version: 66.06
glider: 146
mission: 5
dive: 510
start: 10 27 110 7 56 59
data:
$ID,146
$MISSION,5
$DIVE,510
$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,-259830.25
$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,37
$R_STBD_OVSHOOT,43
$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
$GPS1,074853,2253.270,-15754.906,37,99.0,56,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.0
$GPS2,075605,2253.290,-15754.978,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.022,0.287
$KALMAN_X,-257105.4,-144.6,-156.0,284308.4,202.5
$KALMAN_Y,-599613.0,-639.0,37.0,734872.4,605.1
$MHEAD_RNG_PITCHd_Wd,345.5,8724,-15.4,-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,16,-1.11,-116.8,0.0,0.0,0,97,0.00,0.00,-78.68,0.000,2,0.000,0.000,474,1740,3196,0,0,0,0,0,0
$GC,102,-1.11,-116.8,3.1,-5.6,10,128,11.90,2.62,-5.45,0.000,4,0.150,0.045,2748,3343,3479,0,0,0,0,0,0
$GC,139,-0.16,-116.8,14.8,-29.5,14,149,0.95,2.58,0.00,0.000,6,0.079,0.031,2961,1779,3481,0,0,0,0,0,0
$GC,457,-0.69,-116.8,40.2,-8.3,53,462,0.45,2.70,0.00,0.000,4,0.055,0.058,2841,187,3482,0,0,0,0,0,0
$GC,482,-1.03,-116.8,42.8,-8.5,54,492,0.25,2.35,0.00,0.000,6,0.028,0.018,2758,1749,3481,0,0,0,0,0,0
$GC,750,-0.98,-116.8,70.7,-8.7,79,755,0.12,2.42,0.00,0.000,4,0.107,0.025,2786,3285,3482,0,0,0,0,0,0
$GC,809,-1.06,-116.8,75.9,-9.2,83,814,0.00,2.60,0.00,0.000,6,0.000,0.029,2786,1682,3482,0,0,0,0,0,0
$GC,1078,-1.10,-116.8,97.2,-7.2,107,1083,0.10,2.55,0.00,0.000,4,0.081,0.025,2746,3288,3484,0,0,0,0,0,0
$GC,1119,-1.10,-116.8,101.1,-8.3,110,1123,0.00,2.55,0.00,0.000,6,0.000,0.028,2746,1707,3484,0,0,0,0,0,0
$GC,1384,-1.06,-116.8,123.0,-8.4,134,1389,0.10,2.60,0.00,0.000,4,0.114,0.062,2768,189,3485,0,0,0,0,0,0
$GC,1441,-1.06,-116.8,128.5,-9.1,138,1451,0.00,2.28,0.00,0.000,6,0.000,0.021,2769,1687,3485,0,0,0,0,0,0
$GC,1710,-1.06,-116.8,148.9,-8.0,163,1714,0.00,2.50,0.00,0.000,4,0.000,0.029,2769,3279,3485,0,0,0,0,0,0
$GC,1743,-1.11,-116.8,152.0,-7.7,165,1752,0.00,2.58,0.00,0.000,6,0.000,0.035,2769,1705,3485,0,0,0,0,0,0
$GC,2009,-1.11,-116.8,169.0,-6.0,190,2014,0.00,2.58,0.00,0.000,4,0.000,0.066,2769,188,3485,0,0,0,0,0,0
$GC,2055,-1.15,-116.8,172.1,-7.0,193,2059,0.00,2.25,0.00,0.000,6,0.000,0.017,2769,1682,3485,0,0,0,0,0,0
$GC,2322,-1.15,-116.8,189.2,-6.8,217,2326,0.00,2.55,0.00,0.000,4,0.000,0.032,2769,3282,3485,0,0,0,0,0,0
$GC,2402,-1.21,-116.8,194.8,-6.9,223,2407,0.15,2.53,0.00,0.000,6,0.064,0.029,2716,1715,3485,0,0,0,0,0,0
