version: 66.06
glider: 146
mission: 5
dive: 472
start: 10 22 110 9 19 20
data:
$ID,146
$MISSION,5
$DIVE,472
$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,-258725.31
$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,56
$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
$GPS1,091012,2256.672,-15755.269,7,1.6,11,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.6
$GPS2,091825,2256.659,-15755.255,16,1.8,27,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.021,0.234
$KALMAN_X,-258570.8,25.8,115.9,284853.2,15.6
$KALMAN_Y,-612875.7,-154.9,465.7,753460.3,-1027.1
$MHEAD_RNG_PITCHd_Wd,355.1,2522,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,103,0.00,0.00,-85.93,0.000,6,0.000,0.000,477,1747,3479,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.6,-9.4,11,124,11.43,2.53,0.00,0.000,4,0.143,0.028,2691,3345,3481,0,0,0,0,0,0
$GC,207,-1.33,-116.8,28.5,-13.8,25,217,0.00,2.55,0.00,0.000,6,0.000,0.030,2691,1789,3483,0,0,0,0,0,0
$GC,486,-1.27,-116.8,67.6,-13.1,51,491,0.15,2.72,0.00,0.000,4,0.126,0.057,2721,183,3483,0,0,0,0,0,0
$GC,508,-1.27,-116.8,71.1,-12.6,52,512,0.00,2.47,0.00,0.000,6,0.000,0.015,2721,1806,3483,0,0,0,0,0,0
$GC,772,-1.31,-116.8,99.8,-10.4,76,776,0.00,2.35,0.00,0.000,4,0.000,0.023,2721,3318,3484,0,0,0,0,0,0
$GC,795,-1.36,-116.8,102.0,-10.5,77,800,0.00,2.50,0.00,0.000,6,0.000,0.029,2721,1754,3484,0,0,0,0,0,0
$GC,1062,-1.41,-116.8,127.4,-9.0,101,1068,0.12,2.65,0.00,0.000,4,0.071,0.060,2680,191,3484,0,0,0,0,0,0
$GC,1143,-1.41,-116.8,136.3,-10.7,107,1147,0.00,2.35,0.00,0.000,6,0.000,0.021,2680,1757,3485,0,0,0,0,0,0
$GC,1406,-1.41,-116.8,163.5,-10.9,131,1410,0.00,2.45,0.00,0.000,4,0.000,0.026,2680,3324,3485,0,0,0,0,0,0
$GC,1430,-1.41,-116.8,166.1,-10.7,132,1439,0.00,2.58,0.00,0.000,6,0.000,0.032,2680,1739,3485,0,0,0,0,0,0
$GC,1696,-1.41,-116.8,194.6,-10.9,157,1700,0.00,2.50,0.00,0.000,4,0.000,0.030,2680,3314,3486,0,0,0,0,0,0
$GC,1740,-1.41,-116.8,199.4,-10.3,160,1744,0.00,2.53,0.00,0.000,6,0.000,0.030,2680,1736,3486,0,0,0,0,0,0
$GC,1992,-1.41,-116.8,224.2,-9.6,166,1996,0.00,2.65,0.00,0.000,4,0.000,0.072,2680,195,3485,0,0,0,0,0,0
$GC,2041,-1.41,-116.8,229.3,-9.5,167,2045,0.00,2.35,0.00,0.000,6,0.000,0.017,2680,1729,3486,0,0,0,0,0,0
$GC,2315,-1.41,-116.8,251.4,-8.2,174,2319,0.00,2.55,0.00,0.000,4,0.000,0.034,2680,3331,3485,0,0,0,0,0,0
$GC,2354,-1.45,-116.8,254.9,-8.3,175,2359,0.00,2.58,0.00,0.000,6,0.000,0.036,2680,1743,3485,0,0,0,0,0,0
$GC,2637,-1.45,-116.8,282.2,-10.2,182,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1743,3484,0,0,0,0,0,0
$GC,2881,-1.45,-116.8,308.1,-10.6,188,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1743,3483,0,0,0,0,0,0
$GC,3126,-1.45,-116.8,333.2,-10.2,194,3130,0.00,2.55,0.00,0.000,4,0.000,0.039,2680,3327,3482,0,0,0,0,0,0
