version: 66.06
glider: 146
mission: 5
dive: 465
start: 10 21 110 12 5 1
data:
$ID,146
$MISSION,5
$DIVE,465
$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,-258561.7
$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,46
$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
$GPS1,115552,2249.264,-15754.878,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.3
$GPS2,120406,2249.258,-15754.878,34,0.9,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.011,0.219
$KALMAN_X,-260169.8,268.3,72.1,286901.4,-131.7
$KALMAN_Y,-609877.2,-247.0,-166.3,737485.0,-665.1
$MHEAD_RNG_PITCHd_Wd,352.8,16191,-21.4,-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,-1.46,-100.8,0.0,0.0,0,103,0.00,0.00,-85.53,0.000,6,0.000,0.000,477,1745,3413,0,0,0,0,0,0
$GC,108,-1.48,-116.8,3.8,-7.0,11,126,11.50,2.53,-1.17,0.000,4,0.152,0.035,2669,3340,3478,0,0,0,0,0,0
$GC,164,-1.39,-116.8,20.9,-18.3,18,174,0.10,2.55,0.00,0.000,6,0.112,0.034,2692,1792,3480,0,0,0,0,0,0
$GC,448,-1.34,-116.8,63.0,-11.7,47,452,0.00,2.70,0.00,0.000,4,0.000,0.056,2692,188,3480,0,0,0,0,0,0
$GC,470,-1.29,-116.8,65.9,-12.7,48,475,0.12,2.45,0.00,0.000,6,0.122,0.015,2716,1792,3481,0,0,0,0,0,0
$GC,734,-1.36,-116.8,94.1,-10.2,72,738,0.00,2.40,0.00,0.000,4,0.000,0.023,2716,3321,3482,0,0,0,0,0,0
$GC,780,-1.49,-116.8,98.1,-9.1,75,785,0.17,2.50,0.00,0.000,6,0.056,0.027,2660,1767,3482,0,0,0,0,0,0
$GC,1048,-1.49,-116.8,126.9,-10.6,99,1052,0.00,2.67,0.00,0.000,4,0.000,0.065,2660,194,3482,0,0,0,0,0,0
$GC,1081,-1.42,-116.8,131.6,-12.4,101,1088,0.12,2.40,0.00,0.000,6,0.117,0.021,2687,1790,3482,0,0,0,0,0,0
$GC,1344,-1.42,-116.8,158.0,-10.5,126,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1791,3483,0,0,0,0,0,0
$GC,1599,-1.42,-116.8,185.7,-11.1,150,1603,0.00,2.38,0.00,0.000,4,0.000,0.030,2687,3314,3483,0,0,0,0,0,0
$GC,1641,-1.51,-116.8,190.6,-11.4,153,1645,0.00,2.45,0.00,0.000,6,0.000,0.028,2687,1775,3483,0,0,0,0,0,0
$GC,1898,-1.51,-116.8,219.1,-11.3,165,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1773,3483,0,0,0,0,0,0
$GC,2138,-1.55,-116.8,246.5,-11.2,171,2143,0.10,2.45,0.00,0.000,4,0.086,0.026,2653,3318,3483,0,0,0,0,0,0
$GC,2171,-1.55,-116.8,250.5,-11.5,171,2177,0.00,2.45,0.00,0.000,6,0.000,0.035,2653,1786,3483,0,0,0,0,0,0
$GC,2423,-1.55,-116.8,278.7,-11.1,178,2427,0.00,2.78,0.00,0.000,4,0.000,0.073,2652,193,3482,0,0,0,0,0,0
$GC,2450,-1.51,-116.8,282.1,-11.8,178,2454,0.00,2.42,0.00,0.000,6,0.000,0.024,2652,1760,3482,0,0,0,0,0,0
$GC,2699,-1.51,-116.8,308.3,-10.3,184,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1760,3481,0,0,0,0,0,0
$GC,2943,-1.51,-116.8,334.2,-10.6,190,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1760,3481,0,0,0,0,0,0
