version: 66.06
glider: 146
mission: 5
dive: 357
start: 10 7 110 21 56 16
data:
$ID,146
$MISSION,5
$DIVE,357
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-254546.59
$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,50
$R_STBD_OVSHOOT,58
$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
$GPS1,214506,2249.142,-15754.192,6,1.4,23,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.8
$GPS2,215520,2249.047,-15754.082,13,1.5,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.006,0.235
$KALMAN_X,-280384.5,278.1,541.2,308000.2,-75.3
$KALMAN_Y,-505866.2,-60.3,-84.2,632818.4,-2187.7
$MHEAD_RNG_PITCHd_Wd,351.4,16655,-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,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.05,0.000,2,0.000,0.000,473,1742,3222,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.1,-5.3,10,125,11.30,2.55,-5.07,0.000,4,0.139,0.041,2692,3331,3479,0,0,0,0,0,0
$GC,230,-1.30,-116.8,29.7,-15.9,28,240,0.08,2.53,0.00,0.000,6,0.092,0.030,2713,1793,3480,0,0,0,0,0,0
$GC,497,-1.19,-116.8,71.9,-15.1,53,506,0.12,0.00,0.00,0.000,6,0.117,0.000,2739,1792,3481,0,0,0,0,0,0
$GC,760,-1.19,-116.8,103.3,-11.0,78,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1792,3481,0,0,0,0,0,0
$GC,1013,-1.19,-116.8,131.0,-11.0,102,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1790,3482,0,0,0,0,0,0
$GC,1270,-1.25,-116.8,159.2,-10.2,126,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1790,3483,0,0,0,0,0,0
$GC,1525,-1.32,-116.8,182.3,-8.2,150,1530,0.12,2.72,0.00,0.000,4,0.072,0.069,2698,193,3483,0,0,0,0,0,0
$GC,1565,-1.32,-116.8,186.4,-10.2,153,1569,0.00,2.40,0.00,0.000,6,0.000,0.016,2698,1795,3483,0,0,0,0,0,0
$GC,1820,-1.32,-116.8,214.5,-11.5,168,1824,0.00,2.38,0.00,0.000,4,0.000,0.027,2698,3324,3483,0,0,0,0,0,0
$GC,1881,-1.39,-116.8,221.5,-11.0,169,1885,0.00,2.45,0.00,0.000,6,0.000,0.037,2698,1787,3483,0,0,0,0,0,0
$GC,2143,-1.39,-116.8,252.3,-12.2,176,2148,0.00,2.72,0.00,0.000,4,0.000,0.073,2698,196,3483,0,0,0,0,0,0
$GC,2158,-1.39,-116.8,254.5,-11.6,176,2163,0.00,2.40,0.00,0.000,6,0.000,0.018,2698,1780,3483,0,0,0,0,0,0
$GC,2420,-1.39,-116.8,282.5,-10.3,183,2424,0.00,2.47,0.00,0.000,4,0.000,0.036,2698,3342,3483,0,0,0,0,0,0
$GC,2465,-1.48,-116.8,287.1,-9.9,184,2470,0.00,2.50,0.00,0.000,6,0.000,0.031,2698,1798,3483,0,0,0,0,0,0
$GC,2743,-1.48,-116.8,313.3,-9.4,191,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1798,3482,0,0,0,0,0,0
$GC,2987,-1.48,-116.8,335.3,-8.9,197,2992,0.00,2.45,0.00,0.000,4,0.000,0.032,2698,3331,3481,0,0,0,0,0,0
