version: 66.06
glider: 146
mission: 5
dive: 308
start: 10 1 110 18 37 14
data:
$ID,146
$MISSION,5
$DIVE,308
$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,-253348.56
$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,54
$R_STBD_OVSHOOT,50
$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
$GPS1,182137,2253.808,-15758.511,35,1.2,35,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-63.0
$GPS2,183620,2253.728,-15758.593,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.126,0.198
$KALMAN_X,-301977.2,-43.8,-16.2,322713.1,-263.3
$KALMAN_Y,-438718.1,-61.0,-283.4,574536.4,-705.1
$MHEAD_RNG_PITCHd_Wd,22.4,10006,-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,-116.8,0.0,0.0,0,135,0.00,0.00,-115.38,0.000,6,0.000,0.000,478,1730,3479,0,0,0,0,0,0
$GC,138,-1.38,-116.8,4.9,-10.6,15,155,11.12,0.00,0.00,0.000,6,0.135,0.000,2688,1730,3481,0,0,0,0,0,0
$GC,430,-1.22,-116.8,66.3,-17.1,46,439,0.20,0.00,0.00,0.000,6,0.107,0.000,2731,1730,3481,0,0,0,0,0,0
$GC,695,-1.22,-116.8,101.5,-12.5,71,700,0.00,2.53,0.00,0.000,4,0.000,0.024,2731,3347,3481,0,0,0,0,0,0
$GC,729,-1.22,-116.8,106.3,-11.9,73,735,0.00,2.47,0.00,0.000,6,0.000,0.033,2731,1794,3482,0,0,0,0,0,0
$GC,991,-1.22,-116.8,134.6,-11.3,98,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1794,3482,0,0,0,0,0,0
$GC,1247,-1.22,-116.8,161.8,-10.3,122,1251,0.00,2.42,0.00,0.000,4,0.000,0.024,2731,3346,3482,0,0,0,0,0,0
$GC,1270,-1.27,-116.8,164.1,-9.8,123,1280,0.00,2.55,0.00,0.000,6,0.000,0.030,2731,1773,3482,0,0,0,0,0,0
$GC,1539,-1.32,-116.8,189.1,-9.3,148,1544,0.00,2.67,0.00,0.000,4,0.000,0.062,2731,193,3481,0,0,0,0,0,0
$GC,1562,-1.32,-116.8,192.3,-10.4,149,1567,0.00,2.45,0.00,0.000,6,0.000,0.018,2731,1809,3481,0,0,0,0,0,0
$GC,1846,-1.37,-116.8,221.3,-10.2,162,1851,0.12,2.40,0.00,0.000,4,0.071,0.026,2689,3326,3481,0,0,0,0,0,0
$GC,1863,-1.37,-116.8,223.3,-10.4,162,1867,0.00,2.47,0.00,0.000,6,0.000,0.036,2689,1773,3481,0,0,0,0,0,0
$GC,2123,-1.37,-116.8,253.3,-11.4,169,2128,0.00,2.70,0.00,0.000,4,0.000,0.073,2689,196,3481,0,0,0,0,0,0
$GC,2146,-1.32,-116.8,255.9,-11.6,169,2151,0.10,2.38,0.00,0.000,6,0.123,0.016,2710,1771,3481,0,0,0,0,0,0
$GC,2403,-1.32,-116.8,281.3,-9.8,176,2407,0.00,2.45,0.00,0.000,4,0.000,0.029,2710,3331,3480,0,0,0,0,0,0
$GC,2477,-1.40,-116.8,288.3,-8.8,177,2481,0.00,2.47,0.00,0.000,6,0.000,0.042,2710,1800,3480,0,0,0,0,0,0
$GC,2728,-1.46,-116.8,311.1,-9.2,183,2729,0.12,0.00,0.00,0.000,6,0.075,0.000,2670,1797,3479,0,0,0,0,0,0
$GC,2972,-1.46,-116.8,337.7,-11.0,189,2976,0.00,2.88,0.00,0.000,4,0.000,0.085,2669,190,3478,0,0,0,0,0,0
