version: 66.06
glider: 146
mission: 5
dive: 427
start: 10 16 110 15 10 52
data:
$ID,146
$MISSION,5
$DIVE,427
$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,-257692.66
$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,55
$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
$GPS1,145736,2253.166,-15754.827,34,0.9,38,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.2
$GPS2,150956,2253.128,-15754.839,13,1.0,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.020,0.234
$KALMAN_X,-259487.7,85.4,-69.7,286609.2,163.7
$KALMAN_Y,-590384.1,-158.9,151.3,724753.5,-1155.4
$MHEAD_RNG_PITCHd_Wd,345.0,9027,-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,15,-1.38,-116.3,0.0,0.0,0,96,0.00,0.00,-78.05,0.000,2,0.000,0.000,475,1743,3213,0,0,0,0,0,0
$GC,100,-1.39,-116.8,3.0,-5.2,10,126,11.68,2.58,-5.20,0.000,4,0.154,0.037,2689,3336,3479,0,0,0,0,0,0
$GC,210,-1.35,-116.8,25.3,-12.7,25,219,0.00,2.53,0.00,0.000,6,0.000,0.029,2689,1787,3480,0,0,0,0,0,0
$GC,487,-1.24,-116.8,68.8,-14.7,52,492,0.17,2.45,0.00,0.000,4,0.118,0.029,2725,3340,3481,0,0,0,0,0,0
$GC,509,-1.19,-116.8,72.6,-14.8,53,513,0.00,2.50,0.00,0.000,6,0.000,0.028,2725,1786,3481,0,0,0,0,0,0
$GC,778,-1.23,-116.8,100.9,-9.5,77,783,0.00,2.67,0.00,0.000,4,0.000,0.063,2725,196,3482,0,0,0,0,0,0
$GC,796,-1.27,-116.8,103.5,-10.2,78,800,0.00,2.45,0.00,0.000,6,0.000,0.018,2725,1823,3482,0,0,0,0,0,0
$GC,1059,-1.32,-116.8,127.1,-8.5,102,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1824,3482,0,0,0,0,0,0
$GC,1315,-1.38,-116.8,146.7,-7.5,126,1320,0.12,2.78,0.00,0.000,4,0.074,0.065,2682,197,3483,0,0,0,0,0,0
$GC,1345,-1.34,-116.8,149.9,-10.0,128,1350,0.12,2.42,0.00,0.000,6,0.111,0.021,2708,1811,3483,0,0,0,0,0,0
$GC,1607,-1.34,-116.8,173.4,-9.5,152,1612,0.00,2.75,0.00,0.000,4,0.000,0.060,2708,189,3483,0,0,0,0,0,0
$GC,1628,-1.34,-116.8,175.9,-10.1,153,1638,0.00,2.42,0.00,0.000,6,0.000,0.020,2707,1774,3483,0,0,0,0,0,0
$GC,1910,-1.34,-116.8,205.1,-10.1,177,1914,0.00,2.40,0.00,0.000,4,0.000,0.030,2707,3317,3483,0,0,0,0,0,0
$GC,1954,-1.42,-116.8,209.5,-10.0,178,1958,0.00,2.47,0.00,0.000,6,0.000,0.029,2708,1774,3483,0,0,0,0,0,0
$GC,2234,-1.45,-116.8,234.6,-8.8,185,2240,0.10,2.72,0.00,0.000,4,0.085,0.072,2671,197,3482,0,0,0,0,0,0
$GC,2303,-1.41,-116.8,242.4,-11.7,186,2308,0.10,2.38,0.00,0.000,6,0.126,0.016,2692,1755,3482,0,0,0,0,0,0
$GC,2558,-1.41,-116.8,271.0,-11.2,193,2562,0.00,2.47,0.00,0.000,4,0.000,0.029,2692,3331,3481,0,0,0,0,0,0
$GC,2638,-1.47,-116.8,279.8,-11.3,194,2643,0.00,2.50,0.00,0.000,6,0.000,0.032,2692,1786,3482,0,0,0,0,0,0
$GC,2887,-1.47,-116.8,308.2,-11.5,201,2892,0.00,2.80,0.00,0.000,4,0.000,0.082,2692,190,3481,0,0,0,0,0,0
