version: 66.06
glider: 146
mission: 5
dive: 431
start: 10 17 110 4 23 4
data:
$ID,146
$MISSION,5
$DIVE,431
$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,-257829.16
$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,56
$R_STBD_OVSHOOT,60
$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
$GPS1,041401,2255.403,-15754.629,38,1.2,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.3
$GPS2,042208,2255.409,-15754.605,10,1.5,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.045,0.230
$KALMAN_X,-258124.6,103.4,-89.4,285646.0,272.9
$KALMAN_Y,-596823.2,-390.1,324.0,735481.0,-1020.2
$MHEAD_RNG_PITCHd_Wd,338.7,4845,-19.8,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.7,0.0,0.0,0,103,0.00,0.00,-85.32,0.000,6,0.000,0.000,475,1737,3478,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.7,-9.8,11,125,11.57,2.58,0.00,0.000,4,0.151,0.025,2689,3345,3480,0,0,0,0,0,0
$GC,209,-1.33,-116.8,32.0,-14.8,25,219,0.05,2.55,0.00,0.000,6,0.117,0.034,2703,1797,3481,0,0,0,0,0,0
$GC,477,-1.25,-116.8,69.0,-13.6,50,482,0.12,2.72,0.00,0.000,4,0.133,0.055,2725,188,3482,0,0,0,0,0,0
$GC,489,-1.18,-116.8,71.6,-13.1,50,498,0.00,2.47,0.00,0.000,6,0.000,0.016,2725,1805,3481,0,0,0,0,0,0
$GC,756,-1.18,-116.8,100.2,-10.8,75,760,0.00,2.75,0.00,0.000,4,0.000,0.061,2725,189,3482,0,0,0,0,0,0
$GC,802,-1.26,-116.8,105.8,-10.3,78,812,0.00,2.42,0.00,0.000,6,0.000,0.015,2726,1769,3483,0,0,0,0,0,0
$GC,1071,-1.31,-116.8,129.9,-8.7,103,1075,0.00,2.42,0.00,0.000,4,0.000,0.029,2726,3320,3484,0,0,0,0,0,0
$GC,1082,-1.36,-116.8,131.6,-8.7,103,1088,0.00,2.50,0.00,0.000,6,0.000,0.028,2726,1761,3483,0,0,0,0,0,0
$GC,1346,-1.42,-116.8,154.7,-9.1,128,1348,0.15,0.00,0.00,0.000,6,0.067,0.000,2677,1761,3484,0,0,0,0,0,0
$GC,1600,-1.38,-116.8,184.5,-11.8,152,1602,0.10,0.00,0.00,0.000,6,0.124,0.000,2697,1761,3484,0,0,0,0,0,0
$GC,1869,-1.38,-116.8,212.9,-10.0,169,1873,0.00,2.67,0.00,0.000,4,0.000,0.071,2697,199,3485,0,0,0,0,0,0
$GC,1897,-1.38,-116.8,215.8,-10.2,169,1901,0.00,2.40,0.00,0.000,6,0.000,0.022,2697,1790,3484,0,0,0,0,0,0
$GC,2147,-1.38,-116.8,237.2,-8.3,175,2151,0.00,2.38,0.00,0.000,4,0.000,0.033,2697,3318,3484,0,0,0,0,0,0
$GC,2169,-1.38,-116.8,239.1,-8.4,175,2173,0.00,2.47,0.00,0.000,6,0.000,0.029,2697,1781,3484,0,0,0,0,0,0
$GC,2431,-1.38,-116.8,260.6,-8.3,182,2435,0.00,2.40,0.00,0.000,4,0.000,0.033,2697,3318,3484,0,0,0,0,0,0
$GC,2453,-1.42,-116.8,262.8,-9.2,182,2457,0.00,2.50,0.00,0.000,6,0.000,0.038,2698,1773,3483,0,0,0,0,0,0
$GC,2708,-1.42,-116.8,286.7,-9.7,189,2712,0.00,2.75,0.00,0.000,4,0.000,0.075,2697,195,3483,0,0,0,0,0,0
$GC,2748,-1.42,-116.8,290.9,-11.4,190,2753,0.00,2.40,0.00,0.000,6,0.000,0.027,2697,1752,3482,0,0,0,0,0,0
$GC,3032,-1.47,-116.8,320.7,-10.3,197,3036,0.00,2.53,0.00,0.000,4,0.000,0.040,2697,3344,3482,0,0,0,0,0,0
