version: 66.06
glider: 146
mission: 5
dive: 306
start: 10 1 110 12 23 19
data:
$ID,146
$MISSION,5
$DIVE,306
$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,-253297.78
$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,55
$R_STBD_OVSHOOT,37
$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
$GPS1,121200,2253.178,-15759.483,36,0.9,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-67.3
$GPS2,122225,2253.094,-15759.491,8,0.9,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.081,0.220
$KALMAN_X,-301548.9,-95.1,22.0,320752.4,31.2
$KALMAN_Y,-435778.0,-408.2,154.4,570326.8,-1206.9
$MHEAD_RNG_PITCHd_Wd,10.1,11883,-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,15,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,-78.10,0.000,2,0.000,0.000,475,1737,3219,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.1,-5.4,10,127,11.20,2.60,-5.07,0.000,4,0.137,0.071,2689,226,3479,0,0,0,0,0,0
$GC,139,-0.44,-116.8,15.5,-31.8,14,149,0.93,2.42,0.00,0.000,6,0.083,0.024,2895,1789,3480,0,0,0,0,0,0
$GC,444,-0.72,-116.8,39.9,-6.8,50,453,0.22,0.00,0.00,0.000,6,0.046,0.000,2822,1790,3481,0,0,0,0,0,0
$GC,712,-0.84,-116.8,64.2,-8.7,75,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1790,3481,0,0,0,0,0,0
$GC,974,-1.01,-116.8,86.9,-8.7,100,979,0.17,2.67,0.00,0.000,4,0.054,0.055,2762,217,3482,0,0,0,0,0,0
$GC,1005,-1.05,-116.8,90.3,-12.1,102,1009,0.00,2.38,0.00,0.000,6,0.000,0.016,2762,1782,3481,0,0,0,0,0,0
$GC,1277,-1.12,-116.8,120.8,-10.1,127,1281,0.00,2.38,0.00,0.000,4,0.000,0.027,2762,3327,3482,0,0,0,0,0,0
$GC,1310,-1.22,-116.8,124.1,-9.9,129,1315,0.12,2.42,0.00,0.000,6,0.072,0.033,2715,1797,3482,0,0,0,0,0,0
$GC,1571,-1.22,-116.8,154.0,-11.1,153,1575,0.00,2.70,0.00,0.000,4,0.000,0.060,2715,197,3483,0,0,0,0,0,0
$GC,1599,-1.22,-116.8,157.4,-11.9,155,1604,0.00,2.38,0.00,0.000,6,0.000,0.021,2715,1787,3482,0,0,0,0,0,0
$GC,1863,-1.22,-116.8,185.0,-10.4,179,1868,0.00,2.38,0.00,0.000,4,0.000,0.032,2715,3318,3483,0,0,0,0,0,0
$GC,1898,-1.22,-116.8,188.9,-9.8,181,1903,0.00,2.47,0.00,0.000,6,0.000,0.033,2715,1772,3483,0,0,0,0,0,0
$GC,2174,-1.22,-116.8,217.7,-10.6,196,2179,0.00,2.67,0.00,0.000,4,0.000,0.066,2715,193,3483,0,0,0,0,0,0
$GC,2190,-1.22,-116.8,219.9,-10.8,196,2194,0.00,2.35,0.00,0.000,6,0.000,0.015,2715,1780,3483,0,0,0,0,0,0
$GC,2457,-1.22,-116.8,251.1,-11.9,203,2462,0.00,2.70,0.00,0.000,4,0.000,0.071,2715,197,3483,0,0,0,0,0,0
$GC,2486,-1.22,-116.8,254.4,-12.0,203,2490,0.00,2.33,0.00,0.000,6,0.000,0.017,2715,1750,3483,0,0,0,0,0,0
$GC,2736,-1.26,-116.8,280.8,-10.2,209,2740,0.00,2.47,0.00,0.000,4,0.000,0.031,2715,3330,3483,0,0,0,0,0,0
$GC,2786,-1.35,-116.8,285.6,-9.3,210,2790,0.00,2.50,0.00,0.000,6,0.000,0.041,2715,1778,3483,0,0,0,0,0,0
