version: 66.06
glider: 146
mission: 5
dive: 365
start: 10 8 110 19 38 30
data:
$ID,146
$MISSION,5
$DIVE,365
$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,-254741.03
$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,43
$R_STBD_OVSHOOT,44
$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
$GPS1,192328,2250.577,-15753.513,11,3.9,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.6
$GPS2,193734,2250.514,-15753.440,15,4.4,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.112,0.207
$KALMAN_X,-272814.3,-123.2,311.9,302168.0,1043.3
$KALMAN_Y,-518888.2,234.9,435.5,647736.9,-1707.5
$MHEAD_RNG_PITCHd_Wd,321.5,14116,-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,-116.8,0.0,0.0,0,103,0.00,0.00,-85.70,0.000,6,0.000,0.000,479,1749,3478,0,0,0,0,0,0
$GC,106,-1.38,-116.8,4.4,-9.0,11,124,11.18,2.55,0.00,0.000,4,0.137,0.022,2689,3359,3481,0,0,0,0,0,0
$GC,209,-1.30,-116.8,31.3,-15.8,25,219,0.08,2.58,0.00,0.000,6,0.089,0.031,2710,1783,3481,0,0,0,0,0,0
$GC,476,-1.21,-116.8,71.9,-14.8,50,481,0.12,2.70,0.00,0.000,4,0.121,0.058,2735,190,3481,0,0,0,0,0,0
$GC,512,-1.15,-116.8,77.0,-14.2,52,516,0.00,2.45,0.00,0.000,6,0.000,0.015,2735,1808,3482,0,0,0,0,0,0
$GC,776,-1.15,-116.8,107.0,-11.8,76,780,0.00,2.33,0.00,0.000,4,0.000,0.025,2735,3316,3482,0,0,0,0,0,0
$GC,821,-1.23,-116.8,111.6,-10.4,79,826,0.00,2.53,0.00,0.000,6,0.000,0.034,2735,1746,3482,0,0,0,0,0,0
$GC,1089,-1.29,-116.8,140.8,-10.7,103,1093,0.00,2.45,0.00,0.000,4,0.000,0.031,2735,3317,3483,0,0,0,0,0,0
$GC,1107,-1.36,-116.8,143.2,-10.4,104,1112,0.12,2.47,0.00,0.000,6,0.072,0.026,2688,1756,3483,0,0,0,0,0,0
$GC,1368,-1.36,-116.8,173.4,-11.1,128,1372,0.00,2.65,0.00,0.000,4,0.000,0.065,2688,195,3483,0,0,0,0,0,0
$GC,1389,-1.31,-116.8,175.9,-11.5,129,1398,0.08,2.40,0.00,0.000,6,0.086,0.016,2709,1773,3483,0,0,0,0,0,0
$GC,1683,-1.31,-116.8,204.9,-10.1,154,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1774,3483,0,0,0,0,0,0
$GC,1923,-1.31,-116.8,230.4,-10.6,160,1928,0.00,2.40,0.00,0.000,4,0.000,0.026,2709,3314,3483,0,0,0,0,0,0
$GC,1957,-1.36,-116.8,234.2,-11.7,160,1962,0.00,2.47,0.00,0.000,6,0.000,0.034,2708,1783,3483,0,0,0,0,0,0
$GC,2206,-1.36,-116.8,262.1,-11.3,167,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1783,3482,0,0,0,0,0,0
$GC,2452,-1.41,-116.8,287.5,-10.4,173,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1783,3481,0,0,0,0,0,0
$GC,2694,-1.46,-116.8,310.1,-9.1,179,2696,0.12,0.00,0.00,0.000,6,0.077,0.000,2668,1783,3481,0,0,0,0,0,0
