version: 66.06
glider: 146
mission: 5
dive: 296
start: 9 30 110 6 55 7
data:
$ID,146
$MISSION,5
$DIVE,296
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-253127.16
$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,43
$R_STBD_OVSHOOT,19
$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
$GPS1,064406,2249.959,-15803.762,40,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.8
$GPS2,065413,2249.854,-15803.785,9,1.3,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.114,0.205
$KALMAN_X,-301113.1,71.1,115.3,312660.7,-210.4
$KALMAN_Y,-419758.3,-619.8,-97.5,548781.1,-1120.5
$MHEAD_RNG_PITCHd_Wd,19.0,21259,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,106,0.00,0.00,-85.85,0.000,2,0.000,0.000,473,1748,3473,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.4,-9.1,11,126,11.30,0.00,0.00,0.000,6,0.141,0.000,2687,1748,3475,0,0,0,0,0,0
$GC,407,-1.21,-116.8,67.2,-17.7,43,412,0.22,2.58,0.00,0.000,4,0.123,0.059,2731,210,3476,0,0,0,0,0,0
$GC,428,-1.05,-116.8,71.7,-17.6,44,433,0.17,2.45,0.00,0.000,6,0.114,0.015,2767,1842,3476,0,0,0,0,0,0
$GC,692,-1.10,-116.8,102.9,-12.2,68,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1844,3477,0,0,0,0,0,0
$GC,958,-1.17,-116.8,132.3,-10.7,93,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1844,3477,0,0,0,0,0,0
$GC,1224,-1.26,-116.8,157.2,-9.1,118,1230,0.17,0.00,0.00,0.000,6,0.057,0.000,2710,1844,3477,0,0,0,0,0,0
$GC,1485,-1.26,-116.8,185.3,-10.9,143,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1844,3478,0,0,0,0,0,0
$GC,1748,-1.26,-116.8,213.9,-10.9,159,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1844,3477,0,0,0,0,0,0
$GC,1989,-1.26,-116.8,237.5,-9.4,165,1993,0.00,2.40,0.00,0.000,4,0.000,0.027,2710,3372,3478,0,0,0,0,0,0
$GC,2005,-1.26,-116.8,239.2,-9.1,165,2010,0.00,2.53,0.00,0.000,6,0.000,0.030,2710,1791,3478,0,0,0,0,0,0
$GC,2267,-1.26,-116.8,265.1,-10.1,172,2272,0.00,2.75,0.00,0.000,4,0.000,0.077,2709,196,3478,0,0,0,0,0,0
$GC,2294,-1.26,-116.8,268.3,-11.7,172,2298,0.00,2.45,0.00,0.000,6,0.000,0.018,2709,1808,3478,0,0,0,0,0,0
$GC,2545,-1.30,-116.8,293.2,-9.8,178,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1809,3478,0,0,0,0,0,0
$GC,2790,-1.35,-116.8,316.3,-9.5,184,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1809,3477,0,0,0,0,0,0
$GC,3032,-1.41,-116.8,339.0,-9.3,190,3037,0.00,2.85,0.00,0.000,4,0.000,0.081,2709,192,3476,0,0,0,0,0,0
$GC,3053,-1.45,-116.8,341.3,-10.1,190,3058,0.12,2.45,0.00,0.000,6,0.077,0.029,2669,1750,3476,0,0,0,0,0,0
$GC,3308,-1.45,-116.8,368.2,-10.6,197,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1750,3475,0,0,0,0,0,0
$GC,3554,-1.45,-116.8,396.0,-11.5,203,3558,0.00,2.75,0.00,0.000,4,0.000,0.083,2669,196,3473,0,0,0,0,0,0
$GC,3593,-1.45,-116.8,401.0,-13.1,204,3597,0.00,2.50,0.00,0.000,6,0.000,0.037,2669,1759,3473,0,0,0,0,0,0
$GC,3876,-1.45,-116.8,430.1,-9.8,211,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1760,3472,0,0,0,0,0,0
$GC,4121,-1.45,-116.8,453.5,-9.4,217,4125,0.00,2.83,0.00,0.000,4,0.000,0.091,2669,199,3469,0,0,0,0,0,0
$GC,4142,-1.45,-116.8,455.7,-9.3,217,4147,0.00,2.53,0.00,0.000,6,0.000,0.037,2669,1759,3469,0,0,0,0,0,0
$GC,4398,-1.45,-116.8,478.1,-8.7,224,4402,0.00,2.72,0.00,0.000,4,0.000,0.070,2669,3366,3467,0,0,0,0,0,0
$GC,4432,-1.45,-116.8,481.0,-8.6,224,4438,0.00,2.67,0.00,0.000,6,0.000,0.061,2669,1780,3467,0,0,0,0,0,0
$STATE,4679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4679,begin apogee
$GC,4686,-0.31,0.0,502.9,8.7,231,4784,1.17,0.00,95.07,0.915,6,0.086,0.000,2928,1855,3001,0,0,0,0,0,0
$STATE,4785,end apogee,CONTROL_FINISHED_OK
$STATE,4785,begin climb
$GC,4788,1.38,116.8,504.4,0.0,233,4901,1.55,2.67,100.43,0.889,4,0.048,0.055,3302,3380,2522,0,0,0,0,0,0
$GC,4929,1.32,154.2,499.5,7.9,236,4969,0.00,2.70,32.90,0.861,6,0.000,0.054,3302,1820,2371,0,0,0,0,0,0
