version: 66.06
glider: 146
mission: 5
dive: 470
start: 10 22 110 3 13 2
data:
$ID,146
$MISSION,5
$DIVE,470
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$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,-258677.94
$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,42
$R_STBD_OVSHOOT,63
$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
$GPS1,030352,2254.211,-15754.970,10,99.0,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.4
$GPS2,031207,2254.203,-15754.942,31,1.0,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.043,0.228
$KALMAN_X,-258484.8,-80.8,-238.2,285764.8,394.0
$KALMAN_Y,-612268.9,106.0,-372.6,748887.3,-76.2
$MHEAD_RNG_PITCHd_Wd,339.3,7033,-20.1,-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,-1.40,-113.6,0.0,0.0,0,103,0.00,0.00,-85.57,0.000,6,0.000,0.000,473,1751,3465,0,0,0,0,0,0
$GC,108,-1.40,-116.8,4.4,-8.5,11,126,11.50,2.50,-0.20,0.000,4,0.147,0.041,2684,3336,3479,0,0,0,0,0,0
$GC,144,-0.50,-116.8,19.1,-37.9,15,153,0.93,2.55,0.00,0.000,6,0.093,0.031,2885,1787,3481,0,0,0,0,0,0
$GC,441,-0.79,-116.8,40.4,-6.2,50,446,0.25,2.70,0.00,0.000,4,0.047,0.056,2804,190,3481,0,0,0,0,0,0
$GC,464,-1.01,-116.8,42.2,-6.8,51,469,0.10,2.42,0.00,0.000,6,0.079,0.016,2764,1794,3481,0,0,0,0,0,0
$GC,734,-1.11,-116.8,71.1,-8.8,75,738,0.00,2.38,0.00,0.000,4,0.000,0.025,2764,3316,3482,0,0,0,0,0,0
$GC,768,-1.24,-116.8,74.3,-8.6,77,773,0.15,2.47,0.00,0.000,6,0.061,0.027,2714,1761,3482,0,0,0,0,0,0
$GC,1036,-1.24,-116.8,100.6,-11.1,101,1040,0.00,2.62,0.00,0.000,4,0.000,0.057,2714,197,3483,0,0,0,0,0,0
$GC,1069,-1.24,-116.8,105.2,-11.2,103,1075,0.00,2.35,0.00,0.000,6,0.000,0.015,2714,1772,3483,0,0,0,0,0,0
$GC,1334,-1.27,-116.8,132.6,-10.6,128,1338,0.00,2.42,0.00,0.000,4,0.000,0.032,2714,3309,3484,0,0,0,0,0,0
$GC,1401,-1.35,-116.8,139.3,-10.1,133,1405,0.00,2.45,0.00,0.000,6,0.000,0.033,2715,1781,3484,0,0,0,0,0,0
$GC,1670,-1.40,-116.8,165.9,-10.3,157,1674,0.00,2.70,0.00,0.000,4,0.000,0.061,2714,198,3485,0,0,0,0,0,0
$GC,1702,-1.44,-116.8,170.5,-11.9,159,1711,0.10,2.40,0.00,0.000,6,0.038,0.019,2670,1758,3485,0,0,0,0,0,0
$GC,1968,-1.40,-116.8,200.2,-10.8,184,1972,0.10,2.47,0.00,0.000,4,0.123,0.031,2691,3321,3485,0,0,0,0,0,0
$GC,1991,-1.40,-116.8,202.8,-9.4,184,1995,0.00,2.45,0.00,0.000,6,0.000,0.028,2691,1783,3484,0,0,0,0,0,0
$GC,2246,-1.40,-116.8,223.4,-7.7,191,2250,0.00,2.72,0.00,0.000,4,0.000,0.069,2691,188,3484,0,0,0,0,0,0
$GC,2268,-1.40,-116.8,225.4,-8.6,191,2272,0.00,2.42,0.00,0.000,6,0.000,0.018,2691,1774,3484,0,0,0,0,0,0
$GC,2524,-1.40,-116.8,246.7,-8.5,198,2529,0.00,2.45,0.00,0.000,4,0.000,0.031,2691,3332,3484,0,0,0,0,0,0
$GC,2558,-1.46,-116.8,249.9,-8.8,198,2564,0.00,2.50,0.00,0.000,6,0.000,0.036,2691,1786,3484,0,0,0,0,0,0
$GC,2808,-1.46,-116.8,274.5,-10.3,205,2812,0.00,2.75,0.00,0.000,4,0.000,0.077,2691,196,3483,0,0,0,0,0,0
