version: 66.06
glider: 146
mission: 5
dive: 298
start: 9 30 110 12 51 21
data:
$ID,146
$MISSION,5
$DIVE,298
$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,-253174.03
$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
$GPS1,123937,2250.365,-15802.228,40,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.0
$GPS2,125028,2250.227,-15802.219,9,2.3,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.096,0.215
$KALMAN_X,-300513.8,-163.4,122.5,314983.9,39.3
$KALMAN_Y,-422904.0,-803.1,-103.8,552804.7,-989.6
$MHEAD_RNG_PITCHd_Wd,13.9,18940,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.15,0.000,2,0.000,0.000,474,1749,3237,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.4,-7.0,10,126,11.27,0.00,-4.57,0.000,6,0.139,0.000,2691,1749,3480,0,0,0,0,0,0
$GC,406,-1.22,-116.8,63.8,-17.6,44,411,0.20,2.55,0.00,0.000,4,0.111,0.022,2732,3374,3482,0,0,0,0,0,0
$GC,429,-1.11,-116.8,67.7,-17.6,45,434,0.12,2.53,0.00,0.000,6,0.110,0.028,2759,1787,3482,0,0,0,0,0,0
$GC,695,-1.15,-116.8,98.7,-10.3,69,700,0.00,2.67,0.00,0.000,4,0.000,0.058,2759,196,3482,0,0,0,0,0,0
$GC,731,-1.15,-116.8,103.0,-11.8,71,736,0.00,2.45,0.00,0.000,6,0.000,0.016,2759,1832,3482,0,0,0,0,0,0
$GC,994,-1.22,-116.8,127.0,-9.3,96,999,0.10,2.78,0.00,0.000,4,0.081,0.061,2716,194,3483,0,0,0,0,0,0
$GC,1023,-1.22,-116.8,130.4,-11.8,98,1028,0.00,2.42,0.00,0.000,6,0.000,0.023,2716,1824,3483,0,0,0,0,0,0
$GC,1287,-1.22,-116.8,158.3,-10.7,122,1292,0.00,2.42,0.00,0.000,4,0.000,0.028,2716,3375,3483,0,0,0,0,0,0
$GC,1328,-1.25,-116.8,162.8,-10.0,125,1332,0.00,2.55,0.00,0.000,6,0.000,0.031,2716,1765,3483,0,0,0,0,0,0
$GC,1592,-1.25,-116.8,190.6,-10.4,149,1596,0.00,2.65,0.00,0.000,4,0.000,0.063,2716,195,3483,0,0,0,0,0,0
$GC,1608,-1.25,-116.8,192.8,-11.0,150,1613,0.00,2.45,0.00,0.000,6,0.000,0.015,2716,1830,3483,0,0,0,0,0,0
$GC,1881,-1.25,-116.8,220.7,-9.9,161,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1831,3483,0,0,0,0,0,0
$GC,2127,-1.25,-116.8,244.5,-9.7,167,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1831,3483,0,0,0,0,0,0
$GC,2369,-1.29,-116.8,269.5,-10.5,173,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1830,3482,0,0,0,0,0,0
$GC,2613,-1.34,-116.8,293.1,-9.7,179,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1830,3482,0,0,0,0,0,0
$GC,2858,-1.39,-116.8,315.4,-9.1,185,2863,0.00,2.85,0.00,0.000,4,0.000,0.071,2716,197,3481,0,0,0,0,0,0
$GC,2914,-1.47,-116.8,321.0,-9.9,186,2919,0.15,2.47,0.00,0.000,6,0.061,0.022,2661,1783,3481,0,0,0,0,0,0
$GC,3180,-1.47,-116.8,351.7,-11.6,193,3184,0.00,2.53,0.00,0.000,4,0.000,0.050,2662,3349,3480,0,0,0,0,0,0
$GC,3236,-1.47,-116.8,357.9,-10.9,194,3241,0.00,2.60,0.00,0.000,6,0.000,0.045,2661,1771,3480,0,0,0,0,0,0
$GC,3502,-1.47,-116.8,385.2,-9.8,201,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1771,3479,0,0,0,0,0,0
$GC,3746,-1.47,-116.8,408.0,-9.5,207,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1771,3477,0,0,0,0,0,0
$GC,3991,-1.47,-116.8,433.8,-10.7,213,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1771,3476,0,0,0,0,0,0
$GC,4233,-1.47,-116.8,459.4,-10.5,219,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1771,3475,0,0,0,0,0,0
$GC,4477,-1.47,-116.8,484.5,-10.0,225,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1767,3473,0,0,0,0,0,0
$STATE,4677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4678,begin apogee
$GC,4684,-0.31,0.0,502.7,8.8,230,4784,1.23,0.00,96.07,0.910,6,0.084,0.000,2931,1841,3001,0,0,0,0,0,0
$STATE,4784,end apogee,CONTROL_FINISHED_OK
$STATE,4784,begin climb
$GC,4788,1.38,116.8,503.5,0.0,232,4893,1.55,0.00,100.88,0.887,6,0.044,0.000,3307,1841,2524,0,0,0,0,0,0
$GC,5125,1.26,119.1,478.7,9.9,241,5130,0.15,2.62,0.00,0.000,4,0.202,0.054,3277,3381,2514,0,0,0,0,0,0