$GC,2908,-1.47,-116.8,310.6,-11.1,201,2913,0.00,2.45,0.00,0.000,6,0.000,0.028,2691,1760,3480,0,0,0,0,0,0
$GC,3166,-1.47,-116.8,335.6,-9.5,208,3170,0.00,2.55,0.00,0.000,4,0.000,0.036,2691,3348,3479,0,0,0,0,0,0
$GC,3182,-1.51,-116.8,337.3,-9.2,208,3186,0.00,2.53,0.00,0.000,6,0.000,0.042,2692,1788,3479,0,0,0,0,0,0
$GC,3443,-1.51,-116.8,360.5,-9.0,215,3447,0.00,2.50,0.00,0.000,4,0.000,0.037,2692,3346,3477,0,0,0,0,0,0
$GC,3472,-1.56,-116.8,363.1,-9.0,215,3477,0.12,2.58,0.00,0.000,6,0.074,0.047,2650,1787,3477,0,0,0,0,0,0
$GC,3721,-1.56,-116.8,390.1,-11.1,221,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1787,3476,0,0,0,0,0,0
$GC,3965,-1.56,-116.8,417.7,-11.4,227,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1787,3474,0,0,0,0,0,0
$GC,4209,-1.56,-116.8,445.3,-11.3,233,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1787,3473,0,0,0,0,0,0
$GC,4454,-1.56,-116.8,472.9,-11.3,239,4458,0.00,2.55,0.00,0.000,4,0.000,0.048,2650,3336,3471,0,0,0,0,0,0
$GC,4480,-1.56,-116.8,476.1,-10.9,239,4485,0.00,2.60,0.00,0.000,6,0.000,0.057,2650,1801,3471,0,0,0,0,0,0
$STATE,4733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4734,begin apogee
$GC,4739,-0.31,0.0,502.1,10.1,246,4840,1.27,0.00,97.25,0.916,6,0.084,0.000,2932,1800,3001,0,0,0,0,0,0
$STATE,4841,end apogee,CONTROL_FINISHED_OK
$STATE,4841,begin climb
$GC,4845,1.39,116.8,504.2,0.0,248,4951,1.52,0.00,101.47,0.894,6,0.046,0.000,3310,1800,2524,0,0,0,0,0,0
$GC,5172,1.28,141.6,486.5,8.6,256,5202,0.15,2.72,21.62,0.853,4,0.128,0.047,3281,3381,2421,0,0,0,0,0,0
$GC,5321,1.27,173.4,474.0,8.2,259,5355,0.00,2.70,28.90,0.859,6,0.000,0.054,3282,1816,2293,0,0,0,0,0,0
$GC,5639,1.27,205.1,447.4,8.2,267,5669,0.00,0.00,28.38,0.857,6,0.000,0.000,3281,1816,2164,0,0,0,0,0,0
$GC,5878,1.29,222.7,425.8,9.0,273,5897,0.00,0.00,16.70,0.822,6,0.000,0.000,3281,1816,2092,0,0,0,0,0,0
$GC,6122,1.31,242.7,403.9,8.9,279,6147,0.00,2.67,18.58,0.821,4,0.000,0.041,3281,3386,2010,0,0,0,0,0,0
$GC,6166,1.33,255.0,399.9,9.3,280,6186,0.00,2.70,12.85,0.785,6,0.000,0.054,3281,1820,1960,0,0,0,0,0,0
$GC,6453,1.33,258.3,371.7,9.9,287,6458,0.00,2.92,0.00,0.000,4,0.000,0.091,3281,229,1954,0,0,0,0,0,0
$GC,6469,1.33,259.1,370.0,10.0,287,6473,0.00,2.53,0.00,0.000,6,0.000,0.025,3280,1821,1953,0,0,0,0,0,0
$GC,6731,1.33,259.1,341.9,10.9,294,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1822,1953,0,0,0,0,0,0
$GC,6973,1.33,259.1,312.2,12.5,300,6977,0.00,2.78,0.00,0.000,4,0.000,0.069,3281,230,1951,0,0,0,0,0,0
$GC,6994,1.33,259.1,309.2,13.4,300,6998,0.00,2.53,0.00,0.000,6,0.000,0.026,3281,1819,1950,0,0,0,0,0,0
