version: 66.06
glider: 146
mission: 5
dive: 305
start: 10 1 110 9 29 26
data:
$ID,146
$MISSION,5
$DIVE,305
$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,-253281.94
$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,42
$R_STBD_OVSHOOT,53
$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
$GPS1,092234,2252.613,-15759.986,15,99.0,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.7
$GPS2,092832,2252.585,-15800.003,13,1.1,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.088,0.218
$KALMAN_X,-301376.8,-49.9,-198.1,319874.8,36.4
$KALMAN_Y,-434480.8,-351.4,24.9,568159.8,-1103.1
$MHEAD_RNG_PITCHd_Wd,11.9,13166,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-85.78,0.000,6,0.000,0.000,475,1739,3478,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.7,-9.6,11,125,11.23,2.55,0.00,0.000,4,0.137,0.028,2693,3347,3481,0,0,0,0,0,0
$GC,202,-1.29,-116.8,30.6,-17.2,24,212,0.08,2.58,0.00,0.000,6,0.090,0.032,2714,1783,3482,0,0,0,0,0,0
$GC,468,-1.20,-116.8,74.0,-14.9,49,477,0.10,0.00,0.00,0.000,6,0.125,0.000,2735,1783,3482,0,0,0,0,0,0
$GC,730,-1.20,-116.8,108.1,-12.2,74,734,0.00,2.72,0.00,0.000,4,0.000,0.059,2735,186,3483,0,0,0,0,0,0
$GC,763,-1.20,-116.8,112.6,-12.7,76,774,0.00,2.45,0.00,0.000,6,0.000,0.016,2735,1790,3482,0,0,0,0,0,0
$GC,1030,-1.20,-116.8,140.5,-10.6,101,1034,0.00,2.40,0.00,0.000,4,0.000,0.031,2735,3322,3483,0,0,0,0,0,0
$GC,1074,-1.29,-116.8,145.8,-10.3,104,1083,0.00,2.50,0.00,0.000,6,0.000,0.028,2735,1781,3483,0,0,0,0,0,0
$GC,1339,-1.33,-116.8,173.6,-11.0,129,1344,0.10,2.45,0.00,0.000,4,0.087,0.030,2698,3321,3484,0,0,0,0,0,0
$GC,1368,-1.33,-116.8,177.5,-12.1,131,1372,0.00,2.45,0.00,0.000,6,0.000,0.034,2698,1778,3484,0,0,0,0,0,0
$GC,1635,-1.33,-116.8,211.0,-12.5,150,1640,0.00,2.45,0.00,0.000,4,0.000,0.032,2698,3321,3484,0,0,0,0,0,0
$GC,1664,-1.33,-116.8,214.5,-12.1,150,1668,0.00,2.45,0.00,0.000,6,0.000,0.028,2698,1792,3484,0,0,0,0,0,0
$GC,1914,-1.33,-116.8,244.4,-11.8,156,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1792,3484,0,0,0,0,0,0
$GC,2158,-1.33,-116.8,268.7,-9.5,162,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1792,3484,0,0,0,0,0,0
$GC,2401,-1.33,-116.8,294.4,-11.0,168,2405,0.00,2.45,0.00,0.000,4,0.000,0.038,2698,3318,3484,0,0,0,0,0,0
$GC,2442,-1.40,-116.8,298.8,-10.9,169,2446,0.00,2.47,0.00,0.000,6,0.000,0.045,2698,1797,3484,0,0,0,0,0,0
$GC,2725,-1.40,-116.8,330.3,-11.2,176,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1797,3483,0,0,0,0,0,0