$GC,3153,-1.49,-116.8,336.2,-10.5,194,3158,0.00,2.60,0.00,0.000,6,0.000,0.041,2680,1754,3482,0,0,0,0,0,0
$GC,3403,-1.49,-116.8,360.6,-9.7,200,3407,0.00,2.53,0.00,0.000,4,0.000,0.034,2680,3327,3481,0,0,0,0,0,0
$GC,3432,-1.49,-116.8,363.3,-9.5,200,3437,0.00,2.60,0.00,0.000,6,0.000,0.041,2680,1762,3481,0,0,0,0,0,0
$GC,3682,-1.49,-116.8,386.4,-9.1,206,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1762,3480,0,0,0,0,0,0
$GC,3926,-1.49,-116.8,410.2,-9.9,212,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1762,3478,0,0,0,0,0,0
$GC,4171,-1.49,-116.8,432.6,-9.0,218,4176,0.00,2.58,0.00,0.000,4,0.000,0.043,2680,3323,3477,0,0,0,0,0,0
$GC,4199,-1.54,-116.8,435.2,-9.0,218,4204,0.00,2.65,0.00,0.000,6,0.000,0.054,2680,1760,3477,0,0,0,0,0,0
$GC,4449,-1.54,-116.8,455.6,-8.1,224,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1760,3475,0,0,0,0,0,0
$GC,4693,-1.54,-116.8,475.8,-8.3,230,4698,0.00,2.58,0.00,0.000,4,0.000,0.047,2680,3315,3474,0,0,0,0,0,0
$GC,4716,-1.59,-116.8,477.7,-8.6,230,4722,0.12,2.65,0.00,0.000,6,0.077,0.060,2642,1765,3473,0,0,0,0,0,0
$STATE,4969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4969,begin apogee
$GC,4975,-0.31,0.0,504.2,10.6,237,5076,1.30,0.00,97.03,0.930,6,0.084,0.000,2928,1765,3001,0,0,0,0,0,0
$STATE,5077,end apogee,CONTROL_FINISHED_OK
$STATE,5077,begin climb
$GC,5081,1.38,116.8,506.3,0.0,239,5193,1.55,2.80,100.45,0.909,4,0.051,0.054,3305,3357,2522,0,0,0,0,0,0
$GC,5232,1.33,172.6,502.8,6.8,242,5289,0.00,2.65,48.53,0.890,6,0.000,0.060,3305,1820,2297,0,0,0,0,0,0
$GC,5536,1.24,176.1,474.3,9.8,250,5541,0.17,2.60,0.00,0.000,4,0.121,0.044,3270,3367,2288,0,0,0,0,0,0
$GC,5565,1.25,184.7,471.1,9.5,250,5581,0.00,2.65,10.80,0.798,6,0.000,0.057,3270,1825,2246,0,0,0,0,0,0
$GC,5862,1.27,201.0,444.3,9.1,258,5882,0.00,2.60,15.43,0.838,4,0.000,0.039,3270,3377,2180,0,0,0,0,0,0
$GC,5900,1.29,216.9,440.6,9.1,259,5921,0.00,2.70,15.55,0.825,6,0.000,0.059,3270,1820,2116,0,0,0,0,0,0
$GC,6184,1.30,226.5,413.4,9.5,266,6198,0.00,2.60,9.23,0.770,4,0.000,0.036,3270,3387,2076,0,0,0,0,0,0
$GC,6228,1.35,226.5,408.8,10.4,267,6233,0.10,2.70,0.00,0.000,6,0.096,0.056,3296,1822,2074,0,0,0,0,0,0
$GC,6511,1.35,226.5,377.4,11.3,274,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1822,2073,0,0,0,0,0,0
$GC,6757,1.31,226.5,351.3,10.4,280,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1822,2072,0,0,0,0,0,0
$GC,6999,1.31,226.5,326.9,10.1,286,7003,0.00,2.53,0.00,0.000,4,0.000,0.036,3296,3371,2070,0,0,0,0,0,0
$GC,7039,1.31,226.5,322.7,10.8,287,7044,0.00,2.60,0.00,0.000,6,0.000,0.048,3296,1821,2069,0,0,0,0,0,0
$GC,7325,1.31,226.5,293.2,10.3,294,7330,0.00,2.80,0.00,0.000,4,0.000,0.077,3296,237,2068,0,0,0,0,0,0
$GC,7347,1.24,226.5,290.6,10.9,294,7352,0.12,2.50,0.00,0.000,6,0.129,0.021,3272,1810,2068,0,0,0,0,0,0