$GC,7249,1.33,259.1,275.8,12.9,307,7253,0.00,2.58,0.00,0.000,4,0.000,0.041,3281,3400,1949,0,0,0,0,0,0
$GC,7284,1.38,259.1,271.8,12.5,307,7290,0.00,2.62,0.00,0.000,6,0.000,0.037,3281,1811,1948,0,0,0,0,0,0
$GC,7534,1.38,259.1,245.9,10.2,314,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1810,1948,0,0,0,0,0,0
$GC,7778,1.42,293.5,225.2,8.0,320,7819,0.12,2.85,32.97,0.736,4,0.081,0.072,3315,241,1803,0,0,0,0,0,0
$GC,7856,1.35,293.5,217.3,12.0,321,7861,0.00,2.53,0.00,0.000,6,0.000,0.028,3315,1826,1801,0,0,0,0,0,0
$GC,8110,1.35,293.5,189.1,11.7,333,8114,0.00,2.53,0.00,0.000,4,0.000,0.037,3315,3397,1798,0,0,0,0,0,0
$GC,8130,1.35,293.5,187.1,12.4,334,8134,0.00,2.62,0.00,0.000,6,0.000,0.038,3315,1809,1797,0,0,0,0,0,0
$GC,8398,1.35,293.5,153.1,13.1,358,8402,0.00,2.70,0.00,0.000,4,0.000,0.069,3315,237,1797,0,0,0,0,0,0
$GC,8414,1.31,293.5,149.9,13.3,359,8420,0.15,2.47,0.00,0.000,6,0.120,0.024,3286,1824,1796,0,0,0,0,0,0
$GC,8679,1.39,318.3,122.9,8.6,383,8705,0.00,0.00,21.85,0.639,6,0.000,0.000,3286,1826,1703,0,0,0,0,0,0
$GC,8964,1.47,331.1,98.5,9.3,410,8984,0.15,2.80,12.23,0.589,4,0.075,0.064,3325,240,1650,0,0,0,0,0,0
$GC,8990,1.47,331.1,95.2,10.8,412,8999,0.00,2.53,0.00,0.000,6,0.000,0.027,3325,1825,1649,0,0,0,0,0,0
$GC,9256,1.53,331.1,65.2,10.4,437,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1827,1647,0,0,0,0,0,0
$GC,9523,1.65,361.8,42.2,8.3,462,9556,0.15,2.55,27.05,0.567,4,0.184,0.030,3365,3383,1525,0,0,0,0,0,0
$GC,9580,1.71,406.9,38.3,7.4,466,9626,0.00,2.60,40.20,0.560,6,0.000,0.036,3366,1803,1341,0,0,0,0,0,0
$STATE,9858,end climb,SURFACE_DEPTH_REACHED
$STATE,9858,begin surface coast
$FINISH,0.3,1.000036
$STATE,9896,end surface coast,CONTROL_FINISHED_OK
$STATE,9896,begin surface
$SM_CCo,9918,16.52,0.182,1,0,1287,420.20
$SM_GC,1.05,0.00,0.00,16.52,0.000,0.000,0.182,477,1744,1287,-11.61,-0.74,420.20
$IRIDIUM_FIX,2246.36,-15753.23,100100,151538
$TT8_MAMPS,0.026078
$HUMID,54.68
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.90
$XPDR_PINGS,61
$24V_AH,23.4,59.445
$10V_AH,10.0,56.835
$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,27.775,114.025,460.050,16.525,0.000,58.828,67.229,401.543,15.250,0.000,15.234,1009.334,6459.025,523.925,1855.201,836.575,33.398,1221.707,0.000,1861.824,0.000,0.534,0.000
$DEVICE_MAMPS,184.080,167.206,915.798,181.779,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.852,298.214,396.036,750.829,1135.645,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,41591,507
$CAP_FILE_SIZE,107475,0
$CFSIZE,260165632,157364224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161010,175746,2253.839,-15754.992,11,99.0,30,10.1