,6558,1.30,292.2,357.7,10.2,284,6562,0.00,2.55,0.00,0.000,6,0.000,0.021,3285,1823,1807,0,0,0,0,0,0
$GC,6809,1.30,292.9,332.8,10.0,290,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1825,1805,0,0,0,0,0,0
$GC,7051,1.30,292.9,307.5,10.4,296,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1825,1803,0,0,0,0,0,0
$GC,7295,1.30,292.9,280.4,11.3,302,7300,0.00,2.78,0.00,0.000,4,0.000,0.073,3285,227,1803,0,0,0,0,0,0
$GC,7362,1.30,292.9,270.7,14.6,303,7367,0.00,2.50,0.00,0.000,6,0.000,0.024,3285,1807,1801,0,0,0,0,0,0
$GC,7619,1.30,292.9,236.8,13.1,310,7623,0.00,2.55,0.00,0.000,4,0.000,0.037,3285,3394,1801,0,0,0,0,0,0
$GC,7634,1.34,292.9,234.8,12.4,310,7639,0.00,2.67,0.00,0.000,6,0.000,0.039,3285,1774,1800,0,0,0,0,0,0
$GC,7895,1.34,292.9,206.6,10.3,317,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1774,1800,0,0,0,0,0,0
$GC,8146,1.40,305.9,183.1,9.3,335,8160,0.00,0.00,12.02,0.671,6,0.000,0.000,3285,1774,1754,0,0,0,0,0,0
$GC,8414,1.45,305.9,157.1,10.7,360,8420,0.12,2.67,0.00,0.000,4,0.087,0.068,3317,234,1751,0,0,0,0,0,0
$GC,8437,1.45,305.9,154.6,11.0,361,8441,0.00,2.47,0.00,0.000,6,0.000,0.025,3318,1809,1750,0,0,0,0,0,0
$GC,8703,1.45,305.9,124.8,11.0,385,8707,0.00,2.53,0.00,0.000,4,0.000,0.032,3317,3394,1750,0,0,0,0,0,0
$GC,8745,1.51,305.9,120.0,10.3,388,8749,0.00,2.60,0.00,0.000,6,0.000,0.040,3317,1803,1749,0,0,0,0,0,0
$GC,9007,1.51,305.9,93.0,10.1,412,9012,0.00,2.67,0.00,0.000,4,0.000,0.068,3317,236,1749,0,0,0,0,0,0
$GC,9038,1.51,305.9,89.5,12.5,414,9042,0.00,2.45,0.00,0.000,6,0.000,0.020,3317,1813,1749,0,0,0,0,0,0
$GC,9305,1.61,328.8,65.7,8.7,438,9333,0.12,2.55,21.15,0.590,4,0.109,0.028,3352,3383,1659,0,0,0,0,0,0
$GC,9377,1.68,328.8,57.9,10.2,443,9386,0.00,2.60,0.00,0.000,6,0.000,0.034,3352,1820,1657,0,0,0,0,0,0
$GC,9643,1.70,339.8,31.2,9.4,468,9666,0.00,2.78,10.55,0.519,4,0.000,0.059,3352,241,1613,0,0,0,0,0,0
$GC,9678,1.71,352.7,28.0,9.3,471,9696,0.00,2.50,12.30,0.521,6,0.000,0.020,3352,1822,1563,0,0,0,0,0,0
$STATE,9905,end climb,SURFACE_DEPTH_REACHED
$STATE,9906,begin surface coast
$FINISH,0.4,1.010387
$STATE,9948,end surface coast,CONTROL_FINISHED_OK
$STATE,9948,begin surface
$SM_CCo,9970,62.53,0.446,1,0,1288,420.20
$SM_GC,1.17,0.00,0.00,62.53,0.000,0.000,0.446,475,1748,1288,-11.62,-0.62,420.20
$IRIDIUM_FIX,2241.69,-15757.16,100100,050515
$TT8_MAMPS,0.025311
$HUMID,52.83
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.30
$XPDR_PINGS,62
$24V_AH,23.4,59.182
$10V_AH,10.0,56.599
$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,27.150,109.425,414.100,62.525,0.000,30.697,31.469,296.961,15.500,0.000,15.478,1003.412,6535.529,518.989,1830.903,655.790,33.400,1224.603,0.000,1834.137,0.000,0.534,0.000
$DEVICE_MAMPS,153.400,99.710,923.468,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.847,302.545,397.918,753.266,1139.348,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,41541,510
$CAP_FILE_SIZE,103369,0
$CFSIZE,260165632,157478912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161010,115422,2252.570,-15754.720,11,99.0,30,10.1