$GC,3059,-1.39,-116.8,313.0,-10.5,217,3064,0.00,2.80,0.00,0.000,4,0.000,0.084,2715,182,3483,0,0,0,0,0,0
$GC,3075,-1.44,-116.8,315.0,-10.7,217,3080,0.12,2.40,0.00,0.000,6,0.074,0.027,2671,1741,3482,0,0,0,0,0,0
$GC,3336,-1.44,-116.8,344.9,-11.5,224,3340,0.00,2.60,0.00,0.000,4,0.000,0.041,2671,3346,3482,0,0,0,0,0,0
$GC,3353,-1.44,-116.8,346.8,-11.8,224,3357,0.00,2.58,0.00,0.000,6,0.000,0.042,2671,1773,3482,0,0,0,0,0,0
$GC,3613,-1.44,-116.8,377.3,-11.6,231,3617,0.00,2.55,0.00,0.000,4,0.000,0.038,2671,3346,3481,0,0,0,0,0,0
$GC,3634,-1.44,-116.8,380.0,-11.8,231,3638,0.00,2.62,0.00,0.000,6,0.000,0.054,2671,1768,3480,0,0,0,0,0,0
$GC,3891,-1.44,-116.8,408.3,-11.0,238,3895,0.00,2.55,0.00,0.000,4,0.000,0.041,2671,3347,3480,0,0,0,0,0,0
$GC,3941,-1.48,-116.8,413.7,-9.7,239,3945,0.00,2.65,0.00,0.000,6,0.000,0.055,2671,1779,3479,0,0,0,0,0,0
$GC,4212,-1.48,-116.8,442.4,-10.8,246,4217,0.00,2.95,0.00,0.000,4,0.000,0.108,2671,181,3477,0,0,0,0,0,0
$GC,4234,-1.48,-116.8,445.0,-11.1,246,4239,0.00,2.53,0.00,0.000,6,0.000,0.036,2671,1769,3477,0,0,0,0,0,0
$GC,4489,-1.48,-116.8,473.5,-11.3,253,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1769,3475,0,0,0,0,0,0
$GC,4733,-1.48,-116.8,499.7,-10.6,259,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1768,3473,0,0,0,0,0,0
$STATE,4771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4771,begin apogee
$GC,4777,-0.31,0.0,503.6,10.3,260,4878,1.15,0.00,97.10,0.910,6,0.077,0.000,2929,1827,3001,0,0,0,0,0,0
$STATE,4879,end apogee,CONTROL_FINISHED_OK
$STATE,4879,begin climb
$GC,4883,1.38,116.8,506.0,0.0,262,4988,1.58,0.00,100.25,0.887,6,0.052,0.000,3308,1827,2524,0,0,0,0,0,0
$GC,5219,1.30,154.2,488.4,7.9,271,5260,0.12,2.78,32.20,0.860,4,0.134,0.063,3285,3388,2371,0,0,0,0,0,0
$GC,5297,1.28,177.6,482.4,8.7,272,5327,0.00,2.67,22.05,0.838,6,0.000,0.054,3284,1829,2275,0,0,0,0,0,0
$GC,5598,1.24,188.4,454.7,9.4,280,5613,0.00,2.65,9.65,0.767,4,0.000,0.046,3285,3404,2232,0,0,0,0,0,0
$GC,5658,1.25,191.5,448.6,9.9,281,5668,0.00,2.70,4.28,0.569,6,0.000,0.058,3285,1837,2219,0,0,0,0,0,0
$GC,5924,1.26,203.3,423.8,9.4,288,5937,0.00,0.00,11.57,0.788,6,0.000,0.000,3285,1837,2172,0,0,0,0,0,0
$GC,6169,1.26,203.3,397.6,11.1,294,6173,0.00,2.58,0.00,0.000,4,0.000,0.036,3285,3405,2168,0,0,0,0,0,0
$GC,6223,1.26,203.3,391.5,10.3,295,6228,0.00,2.60,0.00,0.000,6,0.000,0.047,3285,1851,2167,0,0,0,0,0,0
$GC,6490,1.26,204.8,364.8,10.0,302,6494,0.00,2.50,0.00,0.000,4,0.000,0.038,3285,3401,2165,0,0,0,0,0,0
$GC,6535,1.26,204.8,360.1,10.4,303,6539,0.00,2.58,0.00,0.000,6,0.000,0.045,3284,1850,2164,0,0,0,0,0,0
$GC,6812,1.27,212.8,333.3,9.6,310,6823,0.00,0.00,8.80,0.723,6,0.000,0.000,3285,1850,2133,0,0,0,0,0,0
$GC,7056,1.29,230.3,311.0,9.0,316,7074,0.00,0.00,16.60,0.768,6,0.000,0.000,3285,1850,2062,0,0,0,0,0,0
