version: 66.06
glider: 146
mission: 5
dive: 297
start: 9 30 110 9 54 32
data:
$ID,146
$MISSION,5
$DIVE,297
$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,-253143
$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,45
$R_STBD_OVSHOOT,39
$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
$GPS1,094306,2250.261,-15803.020,11,1.4,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.9
$GPS2,095338,2250.200,-15803.068,13,1.6,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.113,0.206
$KALMAN_X,-300951.6,-94.9,195.9,313821.1,-299.4
$KALMAN_Y,-421184.4,-815.1,133.8,550803.1,-1195.7
$MHEAD_RNG_PITCHd_Wd,18.6,19948,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-86.35,0.000,6,0.000,0.000,474,1747,3478,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.4,-9.0,11,126,11.30,2.58,0.00,0.000,4,0.140,0.029,2692,3370,3481,0,0,0,0,0,0
$GC,158,-1.05,-116.8,22.8,-30.0,17,168,0.32,2.60,0.00,0.000,6,0.072,0.039,2768,1791,3481,0,0,0,0,0,0
$GC,435,-1.05,-116.8,59.1,-13.0,45,439,0.00,2.70,0.00,0.000,4,0.000,0.057,2768,189,3482,0,0,0,0,0,0
$GC,468,-1.05,-116.8,63.6,-14.0,47,472,0.00,2.42,0.00,0.000,6,0.000,0.015,2768,1807,3482,0,0,0,0,0,0
$GC,735,-1.10,-116.8,94.0,-11.0,71,739,0.00,2.35,0.00,0.000,4,0.000,0.031,2768,3323,3482,0,0,0,0,0,0
$GC,776,-1.20,-116.8,99.0,-10.6,74,782,0.12,2.50,0.00,0.000,6,0.069,0.030,2719,1760,3483,0,0,0,0,0,0
$GC,1039,-1.20,-116.8,128.0,-10.2,98,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1760,3483,0,0,0,0,0,0
$GC,1294,-1.20,-116.8,155.2,-11.1,122,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1760,3483,0,0,0,0,0,0
$GC,1547,-1.20,-116.8,183.4,-11.4,146,1551,0.00,2.45,0.00,0.000,4,0.000,0.025,2719,3316,3484,0,0,0,0,0,0
$GC,1582,-1.25,-116.8,187.3,-10.9,148,1588,0.00,2.45,0.00,0.000,6,0.000,0.031,2719,1774,3484,0,0,0,0,0,0
$GC,1867,-1.25,-116.8,218.2,-11.0,164,1872,0.00,2.42,0.00,0.000,4,0.000,0.026,2719,3319,3484,0,0,0,0,0,0
$GC,1895,-1.30,-116.8,221.6,-11.2,164,1899,0.00,2.45,0.00,0.000,6,0.000,0.034,2718,1781,3484,0,0,0,0,0,0
$GC,2146,-1.30,-116.8,249.0,-11.0,170,2150,0.00,2.42,0.00,0.000,4,0.000,0.031,2719,3322,3484,0,0,0,0,0,0
$GC,2190,-1.38,-116.8,254.0,-11.2,171,2194,0.00,2.47,0.00,0.000,6,0.000,0.037,2719,1778,3483,0,0,0,0,0,0
$GC,2467,-1.43,-116.8,282.3,-10.2,178,2473,0.12,2.75,0.00,0.000,4,0.074,0.077,2677,192,3483,0,0,0,0,0,0
$GC,2509,-1.36,-116.8,287.5,-14.0,179,2514,0.12,2.40,0.00,0.000,6,0.114,0.026,2702,1760,3483,0,0,0,0,0,0
$GC,2793,-1.40,-116.8,318.9,-10.7,186,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1760,3483,0,0,0,0,0,0
$GC,3036,-1.44,-116.8,345.5,-11.0,192,3041,0.00,2.55,0.00,0.000,4,0.000,0.047,2703,3336,3482,0,0,0,0,0,0