$GC,3011,-1.52,-116.8,337.5,-9.0,197,3016,0.12,2.53,0.00,0.000,6,0.074,0.047,2654,1803,3481,0,0,0,0,0,0
$GC,3267,-1.47,-116.8,364.6,-10.8,204,3269,0.12,0.00,0.00,0.000,6,0.117,0.000,2679,1803,3480,0,0,0,0,0,0
$GC,3510,-1.47,-116.8,390.3,-10.7,210,3514,0.00,2.45,0.00,0.000,4,0.000,0.040,2679,3327,3478,0,0,0,0,0,0
$GC,3561,-1.53,-116.8,395.6,-9.7,211,3566,0.00,2.53,0.00,0.000,6,0.000,0.055,2679,1812,3478,0,0,0,0,0,0
$GC,3833,-1.53,-116.8,424.4,-10.4,218,3838,0.00,2.97,0.00,0.000,4,0.000,0.100,2679,185,3477,0,0,0,0,0,0
$GC,3854,-1.53,-116.8,426.8,-10.8,218,3859,0.00,2.53,0.00,0.000,6,0.000,0.025,2679,1781,3476,0,0,0,0,0,0
$GC,4118,-1.53,-116.8,452.8,-9.6,225,4122,0.00,2.58,0.00,0.000,4,0.000,0.054,2679,3351,3474,0,0,0,0,0,0
$GC,4139,-1.57,-116.8,455.1,-9.7,225,4144,0.00,2.60,0.00,0.000,6,0.000,0.054,2679,1808,3474,0,0,0,0,0,0
$GC,4395,-1.57,-116.8,479.4,-9.5,232,4399,0.00,2.55,0.00,0.000,4,0.000,0.051,2679,3355,3472,0,0,0,0,0,0
$GC,4424,-1.62,-116.8,482.1,-9.7,232,4429,0.15,2.62,0.00,0.000,6,0.068,0.058,2634,1811,3472,0,0,0,0,0,0
$STATE,4590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4590,begin apogee
$GC,4596,-0.31,0.0,501.2,11.4,236,4696,1.33,0.00,96.40,0.922,6,0.082,0.000,2929,1811,3001,0,0,0,0,0,0
$STATE,4697,end apogee,CONTROL_FINISHED_OK
$STATE,4697,begin climb
$GC,4699,1.38,116.8,503.9,0.0,238,4813,1.55,3.12,99.93,0.897,4,0.054,0.116,3306,233,2522,0,0,0,0,0,0
$GC,4819,1.31,188.7,502.9,5.9,240,4889,0.10,2.60,62.70,0.881,6,0.144,0.032,3289,1813,2229,0,0,0,0,0,0
$GC,5154,1.25,188.7,468.2,10.9,249,5158,0.00,2.72,0.00,0.000,4,0.000,0.060,3288,3408,2220,0,0,0,0,0,0
$GC,5248,1.25,188.7,457.8,10.4,251,5252,0.00,2.67,0.00,0.000,6,0.000,0.051,3289,1832,2219,0,0,0,0,0,0
$GC,5522,1.19,188.7,428.7,10.5,258,5524,0.15,0.00,0.00,0.000,6,0.232,0.000,3260,1832,2216,0,0,0,0,0,0
$GC,5764,1.20,200.0,405.4,9.4,264,5775,0.00,0.00,8.55,0.754,6,0.000,0.000,3260,1832,2185,0,0,0,0,0,0
$GC,6008,1.22,211.8,382.4,9.4,270,6022,0.00,0.00,11.95,0.789,6,0.000,0.000,3260,1832,2136,0,0,0,0,0,0
$GC,6253,1.23,227.4,360.1,9.1,276,6273,0.00,2.65,14.85,0.797,4,0.000,0.040,3260,3421,2073,0,0,0,0,0,0
$GC,6296,1.33,256.0,356.2,8.4,277,6333,0.12,2.67,27.15,0.814,6,0.097,0.048,3290,1830,1957,0,0,0,0,0,0
$GC,6579,1.34,263.7,328.7,9.6,284,6593,0.00,2.92,7.38,0.693,4,0.000,0.084,3290,237,1925,0,0,0,0,0,0
$GC,6606,1.29,263.7,325.6,10.5,284,6610,0.00,2.60,0.00,0.000,6,0.000,0.021,3290,1864,1924,0,0,0,0,0,0
$GC,6860,1.29,263.7,298.3,10.7,291,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1866,1922,0,0,0,0,0,0
