version: 66.06
glider: 146
mission: 5
dive: 468
start: 10 21 110 21 6 52
data:
$ID,146
$MISSION,5
$DIVE,468
$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,-258613.89
$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,21
$R_STBD_OVSHOOT,59
$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
$GPS1,205337,2252.773,-15754.638,29,1.7,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.2
$GPS2,210556,2252.822,-15754.571,16,1.7,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.037,0.232
$KALMAN_X,-258839.2,-173.8,182.3,286427.9,232.2
$KALMAN_Y,-610667.1,34.5,150.6,744278.1,-573.9
$MHEAD_RNG_PITCHd_Wd,340.9,9618,-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,-85.85,0.000,2,0.000,0.000,475,1778,3465,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.1,-8.2,11,125,11.45,2.47,-0.15,0.000,4,0.146,0.041,2687,3342,3477,0,0,0,0,0,0
$GC,236,-1.32,-116.8,32.7,-14.0,28,246,0.10,2.60,0.00,0.000,6,0.104,0.033,2711,1761,3478,0,0,0,0,0,0
$GC,504,-1.27,-116.8,69.7,-12.2,53,508,0.00,2.67,0.00,0.000,4,0.000,0.059,2711,192,3478,0,0,0,0,0,0
$GC,586,-1.23,-116.8,79.3,-11.0,59,591,0.10,2.40,0.00,0.000,6,0.131,0.015,2731,1799,3478,0,0,0,0,0,0
$GC,855,-1.28,-116.8,99.2,-8.1,83,860,0.00,2.70,0.00,0.000,4,0.000,0.061,2731,192,3479,0,0,0,0,0,0
$GC,900,-1.37,-116.8,104.2,-10.1,86,910,0.10,2.35,0.00,0.000,6,0.040,0.018,2689,1735,3480,0,0,0,0,0,0
$GC,1168,-1.37,-116.8,133.1,-11.6,111,1172,0.00,2.45,0.00,0.000,4,0.000,0.026,2689,3309,3480,0,0,0,0,0,0
$GC,1223,-1.37,-116.8,139.6,-11.2,115,1227,0.00,2.50,0.00,0.000,6,0.000,0.028,2689,1752,3480,0,0,0,0,0,0
$GC,1491,-1.37,-116.8,169.1,-10.9,139,1495,0.00,2.45,0.00,0.000,4,0.000,0.030,2689,3315,3480,0,0,0,0,0,0
$GC,1507,-1.37,-116.8,171.8,-11.3,140,1511,0.00,2.50,0.00,0.000,6,0.000,0.027,2689,1756,3481,0,0,0,0,0,0
$GC,1770,-1.37,-116.8,197.8,-9.9,164,1774,0.00,2.65,0.00,0.000,4,0.000,0.067,2689,197,3481,0,0,0,0,0,0
$GC,1811,-1.37,-116.8,202.1,-10.7,167,1816,0.00,2.35,0.00,0.000,6,0.000,0.016,2689,1749,3480,0,0,0,0,0,0
$GC,2095,-1.37,-116.8,229.3,-9.7,174,2099,0.00,2.50,0.00,0.000,4,0.000,0.029,2689,3330,3480,0,0,0,0,0,0
$GC,2151,-1.41,-116.8,234.8,-8.9,175,2155,0.00,2.53,0.00,0.000,6,0.000,0.034,2689,1768,3480,0,0,0,0,0,0
$GC,2418,-1.41,-116.8,259.9,-9.6,182,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1768,3479,0,0,0,0,0,0
$GC,2661,-1.41,-116.8,281.7,-9.0,188,2665,0.00,2.47,0.00,0.000,4,0.000,0.027,2689,3329,3478,0,0,0,0,0,0
$GC,2694,-1.47,-116.8,284.6,-8.7,188,2699,0.00,2.53,0.00,0.000,6,0.000,0.033,2689,1779,3478,0,0,0,0,0,0
$GC,2945,-1.47,-116.8,307.3,-9.1,195,2950,0.00,2.47,0.00,0.000,4,0.000,0.029,2689,3324,3478,0,0,0,0,0,0
$GC,2968,-1.51,-116.8,309.7,-9.6,195,2972,0.00,2.53,0.00,0.000,6,0.000,0.042,2689,1783,3478,0,0,0,0,0,0