$GC,2937,-1.46,-116.8,335.8,-10.6,185,2942,0.00,2.47,0.00,0.000,4,0.000,0.035,2669,3313,3479,0,0,0,0,0,0
$GC,2972,-1.46,-116.8,339.7,-11.0,185,2977,0.00,2.55,0.00,0.000,6,0.000,0.048,2669,1785,3480,0,0,0,0,0,0
$GC,3221,-1.46,-116.8,367.3,-11.5,192,3226,0.00,2.85,0.00,0.000,4,0.000,0.093,2668,186,3479,0,0,0,0,0,0
$GC,3242,-1.46,-116.8,370.3,-13.3,192,3247,0.00,2.42,0.00,0.000,6,0.000,0.028,2668,1732,3479,0,0,0,0,0,0
$GC,3500,-1.46,-116.8,400.2,-11.7,199,3504,0.00,2.62,0.00,0.000,4,0.000,0.046,2668,3350,3477,0,0,0,0,0,0
$GC,3622,-1.51,-116.8,414.2,-10.6,201,3628,0.00,2.62,0.00,0.000,6,0.000,0.054,2668,1802,3476,0,0,0,0,0,0
$GC,3872,-1.51,-116.8,440.1,-10.4,208,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1802,3475,0,0,0,0,0,0
$GC,4117,-1.51,-116.8,463.1,-9.2,214,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1802,3472,0,0,0,0,0,0
$GC,4360,-1.51,-116.8,485.0,-8.9,220,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1802,3470,0,0,0,0,0,0
$STATE,4519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4519,begin apogee
$GC,4525,-0.31,0.0,500.8,9.7,224,4625,1.17,0.00,96.38,0.919,6,0.084,0.000,2929,1802,3000,0,0,0,0,0,0
$STATE,4626,end apogee,CONTROL_FINISHED_OK
$STATE,4626,begin climb
$GC,4628,1.38,116.8,502.9,0.0,226,4734,1.58,0.00,101.35,0.900,6,0.041,0.000,3308,1802,2523,0,0,0,0,0,0
$GC,4968,1.29,151.7,484.6,8.0,235,5004,0.12,2.75,30.25,0.871,4,0.135,0.051,3285,3397,2380,0,0,0,0,0,0
$GC,5107,1.26,161.0,472.3,9.5,237,5122,0.00,2.78,9.10,0.772,6,0.000,0.065,3284,1814,2344,0,0,0,0,0,0
$GC,5378,1.20,161.0,445.4,10.1,244,5383,0.10,2.65,0.00,0.000,4,0.145,0.044,3265,3401,2338,0,0,0,0,0,0
$GC,5406,1.21,167.8,442.5,9.6,244,5420,0.00,2.70,6.85,0.724,6,0.000,0.054,3265,1818,2316,0,0,0,0,0,0
$GC,5706,1.21,169.2,413.0,10.0,252,5711,0.00,2.60,0.00,0.000,4,0.000,0.042,3265,3401,2311,0,0,0,0,0,0
$GC,5780,1.23,181.4,405.5,9.3,253,5800,0.00,2.67,13.35,0.815,6,0.000,0.050,3265,1827,2260,0,0,0,0,0,0
$GC,6081,1.27,220.1,380.5,7.8,261,6122,0.00,2.62,34.83,0.846,4,0.000,0.033,3265,3398,2102,0,0,0,0,0,0
$GC,6150,1.35,247.2,374.7,8.5,262,6182,0.12,2.65,25.20,0.820,6,0.094,0.045,3295,1839,1993,0,0,0,0,0,0
$GC,6452,1.35,247.2,343.6,10.8,270,6457,0.00,2.90,0.00,0.000,4,0.000,0.087,3296,232,1986,0,0,0,0,0,0
$GC,6473,1.28,247.2,340.5,11.9,270,6478,0.00,2.58,0.00,0.000,6,0.000,0.027,3296,1847,1984,0,0,0,0,0,0
$GC,6728,1.28,247.2,310.2,11.9,277,6732,0.00,2.50,0.00,0.000,4,0.000,0.038,3295,3396,1983,0,0,0,0,0,0
$GC,6745,1.28,247.2,308.1,12.3,277,6749,0.00,2.60,0.00,0.000,6,0.000,0.038,3296,1830,1982,0,0,0,0,0,0