$GC,7104,1.29,263.7,271.9,11.0,297,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1866,1921,0,0,0,0,0,0
$GC,7349,1.29,263.7,246.6,10.3,303,7353,0.00,2.45,0.00,0.000,4,0.000,0.037,3290,3393,1920,0,0,0,0,0,0
$GC,7389,1.36,265.9,242.4,9.9,304,7394,0.00,2.58,0.00,0.000,6,0.000,0.042,3290,1832,1919,0,0,0,0,0,0
$GC,7674,1.38,282.2,215.5,9.1,311,7698,0.00,2.88,16.88,0.705,4,0.000,0.073,3290,242,1849,0,0,0,0,0,0
$GC,7728,1.38,282.2,209.9,11.6,312,7732,0.00,2.53,0.00,0.000,6,0.000,0.022,3290,1850,1847,0,0,0,0,0,0
$GC,7986,1.38,282.2,183.4,11.1,329,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1853,1845,0,0,0,0,0,0
$GC,8241,1.42,282.2,156.7,10.7,353,8245,0.00,2.78,0.00,0.000,4,0.000,0.061,3290,238,1845,0,0,0,0,0,0
$GC,8292,1.42,282.2,150.7,11.4,357,8296,0.00,2.50,0.00,0.000,6,0.000,0.027,3290,1840,1843,0,0,0,0,0,0
$GC,8560,1.47,282.2,123.5,10.5,381,8565,0.12,0.00,0.00,0.000,6,0.170,0.000,3325,1841,1843,0,0,0,0,0,0
$GC,8821,1.47,282.2,93.3,10.4,406,8825,0.00,2.47,0.00,0.000,4,0.000,0.029,3324,3389,1843,0,0,0,0,0,0
$GC,8890,1.55,282.2,86.4,10.7,411,8894,0.00,2.55,0.00,0.000,6,0.000,0.041,3325,1819,1843,0,0,0,0,0,0
$GC,9157,1.63,305.0,61.0,8.7,435,9185,0.12,2.75,20.08,0.569,4,0.216,0.063,3360,244,1756,0,0,0,0,0,0
$GC,9204,1.58,305.0,56.0,10.1,438,9214,0.00,2.47,0.00,0.000,6,0.000,0.019,3360,1812,1755,0,0,0,0,0,0
$GC,9471,1.58,305.0,29.4,10.4,463,9480,0.00,2.53,0.00,0.000,4,0.000,0.028,3360,3386,1753,0,0,0,0,0,0
$GC,9497,1.58,305.0,26.3,10.7,466,9506,0.00,2.60,0.00,0.000,6,0.000,0.034,3360,1811,1753,0,0,0,0,0,0
$STATE,9714,end climb,SURFACE_DEPTH_REACHED
$STATE,9714,begin surface coast
$FINISH,0.3,1.009183
$STATE,9772,end surface coast,CONTROL_FINISHED_OK
$STATE,9773,begin surface
$SM_CCo,9794,103.80,0.475,1,0,1287,420.20
$SM_GC,0.93,0.00,0.00,103.80,0.000,0.000,0.475,476,1737,1287,-11.61,-0.93,420.20
$IRIDIUM_FIX,2239.35,-15825.37,010100,191953
$TT8_MAMPS,0.026078
$HUMID,48.66
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.40
$XPDR_PINGS,44
$24V_AH,23.5,50.136
$10V_AH,10.2,48.707
$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,27.275,104.050,365.850,103.800,0.000,31.552,31.519,411.882,11.000,0.000,15.387,997.203,6371.552,531.464,1869.473,751.817,33.366,1211.391,0.000,1876.883,0.000,0.536,0.000
$DEVICE_MAMPS,231.634,116.584,921.934,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.917,287.620,393.579,754.009,1140.508,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,41461,505
$CAP_FILE_SIZE,102728,0
$CFSIZE,260165632,161153024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,004237,2249.154,-15753.854,35,1.1,35,10.1