$GC,2993,-1.42,-116.8,340.3,-11.1,189,2998,0.10,2.47,0.00,0.000,6,0.125,0.028,2690,1767,3478,0,0,0,0,0,0
$GC,3249,-1.46,-116.8,365.5,-9.7,196,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1767,3477,0,0,0,0,0,0
$GC,3494,-1.50,-116.8,387.8,-9.1,202,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1767,3475,0,0,0,0,0,0
$GC,3736,-1.54,-116.8,409.7,-9.1,208,3738,0.10,0.00,0.00,0.000,6,0.089,0.000,2657,1767,3473,0,0,0,0,0,0
$GC,3979,-1.54,-116.8,435.1,-10.4,214,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1767,3471,0,0,0,0,0,0
$GC,4225,-1.54,-116.8,461.2,-10.7,220,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1767,3469,0,0,0,0,0,0
$GC,4467,-1.54,-116.8,486.7,-10.5,226,4472,0.00,2.88,0.00,0.000,4,0.000,0.101,2656,193,3467,0,0,0,0,0,0
$GC,4482,-1.54,-116.8,488.4,-10.3,226,4487,0.00,2.58,0.00,0.000,6,0.000,0.037,2656,1784,3467,0,0,0,0,0,0
$STATE,4625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4625,begin apogee
$GC,4631,-0.31,0.0,503.0,10.1,230,4731,1.23,0.00,95.62,0.917,6,0.081,0.000,2930,1834,3001,0,0,0,0,0,0
$STATE,4731,end apogee,CONTROL_FINISHED_OK
$STATE,4732,begin climb
$GC,4736,1.38,116.8,505.0,0.0,232,4841,1.58,0.00,101.82,0.894,6,0.044,0.000,3306,1834,2524,0,0,0,0,0,0
$GC,5072,1.27,133.9,482.9,9.1,241,5093,0.15,2.78,14.55,0.821,4,0.240,0.069,3278,3400,2455,0,0,0,0,0,0
$GC,5164,1.25,154.4,475.1,8.9,243,5188,0.00,2.67,19.30,0.838,6,0.000,0.052,3278,1844,2371,0,0,0,0,0,0
$GC,5445,1.23,175.0,449.8,8.8,250,5469,0.00,2.65,18.88,0.837,4,0.000,0.044,3278,3415,2287,0,0,0,0,0,0
$GC,5483,1.22,201.3,446.6,8.5,250,5513,0.00,2.72,24.48,0.838,6,0.000,0.052,3278,1840,2180,0,0,0,0,0,0
$GC,5770,1.22,207.4,419.0,9.7,258,5781,0.00,2.60,5.47,0.653,4,0.000,0.038,3278,3407,2156,0,0,0,0,0,0
$GC,5843,1.22,207.4,411.4,10.1,259,5848,0.00,2.65,0.00,0.000,6,0.000,0.050,3278,1856,2154,0,0,0,0,0,0
$GC,6093,1.22,207.4,385.3,10.5,265,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1855,2151,0,0,0,0,0,0
$GC,6337,1.22,207.4,359.9,10.3,271,6341,0.00,2.55,0.00,0.000,4,0.000,0.037,3279,3419,2149,0,0,0,0,0,0
$GC,6376,1.22,207.7,356.1,10.0,272,6380,0.00,2.62,0.00,0.000,6,0.000,0.046,3279,1853,2148,0,0,0,0,0,0
$GC,6661,1.24,223.5,330.3,9.1,279,6677,0.00,0.00,14.90,0.779,6,0.000,0.000,3278,1853,2089,0,0,0,0,0,0
$GC,6903,1.25,231.2,307.2,9.6,285,6917,0.00,2.60,7.72,0.695,4,0.000,0.035,3278,3403,2057,0,0,0,0,0,0
$GC,6975,1.32,231.2,300.1,10.1,286,6979,0.00,2.55,0.00,0.000,6,0.000,0.038,3278,1867,2056,0,0,0,0,0,0
$GC,7230,1.33,242.2,275.6,9.4,293,7244,0.00,0.00,11.20,0.721,6,0.000,0.000,3278,1868,2012,0,0,0,0,0,0
