version: 66.06
glider: 146
mission: 5
dive: 313
start: 10 2 110 9 2 50
data:
$ID,146
$MISSION,5
$DIVE,313
$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,-253437.56
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,085550,2256.658,-15756.077,9,1.7,9,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.6
$GPS2,090156,2256.647,-15756.109,13,1.8,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.111,0.207
$KALMAN_X,-301834.4,0.4,-170.1,326957.7,-85.5
$KALMAN_Y,-444195.1,-120.2,-181.1,585369.8,-720.3
$MHEAD_RNG_PITCHd_Wd,18.1,3139,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.90,0.000,6,0.000,0.000,479,1766,3478,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.7,-10.2,11,126,11.25,2.55,0.00,0.000,4,0.139,0.030,2691,3378,3481,0,0,0,0,0,0
$GC,202,-1.31,-116.8,29.7,-15.8,24,212,0.05,2.65,0.00,0.000,6,0.101,0.039,2706,1771,3482,0,0,0,0,0,0
$GC,469,-1.19,-116.8,74.4,-16.9,49,474,0.15,2.55,0.00,0.000,4,0.114,0.025,2737,3379,3483,0,0,0,0,0,0
$GC,505,-1.15,-116.8,80.1,-15.3,51,509,0.00,2.58,0.00,0.000,6,0.000,0.033,2737,1775,3483,0,0,0,0,0,0
$GC,770,-1.15,-116.8,115.3,-12.3,75,774,0.00,2.67,0.00,0.000,4,0.000,0.064,2737,190,3483,0,0,0,0,0,0
$GC,818,-1.15,-116.8,122.0,-13.4,78,827,0.00,2.50,0.00,0.000,6,0.000,0.017,2737,1831,3483,0,0,0,0,0,0
$GC,1084,-1.20,-116.8,153.6,-10.3,103,1088,0.00,2.42,0.00,0.000,4,0.000,0.028,2737,3373,3484,0,0,0,0,0,0
$GC,1128,-1.28,-116.8,158.0,-9.6,106,1132,0.00,2.53,0.00,0.000,6,0.000,0.030,2737,1786,3484,0,0,0,0,0,0
$GC,1396,-1.34,-116.8,182.5,-9.3,130,1402,0.12,0.00,0.00,0.000,6,0.074,0.000,2696,1786,3484,0,0,0,0,0,0
$GC,1662,-1.34,-116.8,215.9,-12.9,147,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1783,3485,0,0,0,0,0,0
$GC,1907,-1.34,-116.8,245.1,-11.9,153,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1783,3485,0,0,0,0,0,0
$GC,2150,-1.34,-116.8,269.8,-9.9,159,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1783,3485,0,0,0,0,0,0
$GC,2394,-1.34,-116.8,292.9,-9.4,165,2398,0.00,2.55,0.00,0.000,4,0.000,0.041,2696,3368,3485,0,0,0,0,0,0
$GC,2415,-1.38,-116.8,295.0,-9.8,165,2420,0.00,2.55,0.00,0.000,6,0.000,0.038,2696,1810,3486,0,0,0,0,0,0
$GC,2672,-1.38,-116.8,319.8,-9.9,172,2677,0.00,2.88,0.00,0.000,4,0.000,0.087,2696,182,3484,0,0,0,0,0,0
$GC,2727,-1.38,-116.8,325.8,-10.1,173,2732,0.00,2.55,0.00,0.000,6,0.000,0.025,2696,1813,3484,0,0,0,0,0,0
$GC,2996,-1.42,-116.8,352.3,-10.3,180,3001,0.00,2.85,0.00,0.000,4,0.000,0.074,2696,189,3483,0,0,0,0,0,0
$GC,3017,-1.42,-116.8,354.8,-10.6,180,3021,0.00,2.53,0.00,0.000,6,0.000,0.024,2696,1799,3483,0,0,0,0,0,0