$GC,2969,-1.44,-116.8,357.3,-10.9,182,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1797,3482,0,0,0,0,0,0
$GC,3214,-1.49,-116.8,381.6,-9.7,188,3218,0.00,2.47,0.00,0.000,4,0.000,0.048,2698,3312,3481,0,0,0,0,0,0
$GC,3242,-1.56,-116.8,384.5,-9.6,188,3247,0.17,2.53,0.00,0.000,6,0.061,0.051,2644,1796,3481,0,0,0,0,0,0
$GC,3492,-1.52,-116.8,413.8,-11.9,194,3494,0.10,0.00,0.00,0.000,6,0.127,0.000,2665,1796,3479,0,0,0,0,0,0
$GC,3737,-1.52,-116.8,438.0,-9.8,200,3742,0.00,3.00,0.00,0.000,4,0.000,0.110,2665,184,3478,0,0,0,0,0,0
$GC,3781,-1.52,-116.8,443.2,-11.9,201,3785,0.00,2.47,0.00,0.000,6,0.000,0.031,2665,1738,3478,0,0,0,0,0,0
$GC,4059,-1.52,-116.8,473.0,-10.7,208,4064,0.00,2.72,0.00,0.000,4,0.000,0.064,2665,3353,3476,0,0,0,0,0,0
$GC,4087,-1.52,-116.8,475.9,-10.8,208,4092,0.00,2.67,0.00,0.000,6,0.000,0.057,2665,1787,3476,0,0,0,0,0,0
$STATE,4335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4335,begin apogee
$GC,4341,-0.31,0.0,501.4,9.9,214,4442,1.20,0.00,97.12,0.914,6,0.081,0.000,2933,1850,3001,0,0,0,0,0,0
$STATE,4443,end apogee,CONTROL_FINISHED_OK
$STATE,4443,begin climb
$GC,4445,1.38,116.8,503.4,0.0,216,4550,1.55,0.00,100.72,0.893,6,0.041,0.000,3306,1850,2523,0,0,0,0,0,0
$GC,4783,1.29,139.2,483.5,8.7,225,4805,0.12,0.00,19.20,0.837,6,0.228,0.000,3283,1850,2433,0,0,0,0,0,0
$GC,5025,1.26,173.2,463.9,8.1,231,5061,0.00,2.58,30.77,0.860,4,0.000,0.044,3283,3379,2293,0,0,0,0,0,0
$GC,5151,1.28,187.6,452.8,9.2,233,5171,0.00,2.67,13.55,0.804,6,0.000,0.055,3283,1813,2235,0,0,0,0,0,0
$GC,5439,1.27,213.4,428.1,8.5,240,5468,0.00,2.67,23.38,0.841,4,0.000,0.042,3283,3382,2130,0,0,0,0,0,0
$GC,5487,1.29,225.5,423.6,9.3,241,5506,0.00,2.67,12.27,0.784,6,0.000,0.056,3283,1818,2081,0,0,0,0,0,0
$GC,5768,1.29,226.7,395.6,10.0,248,5773,0.00,2.85,0.00,0.000,4,0.000,0.087,3283,234,2075,0,0,0,0,0,0
$GC,5784,1.24,226.7,393.7,10.4,248,5788,0.00,2.47,0.00,0.000,6,0.000,0.022,3283,1799,2074,0,0,0,0,0,0
$GC,6046,1.26,235.6,368.2,9.5,255,6060,0.00,2.65,9.15,0.746,4,0.000,0.041,3283,3398,2040,0,0,0,0,0,0
$GC,6145,1.26,238.2,358.4,9.9,257,6149,0.00,2.65,0.00,0.000,6,0.000,0.048,3283,1820,2038,0,0,0,0,0,0
$GC,6418,1.27,250.2,333.1,9.3,264,6434,0.00,0.00,14.20,0.773,6,0.000,0.000,3283,1820,1981,0,0,0,0,0,0
$GC,6660,1.28,252.2,309.0,9.9,270,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1820,1977,0,0,0,0,0,0
$GC,6906,1.30,274.9,287.5,8.7,276,6935,0.00,2.65,22.73,0.764,4,0.000,0.032,3283,3400,1880,0,0,0,0,0,0
$GC,6960,1.38,286.8,282.5,9.4,277,6979,0.00,2.62,12.18,0.715,6,0.000,0.040,3282,1824,1830,0,0,0,0,0,0
