version: 66.06
glider: 146
mission: 5
dive: 426
start: 10 16 110 12 3 50
data:
$ID,146
$MISSION,5
$DIVE,426
$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,-257676.8
$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,37
$R_STBD_OVSHOOT,59
$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
$GPS1,115422,2252.570,-15754.720,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.5
$GPS2,120255,2252.522,-15754.712,42,1.3,42,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.030,0.233
$KALMAN_X,-259642.8,110.9,-21.9,286908.3,218.7
$KALMAN_Y,-589054.1,-81.8,-77.7,722451.6,-774.9
$MHEAD_RNG_PITCHd_Wd,342.7,10157,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.4,0.0,0.0,0,96,0.00,0.00,-78.12,0.000,2,0.000,0.000,475,1748,3203,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.0,-5.4,10,126,11.55,2.55,-5.40,0.000,4,0.150,0.033,2690,3334,3480,0,0,0,0,0,0
$GC,216,-1.38,-116.8,26.9,-13.3,26,225,0.00,2.55,0.00,0.000,6,0.000,0.034,2690,1787,3481,0,0,0,0,0,0
$GC,490,-1.28,-116.8,68.3,-13.7,52,499,0.15,0.00,0.00,0.000,6,0.126,0.000,2720,1787,3482,0,0,0,0,0,0
$GC,755,-1.28,-116.8,94.8,-9.2,77,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1787,3483,0,0,0,0,0,0
$GC,1019,-1.32,-116.8,120.3,-9.6,102,1023,0.00,2.72,0.00,0.000,4,0.000,0.064,2719,189,3483,0,0,0,0,0,0
$GC,1040,-1.32,-116.8,123.1,-10.7,103,1046,0.00,2.45,0.00,0.000,6,0.000,0.021,2719,1810,3484,0,0,0,0,0,0
$GC,1306,-1.36,-116.8,148.1,-9.8,128,1310,0.00,2.35,0.00,0.000,4,0.000,0.026,2719,3316,3484,0,0,0,0,0,0
$GC,1339,-1.43,-116.8,151.2,-9.2,130,1344,0.12,2.47,0.00,0.000,6,0.070,0.030,2674,1782,3484,0,0,0,0,0,0
$GC,1604,-1.38,-116.8,177.9,-9.5,154,1609,0.10,2.72,0.00,0.000,4,0.127,0.064,2696,188,3484,0,0,0,0,0,0
$GC,1647,-1.38,-116.8,182.3,-10.2,157,1652,0.00,2.40,0.00,0.000,6,0.000,0.017,2696,1763,3484,0,0,0,0,0,0
$GC,1929,-1.38,-116.8,206.8,-8.4,177,1933,0.00,2.45,0.00,0.000,4,0.000,0.025,2696,3329,3485,0,0,0,0,0,0
$GC,1974,-1.44,-116.8,211.0,-8.1,178,1978,0.00,2.50,0.00,0.000,6,0.000,0.034,2696,1775,3484,0,0,0,0,0,0
$GC,2252,-1.44,-116.8,237.5,-10.0,185,2256,0.00,2.72,0.00,0.000,4,0.000,0.071,2696,193,3484,0,0,0,0,0,0
$GC,2297,-1.44,-116.8,242.3,-10.9,186,2301,0.00,2.40,0.00,0.000,6,0.000,0.019,2697,1765,3484,0,0,0,0,0,0
$GC,2574,-1.44,-116.8,268.2,-9.2,193,2579,0.00,2.47,0.00,0.000,4,0.000,0.034,2696,3339,3483,0,0,0,0,0,0
$GC,2602,-1.49,-116.8,270.7,-8.0,193,2607,0.00,2.55,0.00,0.000,6,0.000,0.031,2696,1767,3483,0,0,0,0,0,0
$GC,2854,-1.49,-116.8,292.2,-8.6,199,2858,0.00,2.47,0.00,0.000,4,0.000,0.035,2696,3336,3483,0,0,0,0,0,0
$GC,2881,-1.54,-116.8,294.7,-8.7,199,2886,0.15,2.53,0.00,0.000,6,0.061,0.038,2643,1780,3482,0,0,0,0,0,0