$GC,3279,-1.47,-116.8,382.3,-10.6,187,3283,0.00,2.55,0.00,0.000,4,0.000,0.053,2696,3350,3481,0,0,0,0,0,0
$GC,3311,-1.55,-116.8,386.0,-10.5,187,3318,0.15,2.62,0.00,0.000,6,0.064,0.051,2645,1799,3481,0,0,0,0,0,0
$GC,3563,-1.51,-116.8,415.0,-11.6,194,3568,0.12,2.97,0.00,0.000,4,0.118,0.104,2670,182,3480,0,0,0,0,0,0
$GC,3591,-1.47,-116.8,418.7,-12.1,194,3595,0.00,2.58,0.00,0.000,6,0.000,0.034,2670,1799,3480,0,0,0,0,0,0
$GC,3842,-1.47,-116.8,443.1,-9.6,200,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1799,3478,0,0,0,0,0,0
$GC,4084,-1.47,-116.8,466.6,-9.8,206,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1799,3476,0,0,0,0,0,0
$GC,4328,-1.47,-116.8,492.4,-10.7,212,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1799,3475,0,0,0,0,0,0
$STATE,4407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4407,begin apogee
$GC,4412,-0.31,0.0,500.8,10.4,214,4513,1.17,0.00,97.47,0.915,6,0.095,0.000,2932,1799,3001,0,0,0,0,0,0
$STATE,4514,end apogee,CONTROL_FINISHED_OK
$STATE,4514,begin climb
$GC,4518,1.38,116.8,503.1,0.0,216,4623,1.58,0.00,101.15,0.890,6,0.041,0.000,3312,1799,2523,0,0,0,0,0,0
$GC,4854,1.27,135.3,482.9,9.0,225,4877,0.17,2.78,15.85,0.825,4,0.221,0.064,3278,3399,2447,0,0,0,0,0,0
$GC,4965,1.24,153.1,472.9,9.0,227,4989,0.00,2.72,16.98,0.827,6,0.000,0.052,3278,1816,2375,0,0,0,0,0,0
$GC,5276,1.21,166.0,443.4,9.3,235,5294,0.00,2.75,11.82,0.795,4,0.000,0.042,3278,3411,2323,0,0,0,0,0,0
$GC,5331,1.21,167.0,437.8,10.0,236,5335,0.00,2.75,0.00,0.000,6,0.000,0.058,3278,1821,2322,0,0,0,0,0,0
$GC,5603,1.17,167.9,410.5,10.0,243,5608,0.10,2.65,0.00,0.000,4,0.142,0.040,3259,3412,2319,0,0,0,0,0,0
$GC,5647,1.18,173.6,406.0,9.7,244,5662,0.00,2.70,7.75,0.729,6,0.000,0.054,3259,1828,2291,0,0,0,0,0,0
$GC,5931,1.20,187.2,379.7,9.3,251,5950,0.00,2.67,13.38,0.788,4,0.000,0.041,3259,3410,2236,0,0,0,0,0,0
$GC,5967,1.22,207.0,376.1,8.9,251,5992,0.00,2.70,18.98,0.800,6,0.000,0.051,3258,1831,2156,0,0,0,0,0,0
$GC,6261,1.25,227.5,350.3,8.9,259,6285,0.00,2.65,18.62,0.792,4,0.000,0.035,3259,3400,2073,0,0,0,0,0,0
$GC,6308,1.31,227.5,345.4,10.6,260,6313,0.12,2.67,0.00,0.000,6,0.093,0.046,3288,1829,2071,0,0,0,0,0,0
$GC,6587,1.31,227.5,317.0,10.2,267,6592,0.00,2.58,0.00,0.000,4,0.000,0.033,3288,3407,2067,0,0,0,0,0,0
$GC,6627,1.32,234.7,313.0,9.6,268,6641,0.00,2.62,7.18,0.675,6,0.000,0.048,3288,1839,2044,0,0,0,0,0,0
$GC,6915,1.34,250.6,287.4,9.1,275,6936,0.00,2.85,15.73,0.749,4,0.000,0.077,3288,239,1977,0,0,0,0,0,0
$GC,6960,1.30,250.6,282.8,11.1,276,6964,0.00,2.60,0.00,0.000,6,0.000,0.025,3288,1864,1976,0,0,0,0,0,0
