version: 66.06
glider: 146
mission: 5
dive: 310
start: 10 2 110 0 30 16
data:
$ID,146
$MISSION,5
$DIVE,310
$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,-253376.08
$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,27
$R_STBD_OVSHOOT,48
$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
$GPS1,002024,2255.109,-15757.143,57,1.3,57,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.4
$GPS2,002920,2255.090,-15757.140,10,1.9,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.063,0.226
$KALMAN_X,-301832.5,149.2,64.5,324794.3,119.9
$KALMAN_Y,-441147.7,232.2,208.1,578697.5,-1161.9
$MHEAD_RNG_PITCHd_Wd,5.4,6509,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.50,0.000,2,0.000,0.000,477,1767,3229,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.1,-5.4,10,126,11.15,2.53,-4.90,0.000,4,0.134,0.034,2692,3345,3477,0,0,0,0,0,0
$GC,269,-1.30,-116.8,35.4,-15.5,32,274,0.10,2.53,0.00,0.000,6,0.125,0.030,2714,1769,3477,0,0,0,0,0,0
$GC,535,-1.19,-116.8,75.1,-15.2,56,541,0.12,2.67,0.00,0.000,4,0.115,0.059,2740,196,3478,0,0,0,0,0,0
$GC,559,-1.09,-116.8,78.8,-15.5,57,564,0.10,2.40,0.00,0.000,6,0.123,0.015,2761,1803,3478,0,0,0,0,0,0
$GC,826,-1.13,-116.8,108.9,-11.3,81,830,0.00,2.35,0.00,0.000,4,0.000,0.031,2760,3319,3478,0,0,0,0,0,0
$GC,891,-1.24,-116.8,116.3,-10.2,86,896,0.12,2.47,0.00,0.000,6,0.069,0.035,2714,1767,3478,0,0,0,0,0,0
$GC,1154,-1.24,-116.8,147.6,-11.4,110,1158,0.00,2.67,0.00,0.000,4,0.000,0.063,2713,187,3479,0,0,0,0,0,0
$GC,1211,-1.24,-116.8,154.3,-11.6,114,1220,0.00,2.40,0.00,0.000,6,0.000,0.023,2713,1763,3480,0,0,0,0,0,0
$GC,1478,-1.24,-116.8,184.6,-12.7,139,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1766,3480,0,0,0,0,0,0
$GC,1763,-1.24,-116.8,218.8,-11.3,155,1767,0.00,2.67,0.00,0.000,4,0.000,0.062,2713,196,3480,0,0,0,0,0,0
$GC,1797,-1.24,-116.8,222.7,-12.3,155,1802,0.00,2.35,0.00,0.000,6,0.000,0.021,2714,1769,3480,0,0,0,0,0,0
$GC,2046,-1.24,-116.8,251.0,-11.5,162,2051,0.00,2.45,0.00,0.000,4,0.000,0.035,2713,3322,3480,0,0,0,0,0,0
$GC,2108,-1.31,-116.8,257.5,-10.3,163,2112,0.00,2.47,0.00,0.000,6,0.000,0.037,2713,1773,3480,0,0,0,0,0,0
$GC,2370,-1.35,-116.8,284.6,-10.5,170,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1773,3480,0,0,0,0,0,0
$GC,2612,-1.41,-116.8,307.7,-9.2,176,2617,0.00,2.75,0.00,0.000,4,0.000,0.084,2713,195,3479,0,0,0,0,0,0
$GC,2656,-1.46,-116.8,312.3,-10.2,177,2661,0.12,2.40,0.00,0.000,6,0.071,0.026,2671,1740,3479,0,0,0,0,0,0
$GC,2935,-1.46,-116.8,342.4,-11.0,184,2940,0.00,2.62,0.00,0.000,4,0.000,0.049,2671,3357,3479,0,0,0,0,0,0
$GC,3014,-1.46,-116.8,351.1,-10.5,185,3020,0.00,2.62,0.00,0.000,6,0.000,0.052,2671,1785,3479,0,0,0,0,0,0