$GC,3131,-1.48,-116.8,320.5,-10.7,205,3137,0.15,2.83,0.00,0.000,4,0.110,0.079,2674,185,3481,0,0,0,0,0,0
$GC,3178,-1.48,-116.8,325.8,-11.0,206,3182,0.00,2.47,0.00,0.000,6,0.000,0.027,2674,1769,3481,0,0,0,0,0,0
$GC,3455,-1.48,-116.8,355.0,-10.5,213,3459,0.00,2.58,0.00,0.000,4,0.000,0.039,2674,3355,3480,0,0,0,0,0,0
$GC,3499,-1.54,-116.8,359.8,-10.6,214,3504,0.00,2.60,0.00,0.000,6,0.000,0.047,2674,1787,3480,0,0,0,0,0,0
$GC,3778,-1.54,-116.8,388.2,-10.2,221,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1787,3478,0,0,0,0,0,0
$GC,4020,-1.54,-116.8,412.5,-9.9,227,4025,0.00,2.53,0.00,0.000,4,0.000,0.038,2674,3346,3477,0,0,0,0,0,0
$GC,4047,-1.54,-116.8,415.4,-10.2,227,4052,0.00,2.60,0.00,0.000,6,0.000,0.051,2674,1805,3477,0,0,0,0,0,0
$GC,4300,-1.54,-116.8,439.1,-9.6,233,4304,0.00,2.97,0.00,0.000,4,0.000,0.103,2674,184,3475,0,0,0,0,0,0
$GC,4343,-1.54,-116.8,444.0,-10.7,234,4347,0.00,2.55,0.00,0.000,6,0.000,0.030,2675,1787,3475,0,0,0,0,0,0
$GC,4620,-1.54,-116.8,472.2,-10.2,241,4625,0.00,2.60,0.00,0.000,4,0.000,0.056,2674,3350,3473,0,0,0,0,0,0
$GC,4672,-1.61,-116.8,477.5,-10.5,242,4677,0.10,2.65,0.00,0.000,6,0.087,0.054,2641,1794,3473,0,0,0,0,0,0
$STATE,4860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4860,begin apogee
$GC,4866,-0.31,0.0,500.9,12.4,247,4968,1.33,0.00,98.07,0.923,6,0.091,0.000,2930,1794,3000,0,0,0,0,0,0
$STATE,4969,end apogee,CONTROL_FINISHED_OK
$STATE,4969,begin climb
$GC,4973,1.38,116.8,504.5,0.0,249,5079,1.55,0.00,101.90,0.901,6,0.040,0.000,3307,1794,2524,0,0,0,0,0,0
$GC,5300,1.31,161.1,491.8,7.5,257,5344,0.00,2.80,38.47,0.881,4,0.000,0.052,3307,3396,2344,0,0,0,0,0,0
$GC,5424,1.24,161.1,479.9,10.7,259,5430,0.17,2.70,0.00,0.000,6,0.129,0.058,3272,1837,2339,0,0,0,0,0,0
$GC,5674,1.25,168.9,455.9,9.6,266,5688,0.00,2.67,7.20,0.729,4,0.000,0.044,3272,3401,2311,0,0,0,0,0,0
$GC,5717,1.25,168.9,451.5,10.1,267,5721,0.00,2.67,0.00,0.000,6,0.000,0.053,3272,1841,2311,0,0,0,0,0,0
$GC,6002,1.25,175.2,423.7,9.7,274,6010,0.00,0.00,6.90,0.720,6,0.000,0.000,3272,1841,2286,0,0,0,0,0,0
$GC,6244,1.27,190.1,401.0,9.2,280,6260,0.00,0.00,14.52,0.813,6,0.000,0.000,3272,1841,2226,0,0,0,0,0,0
$GC,6487,1.30,213.9,379.5,8.7,286,6512,0.00,0.00,22.55,0.828,6,0.000,0.000,3272,1841,2128,0,0,0,0,0,0
$GC,6733,1.34,241.2,358.9,8.5,292,6760,0.00,0.00,25.58,0.819,6,0.000,0.000,3272,1841,2017,0,0,0,0,0,0
$GC,6975,1.36,258.5,337.4,9.0,298,6999,0.10,2.67,16.40,0.782,4,0.188,0.036,3297,3416,1946,0,0,0,0,0,0
$GC,7010,1.36,258.5,333.7,10.2,298,7016,0.00,2.67,0.00,0.000,6,0.000,0.042,3297,1834,1944,0,0,0,0,0,0
$GC,7262,1.36,258.5,305.7,11.4,305,7266,0.00,2.85,0.00,0.000,4,0.000,0.078,3298,231,1941,0,0,0,0,0,0