$GC,3065,-1.55,-116.8,324.2,-10.2,197,3071,0.15,2.55,0.00,0.000,6,0.064,0.041,2646,1786,3481,0,0,0,0,0,0
$GC,3316,-1.49,-116.8,352.6,-11.4,204,3321,0.12,2.50,0.00,0.000,4,0.116,0.035,2671,3341,3480,0,0,0,0,0,0
$GC,3356,-1.49,-116.8,357.1,-10.7,205,3360,0.00,2.58,0.00,0.000,6,0.000,0.041,2671,1787,3480,0,0,0,0,0,0
$GC,3640,-1.49,-116.8,385.1,-10.0,212,3645,0.00,2.50,0.00,0.000,4,0.000,0.038,2671,3341,3479,0,0,0,0,0,0
$GC,3667,-1.49,-116.8,388.2,-10.5,212,3672,0.00,2.58,0.00,0.000,6,0.000,0.045,2671,1802,3478,0,0,0,0,0,0
$GC,3917,-1.49,-116.8,412.4,-9.6,218,3922,0.00,2.92,0.00,0.000,4,0.000,0.097,2672,186,3477,0,0,0,0,0,0
$GC,3944,-1.49,-116.8,415.2,-10.5,218,3949,0.00,2.53,0.00,0.000,6,0.000,0.027,2672,1785,3477,0,0,0,0,0,0
$GC,4196,-1.49,-116.8,438.9,-9.4,224,4200,0.00,2.58,0.00,0.000,4,0.000,0.051,2671,3359,3475,0,0,0,0,0,0
$GC,4236,-1.55,-116.8,442.4,-8.5,225,4240,0.00,2.62,0.00,0.000,6,0.000,0.058,2671,1810,3475,0,0,0,0,0,0
$GC,4521,-1.55,-116.8,468.3,-9.4,232,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1810,3473,0,0,0,0,0,0
$GC,4763,-1.55,-116.8,491.3,-9.4,238,4767,0.00,2.58,0.00,0.000,4,0.000,0.049,2672,3353,3472,0,0,0,0,0,0
$GC,4790,-1.59,-116.8,493.9,-9.3,238,4795,0.00,2.65,0.00,0.000,6,0.000,0.058,2671,1812,3471,0,0,0,0,0,0
$STATE,4875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4875,begin apogee
$GC,4880,-0.31,0.0,501.8,9.0,240,4982,1.17,0.00,97.45,0.920,6,0.087,0.000,2929,1812,3001,0,0,0,0,0,0
$STATE,4982,end apogee,CONTROL_FINISHED_OK
$STATE,4982,begin climb
$GC,4986,1.38,116.8,503.5,0.0,242,5098,1.58,2.78,100.82,0.897,4,0.048,0.054,3310,3397,2523,0,0,0,0,0,0
$GC,5151,1.30,151.2,499.4,8.0,246,5187,0.12,2.75,30.25,0.864,6,0.136,0.061,3287,1818,2384,0,0,0,0,0,0
$GC,5451,1.26,168.5,472.4,9.0,254,5472,0.00,2.67,15.52,0.828,4,0.000,0.045,3287,3408,2313,0,0,0,0,0,0
$GC,5541,1.29,187.5,464.3,8.9,256,5566,0.00,2.72,18.25,0.835,6,0.000,0.058,3287,1830,2235,0,0,0,0,0,0
$GC,5822,1.27,212.6,439.7,8.6,263,5851,0.00,2.67,22.62,0.845,4,0.000,0.042,3287,3400,2133,0,0,0,0,0,0
$GC,5871,1.31,238.6,435.4,8.5,264,5901,0.00,2.70,24.38,0.836,6,0.000,0.056,3286,1829,2028,0,0,0,0,0,0
$GC,6146,1.31,239.0,408.2,10.0,270,6150,0.00,2.60,0.00,0.000,4,0.000,0.039,3287,3407,2021,0,0,0,0,0,0
$GC,6172,1.31,239.0,405.2,10.5,270,6177,0.00,2.70,0.00,0.000,6,0.000,0.056,3287,1834,2020,0,0,0,0,0,0
$GC,6424,1.31,239.0,377.7,11.1,276,6429,0.00,2.92,0.00,0.000,4,0.000,0.094,3287,230,2018,0,0,0,0,0,0
$GC,6457,1.23,239.0,373.1,13.5,276,6462,0.00,2.58,0.00,0.000,6,0.000,0.021,3287,1842,2017,0,0,0,0,0,0
$GC,6706,1.23,239.0,343.9,11.5,283,6711,0.00,2.53,0.00,0.000,4,0.000,0.036,3287,3400,2016,0,0,0,0,0,0
$GC,6747,1.23,239.0,339.6,10.9,284,6752,0.00,2.60,0.00,0.000,6,0.000,0.048,3287,1832,2015,0,0,0,0,0,0
$GC,7030,1.24,244.7,311.2,9.7,291,7036,0.00,0.00,4.57,0.578,6,0.000,0.000,3287,1831,2003,0,0,0,0,0,0
