version: 66.06
glider: 146
mission: 5
dive: 307
start: 10 1 110 15 28 59
data:
$ID,146
$MISSION,5
$DIVE,307
$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,619.13721
$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,-253333.48
$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,60
$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
$GPS1,151449,2253.610,-15759.039,9,1.4,26,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.4
$GPS2,152806,2253.490,-15759.074,33,0.9,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.116,0.204
$KALMAN_X,-301791.8,-99.1,179.7,321559.2,-301.8
$KALMAN_Y,-437162.4,-286.0,-37.8,572516.9,-1018.7
$MHEAD_RNG_PITCHd_Wd,19.5,10864,-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,15,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.82,0.000,2,0.000,0.000,477,1734,3472,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.3,-8.9,11,126,11.18,2.60,0.00,0.000,4,0.137,0.023,2690,3374,3475,0,0,0,0,0,0
$GC,209,-1.30,-116.8,32.9,-17.3,25,219,0.10,2.55,0.00,0.000,6,0.083,0.030,2716,1806,3475,0,0,0,0,0,0
$GC,477,-1.20,-116.8,72.8,-14.3,50,482,0.10,2.72,0.00,0.000,4,0.130,0.057,2735,192,3475,0,0,0,0,0,0
$GC,514,-1.12,-116.8,78.9,-13.9,52,523,0.00,2.50,0.00,0.000,6,0.000,0.016,2736,1816,3476,0,0,0,0,0,0
$GC,780,-1.12,-116.8,110.7,-10.8,77,784,0.00,2.35,0.00,0.000,4,0.000,0.026,2736,3335,3476,0,0,0,0,0,0
$GC,811,-1.12,-116.8,114.1,-10.2,79,816,0.00,2.47,0.00,0.000,6,0.000,0.033,2736,1773,3476,0,0,0,0,0,0
$GC,1077,-1.12,-116.8,142.6,-11.3,103,1083,0.10,0.00,0.00,0.000,6,0.166,0.000,2756,1774,3476,0,0,0,0,0,0
$GC,1342,-1.20,-116.8,169.5,-9.5,128,1346,0.00,2.45,0.00,0.000,4,0.000,0.025,2756,3329,3477,0,0,0,0,0,0
$GC,1364,-1.30,-116.8,172.0,-9.8,129,1374,0.12,2.50,0.00,0.000,6,0.035,0.028,2705,1783,3477,0,0,0,0,0,0
$GC,1656,-1.30,-116.8,205.1,-11.9,154,1661,0.00,2.70,0.00,0.000,4,0.000,0.070,2705,194,3477,0,0,0,0,0,0
$GC,1689,-1.25,-116.8,209.6,-13.8,154,1695,0.10,2.38,0.00,0.000,6,0.120,0.019,2726,1788,3477,0,0,0,0,0,0
$GC,1940,-1.29,-116.8,234.8,-9.8,161,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1789,3477,0,0,0,0,0,0
$GC,2183,-1.34,-116.8,258.1,-9.5,167,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1789,3477,0,0,0,0,0,0
$GC,2426,-1.40,-116.8,279.9,-8.7,173,2428,0.12,0.00,0.00,0.000,6,0.075,0.000,2682,1790,3476,0,0,0,0,0,0
$GC,2669,-1.40,-116.8,306.1,-11.0,179,2674,0.00,2.40,0.00,0.000,4,0.000,0.039,2683,3311,3476,0,0,0,0,0,0
$GC,2732,-1.40,-116.8,313.0,-11.2,180,2736,0.00,2.53,0.00,0.000,6,0.000,0.042,2682,1780,3476,0,0,0,0,0,0
$GC,2992,-1.40,-116.8,340.4,-10.2,187,2997,0.00,2.83,0.00,0.000,4,0.000,0.086,2682,184,3475,0,0,0,0,0,0
