version: 66.06
glider: 146
mission: 5
dive: 301
start: 9 30 110 21 51 21
data:
$ID,146
$MISSION,5
$DIVE,301
$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,-253221.78
$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,46
$R_STBD_OVSHOOT,34
$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
$GPS1,214036,2251.124,-15800.886,11,1.4,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.1
$GPS2,215025,2251.085,-15800.889,11,1.7,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.052,0.229
$KALMAN_X,-300844.9,8.1,-93.9,317659.8,93.9
$KALMAN_Y,-429170.2,469.5,129.8,559148.2,-1505.3
$MHEAD_RNG_PITCHd_Wd,2.7,16274,-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,-116.8,0.0,0.0,0,103,0.00,0.00,-85.45,0.000,6,0.000,0.000,478,1745,3478,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.6,-9.7,11,125,11.23,0.00,0.00,0.000,6,0.138,0.000,2689,1745,3480,0,0,0,0,0,0
$GC,398,-1.22,-116.8,66.5,-17.3,42,403,0.20,2.55,0.00,0.000,4,0.107,0.022,2731,3368,3481,0,0,0,0,0,0
$GC,444,-1.22,-116.8,73.6,-12.5,45,448,0.00,2.53,0.00,0.000,6,0.000,0.038,2731,1787,3481,0,0,0,0,0,0
$GC,711,-1.22,-116.8,104.5,-11.0,69,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1786,3482,0,0,0,0,0,0
$GC,972,-1.22,-116.8,134.1,-11.0,94,977,0.00,2.70,0.00,0.000,4,0.000,0.067,2731,187,3482,0,0,0,0,0,0
$GC,996,-1.22,-116.8,136.1,-11.2,95,1000,0.00,2.42,0.00,0.000,6,0.000,0.015,2731,1810,3482,0,0,0,0,0,0
$GC,1259,-1.26,-116.8,165.3,-10.6,119,1263,0.00,2.75,0.00,0.000,4,0.000,0.058,2731,192,3483,0,0,0,0,0,0
$GC,1277,-1.26,-116.8,167.4,-10.9,120,1281,0.00,2.35,0.00,0.000,6,0.000,0.023,2731,1764,3483,0,0,0,0,0,0
$GC,1541,-1.30,-116.8,197.4,-11.2,144,1546,0.00,2.65,0.00,0.000,4,0.000,0.064,2731,194,3483,0,0,0,0,0,0
$GC,1575,-1.30,-116.8,201.9,-11.8,146,1581,0.00,2.30,0.00,0.000,6,0.000,0.018,2731,1743,3483,0,0,0,0,0,0
$GC,1826,-1.34,-116.8,229.1,-11.0,153,1831,0.10,2.47,0.00,0.000,4,0.084,0.025,2694,3313,3483,0,0,0,0,0,0
$GC,1875,-1.34,-116.8,234.9,-11.3,154,1879,0.00,2.47,0.00,0.000,6,0.000,0.028,2694,1750,3483,0,0,0,0,0,0
$GC,2148,-1.34,-116.8,266.8,-11.5,161,2152,0.00,2.47,0.00,0.000,4,0.000,0.035,2694,3313,3483,0,0,0,0,0,0
$GC,2170,-1.34,-116.8,269.4,-11.9,161,2174,0.00,2.53,0.00,0.000,6,0.000,0.031,2694,1750,3483,0,0,0,0,0,0
$GC,2425,-1.34,-116.8,297.7,-11.1,168,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1749,3483,0,0,0,0,0,0
$GC,2668,-1.34,-116.8,323.5,-11.1,174,2672,0.00,2.50,0.00,0.000,4,0.000,0.033,2694,3311,3482,0,0,0,0,0,0
$GC,2703,-1.39,-116.8,327.1,-10.5,174,2709,0.00,2.55,0.00,0.000,6,0.000,0.043,2694,1769,3482,0,0,0,0,0,0