$GC,7518,1.40,262.4,250.0,8.9,300,7543,0.10,2.58,18.60,0.733,4,0.199,0.032,3305,3404,1931,0,0,0,0,0,0
$GC,7555,1.40,262.4,246.2,10.4,300,7561,0.00,2.55,0.00,0.000,6,0.000,0.040,3305,1869,1930,0,0,0,0,0,0
$GC,7805,1.40,262.4,219.3,10.7,307,7809,0.00,2.50,0.00,0.000,4,0.000,0.032,3305,3414,1926,0,0,0,0,0,0
$GC,7837,1.40,262.4,215.7,10.4,307,7843,0.00,2.53,0.00,0.000,6,0.000,0.037,3305,1878,1925,0,0,0,0,0,0
$GC,8093,1.40,262.4,188.6,10.8,320,8097,0.00,2.47,0.00,0.000,4,0.000,0.033,3306,3411,1924,0,0,0,0,0,0
$GC,8127,1.43,262.4,184.5,10.9,322,8132,0.00,2.50,0.00,0.000,6,0.000,0.035,3305,1888,1924,0,0,0,0,0,0
$GC,8391,1.43,262.4,156.9,10.4,347,8396,0.00,2.83,0.00,0.000,4,0.000,0.067,3306,239,1924,0,0,0,0,0,0
$GC,8407,1.43,262.4,154.7,10.3,348,8412,0.00,2.60,0.00,0.000,6,0.000,0.025,3306,1919,1923,0,0,0,0,0,0
$GC,8670,1.43,262.6,128.8,10.0,372,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1921,1922,0,0,0,0,0,0
$GC,8927,1.53,290.1,106.5,8.5,396,8964,0.10,2.42,24.05,0.609,4,0.094,0.035,3334,3413,1816,0,0,0,0,0,0
$GC,8981,1.53,293.7,101.1,9.8,400,8991,0.00,2.53,4.50,0.433,6,0.000,0.033,3334,1893,1803,0,0,0,0,0,0
$GC,9250,1.61,326.9,77.5,8.1,425,9284,0.00,2.50,29.42,0.582,4,0.000,0.027,3334,3422,1666,0,0,0,0,0,0
$GC,9376,1.72,333.9,66.2,9.6,434,9392,0.17,2.45,7.03,0.485,6,0.074,0.032,3379,1910,1637,0,0,0,0,0,0
$GC,9648,1.67,333.9,32.6,12.7,459,9652,0.00,2.85,0.00,0.000,4,0.000,0.056,3379,237,1635,0,0,0,0,0,0
$GC,9675,1.60,333.9,28.6,13.9,461,9685,0.12,2.67,0.00,0.000,6,0.100,0.019,3351,1939,1634,0,0,0,0,0,0
$STATE,9881,end climb,SURFACE_DEPTH_REACHED
$STATE,9881,begin surface coast
$FINISH,0.6,1.023180
$STATE,9924,end surface coast,CONTROL_FINISHED_OK
$STATE,9924,begin surface
$SM_CCo,9946,76.00,0.454,1,0,1287,420.20
$SM_GC,1.04,0.00,0.00,76.00,0.000,0.000,0.454,476,1750,1287,-11.61,-0.59,420.20
$IRIDIUM_FIX,2246.36,-15756.28,261299,181832
$TT8_MAMPS,0.025311
$HUMID,48.30
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.10
$XPDR_PINGS,39
$24V_AH,23.5,43.742
$10V_AH,10.2,43.124
$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,27.025,103.525,397.550,76.000,0.000,55.464,68.681,555.490,9.750,0.000,14.452,981.499,6647.668,552.005,1761.132,971.280,33.363,1230.231,0.000,1771.141,0.000,0.536,0.000
$DEVICE_MAMPS,240.071,335.946,917.332,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.525,291.272,381.749,706.161,1068.079,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355848
$DATA_FILE_SIZE,38522,496
$CAP_FILE_SIZE,107096,0
$CFSIZE,260165632,163790848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011010,212534,2254.308,-15757.784,11,99.0,30,10.1