$GC,3013,-1.40,-116.8,342.8,-10.9,187,3017,0.00,2.40,0.00,0.000,6,0.000,0.028,2682,1736,3475,0,0,0,0,0,0
$GC,3270,-1.40,-116.8,368.2,-9.7,194,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1736,3474,0,0,0,0,0,0
$GC,3513,-1.40,-116.8,392.3,-9.8,200,3517,0.00,2.67,0.00,0.000,4,0.000,0.054,2682,3354,3473,0,0,0,0,0,0
$GC,3579,-1.44,-116.8,398.7,-9.4,201,3584,0.00,2.70,0.00,0.000,6,0.000,0.054,2682,1764,3472,0,0,0,0,0,0
$GC,3835,-1.44,-116.8,423.9,-10.1,208,3840,0.00,2.90,0.00,0.000,4,0.000,0.106,2681,185,3471,0,0,0,0,0,0
$GC,3874,-1.44,-116.8,428.1,-10.8,209,3879,0.00,2.53,0.00,0.000,6,0.000,0.029,2682,1760,3471,0,0,0,0,0,0
$GC,4159,-1.48,-116.8,454.6,-9.1,216,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1760,3468,0,0,0,0,0,0
$GC,4404,-1.53,-116.8,475.3,-8.4,222,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1760,3467,0,0,0,0,0,0
$GC,4646,-1.58,-116.8,495.7,-8.3,228,4648,0.10,0.00,0.00,0.000,6,0.090,0.000,2649,1763,3465,0,0,0,0,0,0
$STATE,4724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4724,begin apogee
$GC,4730,-0.31,0.0,503.8,9.3,230,4829,1.27,0.00,95.40,0.920,6,0.081,0.000,2933,1838,3001,0,0,0,0,0,0
$STATE,4830,end apogee,CONTROL_FINISHED_OK
$STATE,4830,begin climb
$GC,4834,1.38,116.8,506.0,0.0,232,4940,1.55,0.00,101.62,0.898,6,0.046,0.000,3307,1838,2524,0,0,0,0,0,0
$GC,5171,1.30,153.6,488.1,7.9,241,5212,0.12,2.78,31.70,0.867,4,0.131,0.061,3283,3392,2373,0,0,0,0,0,0
$GC,5285,1.26,156.1,477.3,9.9,243,5290,0.00,2.70,0.00,0.000,6,0.000,0.057,3284,1814,2369,0,0,0,0,0,0
$GC,5541,1.20,163.7,452.7,9.6,250,5555,0.00,2.67,9.02,0.765,4,0.000,0.043,3284,3398,2333,0,0,0,0,0,0
$GC,5586,1.17,170.7,448.5,9.6,251,5601,0.15,2.70,8.20,0.746,6,0.139,0.058,3256,1825,2303,0,0,0,0,0,0
$GC,5874,1.21,199.8,424.0,8.4,258,5906,0.00,2.62,26.05,0.848,4,0.000,0.039,3256,3397,2187,0,0,0,0,0,0
$GC,5928,1.24,230.2,419.4,8.3,259,5962,0.00,2.70,28.60,0.838,6,0.000,0.053,3256,1830,2061,0,0,0,0,0,0
$GC,6244,1.25,238.1,389.3,9.6,267,6253,0.00,0.00,7.25,0.712,6,0.000,0.000,3256,1830,2030,0,0,0,0,0,0
$GC,6485,1.32,260.9,367.7,8.7,273,6515,0.12,2.67,21.75,0.811,4,0.087,0.039,3288,3405,1936,0,0,0,0,0,0
$GC,6538,1.32,260.9,362.1,10.7,274,6543,0.00,2.67,0.00,0.000,6,0.000,0.044,3288,1828,1934,0,0,0,0,0,0
$GC,6810,1.32,260.9,333.2,10.5,281,6815,0.00,2.83,0.00,0.000,4,0.000,0.078,3288,237,1930,0,0,0,0,0,0
$GC,6837,1.28,260.9,329.7,12.9,281,6842,0.00,2.53,0.00,0.000,6,0.000,0.021,3288,1838,1929,0,0,0,0,0,0
$GC,7088,1.28,260.9,301.3,11.2,287,7093,0.00,2.80,0.00,0.000,4,0.000,0.071,3288,236,1928,0,0,0,0,0,0
$GC,7103,1.28,260.9,299.2,11.5,287,7108,0.00,2.50,0.00,0.000,6,0.000,0.025,3288,1831,1928,0,0,0,0,0,0