$GC,7237,1.30,250.6,251.6,11.3,283,7241,0.00,2.85,0.00,0.000,4,0.000,0.067,3288,237,1974,0,0,0,0,0,0
$GC,7248,1.30,250.6,250.3,11.3,283,7253,0.00,2.53,0.00,0.000,6,0.000,0.025,3288,1853,1972,0,0,0,0,0,0
$GC,7517,1.35,263.9,224.9,9.3,290,7536,0.00,2.88,12.40,0.683,4,0.000,0.064,3288,241,1923,0,0,0,0,0,0
$GC,7553,1.36,269.0,221.2,9.7,290,7564,0.00,2.53,5.93,0.575,6,0.000,0.023,3288,1850,1904,0,0,0,0,0,0
$GC,7818,1.38,283.1,197.7,9.2,298,7839,0.00,2.85,13.80,0.665,4,0.000,0.062,3288,230,1845,0,0,0,0,0,0
$GC,7856,1.38,283.1,193.8,10.3,301,7861,0.00,2.53,0.00,0.000,6,0.000,0.025,3288,1844,1844,0,0,0,0,0,0
$GC,8123,1.42,283.1,167.0,10.0,325,8128,0.00,2.47,0.00,0.000,4,0.000,0.030,3288,3392,1842,0,0,0,0,0,0
$GC,8188,1.53,287.3,159.8,9.8,330,8204,0.17,2.55,4.55,0.482,6,0.071,0.039,3333,1836,1829,0,0,0,0,0,0
$GC,8458,1.53,287.3,129.5,10.7,355,8463,0.00,2.45,0.00,0.000,4,0.000,0.035,3333,3387,1827,0,0,0,0,0,0
$GC,8517,1.53,287.3,123.0,11.9,359,8521,0.00,2.50,0.00,0.000,6,0.000,0.034,3333,1855,1827,0,0,0,0,0,0
$GC,8783,1.53,287.3,91.1,11.2,383,8787,0.00,2.72,0.00,0.000,4,0.000,0.065,3333,239,1827,0,0,0,0,0,0
$GC,8825,1.48,287.3,85.4,12.9,386,8830,0.00,2.47,0.00,0.000,6,0.000,0.019,3334,1851,1826,0,0,0,0,0,0
$GC,9092,1.52,289.8,59.3,9.9,410,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1853,1826,0,0,0,0,0,0
$GC,9358,1.56,323.2,35.0,8.1,435,9397,0.00,0.00,32.08,0.547,6,0.000,0.000,3333,1853,1682,0,0,0,0,0,0
$STATE,9661,end climb,SURFACE_DEPTH_REACHED
$STATE,9661,begin surface coast
$FINISH,0.4,0.999340
$STATE,9716,end surface coast,CONTROL_FINISHED_OK
$STATE,9717,begin surface
$SM_CCo,9740,85.05,0.461,1,0,1287,420.20
$SM_GC,1.08,0.00,0.00,85.05,0.000,0.000,0.461,475,1724,1287,-11.62,-1.30,420.20
$IRIDIUM_FIX,2246.36,-15756.28,271299,060655
$TT8_MAMPS,0.026078
$HUMID,47.91
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.00
$XPDR_PINGS,50
$24V_AH,23.5,44.327
$10V_AH,10.2,43.668
$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,26.800,116.250,393.650,85.050,0.000,25.369,40.547,168.578,12.500,0.000,14.504,981.060,6352.359,557.943,1791.469,515.185,33.367,1233.597,0.000,1803.471,0.000,0.536,0.000
$DEVICE_MAMPS,220.896,103.545,915.031,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.389,284.768,372.989,718.258,1087.456,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38277,486
$CAP_FILE_SIZE,100711,0
$CFSIZE,260165632,163536896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021010,114801,2257.300,-15755.499,40,1.5,40,10.1