$GC,3222,-1.51,-116.8,335.5,-10.4,202,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1783,3476,0,0,0,0,0,0
$GC,3468,-1.51,-116.8,361.4,-10.5,208,3472,0.00,2.50,0.00,0.000,4,0.000,0.035,2689,3321,3475,0,0,0,0,0,0
$GC,3483,-1.51,-116.8,363.1,-10.2,208,3487,0.00,2.53,0.00,0.000,6,0.000,0.041,2689,1782,3475,0,0,0,0,0,0
$GC,3750,-1.51,-116.8,386.8,-8.7,215,3755,0.00,2.47,0.00,0.000,4,0.000,0.041,2689,3320,3473,0,0,0,0,0,0
$GC,3774,-1.56,-116.8,388.8,-8.2,215,3779,0.12,2.53,0.00,0.000,6,0.075,0.049,2648,1794,3473,0,0,0,0,0,0
$GC,4030,-1.51,-116.8,414.5,-10.2,222,4032,0.10,0.00,0.00,0.000,6,0.132,0.000,2668,1794,3471,0,0,0,0,0,0
$GC,4273,-1.51,-116.8,438.1,-9.8,228,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1794,3470,0,0,0,0,0,0
$GC,4517,-1.51,-116.8,462.9,-10.2,234,4521,0.00,2.53,0.00,0.000,4,0.000,0.048,2668,3313,3468,0,0,0,0,0,0
$GC,4539,-1.51,-116.8,465.4,-10.9,234,4544,0.00,2.58,0.00,0.000,6,0.000,0.056,2668,1800,3468,0,0,0,0,0,0
$GC,4794,-1.51,-116.8,493.0,-10.9,241,4798,0.00,2.50,0.00,0.000,4,0.000,0.053,2668,3310,3466,0,0,0,0,0,0
$GC,4827,-1.51,-116.8,496.7,-10.5,241,4833,0.00,2.58,0.00,0.000,6,0.000,0.063,2669,1804,3466,0,0,0,0,0,0
$STATE,4871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4872,begin apogee
$GC,4879,-0.31,0.0,501.3,10.4,243,4978,1.20,0.00,96.05,0.926,6,0.088,0.000,2930,1804,3001,0,0,0,0,0,0
$STATE,4979,end apogee,CONTROL_FINISHED_OK
$STATE,4979,begin climb
$GC,4982,1.38,116.8,504.4,0.0,245,5094,1.55,2.72,100.82,0.904,4,0.051,0.055,3307,3354,2523,0,0,0,0,0,0
$GC,5164,1.30,147.2,500.1,8.3,249,5198,0.12,2.67,26.67,0.867,6,0.133,0.064,3284,1821,2400,0,0,0,0,0,0
$GC,5484,1.26,165.1,471.1,9.0,257,5508,0.00,2.60,16.35,0.838,4,0.000,0.045,3284,3364,2325,0,0,0,0,0,0
$GC,5666,1.28,176.6,453.7,9.4,261,5682,0.00,2.62,10.95,0.799,6,0.000,0.053,3284,1841,2281,0,0,0,0,0,0
$GC,5945,1.25,193.3,428.6,9.1,268,5963,0.00,0.00,16.15,0.834,6,0.000,0.000,3284,1840,2212,0,0,0,0,0,0
$GC,6189,1.26,199.7,405.1,9.7,274,6198,0.00,0.00,6.68,0.713,6,0.000,0.000,3284,1841,2186,0,0,0,0,0,0
$GC,6431,1.27,204.2,381.3,9.8,280,6441,0.00,2.53,5.35,0.655,4,0.000,0.033,3284,3371,2167,0,0,0,0,0,0
$GC,6476,1.28,213.7,377.1,9.5,281,6492,0.00,2.60,10.23,0.772,6,0.000,0.047,3284,1841,2129,0,0,0,0,0,0
$GC,6753,1.29,223.4,350.4,9.5,288,6765,0.00,0.00,9.77,0.758,6,0.000,0.000,3284,1841,2090,0,0,0,0,0,0
$GC,6997,1.31,234.7,327.4,9.4,294,7010,0.00,0.00,11.38,0.762,6,0.000,0.000,3284,1841,2044,0,0,0,0,0,0
$GC,7242,1.31,238.8,303.9,9.8,300,7253,0.00,2.90,4.97,0.604,4,0.000,0.077,3284,230,2027,0,0,0,0,0,0
$GC,7271,1.26,238.8,300.5,10.6,300,7276,0.00,2.55,0.00,0.000,6,0.000,0.025,3284,1824,2026,0,0,0,0,0,0
