version: 66.06
glider: 146
mission: 5
dive: 299
start: 9 30 110 15 53 19
data:
$ID,146
$MISSION,5
$DIVE,299
$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,-253192.77
$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,31
$R_STBD_OVSHOOT,58
$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
$GPS1,154206,2250.396,-15801.639,32,1.4,32,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.8
$GPS2,155225,2250.282,-15801.700,11,1.9,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.098,0.214
$KALMAN_X,-300381.4,-153.9,-65.8,315929.9,233.7
$KALMAN_Y,-424979.5,-362.1,-435.9,554874.6,-630.3
$MHEAD_RNG_PITCHd_Wd,14.5,18298,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.62,0.000,2,0.000,0.000,476,1757,3216,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.0,-5.1,10,127,11.20,2.67,-5.10,0.000,4,0.137,0.067,2691,202,3480,0,0,0,0,0,0
$GC,139,-0.45,-116.8,15.6,-31.5,14,147,0.93,2.45,0.00,0.000,6,0.081,0.016,2898,1788,3481,0,0,0,0,0,0
$GC,436,-0.74,-116.8,38.8,-6.9,51,441,0.25,2.40,0.00,0.000,4,0.045,0.024,2814,3328,3481,0,0,0,0,0,0
$GC,459,-0.96,-116.8,40.8,-7.7,52,464,0.10,2.47,0.00,0.000,6,0.079,0.028,2770,1766,3481,0,0,0,0,0,0
$GC,727,-0.96,-116.8,75.4,-12.9,76,732,0.10,2.65,0.00,0.000,4,0.116,0.056,2792,197,3482,0,0,0,0,0,0
$GC,760,-1.00,-116.8,80.1,-13.0,78,764,0.00,2.35,0.00,0.000,6,0.000,0.023,2792,1776,3482,0,0,0,0,0,0
$GC,1025,-1.11,-116.8,106.8,-9.5,102,1030,0.15,2.40,0.00,0.000,4,0.063,0.025,2743,3316,3482,0,0,0,0,0,0
$GC,1048,-1.19,-116.8,109.5,-9.8,103,1053,0.00,2.47,0.00,0.000,6,0.000,0.027,2743,1754,3483,0,0,0,0,0,0
$GC,1308,-1.19,-116.8,138.7,-11.3,128,1313,0.00,2.62,0.00,0.000,4,0.000,0.066,2743,192,3483,0,0,0,0,0,0
$GC,1343,-1.19,-116.8,143.1,-13.4,130,1352,0.00,2.40,0.00,0.000,6,0.000,0.022,2743,1767,3483,0,0,0,0,0,0
$GC,1605,-1.25,-116.8,171.1,-10.1,155,1609,0.00,2.42,0.00,0.000,4,0.000,0.025,2743,3322,3483,0,0,0,0,0,0
$GC,1665,-1.35,-116.8,177.2,-9.8,159,1675,0.12,2.50,0.00,0.000,6,0.035,0.035,2689,1775,3483,0,0,0,0,0,0
$GC,1935,-1.32,-116.8,209.8,-11.8,179,1940,0.10,2.70,0.00,0.000,4,0.119,0.067,2710,196,3483,0,0,0,0,0,0
$GC,1976,-1.32,-116.8,214.9,-12.5,180,1980,0.00,2.35,0.00,0.000,6,0.000,0.017,2710,1757,3483,0,0,0,0,0,0
$GC,2265,-1.32,-116.8,245.8,-10.5,187,2269,0.00,2.45,0.00,0.000,4,0.000,0.034,2711,3318,3484,0,0,0,0,0,0
$GC,2280,-1.32,-116.8,247.5,-10.4,187,2284,0.00,2.47,0.00,0.000,6,0.000,0.035,2710,1758,3483,0,0,0,0,0,0
$GC,2543,-1.32,-116.8,274.9,-10.6,194,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1758,3483,0,0,0,0,0,0
