version: 66.06
glider: 146
mission: 5
dive: 311
start: 10 2 110 3 21 39
data:
$ID,146
$MISSION,5
$DIVE,311
$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,-253408.52
$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,45
$R_STBD_OVSHOOT,59
$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
$GPS1,031358,2255.682,-15756.702,9,2.1,28,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.5
$GPS2,032045,2255.637,-15756.693,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.073,0.223
$KALMAN_X,-301837.8,185.9,175.9,325421.0,-265.1
$KALMAN_Y,-442265.8,166.8,153.8,580949.4,-1525.2
$MHEAD_RNG_PITCHd_Wd,8.1,5243,-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,-78.80,0.000,2,0.000,0.000,475,1744,3233,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.1,-5.5,10,126,11.20,2.55,-4.82,0.000,4,0.137,0.039,2688,3336,3480,0,0,0,0,0,0
$GC,242,-1.30,-116.8,32.0,-16.3,29,248,0.12,2.50,0.00,0.000,6,0.114,0.029,2715,1789,3481,0,0,0,0,0,0
$GC,511,-1.19,-116.8,73.6,-15.4,53,520,0.12,0.00,0.00,0.000,6,0.117,0.000,2741,1788,3481,0,0,0,0,0,0
$GC,772,-1.19,-116.8,108.1,-11.4,78,776,0.00,2.45,0.00,0.000,4,0.000,0.026,2741,3343,3482,0,0,0,0,0,0
$GC,792,-1.19,-116.8,110.0,-10.8,79,796,0.00,2.53,0.00,0.000,6,0.000,0.028,2741,1771,3482,0,0,0,0,0,0
$GC,1060,-1.19,-116.8,138.0,-11.0,103,1064,0.00,2.67,0.00,0.000,4,0.000,0.067,2740,188,3483,0,0,0,0,0,0
$GC,1093,-1.19,-116.8,142.8,-12.0,105,1099,0.00,2.40,0.00,0.000,6,0.000,0.017,2741,1801,3483,0,0,0,0,0,0
$GC,1362,-1.24,-116.8,171.1,-10.3,130,1366,0.00,2.72,0.00,0.000,4,0.000,0.061,2740,193,3483,0,0,0,0,0,0
$GC,1384,-1.24,-116.8,174.3,-10.4,131,1390,0.00,2.33,0.00,0.000,6,0.000,0.021,2741,1761,3484,0,0,0,0,0,0
$GC,1649,-1.30,-116.8,199.8,-8.9,156,1658,0.10,0.00,0.00,0.000,6,0.083,0.000,2705,1763,3483,0,0,0,0,0,0
$GC,1899,-1.30,-116.8,225.7,-10.3,163,1903,0.00,2.42,0.00,0.000,4,0.000,0.025,2704,3310,3483,0,0,0,0,0,0
$GC,1931,-1.30,-116.8,229.2,-10.7,163,1936,0.00,2.47,0.00,0.000,6,0.000,0.031,2704,1753,3484,0,0,0,0,0,0
$GC,2181,-1.30,-116.8,255.1,-10.1,170,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1753,3484,0,0,0,0,0,0
$GC,2426,-1.30,-116.8,281.2,-10.7,176,2430,0.00,2.45,0.00,0.000,4,0.000,0.033,2704,3306,3483,0,0,0,0,0,0
$GC,2449,-1.34,-116.8,283.8,-11.4,176,2453,0.00,2.50,0.00,0.000,6,0.000,0.037,2704,1760,3483,0,0,0,0,0,0
$GC,2704,-1.34,-116.8,310.6,-10.6,183,2708,0.00,2.78,0.00,0.000,4,0.000,0.086,2704,189,3483,0,0,0,0,0,0
$GC,2732,-1.34,-116.8,313.6,-10.9,183,2736,0.00,2.38,0.00,0.000,6,0.000,0.028,2704,1728,3483,0,0,0,0,0,0