$GC,3078,-1.51,-116.8,349.8,-10.7,193,3083,0.15,2.55,0.00,0.000,6,0.064,0.044,2653,1790,3481,0,0,0,0,0,0
$GC,3362,-1.48,-116.8,384.2,-12.0,200,3367,0.12,2.92,0.00,0.000,4,0.110,0.099,2679,184,3480,0,0,0,0,0,0
$GC,3379,-1.48,-116.8,386.1,-11.3,200,3384,0.00,2.50,0.00,0.000,6,0.000,0.028,2679,1776,3481,0,0,0,0,0,0
$GC,3639,-1.48,-116.8,412.4,-10.1,207,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1776,3479,0,0,0,0,0,0
$GC,3883,-1.48,-116.8,437.2,-10.3,213,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1776,3477,0,0,0,0,0,0
$GC,4127,-1.48,-116.8,462.4,-10.3,219,4131,0.00,2.88,0.00,0.000,4,0.000,0.091,2679,182,3475,0,0,0,0,0,0
$GC,4194,-1.48,-116.8,470.5,-12.3,220,4199,0.00,2.58,0.00,0.000,6,0.000,0.039,2679,1774,3475,0,0,0,0,0,0
$GC,4449,-1.51,-116.8,496.9,-10.1,227,4454,0.00,2.70,0.00,0.000,4,0.000,0.074,2679,3357,3473,0,0,0,0,0,0
$STATE,4479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4479,begin apogee
$GC,4489,-0.31,0.0,500.2,9.9,227,4589,1.10,0.00,96.25,0.905,6,0.081,0.000,2928,1813,3001,0,0,0,0,0,0
$STATE,4590,end apogee,CONTROL_FINISHED_OK
$STATE,4590,begin climb
$GC,4592,1.38,116.8,502.6,0.0,230,4702,1.58,2.72,99.75,0.881,4,0.044,0.053,3306,3407,2523,0,0,0,0,0,0
$GC,4714,1.35,189.3,499.9,5.8,233,4784,0.00,2.72,62.75,0.865,6,0.000,0.052,3305,1815,2228,0,0,0,0,0,0
$GC,5063,1.26,189.3,462.3,10.9,242,5068,0.15,2.65,0.00,0.000,4,0.125,0.044,3277,3422,2218,0,0,0,0,0,0
$GC,5137,1.27,195.3,454.8,9.7,243,5148,0.00,2.75,4.57,0.588,6,0.000,0.052,3277,1818,2205,0,0,0,0,0,0
$GC,5392,1.27,195.3,428.9,10.3,250,5396,0.00,2.62,0.00,0.000,4,0.000,0.043,3277,3415,2202,0,0,0,0,0,0
$GC,5418,1.27,195.3,426.1,10.7,250,5423,0.00,2.65,0.00,0.000,6,0.000,0.048,3277,1836,2201,0,0,0,0,0,0
$GC,5670,1.27,195.3,400.2,10.4,256,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1837,2200,0,0,0,0,0,0
$GC,5912,1.28,207.7,376.5,9.3,262,5931,0.00,2.67,11.90,0.774,4,0.000,0.032,3277,3425,2152,0,0,0,0,0,0
$GC,5942,1.31,230.0,373.8,8.8,262,5969,0.00,2.67,20.92,0.802,6,0.000,0.046,3277,1835,2063,0,0,0,0,0,0
$GC,6239,1.33,242.8,347.3,9.3,270,6258,0.00,2.67,12.07,0.755,4,0.000,0.033,3276,3420,2010,0,0,0,0,0,0
$GC,6293,1.38,242.8,341.5,10.5,271,6298,0.10,2.65,0.00,0.000,6,0.100,0.044,3302,1836,2008,0,0,0,0,0,0
$GC,6565,1.38,242.8,312.4,10.8,278,6569,0.00,2.55,0.00,0.000,4,0.000,0.031,3303,3416,2005,0,0,0,0,0,0
$GC,6581,1.38,242.8,310.5,10.6,278,6586,0.00,2.55,0.00,0.000,6,0.000,0.035,3302,1853,2005,0,0,0,0,0,0
$GC,6842,1.38,242.8,282.8,10.6,285,6847,0.00,2.80,0.00,0.000,4,0.000,0.076,3302,236,2004,0,0,0,0,0,0
$GC,6858,1.33,242.8,280.8,10.9,285,6862,0.00,2.60,0.00,0.000,6,0.000,0.026,3301,1881,2003,0,0,0,0,0,0
