version: 66.06
glider: 146
mission: 5
dive: 428
start: 10 16 110 18 8 3
data:
$ID,146
$MISSION,5
$DIVE,428
$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,-257763.16
$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,45
$R_STBD_OVSHOOT,58
$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
$GPS1,175746,2253.839,-15754.992,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.2
$GPS2,180708,2253.844,-15755.010,67,1.6,68,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.011,0.392
$KALMAN_X,-259468.8,-22.7,-62.3,286399.0,110.5
$KALMAN_Y,-591301.9,-174.3,73.6,727085.4,-1073.1
$MHEAD_RNG_PITCHd_Wd,348.3,7696,-9.8,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-116.8,0.0,0.0,0,96,0.00,0.00,-78.38,0.000,2,0.000,0.000,476,1744,3228,0,0,0,0,0,0
$GC,100,-0.76,-116.8,3.3,-5.6,10,126,12.23,2.58,-4.65,0.000,4,0.149,0.037,2824,3335,3478,0,0,0,0,0,0
$GC,212,-0.66,-116.8,23.0,-8.9,25,220,0.10,2.53,0.00,0.000,6,0.079,0.028,2852,1789,3479,0,0,0,0,0,0
$GC,494,-0.54,-116.8,47.9,-7.0,54,499,0.12,2.78,0.00,0.000,4,0.104,0.061,2882,187,3480,0,0,0,0,0,0
$GC,519,-0.47,-116.8,50.3,-7.4,55,528,0.00,2.47,0.00,0.000,6,0.000,0.016,2882,1801,3480,0,0,0,0,0,0
$GC,787,-0.47,-116.8,61.6,-3.4,80,791,0.00,2.38,0.00,0.000,4,0.000,0.025,2882,3324,3481,0,0,0,0,0,0
$GC,846,-0.52,-116.8,64.2,-4.6,84,850,0.00,2.47,0.00,0.000,6,0.000,0.025,2882,1778,3481,0,0,0,0,0,0
$GC,1114,-0.72,-116.8,80.0,-5.3,108,1119,0.17,2.42,0.00,0.000,4,0.067,0.025,2834,3321,3482,0,0,0,0,0,0
$GC,1167,-0.72,-116.8,82.9,-5.0,112,1171,0.00,2.38,0.00,0.000,6,0.000,0.027,2833,1828,3482,0,0,0,0,0,0
$GC,1432,-0.81,-116.8,97.0,-6.9,136,1436,0.00,2.75,0.00,0.000,4,0.000,0.061,2833,197,3483,0,0,0,0,0,0
$GC,1466,-0.86,-116.8,99.8,-7.2,138,1475,0.00,2.38,0.00,0.000,6,0.000,0.016,2834,1781,3483,0,0,0,0,0,0
$GC,1734,-0.92,-116.8,114.9,-4.8,163,1739,0.15,2.38,0.00,0.000,4,0.063,0.026,2778,3295,3484,0,0,0,0,0,0
$GC,1768,-0.83,-116.8,117.1,-5.3,165,1775,0.17,2.30,0.00,0.000,6,0.081,0.024,2819,1843,3484,0,0,0,0,0,0
$GC,2034,-0.90,-116.8,132.0,-6.2,190,2038,0.00,2.30,0.00,0.000,4,0.000,0.031,2819,3299,3484,0,0,0,0,0,0
$GC,2068,-0.90,-116.8,134.4,-5.9,192,2077,0.00,2.50,0.00,0.000,6,0.000,0.033,2819,1751,3484,0,0,0,0,0,0
$GC,2336,-0.94,-116.8,150.2,-5.7,217,2341,0.10,2.45,0.00,0.000,4,0.083,0.031,2779,3289,3484,0,0,0,0,0,0
$GC,2452,-0.85,-116.8,157.7,-6.8,226,2456,0.15,2.33,0.00,0.000,6,0.086,0.031,2817,1829,3484,0,0,0,0,0,0
$GC,2717,-0.80,-116.8,170.7,-4.5,250,2721,0.00,2.75,0.00,0.000,4,0.000,0.066,2816,200,3484,0,0,0,0,0,0