$GC,7345,1.31,244.8,285.3,9.2,323,7364,0.00,2.58,13.90,0.736,4,0.000,0.034,3285,3401,2002,0,0,0,0,0,0
$GC,7467,1.38,244.8,272.8,10.6,325,7472,0.00,2.55,0.00,0.000,6,0.000,0.041,3285,1859,2000,0,0,0,0,0,0
$GC,7719,1.40,256.5,249.0,9.4,331,7737,0.00,2.90,11.60,0.693,4,0.000,0.067,3284,244,1954,0,0,0,0,0,0
$GC,7777,1.40,256.5,242.8,10.7,332,7782,0.00,2.58,0.00,0.000,6,0.000,0.024,3285,1871,1952,0,0,0,0,0,0
$GC,8045,1.45,267.6,217.8,9.4,339,8062,0.12,2.47,10.93,0.662,4,0.086,0.031,3317,3405,1909,0,0,0,0,0,0
$GC,8080,1.45,267.6,214.2,10.6,339,8085,0.00,2.55,0.00,0.000,6,0.000,0.035,3317,1858,1907,0,0,0,0,0,0
$GC,8337,1.45,267.6,186.2,11.5,352,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1858,1907,0,0,0,0,0,0
$GC,8600,1.46,274.2,156.8,9.7,377,8610,0.00,0.00,7.07,0.566,6,0.000,0.000,3317,1858,1882,0,0,0,0,0,0
$GC,8867,1.47,284.4,131.1,9.4,402,8884,0.00,2.58,10.43,0.588,4,0.000,0.030,3317,3407,1840,0,0,0,0,0,0
$GC,8956,1.53,284.4,122.3,10.4,409,8960,0.00,2.50,0.00,0.000,6,0.000,0.033,3317,1865,1839,0,0,0,0,0,0
$GC,9223,1.57,284.4,94.6,10.3,433,9228,0.10,2.50,0.00,0.000,4,0.089,0.028,3344,3416,1838,0,0,0,0,0,0
$GC,9280,1.62,284.4,88.4,11.3,437,9285,0.00,2.50,0.00,0.000,6,0.000,0.036,3344,1869,1838,0,0,0,0,0,0
$GC,9546,1.62,284.4,57.7,10.4,461,9550,0.00,2.45,0.00,0.000,4,0.000,0.028,3344,3409,1838,0,0,0,0,0,0
$GC,9607,1.68,284.4,51.5,10.9,465,9611,0.00,2.47,0.00,0.000,6,0.000,0.032,3344,1879,1838,0,0,0,0,0,0
$GC,9885,1.71,309.1,24.8,8.6,493,9920,0.12,2.85,22.25,0.530,4,0.082,0.062,3379,247,1739,0,0,0,0,0,0
$GC,9939,1.61,309.1,17.6,14.3,499,9948,0.10,2.62,0.00,0.000,6,0.098,0.019,3355,1909,1738,0,0,0,0,0,0
$STATE,10053,end climb,SURFACE_DEPTH_REACHED
$STATE,10053,begin surface coast
$FINISH,0.4,1.016769
$STATE,10098,end surface coast,CONTROL_FINISHED_OK
$STATE,10098,begin surface
$SM_CCo,10120,96.22,0.469,1,0,1287,420.20
$SM_GC,1.11,0.00,0.00,96.22,0.000,0.000,0.469,478,1734,1287,-11.61,-1.02,420.20
$IRIDIUM_FIX,2246.36,-15758.45,261299,121254
$TT8_MAMPS,0.025311
$HUMID,47.95
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.00
$XPDR_PINGS,47
$24V_AH,23.5,43.461
$10V_AH,10.2,42.898
$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,27.825,123.500,378.675,96.225,0.000,57.646,63.964,300.361,11.750,0.000,15.217,1044.711,6521.659,544.332,2011.281,729.390,33.362,1272.892,0.000,2018.520,0.000,0.536,0.000
$DEVICE_MAMPS,136.526,357.422,909.662,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.070,297.511,407.999,817.261,1237.192,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,41611,521
$CAP_FILE_SIZE,111072,0
$CFSIZE,260165632,163889152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011010,151449,2253.610,-15759.039,9,1.4,26,10.1