$GC,2982,-1.39,-116.8,337.5,-9.3,189,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1728,3482,0,0,0,0,0,0
$GC,3226,-1.45,-116.8,358.4,-8.6,195,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1728,3482,0,0,0,0,0,0
$GC,3469,-1.50,-116.8,380.3,-8.9,201,3475,0.15,2.67,0.00,0.000,4,0.067,0.053,2657,3350,3481,0,0,0,0,0,0
$GC,3492,-1.50,-116.8,382.7,-10.4,201,3497,0.00,2.65,0.00,0.000,6,0.000,0.055,2657,1775,3480,0,0,0,0,0,0
$GC,3747,-1.50,-116.8,410.5,-11.0,208,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1775,3479,0,0,0,0,0,0
$GC,3991,-1.50,-116.8,437.1,-11.0,214,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1775,3477,0,0,0,0,0,0
$GC,4236,-1.50,-116.8,465.2,-11.6,220,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1775,3475,0,0,0,0,0,0
$GC,4478,-1.50,-116.8,492.1,-11.0,226,4483,0.00,2.62,0.00,0.000,4,0.000,0.059,2657,3335,3474,0,0,0,0,0,0
$GC,4539,-1.50,-116.8,498.5,-9.8,227,4543,0.00,2.70,0.00,0.000,6,0.000,0.062,2657,1768,3474,0,0,0,0,0,0
$STATE,4553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4553,begin apogee
$GC,4561,-0.31,0.0,500.1,9.4,228,4661,1.23,0.00,96.95,0.911,6,0.083,0.000,2929,1837,3001,0,0,0,0,0,0
$STATE,4662,end apogee,CONTROL_FINISHED_OK
$STATE,4662,begin climb
$GC,4665,1.38,116.8,502.1,0.0,230,4770,1.55,0.00,100.38,0.884,6,0.055,0.000,3305,1837,2524,0,0,0,0,0,0
$GC,4992,1.27,122.1,478.8,9.7,238,5002,0.15,2.60,4.40,0.582,4,0.128,0.049,3276,3376,2503,0,0,0,0,0,0
$GC,5137,1.25,150.4,466.2,8.4,241,5169,0.00,2.65,26.00,0.845,6,0.000,0.055,3276,1838,2387,0,0,0,0,0,0
$GC,5451,1.25,179.3,439.8,8.4,249,5484,0.00,2.60,26.27,0.841,4,0.000,0.045,3276,3381,2268,0,0,0,0,0,0
$GC,5570,1.25,183.9,428.7,9.8,251,5581,0.00,2.65,4.85,0.607,6,0.000,0.051,3276,1839,2251,0,0,0,0,0,0
$GC,5826,1.25,183.9,403.3,10.1,258,5831,0.00,2.53,0.00,0.000,4,0.000,0.038,3276,3391,2247,0,0,0,0,0,0
$GC,5842,1.25,183.9,401.5,10.2,258,5846,0.00,2.60,0.00,0.000,6,0.000,0.050,3276,1845,2246,0,0,0,0,0,0
$GC,6103,1.26,188.9,375.6,9.8,265,6114,0.00,2.53,5.28,0.634,4,0.000,0.038,3276,3393,2229,0,0,0,0,0,0
$GC,6160,1.26,192.9,370.1,9.8,266,6170,0.00,2.58,5.18,0.625,6,0.000,0.050,3276,1852,2214,0,0,0,0,0,0
$GC,6426,1.30,223.2,347.1,8.3,273,6460,0.00,2.58,27.90,0.808,4,0.000,0.034,3276,3383,2090,0,0,0,0,0,0
$GC,6497,1.35,223.2,340.4,10.4,274,6501,0.00,2.55,0.00,0.000,6,0.000,0.046,3276,1853,2088,0,0,0,0,0,0
$GC,6751,1.35,223.2,314.0,10.5,281,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1853,2085,0,0,0,0,0,0
$GC,6995,1.36,237.2,290.4,9.2,287,7014,0.00,2.92,12.85,0.733,4,0.000,0.072,3276,236,2032,0,0,0,0,0,0
