version: 66.06
glider: 146
mission: 5
dive: 300
start: 9 30 110 18 56 8
data:
$ID,146
$MISSION,5
$DIVE,300
$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,-253208.14
$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,53
$R_STBD_OVSHOOT,52
$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
$GPS1,184407,2250.595,-15801.188,27,1.0,27,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.9
$GPS2,185514,2250.535,-15801.241,13,1.4,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,0.221
$KALMAN_X,-300514.9,-59.5,-192.4,316888.2,339.9
$KALMAN_Y,-427219.3,186.9,-364.7,556962.0,-747.9
$MHEAD_RNG_PITCHd_Wd,9.6,17447,-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,-78.85,0.000,2,0.000,0.000,474,1737,3258,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.4,-6.8,10,127,11.20,2.58,-4.18,0.000,4,0.136,0.038,2690,3341,3481,0,0,0,0,0,0
$GC,159,-1.20,-116.8,20.3,-21.0,17,169,0.17,2.53,0.00,0.000,6,0.076,0.030,2733,1793,3482,0,0,0,0,0,0
$GC,442,-1.13,-116.8,64.5,-15.4,46,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1793,3482,0,0,0,0,0,0
$GC,706,-1.13,-116.8,104.7,-13.6,71,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1793,3483,0,0,0,0,0,0
$GC,969,-1.13,-116.8,137.0,-11.4,96,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1793,3484,0,0,0,0,0,0
$GC,1222,-1.13,-116.8,164.6,-10.5,120,1227,0.00,2.70,0.00,0.000,4,0.000,0.066,2733,194,3484,0,0,0,0,0,0
$GC,1255,-1.13,-116.8,168.5,-11.3,122,1261,0.00,2.45,0.00,0.000,6,0.000,0.020,2733,1817,3484,0,0,0,0,0,0
$GC,1520,-1.18,-116.8,194.9,-10.4,147,1524,0.00,2.35,0.00,0.000,4,0.000,0.029,2733,3321,3485,0,0,0,0,0,0
$GC,1542,-1.23,-116.8,196.9,-10.0,148,1547,0.00,2.47,0.00,0.000,6,0.000,0.035,2733,1771,3485,0,0,0,0,0,0
$GC,1814,-1.28,-116.8,225.8,-10.8,156,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1771,3485,0,0,0,0,0,0
$GC,2057,-1.35,-116.8,251.5,-10.5,162,2062,0.12,2.45,0.00,0.000,4,0.071,0.028,2688,3311,3485,0,0,0,0,0,0
$GC,2074,-1.39,-116.8,253.3,-10.0,162,2078,0.00,2.42,0.00,0.000,6,0.000,0.031,2688,1786,3485,0,0,0,0,0,0
$GC,2335,-1.39,-116.8,284.3,-12.0,169,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1786,3484,0,0,0,0,0,0
$GC,2578,-1.39,-116.8,310.2,-10.4,175,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1786,3484,0,0,0,0,0,0
$GC,2821,-1.39,-116.8,334.5,-10.1,181,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1786,3484,0,0,0,0,0,0
$GC,3065,-1.39,-116.8,359.7,-10.3,187,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1786,3483,0,0,0,0,0,0
$GC,3311,-1.42,-116.8,383.2,-9.5,193,3315,0.00,2.50,0.00,0.000,4,0.000,0.045,2688,3306,3481,0,0,0,0,0,0
$GC,3339,-1.48,-116.8,385.8,-8.8,193,3343,0.00,2.53,0.00,0.000,6,0.000,0.050,2688,1793,3481,0,0,0,0,0,0
$GC,3589,-1.52,-116.8,407.7,-8.8,199,3594,0.00,2.95,0.00,0.000,4,0.000,0.104,2688,180,3480,0,0,0,0,0,0
$GC,3617,-1.52,-116.8,410.6,-10.5,199,3622,0.00,2.45,0.00,0.000,6,0.000,0.032,2687,1725,3480,0,0,0,0,0,0
$GC,3868,-1.56,-116.8,433.4,-9.1,205,3873,0.12,2.75,0.00,0.000,4,0.070,0.061,2641,3361,3477,0,0,0,0,0,0
$GC,3907,-1.56,-116.8,437.7,-10.8,206,3912,0.00,2.67,0.00,0.000,6,0.000,0.055,2641,1780,3477,0,0,0,0,0,0
$GC,4192,-1.52,-116.8,471.2,-12.1,213,4197,0.12,2.97,0.00,0.000,4,0.115,0.107,2667,181,3475,0,0,0,0,0,0
$GC,4213,-1.52,-116.8,474.3,-12.7,213,4218,0.00,2.60,0.00,0.000,6,0.000,0.036,2667,1781,3475,0,0,0,0,0,0
$STATE,4466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4473,-0.31,0.0,503.6,11.5,220,4573,1.17,0.00,96.55,0.913,6,0.081,0.000,2929,1830,3001,0,0,0,0,0,0
$STATE,4574,end apogee,CONTROL_FINISHED_OK
$STATE,4574,begin climb
$GC,4577,1.38,116.8,506.8,0.0,222,4688,1.55,2.80,100.32,0.891,4,0.041,0.068,3306,3392,2522,0,0,0,0,0,0