$GC,7005,1.28,247.2,277.1,11.8,284,7010,0.00,2.78,0.00,0.000,4,0.000,0.073,3295,236,1981,0,0,0,0,0,0
$GC,7032,1.22,247.2,273.6,12.5,284,7037,0.15,2.53,0.00,0.000,6,0.125,0.021,3266,1841,1980,0,0,0,0,0,0
$GC,7284,1.30,260.0,249.0,9.3,290,7300,0.00,2.80,10.80,0.708,4,0.000,0.065,3266,240,1939,0,0,0,0,0,0
$GC,7318,1.31,265.7,245.4,9.7,290,7332,0.00,2.55,6.62,0.629,6,0.000,0.027,3266,1850,1917,0,0,0,0,0,0
$GC,7613,1.42,300.0,221.5,8.1,298,7650,0.17,0.00,31.48,0.729,6,0.076,0.000,3311,1851,1776,0,0,0,0,0,0
$GC,7898,1.42,300.0,188.0,12.9,311,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1851,1771,0,0,0,0,0,0
$GC,8154,1.42,300.0,156.1,12.6,335,8159,0.00,2.80,0.00,0.000,4,0.000,0.066,3311,230,1770,0,0,0,0,0,0
$GC,8176,1.38,300.0,152.9,13.4,336,8185,0.00,2.53,0.00,0.000,6,0.000,0.021,3311,1827,1768,0,0,0,0,0,0
$GC,8441,1.38,300.0,124.1,10.2,361,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1828,1768,0,0,0,0,0,0
$GC,8704,1.46,316.3,99.0,9.1,386,8723,0.00,2.50,13.90,0.593,4,0.000,0.026,3311,3387,1711,0,0,0,0,0,0
$GC,8798,1.60,322.2,90.1,9.7,393,8813,0.15,2.58,6.97,0.520,6,0.077,0.034,3350,1818,1686,0,0,0,0,0,0
$GC,9078,1.60,322.2,59.7,10.8,419,9082,0.00,2.70,0.00,0.000,4,0.000,0.062,3350,238,1684,0,0,0,0,0,0
$GC,9100,1.55,322.2,56.9,10.4,420,9111,0.00,2.50,0.00,0.000,6,0.000,0.019,3350,1829,1683,0,0,0,0,0,0
$GC,9368,1.55,322.2,29.3,10.5,445,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1830,1683,0,0,0,0,0,0
$STATE,9601,end climb,SURFACE_DEPTH_REACHED
$STATE,9602,begin surface coast
$FINISH,0.3,1.015785
$STATE,9649,end surface coast,CONTROL_FINISHED_OK
$STATE,9649,begin surface
$SM_CCo,9672,86.22,0.467,1,0,1287,420.20
$SM_GC,0.96,0.00,0.00,86.22,0.000,0.000,0.467,480,1725,1287,-11.59,-1.27,420.20
$IRIDIUM_FIX,2244.02,-15751.94,020100,191938
$TT8_MAMPS,0.026078
$HUMID,50.19
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.70
$XPDR_PINGS,35
$24V_AH,23.5,51.144
$10V_AH,10.1,49.600
$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,26.975,103.875,387.075,86.225,0.000,56.562,68.217,419.251,8.750,0.000,36.835,965.834,6386.956,563.294,1793.370,878.965,33.365,1210.677,0.000,1776.959,0.000,0.537,0.000
$DEVICE_MAMPS,144.963,92.807,918.866,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.888,272.900,375.147,713.894,1081.342,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,38252,487
$CAP_FILE_SIZE,104619,0
$CFSIZE,260165632,160747520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,222231,2250.353,-15753.518,36,1.5,36,10.1