$GC,7121,1.34,242.9,253.8,10.0,292,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1883,2002,0,0,0,0,0,0
$GC,7363,1.34,246.9,229.8,9.8,298,7368,0.00,2.45,0.00,0.000,4,0.000,0.032,3302,3419,2002,0,0,0,0,0,0
$GC,7385,1.34,248.0,227.4,10.0,298,7395,0.00,2.55,4.62,0.528,6,0.000,0.039,3302,1853,1989,0,0,0,0,0,0
$GC,7647,1.34,248.0,200.7,10.5,305,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1853,1988,0,0,0,0,0,0
$GC,7898,1.34,248.0,174.5,10.2,326,7902,0.00,2.53,0.00,0.000,4,0.000,0.030,3302,3425,1988,0,0,0,0,0,0
$GC,7931,1.35,254.2,171.8,9.7,328,7945,0.00,2.53,7.05,0.576,6,0.000,0.037,3302,1866,1964,0,0,0,0,0,0
$GC,8207,1.35,254.7,143.6,10.0,354,8211,0.00,2.47,0.00,0.000,4,0.000,0.035,3302,3421,1962,0,0,0,0,0,0
$GC,8274,1.43,254.7,137.0,10.3,359,8279,0.00,2.50,0.00,0.000,6,0.000,0.031,3302,1865,1962,0,0,0,0,0,0
$GC,8542,1.47,254.7,109.8,10.2,383,8547,0.00,2.47,0.00,0.000,4,0.000,0.027,3302,3425,1961,0,0,0,0,0,0
$GC,8560,1.52,254.7,107.3,10.3,384,8565,0.12,2.50,0.00,0.000,6,0.084,0.031,3334,1861,1961,0,0,0,0,0,0
$GC,8824,1.54,267.7,82.1,9.3,408,8843,0.00,2.75,13.32,0.562,4,0.000,0.063,3335,241,1908,0,0,0,0,0,0
$GC,8907,1.49,267.7,73.3,11.6,414,8912,0.00,2.58,0.00,0.000,6,0.000,0.019,3335,1894,1907,0,0,0,0,0,0
$GC,9175,1.52,296.3,50.2,8.4,438,9205,0.00,0.00,25.40,0.553,6,0.000,0.000,3335,1895,1792,0,0,0,0,0,0
$GC,9479,1.56,296.3,20.9,10.4,471,9489,0.00,2.45,0.00,0.000,4,0.000,0.027,3335,3422,1789,0,0,0,0,0,0
$GC,9521,1.62,296.3,16.7,10.4,476,9530,0.00,2.58,0.00,0.000,6,0.000,0.031,3335,1852,1788,0,0,0,0,0,0
$STATE,9639,end climb,SURFACE_DEPTH_REACHED
$STATE,9639,begin surface coast
$FINISH,0.4,1.023212
$STATE,9690,end surface coast,CONTROL_FINISHED_OK
$STATE,9691,begin surface
$SM_CCo,9712,105.68,0.470,1,0,1287,420.20
$SM_GC,1.09,0.00,0.00,105.68,0.000,0.000,0.470,474,1750,1287,-11.62,-0.57,420.20
$IRIDIUM_FIX,2241.69,-15804.53,251299,060624
$TT8_MAMPS,0.026078
$HUMID,47.04
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.10
$XPDR_PINGS,46
$24V_AH,23.6,42.340
$10V_AH,10.3,41.871
$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,26.950,124.100,358.625,105.675,0.000,27.849,32.616,355.108,11.500,0.000,15.212,998.698,6276.939,524.146,1884.677,751.260,33.363,1217.402,0.000,1886.473,0.000,0.536,0.000
$DEVICE_MAMPS,139.594,98.943,905.060,470.171,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.842,295.590,392.654,759.735,1150.209,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,38399,500
$CAP_FILE_SIZE,107750,0
$CFSIZE,260165632,164372480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300910,123937,2250.365,-15802.228,40,1.1,40,10.1