$GC,2953,-1.39,-116.8,353.8,-10.7,181,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1769,3481,0,0,0,0,0,0
$GC,3197,-1.43,-116.8,380.8,-11.0,187,3201,0.00,2.85,0.00,0.000,4,0.000,0.098,2693,186,3480,0,0,0,0,0,0
$GC,3240,-1.47,-116.8,386.1,-12.1,188,3245,0.00,2.40,0.00,0.000,6,0.000,0.031,2694,1712,3480,0,0,0,0,0,0
$GC,3520,-1.52,-116.8,416.2,-10.5,195,3525,0.10,2.67,0.00,0.000,4,0.087,0.054,2659,3307,3479,0,0,0,0,0,0
$GC,3564,-1.52,-116.8,421.4,-11.2,196,3568,0.00,2.60,0.00,0.000,6,0.000,0.054,2659,1762,3479,0,0,0,0,0,0
$GC,3844,-1.52,-116.8,453.6,-11.3,203,3848,0.00,2.53,0.00,0.000,4,0.000,0.049,2659,3298,3476,0,0,0,0,0,0
$GC,3870,-1.52,-116.8,456.8,-10.6,203,3875,0.00,2.60,0.00,0.000,6,0.000,0.059,2658,1764,3476,0,0,0,0,0,0
$GC,4120,-1.52,-116.8,481.1,-9.6,209,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1764,3474,0,0,0,0,0,0
$STATE,4362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4362,begin apogee
$GC,4369,-0.31,0.0,503.2,8.9,215,4469,1.23,0.00,96.70,0.909,6,0.081,0.000,2932,1764,3001,0,0,0,0,0,0
$STATE,4470,end apogee,CONTROL_FINISHED_OK
$STATE,4470,begin climb
$GC,4472,1.38,116.8,504.3,0.0,217,4577,1.55,0.00,100.53,0.884,6,0.040,0.000,3307,1764,2523,0,0,0,0,0,0
$GC,4809,1.28,140.2,482.5,8.7,226,4835,0.12,2.75,20.25,0.839,4,0.132,0.051,3282,3350,2428,0,0,0,0,0,0
$GC,4906,1.27,168.5,474.8,8.4,228,4937,0.00,2.65,25.70,0.848,6,0.000,0.060,3282,1827,2314,0,0,0,0,0,0
$GC,5181,1.23,181.8,449.7,9.3,235,5201,0.00,2.60,12.52,0.799,4,0.000,0.045,3282,3344,2258,0,0,0,0,0,0
$GC,5229,1.24,192.6,445.0,9.4,236,5245,0.00,2.60,10.98,0.779,6,0.000,0.060,3282,1829,2215,0,0,0,0,0,0
$GC,5506,1.24,192.6,416.6,10.3,243,5511,0.00,2.53,0.00,0.000,4,0.000,0.041,3282,3357,2209,0,0,0,0,0,0
$GC,5556,1.24,192.6,410.9,11.1,244,5560,0.00,2.60,0.00,0.000,6,0.000,0.051,3282,1831,2208,0,0,0,0,0,0
$GC,5830,1.26,205.0,384.3,9.3,251,5846,0.00,2.53,10.98,0.773,4,0.000,0.041,3282,3354,2164,0,0,0,0,0,0
$GC,5886,1.28,221.2,379.2,9.1,252,5906,0.00,2.58,15.65,0.795,6,0.000,0.053,3282,1838,2099,0,0,0,0,0,0
$GC,6152,1.30,237.2,355.3,9.1,258,6173,0.00,2.90,15.35,0.785,4,0.000,0.081,3282,233,2031,0,0,0,0,0,0
$GC,6184,1.30,241.2,352.0,9.8,258,6194,0.00,2.50,4.95,0.594,6,0.000,0.021,3282,1797,2017,0,0,0,0,0,0
$GC,6474,1.32,251.9,324.6,9.4,266,6489,0.00,2.62,10.18,0.735,4,0.000,0.041,3282,3397,1975,0,0,0,0,0,0
$GC,6523,1.40,262.1,319.8,9.4,267,6540,0.00,2.58,10.98,0.732,6,0.000,0.041,3282,1845,1932,0,0,0,0,0,0
$GC,6795,1.40,262.1,290.9,11.1,274,6800,0.00,2.53,0.00,0.000,4,0.000,0.035,3282,3398,1928,0,0,0,0,0,0
