version: 66.06
glider: 146
mission: 5
dive: 509
start: 10 27 110 4 52 3
data:
$ID,146
$MISSION,5
$DIVE,509
$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,-259796.22
$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,44
$R_STBD_OVSHOOT,20
$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
$GPS1,044425,2251.864,-15754.544,39,1.8,39,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.7
$GPS2,045107,2251.860,-15754.626,9,1.5,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.024,0.233
$KALMAN_X,-256954.8,174.6,-281.2,284563.0,87.6
$KALMAN_Y,-599896.0,-345.8,-299.3,732550.7,378.7
$MHEAD_RNG_PITCHd_Wd,344.0,11389,-19.9,-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,-116.5,0.0,0.0,0,104,0.00,0.00,-85.90,0.000,2,0.000,0.000,474,1746,3432,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.2,-8.8,11,127,11.50,2.60,-0.85,0.000,4,0.147,0.038,2690,3385,3480,0,0,0,0,0,0
$GC,152,-0.79,-116.8,18.4,-30.8,16,162,0.60,2.62,0.00,0.000,6,0.093,0.034,2821,1791,3481,0,0,0,0,0,0
$GC,455,-0.92,-116.8,46.8,-11.5,51,460,0.00,2.75,0.00,0.000,4,0.000,0.059,2821,182,3482,0,0,0,0,0,0
$GC,477,-1.06,-116.8,48.8,-8.9,52,483,0.22,2.50,0.00,0.000,6,0.050,0.016,2753,1838,3482,0,0,0,0,0,0
$GC,746,-1.13,-116.8,74.7,-8.6,76,750,0.00,2.40,0.00,0.000,4,0.000,0.025,2753,3374,3483,0,0,0,0,0,0
$GC,781,-1.24,-116.8,78.1,-8.8,78,786,0.10,2.62,0.00,0.000,6,0.083,0.028,2715,1750,3483,0,0,0,0,0,0
$GC,1044,-1.24,-116.8,104.0,-9.5,102,1048,0.00,2.62,0.00,0.000,4,0.000,0.061,2714,189,3485,0,0,0,0,0,0
$GC,1066,-1.24,-116.8,105.9,-9.8,103,1070,0.00,2.45,0.00,0.000,6,0.000,0.015,2714,1812,3484,0,0,0,0,0,0
$GC,1333,-1.24,-116.8,132.9,-9.3,127,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1814,3486,0,0,0,0,0,0
$GC,1598,-1.29,-116.8,157.2,-9.0,152,1602,0.00,2.75,0.00,0.000,4,0.000,0.061,2714,196,3486,0,0,0,0,0,0
$GC,1654,-1.35,-116.8,163.2,-10.3,156,1663,0.00,2.40,0.00,0.000,6,0.000,0.018,2714,1755,3486,0,0,0,0,0,0
$GC,1923,-1.40,-116.8,185.4,-8.5,181,1927,0.00,2.47,0.00,0.000,4,0.000,0.034,2714,3316,3486,0,0,0,0,0,0
$GC,1981,-1.48,-116.8,190.7,-7.7,185,1987,0.17,2.50,0.00,0.000,6,0.056,0.030,2653,1763,3486,0,0,0,0,0,0
$GC,2247,-1.41,-116.8,219.3,-11.3,199,2249,0.17,0.00,0.00,0.000,6,0.168,0.000,2690,1760,3486,0,0,0,0,0,0
$GC,2488,-1.41,-116.8,244.1,-10.1,205,2492,0.00,2.47,0.00,0.000,4,0.000,0.027,2690,3323,3486,0,0,0,0,0,0
$GC,2533,-1.47,-116.8,248.8,-10.7,206,2537,0.00,2.53,0.00,0.000,6,0.000,0.032,2690,1768,3486,0,0,0,0,0,0
$GC,2812,-1.47,-116.8,275.4,-9.5,213,2816,0.00,2.72,0.00,0.000,4,0.000,0.074,2690,193,3485,0,0,0,0,0,0
$GC,2833,-1.47,-116.8,277.7,-9.4,213,2838,0.00,2.42,0.00,0.000,6,0.000,0.020,2690,1757,3485,0,0,0,0,0,0
$GC,3089,-1.47,-116.8,300.7,-9.2,220,3093,0.00,2.53,0.00,0.000,4,0.000,0.038,2690,3344,3484,0,0,0,0,0,0