$GC,7602,1.26,245.7,267.4,8.9,301,7621,0.00,0.00,17.35,0.759,6,0.000,0.000,3272,1812,1999,0,0,0,0,0,0
$GC,7848,1.31,249.7,243.8,9.8,307,7858,0.00,2.80,4.65,0.561,4,0.000,0.073,3272,234,1983,0,0,0,0,0,0
$GC,7902,1.31,249.7,237.5,10.7,308,7907,0.00,2.53,0.00,0.000,6,0.000,0.021,3272,1831,1982,0,0,0,0,0,0
$GC,8172,1.41,285.6,215.3,8.0,315,8213,0.15,2.88,33.75,0.736,4,0.075,0.069,3312,244,1835,0,0,0,0,0,0
$GC,8226,1.36,293.9,209.9,9.6,316,8240,0.00,2.55,8.52,0.637,6,0.000,0.021,3312,1832,1802,0,0,0,0,0,0
$GC,8500,1.36,293.9,181.2,10.3,334,8504,0.00,2.53,0.00,0.000,4,0.000,0.035,3313,3396,1797,0,0,0,0,0,0
$GC,8518,1.36,293.9,178.8,10.7,335,8522,0.00,2.62,0.00,0.000,6,0.000,0.042,3313,1817,1796,0,0,0,0,0,0
$GC,8780,1.36,293.9,149.2,11.3,359,8784,0.00,2.55,0.00,0.000,4,0.000,0.029,3312,3398,1796,0,0,0,0,0,0
$GC,8814,1.40,293.9,146.0,11.2,361,8819,0.00,2.58,0.00,0.000,6,0.000,0.041,3312,1834,1795,0,0,0,0,0,0
$GC,9082,1.42,308.1,119.7,9.2,385,9107,0.00,2.83,12.77,0.623,4,0.000,0.065,3313,247,1743,0,0,0,0,0,0
$GC,9124,1.37,308.1,114.6,11.2,388,9134,0.00,2.55,0.00,0.000,6,0.000,0.027,3313,1842,1742,0,0,0,0,0,0
$GC,9393,1.37,308.5,90.1,10.0,413,9397,0.00,2.78,0.00,0.000,4,0.000,0.067,3313,240,1741,0,0,0,0,0,0
$GC,9426,1.37,308.5,85.8,11.0,415,9432,0.00,2.50,0.00,0.000,6,0.000,0.025,3313,1828,1740,0,0,0,0,0,0
$GC,9695,1.43,308.5,58.5,10.2,440,9699,0.00,2.50,0.00,0.000,4,0.000,0.028,3313,3393,1740,0,0,0,0,0,0
$GC,9764,1.57,315.9,51.4,9.6,445,9779,0.12,2.55,7.78,0.522,6,0.083,0.035,3346,1834,1713,0,0,0,0,0,0
$GC,10042,1.58,323.8,25.6,9.6,473,10060,0.00,2.78,8.60,0.508,4,0.000,0.058,3346,241,1679,0,0,0,0,0,0
$GC,10072,1.59,333.9,22.7,9.5,476,10090,0.00,2.55,10.52,0.516,6,0.000,0.026,3346,1846,1637,0,0,0,0,0,0
$STATE,10260,end climb,SURFACE_DEPTH_REACHED
$STATE,10260,begin surface coast
$FINISH,0.4,0.999718
$STATE,10316,end surface coast,CONTROL_FINISHED_OK
$STATE,10316,begin surface
$SM_CCo,10338,70.68,0.538,0,0,1287,420.20
$SM_GC,1.06,0.00,0.00,70.68,0.000,0.000,0.538,477,1754,1287,-11.61,-0.42,420.20
$IRIDIUM_FIX,2246.36,-15756.28,160100,060637
$TT8_MAMPS,0.026078
$HUMID,54.56
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.30
$XPDR_PINGS,99
$24V_AH,23.3,65.356
$10V_AH,9.9,62.192
$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,27.025,134.925,400.950,70.675,0.000,29.589,40.187,271.579,24.750,0.000,29.210,1043.012,6771.114,536.776,1902.382,649.720,33.369,1253.049,0.000,1892.569,0.000,0.535,0.000
$DEVICE_MAMPS,143.429,83.603,930.371,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.128,302.526,392.889,757.268,1143.759,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,41475,511
$CAP_FILE_SIZE,110449,0
$CFSIZE,260165632,154828800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221010,121407,2257.552,-15755.295,37,1.0,37,10.1