$GC,2739,-0.76,-116.8,172.0,-5.0,251,2744,0.00,2.42,0.00,0.000,6,0.000,0.024,2816,1814,3484,0,0,0,0,0,0
$GC,3003,-0.72,-116.8,185.7,-5.8,276,3008,0.12,2.35,0.00,0.000,4,0.095,0.028,2846,3310,3483,0,0,0,0,0,0
$GC,3049,-0.78,-116.8,188.5,-5.7,279,3058,0.00,2.38,0.00,0.000,6,0.000,0.033,2846,1834,3483,0,0,0,0,0,0
$GC,3338,-0.93,-116.8,209.4,-7.6,298,3340,0.20,0.00,0.00,0.000,6,0.054,0.000,2785,1834,3483,0,0,0,0,0,0
$GC,3580,-0.93,-116.8,226.0,-6.4,304,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1834,3482,0,0,0,0,0,0
$GC,3824,-0.93,-116.8,238.5,-4.9,310,3828,0.00,2.35,0.00,0.000,4,0.000,0.028,2785,3316,3481,0,0,0,0,0,0
$GC,3852,-0.89,-116.8,239.9,-4.8,310,3857,0.10,2.47,0.00,0.000,6,0.110,0.026,2810,1763,3481,0,0,0,0,0,0
$GC,4104,-0.85,-116.8,249.8,-4.1,316,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1762,3481,0,0,0,0,0,0
$GC,4345,-0.85,-116.8,262.7,-5.6,322,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1762,3480,0,0,0,0,0,0
$GC,4589,-0.85,-116.8,278.1,-6.5,328,4593,0.00,2.45,0.00,0.000,4,0.000,0.034,2810,3312,3478,0,0,0,0,0,0
$GC,4662,-0.85,-116.8,282.9,-6.2,329,4667,0.00,2.47,0.00,0.000,6,0.000,0.028,2810,1771,3478,0,0,0,0,0,0
$GC,4913,-0.85,-116.8,295.1,-4.4,335,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1770,3478,0,0,0,0,0,0
$GC,5156,-0.85,-116.8,304.3,-3.7,341,5160,0.00,2.42,0.00,0.000,4,0.000,0.029,2810,3309,3476,0,0,0,0,0,0
$GC,5207,-0.85,-116.8,306.3,-4.4,342,5211,0.00,2.47,0.00,0.000,6,0.000,0.031,2810,1773,3476,0,0,0,0,0,0
$GC,5481,-0.92,-116.8,321.8,-6.1,349,5486,0.00,2.78,0.00,0.000,4,0.000,0.079,2810,189,3475,0,0,0,0,0,0
$GC,5567,-0.92,-116.8,328.4,-7.8,351,5572,0.00,2.55,0.00,0.000,6,0.000,0.020,2810,1830,3474,0,0,0,0,0,0
$GC,5851,-0.98,-116.8,350.2,-7.5,358,5853,0.10,0.00,0.00,0.000,6,0.085,0.000,2772,1830,3473,0,0,0,0,0,0
$GC,6095,-0.98,-116.8,366.2,-6.3,364,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1830,3472,0,0,0,0,0,0
$GC,6340,-0.98,-116.8,377.9,-4.5,370,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1830,3471,0,0,0,0,0,0
$GC,6582,-0.98,-116.8,389.5,-5.0,376,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1830,3470,0,0,0,0,0,0
$GC,6826,-0.98,-116.8,405.0,-6.6,382,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1830,3468,0,0,0,0,0,0
$GC,7070,-0.98,-116.8,421.3,-6.6,388,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1830,3468,0,0,0,0,0,0
$GC,7315,-0.98,-116.8,434.1,-5.0,394,7319,0.00,2.45,0.00,0.000,4,0.000,0.053,2772,3312,3466,0,0,0,0,0,0