$GC,7273,1.24,244.7,284.5,11.0,297,7278,0.00,2.83,0.00,0.000,4,0.000,0.075,3287,229,2002,0,0,0,0,0,0
$GC,7290,1.24,244.7,282.7,10.7,297,7295,0.00,2.58,0.00,0.000,6,0.000,0.027,3287,1846,2001,0,0,0,0,0,0
$GC,7552,1.25,248.7,256.0,9.8,304,7562,0.00,2.83,5.25,0.596,4,0.000,0.067,3287,234,1986,0,0,0,0,0,0
$GC,7596,1.20,248.7,251.3,10.8,305,7601,0.12,2.55,0.00,0.000,6,0.128,0.027,3263,1834,1985,0,0,0,0,0,0
$GC,7876,1.30,272.8,227.6,8.6,312,7905,0.00,2.60,22.95,0.731,4,0.000,0.038,3262,3394,1887,0,0,0,0,0,0
$GC,7928,1.41,272.8,222.2,10.1,313,7933,0.20,2.62,0.00,0.000,6,0.067,0.039,3314,1817,1886,0,0,0,0,0,0
$GC,8182,1.41,272.8,192.9,11.7,321,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1818,1882,0,0,0,0,0,0
$GC,8435,1.41,272.8,164.4,11.4,345,8440,0.00,2.72,0.00,0.000,4,0.000,0.071,3314,242,1881,0,0,0,0,0,0
$GC,8464,1.35,272.8,160.9,12.9,347,8469,0.00,2.53,0.00,0.000,6,0.000,0.027,3315,1838,1881,0,0,0,0,0,0
$GC,8733,1.35,274.6,133.4,9.9,371,8737,0.00,2.50,0.00,0.000,4,0.000,0.037,3314,3398,1881,0,0,0,0,0,0
$GC,8788,1.40,274.6,127.5,10.3,375,8792,0.00,2.58,0.00,0.000,6,0.000,0.038,3314,1831,1880,0,0,0,0,0,0
$GC,9056,1.40,274.6,100.0,10.3,399,9060,0.00,2.72,0.00,0.000,4,0.000,0.064,3314,240,1880,0,0,0,0,0,0
$GC,9087,1.40,274.6,96.2,11.3,401,9092,0.00,2.50,0.00,0.000,6,0.000,0.021,3314,1839,1880,0,0,0,0,0,0
$GC,9356,1.48,305.9,72.2,8.2,425,9397,0.00,2.85,28.65,0.602,4,0.000,0.061,3314,236,1752,0,0,0,0,0,0
$GC,9522,1.53,346.2,57.5,7.7,438,9564,0.00,2.45,35.25,0.584,6,0.000,0.020,3314,1807,1588,0,0,0,0,0,0
$GC,9820,1.66,366.4,33.2,8.9,465,9849,0.20,2.78,18.17,0.541,4,0.119,0.058,3368,240,1505,0,0,0,0,0,0
$GC,9911,1.66,366.4,21.7,13.6,475,9921,0.00,2.47,0.00,0.000,6,0.000,0.020,3368,1801,1503,0,0,0,0,0,0
$STATE,10050,end climb,SURFACE_DEPTH_REACHED
$STATE,10050,begin surface coast
$FINISH,0.3,1.010151
$STATE,10098,end surface coast,CONTROL_FINISHED_OK
$STATE,10098,begin surface
$SM_CCo,10120,50.80,0.426,1,0,1287,420.20
$SM_GC,1.09,0.00,0.00,50.80,0.000,0.000,0.426,476,1748,1287,-11.61,-0.62,420.20
$IRIDIUM_FIX,2246.36,-15756.28,110100,010130
$TT8_MAMPS,0.026078
$HUMID,54.17
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.70
$XPDR_PINGS,78
$24V_AH,23.4,60.018
$10V_AH,10.0,57.359
$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,27.425,145.875,424.150,50.800,0.000,30.563,31.732,282.727,19.500,0.000,12.126,1034.069,6524.254,524.602,1922.751,660.790,33.377,1290.496,0.000,1922.498,0.000,0.534,0.000
$DEVICE_MAMPS,151.099,161.070,920.400,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.765,293.531,387.539,743.641,1116.394,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,41515,501
$CAP_FILE_SIZE,114839,0
$CFSIZE,260165632,157106176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171010,071400,2255.823,-15754.879,33,1.5,37,10.1