version: 66.06
glider: 146
mission: 5
dive: 304
start: 10 1 110 6 39 2
data:
$ID,146
$MISSION,5
$DIVE,304
$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,-253266.78
$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,45
$R_STBD_OVSHOOT,46
$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
$GPS1,063154,2252.202,-15800.364,36,1.3,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.2
$GPS2,063808,2252.164,-15800.401,11,2.0,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.101,0.212
$KALMAN_X,-301188.2,-13.4,-97.5,318865.4,-244.8
$KALMAN_Y,-433195.2,-105.8,-180.8,566049.8,-1220.3
$MHEAD_RNG_PITCHd_Wd,15.5,14200,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.25,0.000,2,0.000,0.000,477,1746,3220,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-6.3,10,127,11.18,2.58,-5.05,0.000,4,0.136,0.042,2692,3344,3478,0,0,0,0,0,0
$GC,191,-1.30,-116.8,24.3,-18.3,22,201,0.08,2.55,0.00,0.000,6,0.091,0.031,2713,1790,3479,0,0,0,0,0,0
$GC,471,-1.19,-116.8,70.1,-16.0,49,480,0.12,0.00,0.00,0.000,6,0.118,0.000,2739,1790,3480,0,0,0,0,0,0
$GC,733,-1.19,-116.8,102.7,-11.3,74,738,0.00,2.70,0.00,0.000,4,0.000,0.060,2739,191,3481,0,0,0,0,0,0
$GC,767,-1.19,-116.8,107.4,-13.3,76,776,0.00,2.45,0.00,0.000,6,0.000,0.016,2739,1795,3481,0,0,0,0,0,0
$GC,1033,-1.19,-116.8,138.5,-11.8,101,1038,0.00,2.40,0.00,0.000,4,0.000,0.025,2738,3328,3482,0,0,0,0,0,0
$GC,1066,-1.25,-116.8,142.1,-10.3,103,1070,0.00,2.50,0.00,0.000,6,0.000,0.034,2739,1756,3482,0,0,0,0,0,0
$GC,1334,-1.29,-116.8,170.0,-9.9,127,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1755,3483,0,0,0,0,0,0
$GC,1596,-1.34,-116.8,194.3,-8.8,152,1597,0.15,0.00,0.00,0.000,6,0.064,0.000,2690,1756,3483,0,0,0,0,0,0
$GC,1864,-1.30,-116.8,223.9,-11.2,163,1869,0.12,2.45,0.00,0.000,4,0.110,0.029,2717,3315,3483,0,0,0,0,0,0
$GC,1914,-1.38,-116.8,229.1,-9.4,164,1918,0.00,2.47,0.00,0.000,6,0.000,0.036,2717,1772,3483,0,0,0,0,0,0
$GC,2186,-1.38,-116.8,255.5,-9.9,171,2190,0.00,2.42,0.00,0.000,4,0.000,0.033,2717,3315,3483,0,0,0,0,0,0
$GC,2209,-1.44,-116.8,257.7,-9.8,171,2214,0.12,2.47,0.00,0.000,6,0.073,0.033,2670,1771,3483,0,0,0,0,0,0
$GC,2464,-1.40,-116.8,287.1,-12.0,178,2470,0.12,2.78,0.00,0.000,4,0.109,0.083,2697,189,3483,0,0,0,0,0,0
$GC,2492,-1.40,-116.8,290.8,-12.1,178,2496,0.00,2.40,0.00,0.000,6,0.000,0.024,2697,1752,3483,0,0,0,0,0,0
$GC,2743,-1.40,-116.8,315.8,-9.6,184,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1752,3482,0,0,0,0,0,0
$GC,2986,-1.40,-116.8,339.2,-9.4,190,2990,0.00,2.60,0.00,0.000,4,0.000,0.048,2697,3345,3481,0,0,0,0,0,0