$GC,2665,-1.13,-116.8,217.4,-8.5,233,2670,0.17,2.65,0.00,0.000,4,0.092,0.073,2755,189,3485,0,0,0,0,0,0
$GC,2711,-1.13,-116.8,221.0,-7.6,234,2715,0.00,2.22,0.00,0.000,6,0.000,0.020,2755,1668,3485,0,0,0,0,0,0
$GC,2989,-1.13,-116.8,241.0,-7.4,241,2993,0.00,2.55,0.00,0.000,4,0.000,0.033,2755,3278,3484,0,0,0,0,0,0
$GC,3073,-1.17,-116.8,247.2,-6.9,243,3078,0.00,2.55,0.00,0.000,6,0.000,0.033,2755,1705,3484,0,0,0,0,0,0
$GC,3359,-1.17,-116.8,265.6,-6.3,250,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1704,3483,0,0,0,0,0,0
$GC,3601,-1.17,-116.8,280.8,-6.1,256,3605,0.00,2.53,0.00,0.000,4,0.000,0.032,2755,3277,3482,0,0,0,0,0,0
$GC,3687,-1.22,-116.8,286.2,-6.1,258,3692,0.00,2.55,0.00,0.000,6,0.000,0.036,2755,1714,3482,0,0,0,0,0,0
$GC,3971,-1.22,-116.8,306.5,-7.4,265,3975,0.00,2.50,0.00,0.000,4,0.000,0.034,2755,3285,3481,0,0,0,0,0,0
$GC,4000,-1.27,-116.8,308.6,-7.8,265,4005,0.12,2.55,0.00,0.000,6,0.072,0.040,2712,1727,3481,0,0,0,0,0,0
$GC,4253,-1.20,-116.8,331.0,-9.1,271,4255,0.12,0.00,0.00,0.000,6,0.107,0.000,2739,1727,3480,0,0,0,0,0,0
$GC,4494,-1.20,-116.8,349.6,-7.5,277,4498,0.00,2.50,0.00,0.000,4,0.000,0.033,2740,3285,3479,0,0,0,0,0,0
$GC,4527,-1.24,-116.8,352.1,-7.5,277,4532,0.00,2.58,0.00,0.000,6,0.000,0.042,2739,1729,3479,0,0,0,0,0,0
$GC,4778,-1.24,-116.8,369.3,-6.9,284,4783,0.00,2.50,0.00,0.000,4,0.000,0.040,2739,3275,3477,0,0,0,0,0,0
$GC,4812,-1.24,-116.8,371.8,-6.9,284,4817,0.00,2.55,0.00,0.000,6,0.000,0.048,2739,1745,3477,0,0,0,0,0,0
$GC,5062,-1.24,-116.8,388.8,-6.8,291,5066,0.00,2.80,0.00,0.000,4,0.000,0.093,2739,186,3476,0,0,0,0,0,0
$GC,5085,-1.24,-116.8,390.3,-7.1,291,5089,0.00,2.35,0.00,0.000,6,0.000,0.022,2739,1692,3476,0,0,0,0,0,0
$GC,5340,-1.24,-116.8,408.4,-7.1,298,5345,0.00,2.58,0.00,0.000,4,0.000,0.041,2739,3277,3475,0,0,0,0,0,0
$GC,5391,-1.29,-116.8,412.1,-7.3,299,5395,0.00,2.55,0.00,0.000,6,0.000,0.053,2739,1762,3475,0,0,0,0,0,0
$GC,5665,-1.29,-116.8,431.8,-7.3,306,5669,0.00,2.47,0.00,0.000,4,0.000,0.042,2739,3274,3473,0,0,0,0,0,0
$GC,5681,-1.29,-116.8,433.1,-7.3,306,5685,0.00,2.55,0.00,0.000,6,0.000,0.054,2740,1769,3473,0,0,0,0,0,0
$GC,5942,-1.29,-116.8,450.3,-6.5,313,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1769,3471,0,0,0,0,0,0
$GC,6187,-1.29,-116.8,465.1,-6.0,319,6191,0.00,2.50,0.00,0.000,4,0.000,0.047,2739,3278,3470,0,0,0,0,0,0