$GC,7359,-0.92,-116.8,436.3,-4.8,395,7364,0.12,2.22,0.00,0.000,6,0.100,0.047,2801,1957,3466,0,0,0,0,0,0
$GC,7642,-0.92,-116.8,446.3,-3.7,402,7647,0.00,3.20,0.00,0.000,4,0.000,0.097,2801,193,3465,0,0,0,0,0,0
$GC,7694,-0.92,-116.8,448.5,-4.4,403,7698,0.00,2.75,0.00,0.000,6,0.000,0.031,2800,1905,3464,0,0,0,0,0,0
$GC,7967,-0.92,-116.8,460.9,-4.7,410,7972,0.00,3.05,0.00,0.000,4,0.000,0.084,2800,197,3463,0,0,0,0,0,0
$GC,7988,-0.92,-116.8,462.2,-5.9,410,7993,0.00,2.72,0.00,0.000,6,0.000,0.034,2800,1892,3463,0,0,0,0,0,0
$GC,8245,-0.92,-116.8,476.9,-6.0,417,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1892,3462,0,0,0,0,0,0
$GC,8487,-0.92,-116.8,491.1,-5.6,423,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1892,3462,0,0,0,0,0,0
$STATE,8688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8688,begin apogee
$GC,8694,-0.31,0.0,501.4,5.0,428,8793,0.57,0.00,96.38,0.942,6,0.068,0.000,2935,1820,3001,0,0,0,0,0,0
$STATE,8794,end apogee,CONTROL_FINISHED_OK
$STATE,8794,begin climb
$GC,8798,0.76,116.8,503.4,0.0,430,8911,0.98,2.65,102.28,0.919,4,0.046,0.058,3172,3354,2523,0,0,0,0,0,0
$GC,8973,0.90,352.9,500.0,5.8,434,9186,0.10,2.62,204.80,0.901,6,0.087,0.054,3199,1825,1562,0,0,0,0,0,0
$GC,9469,0.81,380.2,452.6,9.6,447,9502,0.10,3.03,25.62,0.847,4,0.124,0.103,3178,236,1448,0,0,0,0,0,0
$GC,9593,0.83,490.8,442.4,8.1,449,9700,0.00,2.45,98.97,0.869,6,0.000,0.024,3178,1751,1000,0,0,0,0,0,0
$GC,9968,0.85,537.7,410.8,9.2,459,10017,0.00,2.72,41.72,0.843,4,0.000,0.042,3177,3357,807,0,0,0,0,0,0
$GC,10049,0.89,537.7,402.8,10.4,460,10054,0.00,2.72,0.00,0.000,6,0.000,0.046,3177,1745,805,0,0,0,0,0,0
$GC,10299,0.89,537.7,376.4,10.7,467,10303,0.00,2.65,0.00,0.000,4,0.000,0.035,3178,3365,802,0,0,0,0,0,0
$GC,10340,0.95,540.4,372.5,10.0,468,10345,0.12,2.83,0.00,0.000,6,0.082,0.042,3212,1675,800,0,0,0,0,0,0
$GC,10625,0.85,540.4,341.9,10.3,475,10631,0.12,2.75,0.00,0.000,4,0.245,0.028,3187,3359,800,0,0,0,0,0,0
$GC,10687,1.01,665.8,336.4,7.8,476,10762,0.12,2.90,68.60,0.817,6,0.083,0.044,3223,1631,476,0,0,0,0,0,0
$GC,11038,0.90,665.8,294.5,13.1,485,11044,0.12,2.83,0.00,0.000,4,0.189,0.027,3198,3360,469,0,0,0,0,0,0
$GC,11072,0.95,665.8,289.9,12.2,485,11077,0.00,3.00,0.00,0.000,6,0.000,0.040,3198,1578,469,0,0,0,0,0,0
$GC,11324,0.91,665.8,259.7,12.1,492,11327,0.00,2.38,0.00,0.000,4,0.000,0.079,3198,230,468,0,0,0,0,0,0
$GC,11401,0.91,665.8,249.8,11.9,493,11405,0.00,2.05,0.00,0.000,6,0.000,0.022,3198,1560,468,0,0,0,0,0,0
$GC,11657,0.91,665.8,222.9,10.3,500,11661,0.00,2.33,0.00,0.000,4,0.000,0.072,3198,228,468,0,0,0,0,0,0
