version: 66.06
glider: 146
mission: 5
dive: 303
start: 10 1 110 3 47 13
data:
$ID,146
$MISSION,5
$DIVE,303
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-253253.56
$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,56
$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
$GPS1,033606,2251.911,-15800.370,30,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-69.3
$GPS2,034619,2251.797,-15800.418,8,1.1,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.055,0.228
$KALMAN_X,-300933.0,29.1,114.8,318323.1,-255.0
$KALMAN_Y,-432098.1,229.2,-16.3,563772.9,-1919.1
$MHEAD_RNG_PITCHd_Wd,3.3,14742,-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,-78.80,0.000,2,0.000,0.000,480,1744,3221,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.1,-5.2,10,127,11.15,2.55,-4.95,0.000,4,0.135,0.036,2691,3338,3479,0,0,0,0,0,0
$GC,204,-1.30,-116.8,26.7,-16.1,24,214,0.08,2.53,0.00,0.000,6,0.091,0.031,2713,1794,3480,0,0,0,0,0,0
$GC,482,-1.19,-116.8,71.5,-16.3,50,492,0.12,0.00,0.00,0.000,6,0.116,0.000,2739,1793,3481,0,0,0,0,0,0
$GC,747,-1.19,-116.8,106.9,-13.0,75,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1793,3481,0,0,0,0,0,0
$GC,1010,-1.19,-116.8,139.7,-10.9,100,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1793,3482,0,0,0,0,0,0
$GC,1268,-1.23,-116.8,166.2,-10.2,124,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1793,3482,0,0,0,0,0,0
$GC,1532,-1.29,-116.8,191.8,-9.6,149,1537,0.00,2.70,0.00,0.000,4,0.000,0.063,2739,193,3483,0,0,0,0,0,0
$GC,1564,-1.29,-116.8,194.9,-10.0,151,1568,0.00,2.38,0.00,0.000,6,0.000,0.016,2740,1799,3482,0,0,0,0,0,0
$GC,1826,-1.35,-116.8,219.4,-9.2,161,1831,0.15,2.35,0.00,0.000,4,0.065,0.028,2691,3306,3482,0,0,0,0,0,0
$GC,1855,-1.35,-116.8,222.4,-10.4,161,1859,0.00,2.47,0.00,0.000,6,0.000,0.035,2691,1761,3482,0,0,0,0,0,0
$GC,2104,-1.35,-116.8,250.8,-11.3,167,2109,0.00,2.42,0.00,0.000,4,0.000,0.033,2691,3314,3482,0,0,0,0,0,0
$GC,2131,-1.35,-116.8,254.1,-11.9,167,2136,0.00,2.45,0.00,0.000,6,0.000,0.033,2691,1778,3482,0,0,0,0,0,0
$GC,2383,-1.35,-116.8,281.1,-11.0,173,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1778,3482,0,0,0,0,0,0
$GC,2625,-1.35,-116.8,307.3,-10.5,179,2630,0.00,2.80,0.00,0.000,4,0.000,0.084,2691,185,3481,0,0,0,0,0,0
$GC,2646,-1.35,-116.8,309.7,-10.8,179,2650,0.00,2.42,0.00,0.000,6,0.000,0.027,2691,1735,3482,0,0,0,0,0,0
$GC,2902,-1.35,-116.8,336.0,-10.1,186,2906,0.00,2.62,0.00,0.000,4,0.000,0.042,2691,3357,3480,0,0,0,0,0,0
$GC,2965,-1.41,-116.8,342.1,-9.5,187,2969,0.00,2.60,0.00,0.000,6,0.000,0.048,2691,1798,3480,0,0,0,0,0,0