$GC,2786,-1.36,-116.8,298.4,-9.3,200,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1758,3483,0,0,0,0,0,0
$GC,3029,-1.42,-116.8,320.5,-8.8,206,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1758,3483,0,0,0,0,0,0
$GC,3273,-1.48,-116.8,343.0,-9.1,212,3278,0.15,2.53,0.00,0.000,4,0.066,0.038,2663,3316,3482,0,0,0,0,0,0
$GC,3307,-1.48,-116.8,346.4,-10.2,212,3313,0.00,2.58,0.00,0.000,6,0.000,0.046,2663,1772,3482,0,0,0,0,0,0
$GC,3557,-1.48,-116.8,373.4,-10.8,219,3561,0.00,2.47,0.00,0.000,4,0.000,0.043,2663,3309,3480,0,0,0,0,0,0
$GC,3583,-1.48,-116.8,376.6,-10.7,219,3588,0.00,2.58,0.00,0.000,6,0.000,0.050,2663,1771,3481,0,0,0,0,0,0
$GC,3835,-1.48,-116.8,403.0,-10.5,225,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1767,3479,0,0,0,0,0,0
$GC,4077,-1.48,-116.8,429.5,-10.9,231,4081,0.00,2.53,0.00,0.000,4,0.000,0.041,2663,3307,3477,0,0,0,0,0,0
$GC,4103,-1.48,-116.8,432.4,-10.7,231,4108,0.00,2.62,0.00,0.000,6,0.000,0.063,2663,1763,3477,0,0,0,0,0,0
$GC,4358,-1.48,-116.8,459.1,-10.6,238,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1763,3475,0,0,0,0,0,0
$GC,4604,-1.48,-116.8,483.9,-10.0,244,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1763,3473,0,0,0,0,0,0
$STATE,4803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4803,begin apogee
$GC,4809,-0.31,0.0,503.0,9.4,249,4909,1.20,0.00,96.43,0.915,6,0.083,0.000,2932,1763,3001,0,0,0,0,0,0
$STATE,4909,end apogee,CONTROL_FINISHED_OK
$STATE,4910,begin climb
$GC,4912,1.38,116.8,504.7,0.0,251,5017,1.58,0.00,100.50,0.888,6,0.051,0.000,3308,1762,2524,0,0,0,0,0,0
$GC,5253,1.29,148.2,484.8,8.2,260,5288,0.12,2.83,26.90,0.854,4,0.136,0.055,3283,3362,2396,0,0,0,0,0,0
$GC,5380,1.27,168.2,473.7,8.9,262,5404,0.00,2.62,18.65,0.832,6,0.000,0.055,3283,1836,2314,0,0,0,0,0,0
$GC,5672,1.23,181.7,446.9,9.3,270,5691,0.00,2.62,12.27,0.798,4,0.000,0.039,3283,3367,2260,0,0,0,0,0,0
$GC,5720,1.25,195.7,442.3,9.2,271,5739,0.00,2.62,13.95,0.803,6,0.000,0.052,3283,1832,2202,0,0,0,0,0,0
$GC,6003,1.25,200.6,414.8,9.8,278,6012,0.00,2.55,4.78,0.612,4,0.000,0.036,3283,3370,2183,0,0,0,0,0,0
$GC,6096,1.25,200.6,405.0,10.3,280,6101,0.00,2.60,0.00,0.000,6,0.000,0.053,3283,1842,2182,0,0,0,0,0,0
$GC,6370,1.25,200.6,376.3,10.7,287,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1843,2179,0,0,0,0,0,0
$GC,6613,1.26,203.7,351.9,9.9,293,6617,0.00,2.47,0.00,0.000,4,0.000,0.032,3283,3368,2178,0,0,0,0,0,0
$GC,6701,1.26,206.0,343.0,9.9,295,6712,0.00,2.53,5.60,0.647,6,0.000,0.045,3283,1849,2160,0,0,0,0,0,0
$GC,6981,1.27,218.8,316.6,9.3,302,6996,0.00,0.00,12.90,0.761,6,0.000,0.000,3283,1849,2108,0,0,0,0,0,0