$GC,7023,1.39,259.8,288.0,8.7,287,7052,0.12,2.58,21.67,0.752,6,0.090,0.027,3307,1855,1940,0,0,0,0,0,0
$GC,7326,1.39,259.8,255.8,10.9,295,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1855,1935,0,0,0,0,0,0
$GC,7568,1.39,259.8,228.3,11.4,301,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1855,1933,0,0,0,0,0,0
$GC,7814,1.39,259.8,200.8,11.2,307,7818,0.00,2.47,0.00,0.000,4,0.000,0.036,3307,3400,1932,0,0,0,0,0,0
$GC,7834,1.39,259.8,198.0,11.3,307,7839,0.00,2.50,0.00,0.000,6,0.000,0.036,3307,1854,1931,0,0,0,0,0,0
$GC,8102,1.39,259.8,169.0,11.0,332,8107,0.00,2.47,0.00,0.000,4,0.000,0.030,3307,3400,1931,0,0,0,0,0,0
$GC,8171,1.44,259.8,161.9,11.0,337,8175,0.00,2.47,0.00,0.000,6,0.000,0.040,3307,1868,1930,0,0,0,0,0,0
$GC,8438,1.44,259.8,133.5,10.8,361,8442,0.00,2.42,0.00,0.000,4,0.000,0.030,3307,3393,1930,0,0,0,0,0,0
$GC,8479,1.50,259.8,128.8,10.1,364,8484,0.00,2.45,0.00,0.000,6,0.000,0.039,3307,1880,1930,0,0,0,0,0,0
$GC,8743,1.54,259.8,99.6,10.8,388,8748,0.12,2.80,0.00,0.000,4,0.078,0.065,3342,234,1930,0,0,0,0,0,0
$GC,8826,1.46,259.8,89.9,11.3,394,8835,0.08,2.58,0.00,0.000,6,0.111,0.018,3323,1881,1929,0,0,0,0,0,0
$GC,9092,1.58,308.7,69.8,7.2,419,9146,0.00,2.50,41.03,0.578,4,0.000,0.033,3323,3392,1740,0,0,0,0,0,0
$GC,9167,1.70,343.0,64.4,8.1,424,9209,0.20,2.47,29.90,0.560,6,0.070,0.032,3372,1872,1601,0,0,0,0,0,0
$GC,9470,1.70,343.0,26.3,13.6,453,9479,0.00,2.47,0.00,0.000,4,0.000,0.028,3372,3396,1597,0,0,0,0,0,0
$GC,9525,1.70,343.0,19.0,13.1,460,9534,0.00,2.47,0.00,0.000,6,0.000,0.034,3372,1892,1596,0,0,0,0,0,0
$STATE,9638,end climb,SURFACE_DEPTH_REACHED
$STATE,9638,begin surface coast
$FINISH,0.4,1.011790
$STATE,9676,end surface coast,CONTROL_FINISHED_OK
$STATE,9676,begin surface
$SM_CCo,9698,68.45,0.444,1,0,1288,420.20
$SM_GC,1.12,0.00,0.00,68.45,0.000,0.000,0.444,479,1753,1288,-11.60,-0.48,420.20
$IRIDIUM_FIX,2246.36,-15758.45,271299,000048
$TT8_MAMPS,0.026078
$HUMID,48.22
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.70
$XPDR_PINGS,43
$24V_AH,23.5,44.097
$10V_AH,10.2,43.453
$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,26.975,107.525,402.650,68.450,0.000,30.729,38.198,187.767,10.750,0.000,31.806,959.470,6365.684,518.646,1793.668,544.217,33.364,1217.289,0.000,1788.498,0.000,0.536,0.000
$DEVICE_MAMPS,136.526,118.118,911.196,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.433,276.137,369.333,693.387,1049.060,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,38345,481
$CAP_FILE_SIZE,99201,0
$CFSIZE,260165632,163639296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021010,060606,2256.095,-15756.240,42,1.2,53,10.1