$GC,3225,-1.41,-116.8,367.3,-9.8,194,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1797,3479,0,0,0,0,0,0
$GC,3469,-1.45,-116.8,392.2,-10.3,200,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1797,3478,0,0,0,0,0,0
$GC,3714,-1.48,-116.8,417.6,-10.5,206,3719,0.00,2.55,0.00,0.000,4,0.000,0.046,2691,3344,3476,0,0,0,0,0,0
$GC,3754,-1.57,-116.8,422.0,-10.5,207,3760,0.15,2.62,0.00,0.000,6,0.069,0.062,2644,1799,3476,0,0,0,0,0,0
$GC,4040,-1.52,-116.8,455.6,-12.0,214,4045,0.12,3.05,0.00,0.000,4,0.118,0.114,2669,178,3474,0,0,0,0,0,0
$GC,4073,-1.52,-116.8,460.0,-12.2,214,4079,0.00,2.58,0.00,0.000,6,0.000,0.034,2669,1782,3474,0,0,0,0,0,0
$GC,4323,-1.52,-116.8,483.6,-9.3,221,4328,0.00,2.65,0.00,0.000,4,0.000,0.064,2670,3358,3471,0,0,0,0,0,0
$GC,4340,-1.52,-116.8,485.3,-9.5,221,4344,0.00,2.65,0.00,0.000,6,0.000,0.061,2670,1787,3471,0,0,0,0,0,0
$STATE,4516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4516,begin apogee
$GC,4524,-0.31,0.0,502.3,9.6,226,4624,1.15,0.00,96.43,0.916,6,0.077,0.000,2929,1848,3000,0,0,0,0,0,0
$STATE,4625,end apogee,CONTROL_FINISHED_OK
$STATE,4625,begin climb
$GC,4628,1.38,116.8,504.6,0.0,228,4738,1.58,2.70,100.30,0.892,4,0.052,0.055,3307,3384,2522,0,0,0,0,0,0
$GC,4758,1.33,186.6,502.8,6.0,231,4824,0.00,2.72,60.40,0.876,6,0.000,0.058,3307,1815,2240,0,0,0,0,0,0
$GC,5086,1.24,186.6,468.0,11.2,240,5091,0.17,2.60,0.00,0.000,4,0.131,0.042,3273,3380,2231,0,0,0,0,0,0
$GC,5154,1.24,186.6,460.6,10.5,241,5158,0.00,2.67,0.00,0.000,6,0.000,0.059,3273,1828,2229,0,0,0,0,0,0
$GC,5409,1.24,186.6,433.9,10.7,248,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1828,2227,0,0,0,0,0,0
$GC,5652,1.24,186.6,408.0,10.5,254,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1828,2225,0,0,0,0,0,0
$GC,5898,1.27,205.6,385.5,8.9,260,5918,0.00,2.58,15.30,0.802,4,0.000,0.040,3273,3383,2162,0,0,0,0,0,0
$GC,5957,1.28,218.6,379.8,9.3,261,5979,0.00,2.65,13.27,0.781,6,0.000,0.050,3273,1824,2108,0,0,0,0,0,0
$GC,6224,1.28,218.6,353.4,10.1,268,6228,0.00,2.55,0.00,0.000,4,0.000,0.038,3273,3390,2104,0,0,0,0,0,0
$GC,6245,1.28,218.6,351.0,10.3,268,6249,0.00,2.60,0.00,0.000,6,0.000,0.045,3273,1833,2103,0,0,0,0,0,0
$GC,6500,1.30,237.3,327.8,9.0,275,6524,0.00,2.62,16.98,0.783,4,0.000,0.038,3273,3387,2032,0,0,0,0,0,0
$GC,6564,1.37,237.3,321.5,10.7,276,6569,0.10,2.55,0.00,0.000,6,0.104,0.044,3298,1848,2030,0,0,0,0,0,0
$GC,6825,1.37,237.3,294.5,10.5,283,6829,0.00,2.83,0.00,0.000,4,0.000,0.075,3298,237,2028,0,0,0,0,0,0
$GC,6840,1.33,237.3,292.7,10.7,283,6845,0.00,2.53,0.00,0.000,6,0.000,0.025,3298,1838,2027,0,0,0,0,0,0
