version: 66.06
glider: 146
mission: 5
dive: 467
start: 10 21 110 18 1 28
data:
$ID,146
$MISSION,5
$DIVE,467
$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,-258595.19
$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,55
$R_STBD_OVSHOOT,54
$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
$GPS1,175225,2251.825,-15754.521,38,1.4,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.7
$GPS2,180032,2251.878,-15754.494,14,1.4,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.058,0.228
$KALMAN_X,-259229.3,-51.0,1.9,287002.6,397.5
$KALMAN_Y,-610034.1,-181.9,232.2,742023.0,68.6
$MHEAD_RNG_PITCHd_Wd,335.7,11371,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-86.00,0.000,2,0.000,0.000,475,1730,3449,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.0,-7.9,11,127,11.60,2.58,-0.52,0.000,4,0.150,0.031,2690,3352,3479,0,0,0,0,0,0
$GC,231,-1.34,-116.8,30.8,-13.9,28,240,0.00,2.55,0.00,0.000,6,0.000,0.036,2691,1793,3481,0,0,0,0,0,0
$GC,499,-1.23,-116.8,70.3,-14.3,53,504,0.20,2.75,0.00,0.000,4,0.120,0.058,2730,188,3482,0,0,0,0,0,0
$GC,547,-1.23,-116.8,77.1,-12.1,56,557,0.00,2.45,0.00,0.000,6,0.000,0.015,2730,1780,3482,0,0,0,0,0,0
$GC,816,-1.28,-116.8,103.4,-9.8,81,821,0.00,2.67,0.00,0.000,4,0.000,0.058,2730,195,3483,0,0,0,0,0,0
$GC,872,-1.38,-116.8,109.0,-9.1,85,877,0.12,2.35,0.00,0.000,6,0.071,0.016,2688,1753,3483,0,0,0,0,0,0
$GC,1140,-1.38,-116.8,133.8,-9.9,109,1144,0.00,2.42,0.00,0.000,4,0.000,0.026,2688,3307,3484,0,0,0,0,0,0
$GC,1181,-1.38,-116.8,138.7,-10.1,112,1185,0.00,2.53,0.00,0.000,6,0.000,0.035,2688,1739,3484,0,0,0,0,0,0
$GC,1447,-1.38,-116.8,168.9,-12.0,136,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1739,3484,0,0,0,0,0,0
$GC,1710,-1.38,-116.8,197.7,-9.6,161,1714,0.00,2.65,0.00,0.000,4,0.000,0.063,2688,192,3485,0,0,0,0,0,0
$GC,1743,-1.38,-116.8,200.8,-10.8,163,1747,0.00,2.30,0.00,0.000,6,0.000,0.021,2688,1721,3485,0,0,0,0,0,0
$GC,1995,-1.38,-116.8,225.2,-9.6,169,1999,0.00,2.53,0.00,0.000,4,0.000,0.026,2688,3331,3485,0,0,0,0,0,0
$GC,2074,-1.42,-116.8,232.8,-8.6,170,2080,0.00,2.58,0.00,0.000,6,0.000,0.034,2688,1744,3485,0,0,0,0,0,0
$GC,2324,-1.42,-116.8,255.9,-9.2,177,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1744,3484,0,0,0,0,0,0
$GC,2570,-1.42,-116.8,278.3,-9.2,183,2574,0.00,2.53,0.00,0.000,4,0.000,0.028,2688,3327,3484,0,0,0,0,0,0
$GC,2585,-1.42,-116.8,280.1,-9.6,183,2590,0.00,2.55,0.00,0.000,6,0.000,0.031,2688,1758,3484,0,0,0,0,0,0
$GC,2847,-1.42,-116.8,304.8,-9.5,190,2851,0.00,2.47,0.00,0.000,4,0.000,0.034,2688,3320,3482,0,0,0,0,0,0
$GC,2876,-1.47,-116.8,307.5,-9.3,190,2880,0.00,2.55,0.00,0.000,6,0.000,0.042,2688,1764,3483,0,0,0,0,0,0
$GC,3126,-1.47,-116.8,330.2,-8.9,196,3130,0.00,2.80,0.00,0.000,4,0.000,0.081,2688,185,3482,0,0,0,0,0,0