$GC,3157,-1.54,-116.8,306.3,-7.9,221,3163,0.10,2.55,0.00,0.000,6,0.087,0.033,2653,1783,3484,0,0,0,0,0,0
$GC,3413,-1.50,-116.8,331.6,-10.0,228,3419,0.10,2.83,0.00,0.000,4,0.123,0.084,2674,192,3483,0,0,0,0,0,0
$GC,3453,-1.50,-116.8,335.8,-10.1,229,3458,0.00,2.50,0.00,0.000,6,0.000,0.023,2674,1778,3483,0,0,0,0,0,0
$GC,3738,-1.50,-116.8,363.0,-9.8,236,3742,0.00,2.55,0.00,0.000,4,0.000,0.048,2674,3351,3481,0,0,0,0,0,0
$GC,3778,-1.54,-116.8,367.1,-9.7,237,3782,0.00,2.60,0.00,0.000,6,0.000,0.048,2673,1790,3481,0,0,0,0,0,0
$GC,4062,-1.54,-116.8,395.7,-10.2,244,4067,0.00,2.92,0.00,0.000,4,0.000,0.094,2673,185,3479,0,0,0,0,0,0
$GC,4089,-1.54,-116.8,398.8,-10.1,244,4093,0.00,2.53,0.00,0.000,6,0.000,0.025,2674,1788,3479,0,0,0,0,0,0
$GC,4339,-1.54,-116.8,421.3,-8.7,250,4344,0.00,2.58,0.00,0.000,4,0.000,0.051,2674,3355,3478,0,0,0,0,0,0
$GC,4381,-1.60,-116.8,424.7,-8.3,251,4386,0.00,2.65,0.00,0.000,6,0.000,0.054,2674,1795,3478,0,0,0,0,0,0
$GC,4664,-1.60,-116.8,448.2,-8.5,258,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1795,3476,0,0,0,0,0,0
$GC,4908,-1.60,-116.8,471.8,-10.2,264,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1795,3475,0,0,0,0,0,0
$GC,5151,-1.60,-116.8,497.4,-10.5,270,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1795,3473,0,0,0,0,0,0
$STATE,5190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5190,begin apogee
$GC,5197,-0.31,0.0,501.7,10.5,271,5300,1.15,0.00,99.03,0.928,6,0.083,0.000,2929,1795,3000,0,0,0,0,0,0
$STATE,5300,end apogee,CONTROL_FINISHED_OK
$STATE,5301,begin climb
$GC,5303,1.38,116.8,504.9,0.0,273,5416,1.58,2.88,103.40,0.907,4,0.040,0.054,3307,3394,2522,0,0,0,0,0,0
$GC,5431,1.36,199.1,505.2,5.3,276,5511,0.00,2.75,73.47,0.891,6,0.000,0.063,3307,1819,2189,0,0,0,0,0,0
$GC,5763,1.27,199.1,468.8,11.7,285,5768,0.15,2.62,0.00,0.000,4,0.206,0.039,3278,3398,2179,0,0,0,0,0,0
$GC,5814,1.27,199.1,463.1,10.7,286,5819,0.00,2.72,0.00,0.000,6,0.000,0.057,3279,1826,2177,0,0,0,0,0,0
$GC,6086,1.27,199.6,435.9,10.0,293,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1826,2176,0,0,0,0,0,0
$GC,6330,1.28,205.4,411.8,9.7,299,6340,0.00,2.62,4.47,0.597,4,0.000,0.041,3278,3409,2163,0,0,0,0,0,0
$GC,6380,1.28,209.3,406.9,9.8,300,6391,0.00,2.70,5.45,0.655,6,0.000,0.054,3278,1834,2147,0,0,0,0,0,0
$GC,6653,1.31,233.0,382.0,8.7,307,6682,0.00,3.03,23.23,0.829,4,0.000,0.094,3278,232,2049,0,0,0,0,0,0
$GC,6706,1.23,233.0,376.9,10.5,308,6711,0.00,2.60,0.00,0.000,6,0.000,0.021,3278,1847,2047,0,0,0,0,0,0
$GC,6978,1.24,240.7,350.6,9.6,315,6992,0.00,2.58,7.70,0.713,4,0.000,0.034,3278,3392,2019,0,0,0,0,0,0
$GC,7045,1.29,240.7,343.7,10.9,316,7049,0.00,2.60,0.00,0.000,6,0.000,0.051,3278,1847,2018,0,0,0,0,0,0
$GC,7307,1.29,240.7,317.3,10.3,323,7311,0.00,2.88,0.00,0.000,4,0.000,0.080,3278,229,2016,0,0,0,0,0,0