$GC,7290,1.28,258.5,301.7,13.1,305,7295,0.00,2.58,0.00,0.000,6,0.000,0.028,3297,1843,1940,0,0,0,0,0,0
$GC,7540,1.28,258.5,272.4,11.6,311,7544,0.00,2.53,0.00,0.000,4,0.000,0.041,3297,3400,1939,0,0,0,0,0,0
$GC,7608,1.32,258.5,264.5,11.7,312,7612,0.00,2.58,0.00,0.000,6,0.000,0.038,3297,1845,1938,0,0,0,0,0,0
$GC,7862,1.32,258.5,237.0,10.4,319,7867,0.00,2.80,0.00,0.000,4,0.000,0.071,3297,240,1938,0,0,0,0,0,0
$GC,7884,1.28,258.5,234.7,10.4,319,7888,0.00,2.55,0.00,0.000,6,0.000,0.025,3298,1854,1937,0,0,0,0,0,0
$GC,8140,1.28,258.5,208.4,10.6,326,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1856,1937,0,0,0,0,0,0
$GC,8390,1.28,258.5,181.0,10.8,344,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1856,1936,0,0,0,0,0,0
$GC,8646,1.29,265.3,153.9,9.6,368,8658,0.00,2.83,5.78,0.554,4,0.000,0.066,3298,235,1918,0,0,0,0,0,0
$GC,8675,1.29,265.3,151.4,10.0,370,8679,0.00,2.55,0.00,0.000,6,0.000,0.026,3298,1854,1917,0,0,0,0,0,0
$GC,8938,1.31,285.5,126.6,8.9,394,8959,0.00,0.00,19.30,0.640,6,0.000,0.000,3298,1856,1836,0,0,0,0,0,0
$GC,9214,1.36,285.5,100.0,10.2,420,9219,0.00,2.80,0.00,0.000,4,0.000,0.067,3297,236,1832,0,0,0,0,0,0
$GC,9258,1.36,285.5,95.3,11.3,423,9262,0.00,2.53,0.00,0.000,6,0.000,0.021,3298,1848,1831,0,0,0,0,0,0
$GC,9526,1.47,312.2,69.9,8.5,447,9557,0.10,2.53,23.77,0.591,4,0.090,0.028,3326,3379,1727,0,0,0,0,0,0
$GC,9581,1.55,319.3,64.8,9.6,451,9596,0.00,2.53,7.88,0.518,6,0.000,0.040,3326,1845,1698,0,0,0,0,0,0
$GC,9852,1.66,341.5,41.9,8.8,476,9880,0.15,2.53,20.05,0.555,4,0.074,0.026,3367,3397,1607,0,0,0,0,0,0
$GC,9897,1.66,341.5,37.4,10.5,479,9901,0.00,2.58,0.00,0.000,6,0.000,0.035,3367,1838,1606,0,0,0,0,0,0
$STATE,10198,end climb,SURFACE_DEPTH_REACHED
$STATE,10198,begin surface coast
$FINISH,0.4,1.011204
$STATE,10247,end surface coast,CONTROL_FINISHED_OK
$STATE,10247,begin surface
$SM_CCo,10269,70.62,0.455,1,0,1288,420.20
$SM_GC,1.06,0.00,0.00,70.62,0.000,0.000,0.455,476,1743,1288,-11.61,-0.76,420.20
$IRIDIUM_FIX,2244.02,-15756.28,100100,090937
$TT8_MAMPS,0.026078
$HUMID,52.59
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.10
$XPDR_PINGS,65
$24V_AH,23.4,59.308
$10V_AH,10.0,56.718
$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,27.525,119.725,408.375,70.625,0.000,28.381,36.754,282.544,16.250,0.000,44.311,1052.369,6628.974,560.227,1967.125,653.675,33.370,1256.458,0.000,1951.931,0.000,0.533,0.000
$DEVICE_MAMPS,187.915,102.778,922.701,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.402,309.178,413.681,787.954,1192.481,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,41552,525
$CAP_FILE_SIZE,107621,0
$CFSIZE,260165632,157421568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161010,145736,2253.166,-15754.827,34,0.9,38,10.1