$GC,2830,-1.46,-116.8,277.0,-11.6,205,2835,0.00,2.45,0.00,0.000,6,0.000,0.027,2691,1763,3483,0,0,0,0,0,0
$GC,3086,-1.50,-116.8,303.1,-10.0,212,3090,0.00,2.55,0.00,0.000,4,0.000,0.034,2691,3345,3482,0,0,0,0,0,0
$GC,3119,-1.57,-116.8,306.4,-9.5,212,3125,0.15,2.55,0.00,0.000,6,0.066,0.041,2643,1790,3482,0,0,0,0,0,0
$GC,3371,-1.52,-116.8,333.5,-10.8,219,3376,0.12,2.50,0.00,0.000,4,0.118,0.038,2669,3345,3481,0,0,0,0,0,0
$GC,3398,-1.52,-116.8,336.6,-9.8,219,3402,0.00,2.55,0.00,0.000,6,0.000,0.041,2669,1801,3481,0,0,0,0,0,0
$GC,3650,-1.52,-116.8,361.0,-10.0,225,3654,0.00,2.90,0.00,0.000,4,0.000,0.090,2669,184,3480,0,0,0,0,0,0
$GC,3693,-1.52,-116.8,366.3,-11.7,226,3698,0.00,2.53,0.00,0.000,6,0.000,0.027,2669,1786,3479,0,0,0,0,0,0
$GC,3971,-1.52,-116.8,394.7,-10.2,233,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1786,3478,0,0,0,0,0,0
$GC,4214,-1.52,-116.8,419.9,-10.3,239,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1786,3477,0,0,0,0,0,0
$GC,4460,-1.52,-116.8,442.9,-9.4,245,4465,0.00,2.58,0.00,0.000,4,0.000,0.054,2669,3347,3475,0,0,0,0,0,0
$GC,4483,-1.52,-116.8,445.1,-9.1,245,4488,0.00,2.67,0.00,0.000,6,0.000,0.054,2669,1782,3475,0,0,0,0,0,0
$GC,4738,-1.52,-116.8,468.2,-9.0,252,4743,0.00,2.97,0.00,0.000,4,0.000,0.110,2669,185,3473,0,0,0,0,0,0
$GC,4779,-1.52,-116.8,472.4,-10.6,253,4783,0.00,2.55,0.00,0.000,6,0.000,0.034,2669,1765,3473,0,0,0,0,0,0
$STATE,5060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5060,begin apogee
$GC,5066,-0.31,0.0,501.0,9.9,260,5167,1.17,0.00,97.00,0.924,6,0.084,0.000,2929,1827,3001,0,0,0,0,0,0
$STATE,5167,end apogee,CONTROL_FINISHED_OK
$STATE,5168,begin climb
$GC,5172,1.40,116.8,503.5,0.0,262,5284,1.58,3.03,100.80,0.904,4,0.048,0.091,3312,231,2522,0,0,0,0,0,0
$GC,5290,1.33,189.3,503.8,5.7,264,5360,0.10,2.62,63.55,0.886,6,0.146,0.034,3294,1810,2229,0,0,0,0,0,0
$GC,5625,1.28,189.3,467.5,11.6,273,5630,0.00,2.72,0.00,0.000,4,0.000,0.056,3294,3405,2218,0,0,0,0,0,0
$GC,5692,1.28,189.3,459.6,11.5,274,5696,0.00,2.70,0.00,0.000,6,0.000,0.053,3294,1823,2216,0,0,0,0,0,0
$GC,5950,1.24,194.3,434.1,9.7,281,5952,0.12,0.00,0.00,0.000,6,0.132,0.000,3270,1822,2215,0,0,0,0,0,0
$GC,6191,1.27,222.4,413.4,8.4,287,6226,0.00,2.70,28.17,0.848,4,0.000,0.035,3271,3405,2093,0,0,0,0,0,0
$GC,6275,1.33,224.1,405.9,9.9,288,6280,0.00,2.70,0.00,0.000,6,0.000,0.051,3270,1829,2090,0,0,0,0,0,0
$GC,6525,1.34,233.1,382.0,9.5,295,6541,0.00,2.95,10.50,0.769,4,0.000,0.094,3270,234,2049,0,0,0,0,0,0
$GC,6564,1.29,233.1,377.7,11.4,296,6569,0.00,2.58,0.00,0.000,6,0.000,0.027,3270,1840,2048,0,0,0,0,0,0
$GC,6850,1.31,247.1,350.6,9.2,303,6869,0.00,2.92,13.55,0.780,4,0.000,0.077,3270,238,1993,0,0,0,0,0,0
$GC,6894,1.26,247.1,346.1,10.3,304,6899,0.00,2.55,0.00,0.000,6,0.000,0.026,3270,1825,1991,0,0,0,0,0,0
$GC,7178,1.33,267.1,320.1,8.9,311,7199,0.00,0.00,19.05,0.784,6,0.000,0.000,3270,1826,1912,0,0,0,0,0,0