$GC,11714,0.89,688.6,217.1,9.6,501,11718,0.00,1.98,0.00,0.000,6,0.000,0.022,3198,1522,467,0,0,0,0,0,0
$GC,11977,0.99,767.5,193.5,8.6,512,11981,0.00,2.28,0.00,0.000,4,0.000,0.071,3198,226,467,0,0,0,0,0,0
$GC,12024,0.95,776.5,188.9,9.9,515,12029,0.00,1.95,0.00,0.000,6,0.000,0.025,3198,1526,466,0,0,0,0,0,0
$GC,12287,1.02,834.9,165.8,9.0,540,12291,0.10,2.28,0.00,0.000,4,0.085,0.074,3228,230,467,0,0,0,0,0,0
$GC,12344,0.92,834.9,159.4,12.6,544,12348,0.12,1.88,0.00,0.000,6,0.109,0.030,3200,1491,467,0,0,0,0,0,0
$GC,12613,0.92,834.9,129.5,11.3,569,12618,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1493,467,0,0,0,0,0,0
$GC,12876,0.92,840.2,99.9,9.9,594,12880,0.00,2.15,0.00,0.000,4,0.000,0.070,3200,231,466,0,0,0,0,0,0
$GC,12944,0.92,840.2,93.5,10.1,599,12947,0.00,1.88,0.00,0.000,6,0.000,0.022,3200,1483,466,0,0,0,0,0,0
$GC,13218,1.37,1161.1,79.2,4.3,624,13223,0.38,2.15,0.00,0.000,4,0.044,0.062,3305,231,467,0,0,0,0,0,0
$GC,13263,1.14,1161.1,74.6,12.9,627,13268,0.25,1.88,0.00,0.000,6,0.094,0.021,3248,1499,467,0,0,0,0,0,0
$GC,13532,1.09,1161.8,50.1,10.0,651,13535,0.00,2.15,0.00,0.000,4,0.000,0.061,3248,229,467,0,0,0,0,0,0
$GC,13553,1.05,1161.8,47.5,10.4,652,13556,0.00,1.88,0.00,0.000,6,0.000,0.021,3248,1490,467,0,0,0,0,0,0
$GC,13841,1.03,1180.3,17.8,9.7,685,13851,0.10,3.03,0.00,0.000,4,0.118,0.031,3225,3360,468,0,0,0,0,0,0
$GC,13871,1.11,1207.4,15.1,9.6,688,13880,0.00,3.15,0.00,0.000,6,0.000,0.040,3224,1458,468,0,0,0,0,0,0
$STATE,13996,end climb,SURFACE_DEPTH_REACHED
$STATE,13996,begin surface coast
$FINISH,0.5,1.021706
$STATE,14047,end surface coast,CONTROL_FINISHED_OK
$STATE,14048,begin surface
$SM_CCo,14131,0.00,0.000,0,0,467,621.59
$SM_GC,0.92,11.10,0.00,0.00,0.025,0.000,0.000,473,1760,467,-11.52,-0.28,621.59
$IRIDIUM_FIX,2246.36,-15756.28,100100,151508
$TT8_MAMPS,0.025311
$HUMID,53.11
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,21.60
$XPDR_PINGS,76
$24V_AH,23.4,59.629
$10V_AH,10.0,56.995
$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,28.150,154.700,638.375,0.000,0.000,22.178,47.667,299.032,19.000,0.000,69.864,1418.279,9089.095,638.393,2792.630,753.507,33.368,1650.287,0.000,2740.471,0.000,0.534,0.000
$DEVICE_MAMPS,245.440,102.778,941.876,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,482.904,425.600,557.798,1053.589,1593.591,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,57296,713
$CAP_FILE_SIZE,148449,0
$CFSIZE,260165632,157253632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161010,220454,2253.923,-15754.587,24,1.1,41,10.1