$GC,3188,-1.51,-116.8,360.3,-10.9,196,3193,0.00,2.55,0.00,0.000,4,0.000,0.040,2652,3346,3480,0,0,0,0,0,0
$GC,3216,-1.55,-116.8,363.5,-11.7,196,3220,0.00,2.55,0.00,0.000,6,0.000,0.048,2652,1794,3479,0,0,0,0,0,0
$GC,3466,-1.55,-116.8,391.2,-11.1,202,3470,0.00,2.90,0.00,0.000,4,0.000,0.090,2652,185,3478,0,0,0,0,0,0
$GC,3488,-1.55,-116.8,393.8,-11.1,202,3493,0.00,2.53,0.00,0.000,6,0.000,0.028,2652,1788,3478,0,0,0,0,0,0
$GC,3744,-1.55,-116.8,421.5,-10.8,209,3748,0.00,2.55,0.00,0.000,4,0.000,0.051,2652,3348,3477,0,0,0,0,0,0
$GC,3777,-1.59,-116.8,425.3,-10.9,209,3782,0.00,2.60,0.00,0.000,6,0.000,0.055,2652,1805,3477,0,0,0,0,0,0
$GC,4028,-1.59,-116.8,452.5,-10.9,216,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1805,3475,0,0,0,0,0,0
$GC,4270,-1.59,-116.8,478.9,-10.7,222,4274,0.00,2.55,0.00,0.000,4,0.000,0.047,2652,3344,3473,0,0,0,0,0,0
$GC,4291,-1.64,-116.8,481.4,-11.0,222,4296,0.00,2.65,0.00,0.000,6,0.000,0.061,2652,1793,3473,0,0,0,0,0,0
$STATE,4503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4503,begin apogee
$GC,4509,-0.31,0.0,504.1,10.8,228,4609,1.27,0.00,96.90,0.921,6,0.100,0.000,2930,1793,3000,0,0,0,0,0,0
$STATE,4610,end apogee,CONTROL_FINISHED_OK
$STATE,4610,begin climb
$GC,4614,1.48,116.8,506.6,0.0,230,4726,1.62,2.85,100.20,0.899,4,0.045,0.057,3330,3395,2522,0,0,0,0,0,0
$GC,4779,1.41,149.2,502.6,7.9,233,4815,0.10,2.72,28.45,0.865,6,0.119,0.058,3309,1823,2392,0,0,0,0,0,0
$GC,5073,1.35,154.6,474.5,9.7,241,5084,0.00,3.10,4.90,0.630,4,0.000,0.119,3308,228,2370,0,0,0,0,0,0
$GC,5097,1.24,157.3,472.0,9.9,241,5107,0.20,2.58,4.10,0.563,6,0.120,0.034,3269,1801,2359,0,0,0,0,0,0
$GC,5357,1.28,190.1,450.5,7.8,248,5393,0.00,2.75,30.58,0.868,4,0.000,0.048,3269,3403,2223,0,0,0,0,0,0
$GC,5466,1.36,203.2,441.5,9.2,249,5487,0.12,2.72,12.65,0.806,6,0.085,0.055,3303,1818,2171,0,0,0,0,0,0
$GC,5731,1.36,204.1,414.6,10.0,256,5735,0.00,2.62,0.00,0.000,4,0.000,0.036,3303,3413,2166,0,0,0,0,0,0
$GC,5802,1.36,204.1,407.2,10.1,257,5807,0.00,2.67,0.00,0.000,6,0.000,0.049,3302,1837,2164,0,0,0,0,0,0
$GC,6054,1.36,204.1,381.0,10.7,263,6058,0.00,2.55,0.00,0.000,4,0.000,0.035,3302,3414,2163,0,0,0,0,0,0
$GC,6069,1.36,204.1,378.9,11.0,263,6074,0.00,2.62,0.00,0.000,6,0.000,0.044,3303,1850,2162,0,0,0,0,0,0
$GC,6331,1.36,204.1,351.2,10.7,270,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1850,2162,0,0,0,0,0,0
$GC,6575,1.37,210.3,327.0,9.6,276,6585,0.00,2.58,5.90,0.659,4,0.000,0.034,3303,3420,2142,0,0,0,0,0,0
$GC,6614,1.39,225.3,323.4,9.0,277,6635,0.00,2.60,15.00,0.775,6,0.000,0.040,3302,1855,2082,0,0,0,0,0,0
$GC,6896,1.39,229.3,296.3,9.8,284,6906,0.00,2.90,4.38,0.560,4,0.000,0.080,3303,236,2065,0,0,0,0,0,0
$GC,6949,1.33,229.3,290.7,10.9,285,6953,0.00,2.62,0.00,0.000,6,0.000,0.021,3303,1875,2064,0,0,0,0,0,0