$GC,6214,-1.34,-116.8,466.9,-6.4,319,6219,0.12,2.58,0.00,0.000,6,0.074,0.056,2699,1776,3470,0,0,0,0,0,0
$GC,6465,-1.28,-116.8,486.4,-8.0,325,6470,0.10,3.03,0.00,0.000,4,0.122,0.111,2720,179,3468,0,0,0,0,0,0
$GC,6491,-1.24,-116.8,488.6,-9.0,325,6495,0.00,2.45,0.00,0.000,6,0.000,0.036,2720,1698,3468,0,0,0,0,0,0
$STATE,6662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6662,begin apogee
$GC,6668,-0.31,0.0,503.3,8.3,330,6771,0.93,0.00,98.82,0.942,6,0.091,0.000,2929,1749,3001,0,0,0,0,0,0
$STATE,6773,end apogee,CONTROL_FINISHED_OK
$STATE,6773,begin climb
$GC,6776,1.11,116.8,506.8,0.0,332,6891,1.30,2.83,103.90,0.919,4,0.053,0.089,3243,230,2522,0,0,0,0,0,0
$GC,6959,1.00,212.8,505.8,6.5,336,7054,0.12,2.47,84.85,0.906,6,0.129,0.030,3221,1732,2133,0,0,0,0,0,0
$GC,7310,1.00,256.2,478.2,8.4,345,7355,0.00,2.80,39.40,0.882,4,0.000,0.089,3221,233,1955,0,0,0,0,0,0
$GC,7369,0.93,258.4,472.8,10.0,346,7373,0.00,2.47,0.00,0.000,6,0.000,0.028,3221,1735,1952,0,0,0,0,0,0
$GC,7630,0.95,268.9,447.6,9.7,353,7644,0.00,0.00,12.05,0.808,6,0.000,0.000,3221,1734,1904,0,0,0,0,0,0
$GC,7873,0.98,297.7,425.4,9.0,359,7908,0.00,2.83,27.30,0.858,4,0.000,0.084,3221,230,1785,0,0,0,0,0,0
$GC,7927,0.92,297.7,420.2,10.6,360,7931,0.00,2.45,0.00,0.000,6,0.000,0.028,3221,1726,1783,0,0,0,0,0,0
$GC,8199,0.92,297.7,392.9,10.2,367,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1726,1781,0,0,0,0,0,0
$GC,8443,0.92,297.7,367.3,10.6,373,8447,0.00,2.70,0.00,0.000,4,0.000,0.086,3221,226,1779,0,0,0,0,0,0
$GC,8484,0.88,297.7,362.7,12.0,374,8489,0.15,2.42,0.00,0.000,6,0.116,0.027,3191,1728,1778,0,0,0,0,0,0
$GC,8768,0.98,331.0,336.6,8.8,381,8801,0.10,0.00,30.38,0.822,6,0.089,0.000,3217,1729,1651,0,0,0,0,0,0
$GC,9012,1.00,348.6,313.5,9.4,387,9036,0.00,2.78,16.62,0.779,4,0.000,0.073,3217,226,1578,0,0,0,0,0,0
$GC,9059,1.01,356.1,308.9,9.8,388,9073,0.00,2.40,8.20,0.699,6,0.000,0.028,3217,1730,1549,0,0,0,0,0,0
$GC,9341,1.10,401.1,284.7,8.4,395,9391,0.10,2.75,42.22,0.783,4,0.088,0.073,3244,235,1364,0,0,0,0,0,0
$GC,9423,1.04,401.1,276.6,12.1,396,9428,0.00,2.38,0.00,0.000,6,0.000,0.024,3245,1718,1362,0,0,0,0,0,0
$GC,9672,1.04,401.1,250.6,10.2,403,9677,0.00,2.62,0.00,0.000,4,0.000,0.074,3244,231,1360,0,0,0,0,0,0
$GC,9694,1.04,401.1,247.9,11.7,403,9698,0.00,2.33,0.00,0.000,6,0.000,0.021,3245,1703,1360,0,0,0,0,0,0
$GC,9957,1.04,401.1,218.6,11.5,410,9961,0.00,2.58,0.00,0.000,4,0.000,0.073,3244,227,1359,0,0,0,0,0,0
