version: 66.06
glider: 146
mission: 5
dive: 312
start: 10 2 110 6 12 56
data:
$ID,146
$MISSION,5
$DIVE,312
$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,-253422.44
$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,39
$R_STBD_OVSHOOT,49
$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
$GPS1,060606,2256.095,-15756.240,42,1.2,53,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-66.0
$GPS2,061202,2256.053,-15756.264,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.081,0.220
$KALMAN_X,-301646.5,154.7,18.9,326154.5,-207.0
$KALMAN_Y,-443267.5,37.2,-169.1,583173.1,-1202.6
$MHEAD_RNG_PITCHd_Wd,10.1,4201,-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,-78.30,0.000,2,0.000,0.000,478,1751,3221,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.1,-5.5,10,126,11.20,2.55,-5.07,0.000,4,0.137,0.038,2689,3341,3479,0,0,0,0,0,0
$GC,203,-1.29,-116.8,25.6,-16.3,24,211,0.08,2.55,0.00,0.000,6,0.092,0.030,2710,1782,3480,0,0,0,0,0,0
$GC,482,-1.18,-116.8,70.0,-15.9,51,487,0.15,2.47,0.00,0.000,4,0.112,0.024,2741,3349,3480,0,0,0,0,0,0
$GC,506,-1.10,-116.8,73.8,-15.3,52,510,0.00,2.55,0.00,0.000,6,0.000,0.033,2741,1760,3480,0,0,0,0,0,0
$GC,766,-1.10,-116.8,104.9,-10.8,76,771,0.00,2.65,0.00,0.000,4,0.000,0.060,2741,189,3481,0,0,0,0,0,0
$GC,811,-1.10,-116.8,109.6,-11.9,79,816,0.00,2.42,0.00,0.000,6,0.000,0.015,2741,1807,3482,0,0,0,0,0,0
$GC,1080,-1.14,-116.8,139.7,-11.1,103,1084,0.00,2.35,0.00,0.000,4,0.000,0.031,2741,3321,3482,0,0,0,0,0,0
$GC,1125,-1.24,-116.8,145.6,-10.8,106,1134,0.00,2.50,0.00,0.000,6,0.000,0.028,2741,1781,3482,0,0,0,0,0,0
$GC,1389,-1.30,-116.8,172.3,-10.3,131,1394,0.10,0.00,0.00,0.000,6,0.082,0.000,2706,1780,3483,0,0,0,0,0,0
$GC,1680,-1.30,-116.8,204.8,-10.9,156,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1781,3483,0,0,0,0,0,0
$GC,1925,-1.30,-116.8,231.8,-11.1,162,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1780,3483,0,0,0,0,0,0
$GC,2167,-1.30,-116.8,258.0,-10.8,168,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1781,3483,0,0,0,0,0,0
$GC,2411,-1.30,-116.8,281.7,-9.7,174,2416,0.00,2.75,0.00,0.000,4,0.000,0.071,2705,194,3483,0,0,0,0,0,0
$GC,2444,-1.30,-116.8,285.4,-10.8,174,2450,0.00,2.40,0.00,0.000,6,0.000,0.020,2705,1755,3483,0,0,0,0,0,0
$GC,2696,-1.33,-116.8,310.8,-10.2,181,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1755,3482,0,0,0,0,0,0
$GC,2939,-1.39,-116.8,334.2,-9.3,187,2943,0.00,2.58,0.00,0.000,4,0.000,0.048,2705,3352,3482,0,0,0,0,0,0
$GC,2960,-1.46,-116.8,336.4,-9.4,187,2966,0.10,2.58,0.00,0.000,6,0.081,0.051,2664,1790,3482,0,0,0,0,0,0
$GC,3217,-1.46,-116.8,365.4,-11.2,194,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1790,3481,0,0,0,0,0,0
$GC,3459,-1.46,-116.8,393.1,-11.6,200,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1790,3480,0,0,0,0,0,0
$GC,3703,-1.46,-116.8,420.1,-11.1,206,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1790,3478,0,0,0,0,0,0
$GC,3947,-1.46,-116.8,445.3,-10.3,212,3951,0.00,2.95,0.00,0.000,4,0.000,0.106,2664,187,3477,0,0,0,0,0,0
$GC,3976,-1.46,-116.8,448.5,-11.4,212,3981,0.00,2.55,0.00,0.000,6,0.000,0.032,2664,1769,3476,0,0,0,0,0,0
$GC,4226,-1.46,-116.8,476.7,-11.3,218,4231,0.00,2.70,0.00,0.000,4,0.000,0.071,2664,3363,3474,0,0,0,0,0,0
$GC,4281,-1.50,-116.8,483.0,-11.2,219,4286,0.00,2.65,0.00,0.000,6,0.000,0.057,2664,1797,3474,0,0,0,0,0,0
$STATE,4463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4463,begin apogee
$GC,4471,-0.31,0.0,504.0,11.6,224,4571,1.20,0.00,96.93,0.916,6,0.081,0.000,2930,1797,3001,0,0,0,0,0,0
$STATE,4572,end apogee,CONTROL_FINISHED_OK
$STATE,4572,begin climb
$GC,4574,1.38,116.8,507.4,0.0,226,4685,1.58,2.85,100.70,0.894,4,0.048,0.052,3307,3406,2522,0,0,0,0,0,0
$GC,4695,1.37,214.9,508.1,4.4,229,4786,0.00,2.75,84.85,0.881,6,0.000,0.054,3308,1817,2125,0,0,0,0,0,0