$GC,5187,1.23,140.0,473.3,8.8,242,5213,0.00,2.70,19.60,0.838,6,0.000,0.061,3277,1819,2430,0,0,0,0,0,0
$GC,5493,1.23,184.1,449.7,7.5,250,5538,0.00,2.62,39.30,0.863,4,0.000,0.048,3277,3381,2249,0,0,0,0,0,0
$GC,5598,1.23,188.7,441.0,9.8,252,5609,0.00,2.67,5.10,0.626,6,0.000,0.058,3277,1819,2231,0,0,0,0,0,0
$GC,5859,1.25,197.8,416.1,9.5,259,5873,0.00,2.60,9.02,0.754,4,0.000,0.044,3277,3389,2194,0,0,0,0,0,0
$GC,5907,1.26,205.9,411.4,9.6,260,5922,0.00,2.65,8.85,0.745,6,0.000,0.055,3278,1836,2160,0,0,0,0,0,0
$GC,6191,1.27,215.5,384.8,9.5,267,6205,0.00,2.55,9.40,0.752,4,0.000,0.039,3277,3384,2121,0,0,0,0,0,0
$GC,6234,1.28,226.2,380.7,9.4,268,6250,0.00,2.60,11.12,0.763,6,0.000,0.045,3277,1849,2078,0,0,0,0,0,0
$GC,6519,1.28,226.2,352.4,10.2,275,6523,0.00,2.47,0.00,0.000,4,0.000,0.038,3277,3385,2072,0,0,0,0,0,0
$GC,6551,1.28,226.2,348.9,10.5,275,6557,0.00,2.58,0.00,0.000,6,0.000,0.041,3277,1841,2072,0,0,0,0,0,0
$GC,6801,1.28,226.2,323.0,10.5,282,6805,0.00,2.50,0.00,0.000,4,0.000,0.034,3277,3392,2070,0,0,0,0,0,0
$GC,6829,1.28,226.2,320.3,10.1,282,6833,0.00,2.55,0.00,0.000,6,0.000,0.039,3277,1845,2069,0,0,0,0,0,0
$GC,7079,1.30,242.8,297.6,9.1,288,7095,0.00,0.00,14.82,0.752,6,0.000,0.000,3277,1845,2010,0,0,0,0,0,0
$GC,7322,1.31,246.7,273.8,9.8,294,7329,0.00,0.00,4.43,0.541,6,0.000,0.000,3277,1845,1994,0,0,0,0,0,0
$GC,7568,1.35,252.9,250.2,9.7,300,7577,0.00,0.00,7.10,0.637,6,0.000,0.000,3277,1845,1970,0,0,0,0,0,0
$GC,7810,1.42,267.6,227.6,9.2,306,7827,0.12,0.00,14.68,0.696,6,0.090,0.000,3309,1845,1909,0,0,0,0,0,0
$GC,8053,1.42,267.6,200.9,11.3,312,8058,0.00,2.47,0.00,0.000,4,0.000,0.033,3309,3397,1906,0,0,0,0,0,0
$GC,8086,1.42,267.6,196.9,12.2,312,8092,0.00,2.53,0.00,0.000,6,0.000,0.038,3309,1838,1905,0,0,0,0,0,0
$GC,8354,1.42,267.6,166.2,11.9,337,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1838,1905,0,0,0,0,0,0
$GC,8615,1.42,267.6,137.7,10.1,362,8619,0.00,2.47,0.00,0.000,4,0.000,0.035,3309,3390,1905,0,0,0,0,0,0
$GC,8740,1.47,267.6,125.7,10.0,372,8745,0.00,2.50,0.00,0.000,6,0.000,0.033,3310,1851,1904,0,0,0,0,0,0
$GC,9005,1.53,283.1,102.1,9.1,396,9025,0.10,2.75,14.10,0.586,4,0.093,0.063,3337,244,1846,0,0,0,0,0,0
$GC,9052,1.46,283.1,97.0,11.8,399,9057,0.00,2.53,0.00,0.000,6,0.000,0.018,3337,1861,1845,0,0,0,0,0,0
$GC,9320,1.48,301.0,70.8,9.0,423,9348,0.00,2.50,16.65,0.562,4,0.000,0.028,3338,3385,1773,0,0,0,0,0,0
$GC,9380,1.57,301.6,64.5,10.0,427,9390,0.00,2.53,0.00,0.000,6,0.000,0.034,3337,1865,1771,0,0,0,0,0,0
$GC,9647,1.57,301.6,38.9,10.3,452,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1864,1771,0,0,0,0,0,0
$GC,9964,1.59,319.7,7.3,9.0,493,9990,0.00,2.47,17.27,0.508,4,0.000,0.024,3337,3389,1696,0,0,0,0,0,0
$STATE,9999,end climb,SURFACE_DEPTH_REACHED
$STATE,9999,begin surface coast
$FINISH,0.4,1.022853
$STATE,10055,end surface coast,CONTROL_FINISHED_OK
$STATE,10055,begin surface
$SM_CCo,10080,86.90,0.463,1,0,1287,420.20
$SM_GC,0.99,0.00,0.00,86.90,0.000,0.000,0.463,477,1758,1287,-11.61,-0.34,420.20
$IRIDIUM_FIX,2241.69,-15801.49,251299,090918
$TT8_MAMPS,0.026078
$HUMID,46.88
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.20
$XPDR_PINGS,34
$24V_AH,23.6,42.466
$10V_AH,10.2,41.986
$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,26.650,92.525,388.400,86.900,0.000,28.710,34.146,362.707,8.500,0.000,30.406,987.553,6718.582,548.387,1795.969,749.064,33.363,1187.794,0.000,1791.734,0.000,0.537,0.000
$DEVICE_MAMPS,202.488,115.817,910.429,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.280,289.218,387.432,738.094,1116.380,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38483,505
$CAP_FILE_SIZE,100881,0
$CFSIZE,260165632,164327424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300910,154206,2250.396,-15801.639,32,1.4,32,10.1