$GC,3153,-1.47,-116.8,332.8,-9.8,196,3157,0.00,2.42,0.00,0.000,6,0.000,0.025,2688,1739,3481,0,0,0,0,0,0
$GC,3404,-1.47,-116.8,355.3,-8.9,202,3409,0.00,2.62,0.00,0.000,4,0.000,0.043,2688,3360,3480,0,0,0,0,0,0
$GC,3449,-1.55,-116.8,359.5,-8.4,203,3454,0.10,2.62,0.00,0.000,6,0.081,0.040,2650,1776,3480,0,0,0,0,0,0
$GC,3727,-1.51,-116.8,388.9,-10.8,210,3733,0.10,2.58,0.00,0.000,4,0.127,0.035,2670,3355,3478,0,0,0,0,0,0
$GC,3769,-1.55,-116.8,392.8,-8.9,211,3774,0.00,2.62,0.00,0.000,6,0.000,0.052,2670,1789,3478,0,0,0,0,0,0
$GC,4053,-1.55,-116.8,420.1,-9.7,218,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1789,3477,0,0,0,0,0,0
$GC,4296,-1.55,-116.8,443.5,-9.6,224,4300,0.00,2.55,0.00,0.000,4,0.000,0.048,2670,3351,3475,0,0,0,0,0,0
$GC,4342,-1.60,-116.8,447.7,-9.6,225,4347,0.00,2.67,0.00,0.000,6,0.000,0.061,2670,1786,3474,0,0,0,0,0,0
$GC,4620,-1.60,-116.8,472.5,-8.7,232,4624,0.00,2.58,0.00,0.000,4,0.000,0.050,2670,3346,3473,0,0,0,0,0,0
$GC,4654,-1.64,-116.8,475.6,-8.8,232,4660,0.12,2.65,0.00,0.000,6,0.075,0.058,2629,1794,3473,0,0,0,0,0,0
$STATE,4902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4902,begin apogee
$GC,4907,-0.31,0.0,501.2,10.5,239,5008,1.38,0.00,97.05,0.927,6,0.092,0.000,2928,1794,3001,0,0,0,0,0,0
$STATE,5009,end apogee,CONTROL_FINISHED_OK
$STATE,5009,begin climb
$GC,5011,1.38,116.8,503.3,0.0,241,5123,1.58,2.83,101.32,0.903,4,0.049,0.053,3307,3389,2521,0,0,0,0,0,0
$GC,5183,1.31,149.4,498.6,8.2,245,5218,0.10,2.75,28.70,0.868,6,0.144,0.062,3289,1814,2390,0,0,0,0,0,0
$GC,5483,1.26,167.1,472.4,9.0,253,5507,0.00,3.08,15.90,0.836,4,0.000,0.113,3288,231,2317,0,0,0,0,0,0
$GC,5519,1.17,189.1,468.5,8.8,253,5546,0.17,2.60,20.77,0.845,6,0.122,0.028,3254,1811,2230,0,0,0,0,0,0
$GC,5811,1.20,209.9,443.0,8.8,261,5835,0.00,2.72,18.98,0.841,4,0.000,0.053,3254,3405,2144,0,0,0,0,0,0
$GC,5853,1.22,225.6,438.7,9.1,262,5874,0.00,2.72,15.43,0.818,6,0.000,0.054,3254,1814,2081,0,0,0,0,0,0
$GC,6135,1.22,225.6,409.5,10.3,269,6140,0.00,2.92,0.00,0.000,4,0.000,0.097,3254,233,2075,0,0,0,0,0,0
$GC,6170,1.18,225.6,405.9,11.4,269,6175,0.00,2.55,0.00,0.000,6,0.000,0.021,3254,1819,2073,0,0,0,0,0,0
$GC,6420,1.23,235.2,381.4,9.5,276,6434,0.00,2.65,8.70,0.751,4,0.000,0.043,3254,3398,2042,0,0,0,0,0,0
$GC,6452,1.32,261.0,378.5,8.5,276,6483,0.15,2.72,25.12,0.828,6,0.079,0.047,3292,1802,1936,0,0,0,0,0,0
$GC,6748,1.32,261.0,349.1,10.1,284,6752,0.00,2.83,0.00,0.000,4,0.000,0.083,3293,234,1930,0,0,0,0,0,0
$GC,6769,1.26,261.0,346.2,11.5,284,6774,0.00,2.53,0.00,0.000,6,0.000,0.025,3293,1816,1929,0,0,0,0,0,0
$GC,7027,1.26,261.0,319.5,10.5,291,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1817,1929,0,0,0,0,0,0
$GC,7269,1.26,261.0,290.9,11.8,297,7274,0.00,2.78,0.00,0.000,4,0.000,0.074,3293,233,1927,0,0,0,0,0,0