$GC,7220,1.35,245.5,266.1,9.0,292,7244,0.00,2.90,16.02,0.744,4,0.000,0.065,3303,238,1999,0,0,0,0,0,0
$GC,7285,1.31,245.5,259.3,11.7,293,7290,0.00,2.62,0.00,0.000,6,0.000,0.022,3303,1873,1996,0,0,0,0,0,0
$GC,7546,1.35,247.4,233.6,9.9,300,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1874,1995,0,0,0,0,0,0
$GC,7790,1.41,258.8,211.0,9.3,306,7809,0.00,2.55,12.80,0.689,4,0.000,0.032,3303,3412,1945,0,0,0,0,0,0
$GC,7823,1.48,264.0,207.9,9.7,306,7834,0.00,2.58,6.25,0.591,6,0.000,0.038,3303,1853,1924,0,0,0,0,0,0
$GC,8091,1.53,268.9,182.5,9.7,325,8099,0.12,0.00,5.65,0.565,6,0.086,0.000,3334,1853,1903,0,0,0,0,0,0
$GC,8353,1.53,268.9,154.5,10.7,350,8357,0.00,2.53,0.00,0.000,4,0.000,0.035,3334,3418,1902,0,0,0,0,0,0
$GC,8385,1.53,268.9,151.2,11.3,352,8389,0.00,2.58,0.00,0.000,6,0.000,0.037,3334,1860,1901,0,0,0,0,0,0
$GC,8649,1.53,268.9,122.4,11.2,376,8653,0.00,2.80,0.00,0.000,4,0.000,0.070,3334,241,1901,0,0,0,0,0,0
$GC,8678,1.47,268.9,118.4,12.9,378,8682,0.00,2.58,0.00,0.000,6,0.000,0.023,3334,1889,1900,0,0,0,0,0,0
$GC,8941,1.47,268.9,88.7,10.5,402,8945,0.00,2.85,0.00,0.000,4,0.000,0.067,3334,233,1900,0,0,0,0,0,0
$GC,8971,1.47,268.9,85.4,10.8,404,8976,0.00,2.60,0.00,0.000,6,0.000,0.021,3334,1883,1900,0,0,0,0,0,0
$GC,9238,1.55,300.7,64.4,7.9,428,9273,0.00,2.50,28.30,0.600,4,0.000,0.029,3334,3422,1774,0,0,0,0,0,0
$GC,9281,1.66,331.1,60.7,8.0,431,9318,0.08,2.62,27.33,0.584,6,0.058,0.034,3361,1855,1651,0,0,0,0,0,0
$GC,9574,1.71,331.1,31.7,10.2,458,9579,0.00,2.53,0.00,0.000,4,0.000,0.028,3361,3415,1646,0,0,0,0,0,0
$GC,9604,1.78,331.1,28.6,10.3,460,9616,0.08,2.60,0.00,0.000,6,0.051,0.035,3390,1855,1644,0,0,0,0,0,0
$STATE,9815,end climb,SURFACE_DEPTH_REACHED
$STATE,9815,begin surface coast
$FINISH,0.3,1.010018
$STATE,9851,end surface coast,CONTROL_FINISHED_OK
$STATE,9852,begin surface
$SM_CCo,9875,78.70,0.471,1,0,1288,420.20
$SM_GC,1.09,0.00,0.00,78.70,0.000,0.000,0.471,478,1744,1288,-11.61,-0.74,420.20
$IRIDIUM_FIX,2241.69,-15754.11,150100,090933
$TT8_MAMPS,0.026078
$HUMID,54.17
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,19.80
$XPDR_PINGS,99
$24V_AH,23.3,64.446
$10V_AH,10.0,61.361
$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,27.700,130.875,399.400,78.700,0.000,24.174,32.192,277.879,24.750,0.000,36.190,1004.912,6427.078,525.659,1859.866,637.603,33.394,1235.914,0.000,1845.190,0.000,0.534,0.000
$DEVICE_MAMPS,151.866,118.885,921.167,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.150,285.753,384.665,740.709,1121.133,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,38312,495
$CAP_FILE_SIZE,108392,0
$CFSIZE,260165632,155226112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211010,145206,2250.380,-15754.813,8,1.9,24,10.1