$GC,6858,1.46,262.1,284.2,11.1,275,6863,0.15,2.50,0.00,0.000,6,0.082,0.041,3318,1873,1926,0,0,0,0,0,0
$GC,7119,1.46,262.1,253.8,11.8,282,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1872,1926,0,0,0,0,0,0
$GC,7362,1.46,262.1,224.6,11.9,288,7367,0.00,2.47,0.00,0.000,4,0.000,0.038,3318,3405,1925,0,0,0,0,0,0
$GC,7385,1.46,262.1,221.8,12.6,288,7390,0.00,2.50,0.00,0.000,6,0.000,0.035,3318,1880,1924,0,0,0,0,0,0
$GC,7648,1.46,262.1,189.5,12.0,301,7652,0.00,2.45,0.00,0.000,4,0.000,0.036,3318,3404,1924,0,0,0,0,0,0
$GC,7693,1.46,262.1,183.3,12.1,304,7699,0.00,2.47,0.00,0.000,6,0.000,0.035,3318,1888,1923,0,0,0,0,0,0
$GC,7957,1.46,262.1,155.1,10.9,329,7962,0.00,2.83,0.00,0.000,4,0.000,0.067,3318,235,1923,0,0,0,0,0,0
$GC,8002,1.39,262.1,149.2,12.0,332,8012,0.00,2.62,0.00,0.000,6,0.000,0.019,3318,1902,1922,0,0,0,0,0,0
$GC,8269,1.39,262.1,123.0,10.1,357,8273,0.00,2.83,0.00,0.000,4,0.000,0.058,3318,229,1922,0,0,0,0,0,0
$GC,8285,1.39,262.1,120.8,10.1,358,8290,0.00,2.60,0.00,0.000,6,0.000,0.019,3318,1906,1922,0,0,0,0,0,0
$GC,8549,1.42,284.3,96.3,8.8,382,8574,0.00,2.40,19.08,0.594,4,0.000,0.027,3318,3408,1842,0,0,0,0,0,0
$GC,8603,1.50,291.5,90.9,9.6,386,8616,0.00,2.53,7.78,0.519,6,0.000,0.031,3318,1877,1812,0,0,0,0,0,0
$GC,8878,1.57,298.1,64.8,9.7,411,8893,0.10,2.83,6.80,0.486,4,0.090,0.058,3346,228,1785,0,0,0,0,0,0
$GC,8923,1.51,298.1,59.4,11.6,414,8932,0.00,2.62,0.00,0.000,6,0.000,0.019,3346,1893,1784,0,0,0,0,0,0
$GC,9187,1.51,298.1,32.4,10.4,439,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1895,1784,0,0,0,0,0,0
$STATE,9486,end climb,SURFACE_DEPTH_REACHED
$STATE,9486,begin surface coast
$FINISH,0.3,1.023290
$STATE,9549,end surface coast,CONTROL_FINISHED_OK
$STATE,9549,begin surface
$SM_CCo,9572,110.60,0.474,1,0,1287,420.20
$SM_GC,1.13,0.00,0.00,110.60,0.000,0.000,0.474,475,1744,1287,-11.62,-0.74,420.20
$IRIDIUM_FIX,2244.02,-15759.32,251299,181805
$TT8_MAMPS,0.025311
$HUMID,47.04
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.30
$XPDR_PINGS,43
$24V_AH,23.5,42.845
$10V_AH,10.2,42.330
$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,26.400,118.725,368.400,110.600,0.000,30.908,30.912,333.192,10.750,0.000,13.020,982.070,6169.838,562.922,1836.974,729.652,33.365,1225.717,0.000,1844.269,0.000,0.535,0.000
$DEVICE_MAMPS,138.060,98.176,908.895,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.211,281.781,380.227,733.629,1110.541,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38277,490
$CAP_FILE_SIZE,103913,0
$CFSIZE,260165632,164163584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011010,003407,2251.597,-15800.486,37,1.3,37,10.1