$GC,7103,1.33,237.3,266.1,10.1,290,7107,0.00,2.50,0.00,0.000,4,0.000,0.038,3298,3391,2027,0,0,0,0,0,0
$GC,7142,1.37,237.3,261.7,11.7,291,7147,0.00,2.58,0.00,0.000,6,0.000,0.037,3298,1832,2026,0,0,0,0,0,0
$GC,7426,1.39,251.6,233.7,9.2,298,7441,0.00,0.00,12.98,0.701,6,0.000,0.000,3298,1832,1975,0,0,0,0,0,0
$GC,7672,1.42,275.4,212.6,8.7,304,7696,0.00,0.00,22.35,0.704,6,0.000,0.000,3298,1832,1878,0,0,0,0,0,0
$GC,7923,1.42,275.4,186.5,11.2,316,7927,0.00,2.53,0.00,0.000,4,0.000,0.031,3298,3392,1874,0,0,0,0,0,0
$GC,7979,1.49,275.4,179.0,12.3,320,7985,0.10,2.53,0.00,0.000,6,0.092,0.035,3324,1842,1872,0,0,0,0,0,0
$GC,8247,1.49,275.4,146.9,11.6,345,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1841,1872,0,0,0,0,0,0
$GC,8508,1.49,280.1,119.2,9.8,370,8523,0.00,2.53,4.62,0.463,4,0.000,0.030,3324,3389,1858,0,0,0,0,0,0
$GC,8565,1.54,280.1,113.8,10.2,374,8574,0.00,2.55,0.00,0.000,6,0.000,0.040,3324,1846,1858,0,0,0,0,0,0
$GC,8831,1.54,280.1,87.2,10.9,399,8835,0.00,2.47,0.00,0.000,4,0.000,0.028,3324,3401,1857,0,0,0,0,0,0
$GC,8849,1.58,280.1,84.8,10.7,400,8854,0.00,2.47,0.00,0.000,6,0.000,0.035,3324,1860,1857,0,0,0,0,0,0
$GC,9116,1.65,297.7,59.0,9.0,424,9138,0.15,0.00,16.92,0.555,6,0.072,0.000,3365,1860,1785,0,0,0,0,0,0
$GC,9397,1.65,297.7,29.8,11.1,450,9406,0.00,2.47,0.00,0.000,4,0.000,0.027,3365,3400,1783,0,0,0,0,0,0
$GC,9437,1.65,297.7,24.3,12.4,455,9446,0.00,2.55,0.00,0.000,6,0.000,0.040,3365,1850,1782,0,0,0,0,0,0
$STATE,9625,end climb,SURFACE_DEPTH_REACHED
$STATE,9627,begin surface coast
$FINISH,0.4,1.012344
$STATE,9670,end surface coast,CONTROL_FINISHED_OK
$STATE,9670,begin surface
$SM_CCo,9693,105.47,0.475,1,0,1287,420.20
$SM_GC,0.97,0.00,0.00,105.47,0.000,0.000,0.475,477,1746,1287,-11.61,-0.68,420.20
$IRIDIUM_FIX,2244.02,-15801.49,261299,000016
$TT8_MAMPS,0.025311
$HUMID,47.20
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.00
$XPDR_PINGS,43
$24V_AH,23.5,43.105
$10V_AH,10.2,42.560
$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,26.850,103.325,359.550,105.475,0.000,28.199,42.789,334.887,10.750,0.000,15.341,956.935,6401.817,549.232,1760.705,725.990,33.362,1198.502,0.000,1770.917,0.000,0.536,0.000
$DEVICE_MAMPS,134.992,198.653,915.798,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.525,280.922,375.468,715.735,1082.691,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,38384,488
$CAP_FILE_SIZE,100904,0
$CFSIZE,260165632,164061184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011010,063154,2252.202,-15800.364,36,1.3,36,10.1