$GC,3264,-1.46,-116.8,378.2,-10.8,192,3269,0.00,2.90,0.00,0.000,4,0.000,0.097,2670,182,3477,0,0,0,0,0,0
$GC,3286,-1.46,-116.8,380.8,-11.3,192,3291,0.00,2.50,0.00,0.000,6,0.000,0.031,2670,1773,3477,0,0,0,0,0,0
$GC,3541,-1.46,-116.8,408.6,-10.7,199,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1773,3476,0,0,0,0,0,0
$GC,3785,-1.46,-116.8,434.9,-10.9,205,3789,0.00,2.62,0.00,0.000,4,0.000,0.057,2670,3354,3474,0,0,0,0,0,0
$GC,3830,-1.50,-116.8,439.9,-11.3,206,3835,0.00,2.67,0.00,0.000,6,0.000,0.064,2671,1785,3474,0,0,0,0,0,0
$GC,4107,-1.50,-116.8,470.1,-10.7,213,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1785,3472,0,0,0,0,0,0
$GC,4351,-1.50,-116.8,495.6,-10.3,219,4356,0.00,3.03,0.00,0.000,4,0.000,0.120,2670,185,3470,0,0,0,0,0,0
$GC,4372,-1.50,-116.8,498.0,-10.8,219,4377,0.00,2.58,0.00,0.000,6,0.000,0.033,2670,1775,3469,0,0,0,0,0,0
$STATE,4422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4422,begin apogee
$GC,4430,-0.31,0.0,503.6,10.9,221,4530,1.17,0.00,96.32,0.916,6,0.078,0.000,2933,1838,3001,0,0,0,0,0,0
$STATE,4531,end apogee,CONTROL_FINISHED_OK
$STATE,4531,begin climb
$GC,4533,1.38,116.8,506.3,0.0,223,4644,1.55,2.78,100.90,0.890,4,0.051,0.067,3307,3389,2522,0,0,0,0,0,0
$GC,4653,1.35,198.4,506.1,5.3,226,4730,0.00,2.72,70.60,0.873,6,0.000,0.058,3307,1816,2192,0,0,0,0,0,0
$GC,4994,1.26,198.4,468.6,11.7,235,4999,0.15,2.62,0.00,0.000,4,0.124,0.041,3277,3397,2183,0,0,0,0,0,0
$GC,5022,1.26,198.4,465.1,11.1,235,5027,0.00,2.70,0.00,0.000,6,0.000,0.056,3277,1823,2181,0,0,0,0,0,0
$GC,5272,1.26,198.4,438.0,10.8,241,5276,0.00,2.60,0.00,0.000,4,0.000,0.045,3277,3400,2179,0,0,0,0,0,0
$GC,5304,1.26,198.4,434.2,11.0,241,5310,0.00,2.67,0.00,0.000,6,0.000,0.056,3277,1829,2178,0,0,0,0,0,0
$GC,5556,1.26,198.4,407.4,10.6,248,5560,0.00,2.58,0.00,0.000,4,0.000,0.041,3277,3402,2176,0,0,0,0,0,0
$GC,5622,1.26,198.4,399.9,11.4,249,5626,0.00,2.67,0.00,0.000,6,0.000,0.051,3277,1827,2175,0,0,0,0,0,0
$GC,5877,1.27,208.2,375.5,9.5,256,5886,0.00,0.00,6.97,0.702,6,0.000,0.000,3277,1827,2152,0,0,0,0,0,0
$GC,6122,1.29,222.8,352.8,9.2,262,6142,0.00,2.62,14.48,0.783,4,0.000,0.034,3277,3403,2092,0,0,0,0,0,0
$GC,6170,1.34,224.7,348.0,9.9,263,6175,0.00,2.65,0.00,0.000,6,0.000,0.048,3277,1831,2090,0,0,0,0,0,0
$GC,6442,1.35,235.4,322.1,9.4,270,6461,0.00,2.65,12.27,0.754,4,0.000,0.037,3277,3405,2040,0,0,0,0,0,0
$GC,6508,1.43,237.5,315.7,9.9,271,6513,0.15,2.58,0.00,0.000,6,0.084,0.038,3313,1846,2039,0,0,0,0,0,0
$GC,6770,1.39,237.5,288.4,10.4,278,6774,0.00,2.83,0.00,0.000,4,0.000,0.077,3313,234,2036,0,0,0,0,0,0
$GC,6804,1.28,237.5,284.5,11.8,278,6810,0.15,2.55,0.00,0.000,6,0.130,0.025,3283,1858,2035,0,0,0,0,0,0