$GC,4712,1.35,191.9,505.0,5.7,225,4784,0.00,2.70,64.65,0.876,6,0.000,0.054,3306,1818,2218,0,0,0,0,0,0
$GC,5028,1.25,191.9,471.4,11.5,233,5033,0.15,2.62,0.00,0.000,4,0.124,0.043,3276,3405,2209,0,0,0,0,0,0
$GC,5112,1.25,191.9,462.5,10.3,235,5116,0.00,2.70,0.00,0.000,6,0.000,0.058,3275,1833,2206,0,0,0,0,0,0
$GC,5397,1.26,197.6,434.7,9.7,242,5406,0.00,2.62,3.92,0.543,4,0.000,0.044,3276,3393,2195,0,0,0,0,0,0
$GC,5451,1.26,197.6,429.1,10.2,243,5455,0.00,2.62,0.00,0.000,6,0.000,0.056,3276,1843,2194,0,0,0,0,0,0
$GC,5724,1.29,216.5,404.4,8.9,250,5749,0.00,2.65,18.33,0.821,4,0.000,0.041,3276,3404,2117,0,0,0,0,0,0
$GC,5794,1.30,225.7,397.5,9.5,251,5810,0.00,2.65,9.48,0.750,6,0.000,0.053,3276,1838,2080,0,0,0,0,0,0
$GC,6054,1.30,226.2,371.3,10.0,258,6058,0.00,2.55,0.00,0.000,4,0.000,0.039,3276,3401,2076,0,0,0,0,0,0
$GC,6082,1.30,226.2,368.4,10.0,258,6087,0.00,2.60,0.00,0.000,6,0.000,0.048,3276,1854,2074,0,0,0,0,0,0
$GC,6332,1.30,228.2,343.6,9.9,264,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1854,2074,0,0,0,0,0,0
$GC,6576,1.31,239.8,320.6,9.4,270,6590,0.00,0.00,12.82,0.759,6,0.000,0.000,3276,1854,2023,0,0,0,0,0,0
$GC,6821,1.32,248.5,296.7,9.5,276,6832,0.00,0.00,9.12,0.707,6,0.000,0.000,3276,1855,1987,0,0,0,0,0,0
$GC,7063,1.37,248.5,271.6,10.3,282,7067,0.00,2.53,0.00,0.000,4,0.000,0.037,3276,3411,1984,0,0,0,0,0,0
$GC,7124,1.45,248.5,265.0,10.7,283,7130,0.17,2.55,0.00,0.000,6,0.076,0.035,3318,1850,1982,0,0,0,0,0,0
$GC,7387,1.45,248.5,234.7,11.7,290,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1850,1982,0,0,0,0,0,0
$GC,7629,1.45,248.5,207.2,11.4,296,7633,0.00,2.50,0.00,0.000,4,0.000,0.031,3319,3404,1981,0,0,0,0,0,0
$GC,7696,1.45,248.5,199.3,11.5,297,7700,0.00,2.50,0.00,0.000,6,0.000,0.041,3319,1869,1981,0,0,0,0,0,0
$GC,7959,1.45,248.5,171.0,10.2,321,7964,0.00,2.45,0.00,0.000,4,0.000,0.029,3319,3411,1981,0,0,0,0,0,0
$GC,7982,1.45,248.5,169.0,10.9,322,7986,0.00,2.53,0.00,0.000,6,0.000,0.034,3319,1858,1980,0,0,0,0,0,0
$GC,8246,1.47,259.8,143.2,9.4,346,8262,0.00,0.00,10.52,0.606,6,0.000,0.000,3319,1858,1940,0,0,0,0,0,0
$GC,8519,1.49,283.0,117.6,8.7,372,8542,0.00,0.00,21.27,0.614,6,0.000,0.000,3318,1858,1847,0,0,0,0,0,0
$GC,8798,1.51,298.8,91.0,9.1,398,8822,0.00,2.58,14.75,0.574,4,0.000,0.031,3319,3411,1780,0,0,0,0,0,0
$GC,8861,1.59,298.8,84.8,10.8,403,8866,0.12,2.53,0.00,0.000,6,0.081,0.032,3351,1855,1780,0,0,0,0,0,0
$GC,9129,1.59,298.8,56.6,10.6,427,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1855,1778,0,0,0,0,0,0
$GC,9398,1.59,298.8,27.0,10.9,454,9407,0.00,2.50,0.00,0.000,4,0.000,0.034,3351,3405,1778,0,0,0,0,0,0
$GC,9436,1.63,298.8,22.8,11.2,459,9445,0.00,2.53,0.00,0.000,6,0.000,0.033,3351,1866,1779,0,0,0,0,0,0
$STATE,9617,end climb,SURFACE_DEPTH_REACHED
$STATE,9620,begin surface coast
$FINISH,0.3,1.009825
$STATE,9667,end surface coast,CONTROL_FINISHED_OK
$STATE,9668,begin surface
$SM_CCo,9689,104.15,0.472,1,0,1288,420.20
$SM_GC,0.96,0.00,0.00,104.15,0.000,0.000,0.472,478,1746,1288,-11.60,-0.71,420.20
$IRIDIUM_FIX,2239.35,-15759.32,251299,151520
$TT8_MAMPS,0.026078
$HUMID,48.07
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,22.90
$XPDR_PINGS,38
$24V_AH,23.5,42.720
$10V_AH,10.2,42.217
$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,26.625,93.275,361.750,104.150,0.000,22.232,33.597,405.082,9.500,0.000,14.744,958.388,6403.601,536.298,1776.187,771.518,33.366,1181.484,0.000,1783.441,0.000,0.537,0.000
$DEVICE_MAMPS,135.759,156.468,913.497,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.983,277.740,383.313,734.922,1111.540,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38403,493
$CAP_FILE_SIZE,98989,0
$CFSIZE,260165632,164220928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300910,214036,2251.124,-15800.886,11,1.4,27,10.1