$GC,5246,1.23,160.3,468.8,9.7,244,5257,0.17,2.60,5.22,0.644,4,0.133,0.041,3268,3376,2346,0,0,0,0,0,0
$GC,5313,1.26,187.1,462.8,8.5,245,5343,0.00,2.65,24.80,0.848,6,0.000,0.058,3268,1832,2238,0,0,0,0,0,0
$GC,5614,1.28,205.8,436.7,9.0,253,5633,0.00,0.00,17.27,0.824,6,0.000,0.000,3268,1832,2161,0,0,0,0,0,0
$GC,5895,1.28,205.8,408.1,10.2,260,5899,0.00,2.55,0.00,0.000,4,0.000,0.038,3268,3381,2155,0,0,0,0,0,0
$GC,5916,1.28,205.8,405.7,11.0,260,5920,0.00,2.65,0.00,0.000,6,0.000,0.055,3268,1827,2154,0,0,0,0,0,0
$GC,6172,1.30,219.7,381.8,9.2,267,6186,0.00,0.00,12.45,0.785,6,0.000,0.000,3268,1827,2105,0,0,0,0,0,0
$GC,6415,1.31,229.3,358.6,9.5,273,6430,0.00,2.90,9.60,0.747,4,0.000,0.090,3268,234,2065,0,0,0,0,0,0
$GC,6453,1.31,229.3,354.5,11.5,274,6457,0.00,2.53,0.00,0.000,6,0.000,0.027,3268,1814,2064,0,0,0,0,0,0
$GC,6737,1.31,231.1,326.4,9.9,281,6742,0.00,2.55,0.00,0.000,4,0.000,0.041,3268,3400,2062,0,0,0,0,0,0
$GC,6787,1.38,231.1,321.1,10.5,282,6793,0.12,2.62,0.00,0.000,6,0.097,0.039,3300,1819,2061,0,0,0,0,0,0
$GC,7061,1.38,231.1,291.3,10.7,289,7065,0.00,2.55,0.00,0.000,4,0.000,0.031,3300,3398,2060,0,0,0,0,0,0
$GC,7093,1.38,231.1,287.6,10.6,289,7099,0.00,2.58,0.00,0.000,6,0.000,0.042,3300,1832,2059,0,0,0,0,0,0
$GC,7343,1.40,248.6,264.5,9.0,296,7363,0.00,0.00,17.88,0.745,6,0.000,0.000,3300,1831,1987,0,0,0,0,0,0
$GC,7588,1.40,248.6,240.4,10.2,302,7593,0.00,2.53,0.00,0.000,4,0.000,0.036,3300,3406,1982,0,0,0,0,0,0
$GC,7609,1.40,248.6,237.6,11.3,302,7614,0.00,2.58,0.00,0.000,6,0.000,0.042,3300,1838,1981,0,0,0,0,0,0
$GC,7865,1.40,248.6,209.6,11.0,309,7869,0.00,2.50,0.00,0.000,4,0.000,0.033,3300,3405,1981,0,0,0,0,0,0
$GC,7892,1.40,248.6,206.4,11.0,309,7897,0.00,2.58,0.00,0.000,6,0.000,0.041,3300,1826,1980,0,0,0,0,0,0
$GC,8161,1.40,248.6,178.9,10.1,328,8165,0.00,2.53,0.00,0.000,4,0.000,0.030,3301,3404,1980,0,0,0,0,0,0
$GC,8224,1.45,252.1,172.2,9.8,333,8228,0.00,2.53,0.00,0.000,6,0.000,0.034,3300,1836,1979,0,0,0,0,0,0
$GC,8492,1.49,280.5,148.6,8.4,357,8527,0.10,2.55,27.90,0.651,4,0.094,0.027,3327,3411,1856,0,0,0,0,0,0
$GC,8566,1.49,280.5,140.8,10.9,363,8570,0.00,2.60,0.00,0.000,6,0.000,0.034,3327,1830,1854,0,0,0,0,0,0
$GC,8833,1.49,280.5,111.6,11.0,387,8838,0.00,2.50,0.00,0.000,4,0.000,0.027,3327,3411,1852,0,0,0,0,0,0
$GC,8874,1.54,280.5,106.4,10.9,390,8879,0.00,2.58,0.00,0.000,6,0.000,0.032,3327,1828,1851,0,0,0,0,0,0
$GC,9139,1.61,305.1,81.0,8.6,414,9168,0.10,2.55,21.38,0.581,4,0.091,0.028,3354,3401,1756,0,0,0,0,0,0
$GC,9274,1.65,305.1,67.7,10.7,424,9278,0.00,2.50,0.00,0.000,6,0.000,0.031,3354,1852,1755,0,0,0,0,0,0
$GC,9540,1.65,305.1,37.3,11.5,448,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1852,1753,0,0,0,0,0,0
$STATE,9828,end climb,SURFACE_DEPTH_REACHED
$STATE,9828,begin surface coast
$FINISH,0.5,1.009541
$STATE,9877,end surface coast,CONTROL_FINISHED_OK
$STATE,9877,begin surface
$SM_CCo,9900,104.78,0.472,1,0,1287,420.20
$SM_GC,1.04,0.00,0.00,104.78,0.000,0.000,0.472,475,1749,1287,-11.62,-0.62,420.20
$IRIDIUM_FIX,2241.69,-15801.49,251299,040434
$TT8_MAMPS,0.026078
$HUMID,46.77
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.00
$XPDR_PINGS,39
$24V_AH,23.6,42.216
$10V_AH,10.2,41.755
$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,26.925,98.700,364.900,104.775,0.000,27.521,38.741,322.257,9.750,0.000,16.424,973.010,6596.896,526.638,1783.199,711.808,33.367,1186.502,0.000,1783.017,0.000,0.536,0.000
$DEVICE_MAMPS,141.128,113.516,915.031,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.018,281.180,377.197,699.821,1058.430,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,38252,494
$CAP_FILE_SIZE,100738,0
$CFSIZE,260165632,164433920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300910,094306,2250.261,-15803.020,11,1.4,27,10.1