$GC,7364,1.28,260.9,270.9,10.9,294,7369,0.00,2.53,0.00,0.000,4,0.000,0.033,3288,3398,1927,0,0,0,0,0,0
$GC,7451,1.34,260.9,261.6,11.4,296,7456,0.00,2.58,0.00,0.000,6,0.000,0.036,3288,1832,1925,0,0,0,0,0,0
$GC,7735,1.34,260.9,232.4,10.4,303,7739,0.00,2.75,0.00,0.000,4,0.000,0.072,3288,243,1925,0,0,0,0,0,0
$GC,7762,1.34,260.9,229.3,10.9,303,7766,0.00,2.50,0.00,0.000,6,0.000,0.027,3288,1839,1924,0,0,0,0,0,0
$GC,8013,1.34,260.9,204.1,10.1,309,8017,0.00,2.45,0.00,0.000,4,0.000,0.034,3288,3390,1924,0,0,0,0,0,0
$GC,8035,1.39,262.2,201.7,10.0,309,8039,0.00,2.53,0.00,0.000,6,0.000,0.035,3288,1842,1923,0,0,0,0,0,0
$GC,8306,1.43,262.2,175.2,10.1,331,8311,0.10,0.00,0.00,0.000,6,0.209,0.000,3316,1842,1924,0,0,0,0,0,0
$GC,8567,1.43,262.2,145.8,10.9,356,8571,0.00,2.47,0.00,0.000,4,0.000,0.034,3315,3394,1923,0,0,0,0,0,0
$GC,8612,1.47,262.2,141.4,11.5,359,8616,0.00,2.53,0.00,0.000,6,0.000,0.038,3316,1842,1923,0,0,0,0,0,0
$GC,8880,1.48,266.2,112.2,9.8,383,8884,0.00,2.47,0.00,0.000,4,0.000,0.028,3316,3400,1923,0,0,0,0,0,0
$GC,8914,1.54,266.2,107.9,10.8,385,8919,0.00,2.50,0.00,0.000,6,0.000,0.032,3316,1842,1923,0,0,0,0,0,0
$GC,9179,1.63,294.5,84.5,8.4,410,9217,0.15,2.55,27.95,0.588,4,0.071,0.029,3358,3393,1798,0,0,0,0,0,0
$GC,9358,1.64,298.2,67.6,9.8,424,9373,0.00,2.47,4.45,0.412,6,0.000,0.033,3358,1870,1784,0,0,0,0,0,0
$GC,9630,1.64,298.2,38.2,10.9,449,9635,0.00,2.75,0.00,0.000,4,0.000,0.057,3358,239,1783,0,0,0,0,0,0
$GC,9651,1.64,298.2,35.4,11.5,450,9655,0.00,2.53,0.00,0.000,6,0.000,0.019,3358,1881,1782,0,0,0,0,0,0
$STATE,9947,end climb,SURFACE_DEPTH_REACHED
$STATE,9948,begin surface coast
$FINISH,0.4,1.001048
$STATE,9990,end surface coast,CONTROL_FINISHED_OK
$STATE,9990,begin surface
$SM_CCo,10012,263.10,0.492,1,0,476,619.14
$SM_GC,1.08,0.00,0.00,263.10,0.000,0.000,0.492,479,1729,476,-11.60,-1.13,619.14
$IRIDIUM_FIX,2246.36,-15722.81,261299,151535
$TT8_MAMPS,0.025311
$HUMID,45.23
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.20
$XPDR_PINGS,40
$24V_AH,23.5,43.601
$10V_AH,10.2,43.010
$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,27.175,114.250,362.000,263.100,0.000,155.009,143.391,87.150,10.000,0.000,35.073,996.284,6857.334,718.421,1821.048,685.900,33.364,1386.441,0.000,1808.369,0.000,0.535,0.000
$DEVICE_MAMPS,208.624,105.846,920.400,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.619,284.147,378.695,707.670,1065.615,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,38374,495
$CAP_FILE_SIZE,104019,0
$CFSIZE,260165632,163827712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011010,182137,2253.808,-15758.511,35,1.2,35,10.1