$GC,7053,1.28,237.5,259.1,10.3,285,7058,0.00,2.45,0.00,0.000,4,0.000,0.033,3283,3391,2034,0,0,0,0,0,0
$GC,7103,1.35,237.5,253.8,10.6,286,7108,0.00,2.53,0.00,0.000,6,0.000,0.041,3283,1841,2033,0,0,0,0,0,0
$GC,7378,1.41,255.3,228.3,9.0,293,7402,0.10,2.58,18.05,0.706,4,0.098,0.037,3308,3389,1959,0,0,0,0,0,0
$GC,7436,1.41,255.3,222.2,10.6,294,7440,0.00,2.53,0.00,0.000,6,0.000,0.041,3308,1844,1958,0,0,0,0,0,0
$GC,7695,1.41,255.3,193.6,11.6,303,7699,0.00,2.50,0.00,0.000,4,0.000,0.029,3308,3394,1956,0,0,0,0,0,0
$GC,7728,1.41,255.3,189.2,12.1,305,7734,0.00,2.53,0.00,0.000,6,0.000,0.035,3308,1857,1955,0,0,0,0,0,0
$GC,7989,1.41,255.3,160.2,10.7,330,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1857,1955,0,0,0,0,0,0
$GC,8246,1.43,267.6,135.5,9.3,354,8263,0.00,2.53,11.57,0.600,4,0.000,0.033,3308,3393,1909,0,0,0,0,0,0
$GC,8309,1.49,268.0,129.5,10.0,359,8314,0.00,2.50,0.00,0.000,6,0.000,0.034,3308,1859,1908,0,0,0,0,0,0
$GC,8578,1.55,277.0,104.3,9.5,383,8593,0.12,2.80,9.80,0.557,4,0.078,0.059,3342,239,1870,0,0,0,0,0,0
$GC,8646,1.48,277.0,96.2,10.3,388,8656,0.00,2.55,0.00,0.000,6,0.000,0.019,3342,1861,1869,0,0,0,0,0,0
$GC,8914,1.49,289.9,71.8,9.3,413,8932,0.00,2.45,12.43,0.545,4,0.000,0.028,3342,3382,1818,0,0,0,0,0,0
$GC,8993,1.56,296.7,63.4,9.6,419,9006,0.00,2.53,7.32,0.491,6,0.000,0.033,3342,1855,1791,0,0,0,0,0,0
$GC,9273,1.56,296.7,35.5,10.7,445,9277,0.00,2.42,0.00,0.000,4,0.000,0.028,3342,3385,1789,0,0,0,0,0,0
$GC,9318,1.62,296.7,30.5,11.0,448,9322,0.00,2.45,0.00,0.000,6,0.000,0.032,3342,1865,1789,0,0,0,0,0,0
$STATE,9566,end climb,SURFACE_DEPTH_REACHED
$STATE,9566,begin surface coast
$FINISH,0.5,1.010477
$STATE,9616,end surface coast,CONTROL_FINISHED_OK
$STATE,9616,begin surface
$SM_CCo,9637,107.47,0.472,1,0,1286,420.20
$SM_GC,0.94,0.00,0.00,107.47,0.000,0.000,0.472,476,1745,1286,-11.62,-0.71,420.20
$IRIDIUM_FIX,2246.36,-15756.28,271299,000014
$TT8_MAMPS,0.026078
$HUMID,47.51
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.30
$XPDR_PINGS,47
$24V_AH,23.5,43.982
$10V_AH,10.2,43.346
$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,26.750,129.450,360.725,107.475,0.000,54.528,63.924,218.520,11.750,0.000,12.290,1000.364,6248.852,546.430,1867.636,627.127,33.358,1239.806,0.000,1875.301,0.000,0.536,0.000
$DEVICE_MAMPS,134.225,121.953,915.798,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.058,284.740,378.514,731.723,1107.027,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,38200,490
$CAP_FILE_SIZE,106888,0
$CFSIZE,260165632,163684352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021010,031358,2255.682,-15756.702,9,2.1,28,10.1