$GC,7290,1.21,261.0,288.0,13.4,297,7296,0.15,2.47,0.00,0.000,6,0.125,0.027,3263,1805,1927,0,0,0,0,0,0
$GC,7548,1.27,261.0,260.6,10.5,304,7552,0.00,2.58,0.00,0.000,4,0.000,0.035,3263,3400,1926,0,0,0,0,0,0
$GC,7603,1.38,261.0,254.8,10.4,305,7608,0.15,2.67,0.00,0.000,6,0.077,0.042,3303,1790,1925,0,0,0,0,0,0
$GC,7870,1.38,261.0,227.3,10.2,312,7874,0.00,2.72,0.00,0.000,4,0.000,0.072,3303,234,1925,0,0,0,0,0,0
$GC,7893,1.33,261.0,224.9,10.6,312,7897,0.00,2.50,0.00,0.000,6,0.000,0.024,3303,1815,1924,0,0,0,0,0,0
$GC,8148,1.33,267.3,199.8,9.7,319,8159,0.00,2.58,4.95,0.556,4,0.000,0.039,3303,3394,1911,0,0,0,0,0,0
$GC,8176,1.33,267.3,196.8,10.4,321,8185,0.00,2.65,0.00,0.000,6,0.000,0.042,3304,1808,1909,0,0,0,0,0,0
$GC,8443,1.33,267.3,170.5,10.1,346,8448,0.00,2.70,0.00,0.000,4,0.000,0.067,3303,239,1909,0,0,0,0,0,0
$GC,8476,1.27,267.3,166.0,11.9,348,8486,0.10,2.50,0.00,0.000,6,0.102,0.026,3280,1809,1909,0,0,0,0,0,0
$GC,8745,1.36,294.3,142.6,8.5,373,8772,0.00,0.00,25.33,0.668,6,0.000,0.000,3279,1811,1801,0,0,0,0,0,0
$GC,9028,1.44,294.3,115.7,10.4,400,9033,0.15,2.75,0.00,0.000,4,0.073,0.066,3320,233,1796,0,0,0,0,0,0
$GC,9051,1.44,294.3,113.4,11.8,401,9056,0.00,2.45,0.00,0.000,6,0.000,0.021,3321,1805,1795,0,0,0,0,0,0
$GC,9318,1.44,294.3,81.4,12.0,425,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1807,1795,0,0,0,0,0,0
$GC,9586,1.57,348.3,57.8,6.9,450,9641,0.10,2.80,46.47,0.594,4,0.095,0.059,3348,233,1581,0,0,0,0,0,0
$GC,9684,1.57,348.3,48.4,10.4,457,9694,0.00,2.45,0.00,0.000,6,0.000,0.021,3347,1776,1578,0,0,0,0,0,0
$GC,9973,1.57,348.3,18.8,10.7,489,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1778,1577,0,0,0,0,0,0
$STATE,10113,end climb,SURFACE_DEPTH_REACHED
$STATE,10113,begin surface coast
$FINISH,0.5,1.023718
$STATE,10164,end surface coast,CONTROL_FINISHED_OK
$STATE,10165,begin surface
$SM_CCo,10187,66.65,0.456,1,0,1288,420.20
$SM_GC,1.02,0.00,0.00,66.65,0.000,0.000,0.456,475,1778,1288,-11.62,0.23,420.20
$IRIDIUM_FIX,2239.35,-15754.99,150100,151505
$TT8_MAMPS,0.026078
$HUMID,54.37
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.40
$XPDR_PINGS,87
$24V_AH,23.3,64.701
$10V_AH,9.9,61.594
$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,28.075,136.075,408.725,66.650,0.000,24.422,32.703,290.800,21.750,0.000,15.505,1042.348,6570.491,546.604,1928.508,660.767,33.371,1285.777,0.000,1930.215,0.000,0.533,0.000
$DEVICE_MAMPS,150.332,112.749,926.536,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.488,294.991,399.869,763.576,1154.945,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,41552,516
$CAP_FILE_SIZE,111953,0
$CFSIZE,260165632,155111424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211010,205337,2252.773,-15754.638,29,1.7,29,10.1