$GC,3002,-1.43,-116.8,340.7,-9.1,190,3006,0.00,2.60,0.00,0.000,6,0.000,0.044,2697,1772,3482,0,0,0,0,0,0
$GC,3264,-1.48,-116.8,364.7,-9.3,197,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1772,3481,0,0,0,0,0,0
$GC,3507,-1.53,-116.8,388.3,-9.7,203,3508,0.12,0.00,0.00,0.000,6,0.077,0.000,2656,1772,3480,0,0,0,0,0,0
$GC,3749,-1.53,-116.8,415.8,-11.3,209,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1772,3478,0,0,0,0,0,0
$GC,3993,-1.53,-116.8,442.6,-11.0,215,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1772,3476,0,0,0,0,0,0
$GC,4238,-1.53,-116.8,469.6,-11.0,221,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1772,3474,0,0,0,0,0,0
$GC,4480,-1.53,-116.8,495.4,-10.5,227,4485,0.00,2.67,0.00,0.000,4,0.000,0.065,2657,3337,3473,0,0,0,0,0,0
$GC,4513,-1.53,-116.8,499.0,-10.5,227,4519,0.00,2.70,0.00,0.000,6,0.000,0.063,2657,1768,3472,0,0,0,0,0,0
$STATE,4557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4557,begin apogee
$GC,4565,-0.31,0.0,503.8,10.4,229,4665,1.23,0.00,96.57,0.919,6,0.078,0.000,2931,1839,3001,0,0,0,0,0,0
$STATE,4666,end apogee,CONTROL_FINISHED_OK
$STATE,4666,begin climb
$GC,4668,1.38,116.8,506.3,0.0,231,4779,1.58,2.70,100.97,0.896,4,0.043,0.056,3308,3386,2523,0,0,0,0,0,0
$GC,4785,1.37,208.5,505.2,4.7,234,4870,0.00,2.75,79.38,0.881,6,0.000,0.057,3308,1814,2151,0,0,0,0,0,0
$GC,5124,1.28,208.5,468.8,11.5,243,5129,0.15,2.60,0.00,0.000,4,0.129,0.041,3280,3375,2141,0,0,0,0,0,0
$GC,5210,1.28,208.5,459.2,11.0,245,5214,0.00,2.67,0.00,0.000,6,0.000,0.060,3279,1820,2139,0,0,0,0,0,0
$GC,5492,1.28,208.5,428.2,11.0,252,5497,0.00,2.58,0.00,0.000,4,0.000,0.040,3280,3389,2137,0,0,0,0,0,0
$GC,5542,1.28,208.5,422.3,11.8,253,5546,0.00,2.65,0.00,0.000,6,0.000,0.053,3280,1831,2136,0,0,0,0,0,0
$GC,5822,1.28,208.5,390.8,11.4,260,5826,0.00,2.55,0.00,0.000,4,0.000,0.041,3280,3391,2134,0,0,0,0,0,0
$GC,5861,1.28,208.5,386.2,12.2,261,5865,0.00,2.60,0.00,0.000,6,0.000,0.053,3280,1840,2134,0,0,0,0,0,0
$GC,6143,1.28,208.5,355.2,10.8,268,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1841,2133,0,0,0,0,0,0
$GC,6389,1.28,214.8,331.2,9.7,274,6393,0.00,2.50,0.00,0.000,4,0.000,0.038,3279,3382,2132,0,0,0,0,0,0
$GC,6416,1.30,224.4,328.4,9.5,274,6434,0.00,2.53,11.95,0.759,6,0.000,0.040,3280,1843,2086,0,0,0,0,0,0
$GC,6714,1.30,224.4,298.6,10.3,282,6718,0.00,2.47,0.00,0.000,4,0.000,0.031,3279,3383,2083,0,0,0,0,0,0
$GC,6742,1.34,227.2,295.7,9.9,282,6747,0.00,2.53,0.00,0.000,6,0.000,0.038,3280,1846,2082,0,0,0,0,0,0
$GC,6992,1.36,242.8,271.5,9.1,288,7016,0.00,2.60,17.25,0.749,4,0.000,0.035,3279,3389,2010,0,0,0,0,0,0