$GC,7334,1.25,240.7,314.1,11.4,323,7338,0.00,2.60,0.00,0.000,6,0.000,0.028,3278,1853,2015,0,0,0,0,0,0
$GC,7583,1.25,240.7,288.0,10.4,329,7588,0.00,2.50,0.00,0.000,4,0.000,0.036,3278,3398,2014,0,0,0,0,0,0
$GC,7625,1.31,240.7,283.7,10.7,330,7629,0.00,2.58,0.00,0.000,6,0.000,0.044,3278,1851,2013,0,0,0,0,0,0
$GC,7908,1.34,257.9,256.8,9.0,337,7927,0.00,0.00,16.50,0.740,6,0.000,0.000,3278,1851,1948,0,0,0,0,0,0
$GC,8197,1.40,279.5,231.2,8.8,344,8224,0.10,2.90,20.05,0.726,4,0.092,0.078,3307,236,1862,0,0,0,0,0,0
$GC,8241,1.34,279.5,226.6,11.1,345,8245,0.00,2.65,0.00,0.000,6,0.000,0.022,3307,1881,1860,0,0,0,0,0,0
$GC,8518,1.35,287.3,199.5,9.6,352,8532,0.00,2.53,8.27,0.639,4,0.000,0.039,3307,3398,1829,0,0,0,0,0,0
$GC,8556,1.35,287.3,196.1,10.2,355,8560,0.00,2.58,0.00,0.000,6,0.000,0.044,3306,1856,1828,0,0,0,0,0,0
$GC,8822,1.35,287.3,167.9,11.0,379,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1856,1826,0,0,0,0,0,0
$GC,9085,1.35,291.8,140.2,9.8,404,9100,0.00,2.88,4.90,0.512,4,0.000,0.073,3307,243,1811,0,0,0,0,0,0
$GC,9116,1.31,291.8,136.6,10.9,406,9126,0.08,2.62,0.00,0.000,6,0.103,0.028,3288,1869,1810,0,0,0,0,0,0
$GC,9385,1.41,318.0,112.3,8.5,431,9419,0.00,2.95,24.90,0.640,4,0.000,0.071,3288,238,1702,0,0,0,0,0,0
$GC,9443,1.41,318.0,106.3,10.4,436,9447,0.00,2.58,0.00,0.000,6,0.000,0.028,3288,1851,1701,0,0,0,0,0,0
$GC,9708,1.50,318.0,81.3,10.5,460,9713,0.15,2.80,0.00,0.000,4,0.071,0.064,3330,239,1700,0,0,0,0,0,0
$GC,9745,1.45,318.0,76.4,13.0,462,9754,0.00,2.55,0.00,0.000,6,0.000,0.026,3330,1831,1698,0,0,0,0,0,0
$GC,10013,1.56,353.0,49.7,8.0,487,10054,0.00,2.60,30.83,0.583,4,0.000,0.030,3330,3401,1559,0,0,0,0,0,0
$GC,10085,1.73,379.7,43.0,8.5,492,10122,0.15,2.62,24.73,0.565,6,0.092,0.037,3377,1836,1450,0,0,0,0,0,0
$STATE,10410,end climb,SURFACE_DEPTH_REACHED
$STATE,10410,begin surface coast
$FINISH,0.4,1.007615
$STATE,10455,end surface coast,CONTROL_FINISHED_OK
$STATE,10455,begin surface
$SM_CCo,10477,32.92,0.532,0,0,1287,420.20
$SM_GC,1.12,0.00,0.00,32.92,0.000,0.000,0.532,475,1742,1287,-11.62,-0.79,420.20
$IRIDIUM_FIX,2241.69,-15751.94,210100,010131
$TT8_MAMPS,0.026078
$HUMID,56.69
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,19.50
$XPDR_PINGS,129
$24V_AH,23.3,70.401
$10V_AH,9.9,66.730
$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,28.200,137.100,446.925,32.925,0.000,31.164,34.593,194.376,32.250,0.000,16.433,1087.099,6668.280,527.102,2058.814,575.205,33.365,1310.488,0.000,2056.984,0.000,0.533,0.000
$DEVICE_MAMPS,205.556,94.341,928.070,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.269,320.423,424.342,810.877,1227.552,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44653,540
$CAP_FILE_SIZE,114790,0
$CFSIZE,260165632,152629248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271010,074853,2253.270,-15754.906,37,99.0,56,10.1