$GC,5030,1.29,214.9,472.5,11.6,237,5035,0.12,2.67,0.00,0.000,4,0.172,0.043,3285,3407,2116,0,0,0,0,0,0
$GC,5102,1.29,214.9,464.3,11.0,238,5106,0.00,2.72,0.00,0.000,6,0.000,0.055,3285,1829,2113,0,0,0,0,0,0
$GC,5352,1.29,214.9,436.5,11.2,244,5356,0.00,2.60,0.00,0.000,4,0.000,0.041,3285,3409,2112,0,0,0,0,0,0
$GC,5392,1.29,214.9,432.0,12.2,245,5397,0.00,2.70,0.00,0.000,6,0.000,0.057,3285,1836,2111,0,0,0,0,0,0
$GC,5677,1.29,214.9,398.8,11.6,252,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1836,2109,0,0,0,0,0,0
$GC,5919,1.29,214.9,371.7,10.9,258,5924,0.00,2.60,0.00,0.000,4,0.000,0.038,3285,3423,2108,0,0,0,0,0,0
$GC,5963,1.29,214.9,366.8,11.3,259,5968,0.00,2.67,0.00,0.000,6,0.000,0.048,3285,1834,2107,0,0,0,0,0,0
$GC,6243,1.29,215.2,339.2,10.0,266,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1834,2106,0,0,0,0,0,0
$GC,6485,1.29,215.2,314.8,10.2,272,6489,0.00,2.55,0.00,0.000,4,0.000,0.036,3285,3412,2105,0,0,0,0,0,0
$GC,6546,1.29,218.1,308.9,9.9,273,6550,0.00,2.58,0.00,0.000,6,0.000,0.044,3285,1849,2104,0,0,0,0,0,0
$GC,6806,1.30,222.4,284.3,9.8,280,6816,0.00,2.85,4.18,0.535,4,0.000,0.078,3285,237,2094,0,0,0,0,0,0
$GC,6832,1.26,222.4,281.4,10.5,280,6837,0.00,2.60,0.00,0.000,6,0.000,0.022,3284,1876,2093,0,0,0,0,0,0
$GC,7082,1.27,231.6,257.7,9.5,286,7094,0.00,0.00,10.05,0.697,6,0.000,0.000,3284,1877,2056,0,0,0,0,0,0
$GC,7327,1.29,244.3,234.8,9.3,292,7342,0.00,0.00,12.62,0.696,6,0.000,0.000,3284,1877,2004,0,0,0,0,0,0
$GC,7570,1.33,244.6,210.5,10.0,298,7575,0.00,2.85,0.00,0.000,4,0.000,0.065,3284,235,2001,0,0,0,0,0,0
$GC,7592,1.33,244.6,207.9,11.2,298,7597,0.00,2.58,0.00,0.000,6,0.000,0.021,3285,1877,2000,0,0,0,0,0,0
$GC,7857,1.38,258.0,184.1,9.3,316,7872,0.00,0.00,13.18,0.652,6,0.000,0.000,3285,1880,1949,0,0,0,0,0,0
$GC,8130,1.46,271.1,157.2,9.3,342,8148,0.15,2.50,12.85,0.626,4,0.189,0.029,3323,3418,1894,0,0,0,0,0,0
$GC,8239,1.46,271.1,145.1,11.5,350,8249,0.00,2.60,0.00,0.000,6,0.000,0.039,3323,1850,1892,0,0,0,0,0,0
$GC,8505,1.46,271.8,118.0,10.0,375,8509,0.00,2.53,0.00,0.000,4,0.000,0.029,3323,3418,1892,0,0,0,0,0,0
$GC,8611,1.52,271.8,106.4,10.5,383,8617,0.00,2.55,0.00,0.000,6,0.000,0.034,3323,1862,1892,0,0,0,0,0,0
$GC,8875,1.57,280.8,81.6,9.5,408,8890,0.00,2.53,9.70,0.542,4,0.000,0.026,3323,3426,1855,0,0,0,0,0,0
$GC,8908,1.69,323.6,78.8,7.6,410,8958,0.15,2.58,37.90,0.584,6,0.052,0.033,3367,1869,1680,0,0,0,0,0,0
$GC,9215,1.69,323.6,46.3,11.6,438,9219,0.00,2.47,0.00,0.000,4,0.000,0.028,3368,3425,1677,0,0,0,0,0,0
$GC,9235,1.69,323.6,43.6,11.5,439,9240,0.00,2.53,0.00,0.000,6,0.000,0.032,3368,1865,1676,0,0,0,0,0,0
$GC,9543,1.65,323.6,7.8,10.1,476,9552,0.00,2.50,0.00,0.000,4,0.000,0.031,3367,3411,1675,0,0,0,0,0,0
$STATE,9573,end climb,SURFACE_DEPTH_REACHED
$STATE,9573,begin surface coast
$FINISH,0.5,1.009312
$STATE,9609,end surface coast,CONTROL_FINISHED_OK
$STATE,9609,begin surface
$SM_CCo,9634,84.10,0.459,1,0,1287,420.20
$SM_GC,0.97,0.00,0.00,84.10,0.000,0.000,0.459,479,1767,1287,-11.60,-0.11,420.20
$IRIDIUM_FIX,2246.36,-15758.45,271299,030356
$TT8_MAMPS,0.026078
$HUMID,48.50
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.70
$XPDR_PINGS,37
$24V_AH,23.5,44.211
$10V_AH,10.1,43.559
$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,26.625,104.250,382.950,84.100,0.000,27.329,33.438,162.468,9.250,0.000,13.293,953.499,6378.104,525.382,1737.559,488.189,33.367,1178.233,0.000,1746.219,0.000,0.536,0.000
$DEVICE_MAMPS,188.682,105.846,915.798,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.328,286.314,377.232,701.416,1062.220,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,38357,485
$CAP_FILE_SIZE,93682,0
$CFSIZE,260165632,163594240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021010,085550,2256.658,-15756.077,9,1.7,9,10.1