$GC,7423,1.38,272.1,296.7,9.7,317,7435,0.12,2.60,5.65,0.625,4,0.084,0.032,3304,3407,1891,0,0,0,0,0,0
$GC,7445,1.38,272.1,294.0,10.7,317,7450,0.00,2.67,0.00,0.000,6,0.000,0.045,3304,1816,1890,0,0,0,0,0,0
$GC,7702,1.38,272.1,265.9,11.1,324,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1816,1888,0,0,0,0,0,0
$GC,7944,1.38,272.1,238.8,11.2,330,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1816,1887,0,0,0,0,0,0
$GC,8188,1.38,272.1,212.3,10.8,336,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1816,1886,0,0,0,0,0,0
$GC,8437,1.38,272.1,186.3,10.5,351,8442,0.00,2.58,0.00,0.000,4,0.000,0.030,3304,3404,1886,0,0,0,0,0,0
$GC,8461,1.38,272.1,183.8,10.1,352,8467,0.00,2.60,0.00,0.000,6,0.000,0.037,3304,1829,1885,0,0,0,0,0,0
$GC,8724,1.38,277.5,158.3,9.7,377,8732,0.00,0.00,5.45,0.549,6,0.000,0.000,3304,1829,1868,0,0,0,0,0,0
$GC,8991,1.41,299.2,133.4,8.8,402,9020,0.00,0.00,20.38,0.656,6,0.000,0.000,3304,1829,1780,0,0,0,0,0,0
$GC,9280,1.45,300.7,106.2,9.9,429,9285,0.00,2.78,0.00,0.000,4,0.000,0.067,3304,234,1777,0,0,0,0,0,0
$GC,9298,1.45,302.9,103.8,9.9,430,9314,0.00,2.58,4.22,0.450,6,0.000,0.021,3304,1865,1765,0,0,0,0,0,0
$GC,9569,1.52,309.5,78.2,9.6,455,9584,0.10,2.85,7.65,0.542,4,0.096,0.067,3333,233,1737,0,0,0,0,0,0
$GC,9628,1.52,309.5,70.4,14.2,459,9637,0.00,2.55,0.00,0.000,6,0.000,0.021,3332,1825,1736,0,0,0,0,0,0
$GC,9894,1.63,347.0,46.3,7.8,484,9936,0.10,2.58,33.20,0.581,4,0.183,0.028,3360,3389,1585,0,0,0,0,0,0
$GC,9956,1.70,350.9,40.2,9.8,488,9966,0.00,2.62,4.60,0.416,6,0.000,0.037,3360,1827,1569,0,0,0,0,0,0
$GC,10261,1.70,350.9,7.4,12.2,528,10270,0.00,2.75,0.00,0.000,4,0.000,0.061,3360,238,1566,0,0,0,0,0,0
$GC,10289,1.64,350.9,4.0,12.5,531,10299,0.00,2.53,0.00,0.000,6,0.000,0.021,3360,1828,1566,0,0,0,0,0,0
$STATE,10306,end climb,SURFACE_DEPTH_REACHED
$STATE,10306,begin surface coast
$FINISH,0.3,1.011041
$STATE,10349,end surface coast,CONTROL_FINISHED_OK
$STATE,10349,begin surface
$SM_CCo,10371,57.28,0.535,0,0,1287,420.20
$SM_GC,0.91,0.00,0.00,57.28,0.000,0.000,0.535,477,1730,1287,-11.61,-1.13,420.20
$IRIDIUM_FIX,2244.02,-15754.11,160100,000058
$TT8_MAMPS,0.026078
$HUMID,55.04
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.00
$XPDR_PINGS,90
$24V_AH,23.3,65.100
$10V_AH,10.0,61.959
$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,28.500,135.875,413.775,57.275,0.000,31.063,34.711,266.287,22.500,0.000,33.318,1076.362,6638.531,525.147,2027.389,658.221,33.374,1277.009,0.000,2017.182,0.000,0.534,0.000
$DEVICE_MAMPS,182.546,269.217,924.235,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.277,331.317,424.954,834.894,1263.754,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,41648,539
$CAP_FILE_SIZE,114785,0
$CFSIZE,260165632,154939392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221010,060827,2255.558,-15755.098,34,99.0,53,10.1