$GC,7235,1.43,286.8,254.4,10.2,284,7241,0.12,2.58,0.00,0.000,4,0.087,0.036,3315,3407,1826,0,0,0,0,0,0
$GC,7275,1.43,286.8,249.7,12.1,285,7279,0.00,2.55,0.00,0.000,6,0.000,0.037,3315,1849,1824,0,0,0,0,0,0
$GC,7559,1.43,286.8,216.1,11.9,292,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1848,1823,0,0,0,0,0,0
$GC,7809,1.43,286.8,187.7,11.0,304,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1848,1823,0,0,0,0,0,0
$GC,8071,1.43,286.8,158.8,11.1,329,8076,0.00,2.50,0.00,0.000,4,0.000,0.035,3314,3401,1823,0,0,0,0,0,0
$GC,8152,1.46,286.8,148.8,12.1,335,8157,0.00,2.53,0.00,0.000,6,0.000,0.036,3315,1841,1822,0,0,0,0,0,0
$GC,8416,1.46,286.8,119.0,11.8,360,8420,0.00,2.47,0.00,0.000,4,0.000,0.031,3315,3404,1822,0,0,0,0,0,0
$GC,8436,1.46,286.8,116.6,11.6,361,8440,0.00,2.50,0.00,0.000,6,0.000,0.032,3315,1852,1822,0,0,0,0,0,0
$GC,8702,1.50,286.8,85.5,10.9,385,8707,0.00,2.47,0.00,0.000,4,0.000,0.035,3315,3405,1822,0,0,0,0,0,0
$GC,8745,1.59,286.8,80.3,11.3,388,8750,0.12,2.50,0.00,0.000,6,0.084,0.034,3348,1851,1822,0,0,0,0,0,0
$GC,9011,1.61,302.3,54.1,9.1,412,9030,0.00,2.75,13.50,0.544,4,0.000,0.058,3347,236,1767,0,0,0,0,0,0
$GC,9073,1.56,302.3,48.3,10.2,416,9078,0.00,2.55,0.00,0.000,6,0.000,0.019,3348,1889,1767,0,0,0,0,0,0
$GC,9360,1.56,302.3,18.5,11.5,447,9370,0.00,2.42,0.00,0.000,4,0.000,0.027,3348,3410,1766,0,0,0,0,0,0
$GC,9388,1.60,302.3,15.9,10.4,450,9397,0.00,2.55,0.00,0.000,6,0.000,0.031,3348,1856,1765,0,0,0,0,0,0
$STATE,9495,end climb,SURFACE_DEPTH_REACHED
$STATE,9495,begin surface coast
$FINISH,0.4,1.023259
$STATE,9539,end surface coast,CONTROL_FINISHED_OK
$STATE,9539,begin surface
$SM_CCo,9561,104.15,0.475,1,0,1287,420.20
$SM_GC,0.87,0.00,0.00,104.15,0.000,0.000,0.475,475,1737,1287,-11.62,-0.93,420.20
$IRIDIUM_FIX,2244.02,-15801.49,261299,060645
$TT8_MAMPS,0.026078
$HUMID,48.30
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,22.50
$XPDR_PINGS,40
$24V_AH,23.5,43.336
$10V_AH,10.2,42.775
$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,26.600,102.850,368.775,104.150,0.000,27.926,31.114,159.834,10.000,0.000,14.539,945.214,6296.467,563.316,1740.539,487.159,33.366,1196.453,0.000,1747.099,0.000,0.535,0.000
$DEVICE_MAMPS,227.799,153.400,914.264,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.836,264.433,360.818,693.264,1048.753,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38248,471
$CAP_FILE_SIZE,94589,0
$CFSIZE,260165632,163962880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011010,121200,2253.178,-15759.483,36,0.9,41,10.1