$GC,9978,1.04,401.1,215.5,13.0,410,9982,0.00,2.33,0.00,0.000,6,0.000,0.024,3245,1702,1359,0,0,0,0,0,0
$GC,10241,1.04,401.1,183.3,12.5,426,10245,0.00,2.58,0.00,0.000,4,0.000,0.069,3244,231,1359,0,0,0,0,0,0
$GC,10270,1.04,401.1,179.3,14.0,428,10274,0.00,2.30,0.00,0.000,6,0.000,0.028,3245,1698,1359,0,0,0,0,0,0
$GC,10532,1.05,415.1,150.9,9.5,452,10553,0.00,2.65,12.75,0.650,4,0.000,0.067,3244,229,1307,0,0,0,0,0,0
$GC,10579,1.05,415.1,146.0,10.8,456,10583,0.00,2.28,0.00,0.000,6,0.000,0.028,3245,1680,1306,0,0,0,0,0,0
$GC,10842,1.07,424.9,120.6,9.7,480,10857,0.00,2.55,9.98,0.605,4,0.000,0.069,3244,230,1267,0,0,0,0,0,0
$GC,10871,1.07,424.9,117.7,10.1,482,10875,0.00,2.25,0.00,0.000,6,0.000,0.021,3245,1674,1266,0,0,0,0,0,0
$GC,11134,1.15,457.7,95.0,8.8,506,11174,0.00,2.60,29.67,0.627,4,0.000,0.070,3245,230,1133,0,0,0,0,0,0
$GC,11212,1.20,457.7,86.9,10.5,512,11216,0.00,2.22,0.00,0.000,6,0.000,0.021,3244,1661,1132,0,0,0,0,0,0
$GC,11479,1.40,508.9,62.9,8.2,536,11533,0.25,2.55,44.62,0.596,4,0.054,0.061,3316,231,924,0,0,0,0,0,0
$GC,11564,1.40,508.9,54.0,11.6,542,11568,0.00,2.20,0.00,0.000,6,0.000,0.021,3316,1653,923,0,0,0,0,0,0
$GC,11843,1.40,508.9,22.0,13.0,570,11852,0.00,2.72,0.00,0.000,4,0.000,0.027,3316,3334,922,0,0,0,0,0,0
$GC,11864,1.40,508.9,19.5,13.5,572,11873,0.00,2.80,0.00,0.000,6,0.000,0.041,3316,1672,921,0,0,0,0,0,0
$STATE,11978,end climb,SURFACE_DEPTH_REACHED
$STATE,11978,begin surface coast
$FINISH,0.3,1.010547
$STATE,12029,end surface coast,CONTROL_FINISHED_OK
$STATE,12029,begin surface
$SM_CCo,12110,0.00,0.000,0,0,917,510.96
$SM_GC,1.02,11.68,0.00,0.00,0.030,0.000,0.000,475,1669,917,-11.53,-2.86,510.96
$IRIDIUM_FIX,2246.36,-15754.11,210100,040424
$TT8_MAMPS,0.025311
$HUMID,57.04
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,19.80
$XPDR_PINGS,138
$24V_AH,23.3,70.553
$10V_AH,9.9,66.862
$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,29.300,167.175,560.775,0.000,0.000,24.173,37.499,206.428,34.500,0.000,33.402,1218.068,7818.421,592.123,2281.207,628.391,33.371,1488.112,0.000,2265.600,0.000,0.533,0.000
$DEVICE_MAMPS,150.332,161.070,941.876,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.779,324.859,456.086,856.289,1295.204,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,47927,595
$CAP_FILE_SIZE,134706,0
$CFSIZE,260165632,152543232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271010,112026,2254.723,-15755.129,37,2.6,56,10.1