$GC,7036,1.41,259.7,267.7,9.1,289,7061,0.12,2.55,16.80,0.733,6,0.085,0.041,3312,1852,1941,0,0,0,0,0,0
$GC,7323,1.41,259.7,236.2,11.0,296,7328,0.00,2.80,0.00,0.000,4,0.000,0.073,3312,243,1936,0,0,0,0,0,0
$GC,7335,1.38,259.7,234.6,10.8,296,7340,0.00,2.55,0.00,0.000,6,0.000,0.027,3313,1860,1935,0,0,0,0,0,0
$GC,7602,1.38,259.7,206.7,10.4,303,7606,0.00,2.45,0.00,0.000,4,0.000,0.032,3312,3390,1935,0,0,0,0,0,0
$GC,7636,1.38,259.7,202.9,11.1,303,7641,0.00,2.53,0.00,0.000,6,0.000,0.035,3312,1849,1934,0,0,0,0,0,0
$GC,7898,1.38,259.7,174.9,10.9,325,7903,0.00,2.47,0.00,0.000,4,0.000,0.036,3312,3390,1934,0,0,0,0,0,0
$GC,8022,1.42,259.7,160.3,12.0,335,8026,0.00,2.47,0.00,0.000,6,0.000,0.040,3312,1871,1933,0,0,0,0,0,0
$GC,8288,1.43,273.3,133.9,9.2,359,8312,0.00,2.50,11.82,0.607,4,0.000,0.028,3312,3388,1886,0,0,0,0,0,0
$GC,8350,1.50,274.4,127.3,10.0,364,8354,0.00,2.47,0.00,0.000,6,0.000,0.035,3312,1877,1885,0,0,0,0,0,0
$GC,8613,1.52,289.9,101.8,9.1,388,8637,0.00,2.50,15.60,0.593,4,0.000,0.028,3312,3388,1818,0,0,0,0,0,0
$GC,8663,1.58,289.9,97.0,10.4,392,8668,0.12,2.45,0.00,0.000,6,0.085,0.032,3344,1876,1817,0,0,0,0,0,0
$GC,8929,1.58,289.9,68.7,11.7,416,8933,0.00,2.78,0.00,0.000,4,0.000,0.058,3344,242,1816,0,0,0,0,0,0
$GC,8950,1.58,289.9,65.8,12.2,417,8955,0.00,2.53,0.00,0.000,6,0.000,0.019,3344,1880,1814,0,0,0,0,0,0
$GC,9218,1.58,289.9,39.3,10.1,441,9222,0.00,2.40,0.00,0.000,4,0.000,0.028,3344,3392,1814,0,0,0,0,0,0
$GC,9239,1.58,289.9,36.7,10.6,442,9243,0.00,2.45,0.00,0.000,6,0.000,0.032,3344,1873,1814,0,0,0,0,0,0
$STATE,9546,end climb,SURFACE_DEPTH_REACHED
$STATE,9546,begin surface coast
$FINISH,0.3,1.011281
$STATE,9595,end surface coast,CONTROL_FINISHED_OK
$STATE,9595,begin surface
$SM_CCo,9617,112.45,0.477,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,112.45,0.000,0.000,0.477,476,1739,1288,-11.62,-0.88,420.20
$IRIDIUM_FIX,2244.02,-15756.28,261299,030323
$TT8_MAMPS,0.026078
$HUMID,48.26
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.90
$XPDR_PINGS,42
$24V_AH,23.5,43.220
$10V_AH,10.2,42.670
$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,26.875,112.625,350.350,112.450,0.000,29.884,33.440,180.617,10.500,0.000,12.586,980.259,6267.151,552.452,1800.161,512.850,33.361,1208.893,0.000,1808.946,0.000,0.535,0.000
$DEVICE_MAMPS,135.759,116.584,918.866,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.994,289.812,381.382,728.461,1101.948,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,38397,491
$CAP_FILE_SIZE,98849,0
$CFSIZE,260165632,164007936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011010,092234,2252.613,-15759.986,15,99.0,34,10.1