$GC,7521,1.28,254.7,276.9,9.1,306,7542,0.00,2.58,16.00,0.758,4,0.000,0.031,3284,3398,1961,0,0,0,0,0,0
$GC,7595,1.36,269.4,270.6,9.2,307,7614,0.00,2.58,14.52,0.739,6,0.000,0.041,3284,1854,1902,0,0,0,0,0,0
$GC,7889,1.39,296.2,245.7,8.5,315,7919,0.00,2.92,24.35,0.748,4,0.000,0.074,3284,234,1792,0,0,0,0,0,0
$GC,7972,1.39,296.2,237.2,11.3,317,7977,0.00,2.58,0.00,0.000,6,0.000,0.025,3284,1860,1790,0,0,0,0,0,0
$GC,8255,1.44,296.2,207.7,10.7,324,8261,0.12,2.88,0.00,0.000,4,0.086,0.068,3316,237,1788,0,0,0,0,0,0
$GC,8273,1.44,296.2,205.7,10.9,324,8278,0.00,2.55,0.00,0.000,6,0.000,0.021,3316,1845,1787,0,0,0,0,0,0
$GC,8534,1.44,296.2,175.5,11.1,345,8538,0.00,2.80,0.00,0.000,4,0.000,0.071,3316,241,1787,0,0,0,0,0,0
$GC,8556,1.39,296.2,172.5,12.7,346,8562,0.00,2.53,0.00,0.000,6,0.000,0.027,3316,1838,1786,0,0,0,0,0,0
$GC,8824,1.39,296.2,144.7,10.2,371,8829,0.00,2.75,0.00,0.000,4,0.000,0.070,3316,240,1786,0,0,0,0,0,0
$GC,8846,1.34,296.2,141.5,11.0,372,8854,0.10,2.53,0.00,0.000,6,0.099,0.021,3292,1825,1785,0,0,0,0,0,0
$GC,9115,1.42,315.1,118.4,8.9,397,9139,0.00,2.55,16.88,0.635,4,0.000,0.030,3292,3381,1714,0,0,0,0,0,0
$GC,9167,1.53,317.6,113.0,9.9,401,9172,0.17,2.55,0.00,0.000,6,0.070,0.035,3335,1827,1714,0,0,0,0,0,0
$GC,9433,1.53,317.6,80.8,12.6,425,9437,0.00,2.72,0.00,0.000,4,0.000,0.061,3335,241,1712,0,0,0,0,0,0
$GC,9542,1.53,317.6,66.3,12.7,433,9552,0.00,2.47,0.00,0.000,6,0.000,0.020,3335,1812,1711,0,0,0,0,0,0
$GC,9811,1.60,350.0,43.6,8.2,458,9850,0.00,0.00,30.50,0.576,6,0.000,0.000,3335,1814,1572,0,0,0,0,0,0
$GC,10144,1.65,350.0,10.1,11.4,500,10153,0.10,0.00,0.00,0.000,6,0.091,0.000,3364,1814,1569,0,0,0,0,0,0
$STATE,10196,end climb,SURFACE_DEPTH_REACHED
$STATE,10196,begin surface coast
$FINISH,0.3,1.010772
$STATE,10239,end surface coast,CONTROL_FINISHED_OK
$STATE,10239,begin surface
$SM_CCo,10261,63.80,0.453,1,0,1288,420.20
$SM_GC,1.06,0.00,0.00,63.80,0.000,0.000,0.453,476,1741,1288,-11.61,-0.79,420.20
$IRIDIUM_FIX,2244.02,-15756.28,150100,212135
$TT8_MAMPS,0.026078
$HUMID,53.78
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.70
$XPDR_PINGS,82
$24V_AH,23.3,64.839
$10V_AH,9.9,61.713
$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,27.225,123.575,417.625,63.800,0.000,54.637,64.712,408.198,20.500,0.000,18.081,1045.036,6684.240,541.610,1960.552,841.350,33.374,1284.908,0.000,1956.824,0.000,0.533,0.000
$DEVICE_MAMPS,145.730,115.817,925.769,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.172,294.688,393.707,755.703,1142.851,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,41603,513
$CAP_FILE_SIZE,114869,0
$CFSIZE,260165632,155054080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221010,000006,2253.372,-15754.738,11,1.5,21,10.1