$GC,7223,1.31,245.1,295.5,8.5,308,7252,0.00,2.50,24.27,0.777,4,0.000,0.033,3283,3365,2000,0,0,0,0,0,0
$GC,7271,1.31,247.2,290.8,9.9,309,7275,0.00,2.53,0.00,0.000,6,0.000,0.042,3283,1854,1998,0,0,0,0,0,0
$GC,7550,1.31,251.5,262.8,9.8,316,7558,0.00,0.00,6.47,0.634,6,0.000,0.000,3283,1854,1974,0,0,0,0,0,0
$GC,7793,1.33,264.6,240.0,9.3,322,7808,0.00,0.00,12.77,0.700,6,0.000,0.000,3283,1854,1922,0,0,0,0,0,0
$GC,8039,1.37,264.6,215.4,10.3,328,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1853,1918,0,0,0,0,0,0
$GC,8288,1.41,264.6,189.8,10.3,340,8294,0.10,2.80,0.00,0.000,4,0.097,0.064,3310,239,1917,0,0,0,0,0,0
$GC,8317,1.35,264.6,185.9,12.8,342,8322,0.00,2.53,0.00,0.000,6,0.000,0.022,3310,1850,1917,0,0,0,0,0,0
$GC,8581,1.35,264.6,157.7,10.7,366,8585,0.00,2.45,0.00,0.000,4,0.000,0.029,3310,3397,1916,0,0,0,0,0,0
$GC,8603,1.35,264.6,155.5,10.4,367,8608,0.00,2.47,0.00,0.000,6,0.000,0.034,3310,1870,1915,0,0,0,0,0,0
$GC,8872,1.38,291.1,129.9,8.5,391,8897,0.00,0.00,23.50,0.628,6,0.000,0.000,3310,1870,1813,0,0,0,0,0,0
$GC,9155,1.47,316.2,103.4,8.6,418,9186,0.00,2.50,22.52,0.598,4,0.000,0.027,3310,3390,1710,0,0,0,0,0,0
$GC,9200,1.57,337.6,99.4,8.8,422,9228,0.12,2.47,19.67,0.582,6,0.081,0.033,3342,1866,1623,0,0,0,0,0,0
$GC,9493,1.57,337.6,66.2,11.7,449,9497,0.00,2.45,0.00,0.000,4,0.000,0.026,3342,3397,1619,0,0,0,0,0,0
$GC,9515,1.61,337.6,63.8,11.6,450,9519,0.00,2.50,0.00,0.000,6,0.000,0.032,3342,1865,1618,0,0,0,0,0,0
$GC,9781,1.61,337.6,33.0,11.6,474,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1865,1618,0,0,0,0,0,0
$STATE,10030,end climb,SURFACE_DEPTH_REACHED
$STATE,10030,begin surface coast
$FINISH,0.5,1.023008
$STATE,10075,end surface coast,CONTROL_FINISHED_OK
$STATE,10075,begin surface
$SM_CCo,10097,78.47,0.455,1,0,1288,420.20
$SM_GC,1.13,0.00,0.00,78.47,0.000,0.000,0.455,475,1737,1288,-11.62,-0.93,420.20
$IRIDIUM_FIX,2244.02,-15804.53,251299,121244
$TT8_MAMPS,0.026078
$HUMID,47.95
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.20
$XPDR_PINGS,38
$24V_AH,23.6,42.592
$10V_AH,10.2,42.104
$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,27.875,101.300,401.200,78.475,0.000,27.907,30.839,338.725,9.500,0.000,18.107,1014.267,6583.160,541.775,1893.054,744.659,33.356,1215.454,0.000,1906.313,0.000,0.536,0.000
$DEVICE_MAMPS,136.526,67.496,915.031,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.073,300.016,400.105,775.619,1173.191,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41727,515
$CAP_FILE_SIZE,105638,0
$CFSIZE,260165632,164265984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300910,184407,2250.595,-15801.188,27,1.0,27,10.1