version: 66.06
glider: 146
mission: 5
dive: 368
start: 10 9 110 4 32 37
data:
$ID,146
$MISSION,5
$DIVE,368
$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,-254808.25
$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,44
$R_STBD_OVSHOOT,53
$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
$GPS1,042006,2250.405,-15753.773,27,1.2,27,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-69.5
$GPS2,043143,2250.350,-15753.733,9,1.6,9,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.122,0.201
$KALMAN_X,-270812.2,222.0,-511.0,300143.3,1027.5
$KALMAN_Y,-524377.2,-428.3,-325.0,654346.9,-780.4
$MHEAD_RNG_PITCHd_Wd,318.6,14332,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,107,0.00,0.00,-85.35,0.000,6,0.000,0.000,476,1747,3479,0,0,0,0,0,0
$GC,110,-1.38,-116.8,4.7,-10.1,11,128,11.25,2.53,0.00,0.000,4,0.139,0.027,2689,3350,3481,0,0,0,0,0,0
$GC,275,-1.30,-116.8,40.2,-16.2,30,280,0.12,2.53,0.00,0.000,6,0.113,0.030,2715,1779,3482,0,0,0,0,0,0
$GC,541,-1.22,-116.8,78.9,-12.9,54,546,0.00,2.70,0.00,0.000,4,0.000,0.060,2715,195,3482,0,0,0,0,0,0
$GC,588,-1.15,-116.8,85.6,-14.6,57,593,0.15,2.40,0.00,0.000,6,0.100,0.015,2748,1782,3482,0,0,0,0,0,0
$GC,857,-1.22,-116.8,112.8,-9.8,81,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1784,3483,0,0,0,0,0,0
$GC,1119,-1.30,-116.8,141.8,-11.0,106,1124,0.15,2.42,0.00,0.000,4,0.064,0.026,2700,3330,3483,0,0,0,0,0,0
$GC,1164,-1.30,-116.8,146.7,-12.0,109,1168,0.00,2.53,0.00,0.000,6,0.000,0.031,2699,1753,3483,0,0,0,0,0,0
$GC,1430,-1.30,-116.8,175.0,-9.5,133,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1753,3484,0,0,0,0,0,0
$GC,1693,-1.30,-116.8,198.9,-9.7,158,1697,0.00,2.45,0.00,0.000,4,0.000,0.031,2699,3328,3483,0,0,0,0,0,0
$GC,1720,-1.30,-116.8,201.7,-9.0,159,1725,0.00,2.55,0.00,0.000,6,0.000,0.030,2699,1743,3484,0,0,0,0,0,0
$GC,1971,-1.30,-116.8,229.3,-11.6,165,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1743,3484,0,0,0,0,0,0
$GC,2213,-1.30,-116.8,258.2,-11.6,171,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1743,3483,0,0,0,0,0,0
$GC,2458,-1.30,-116.8,283.5,-9.8,177,2462,0.00,2.53,0.00,0.000,4,0.000,0.028,2700,3325,3483,0,0,0,0,0,0
$GC,2479,-1.34,-116.8,285.3,-8.1,177,2484,0.00,2.53,0.00,0.000,6,0.000,0.035,2699,1764,3483,0,0,0,0,0,0
$GC,2737,-1.34,-116.8,306.8,-8.3,184,2741,0.00,2.50,0.00,0.000,4,0.000,0.031,2699,3324,3482,0,0,0,0,0,0
$GC,2781,-1.40,-116.8,311.1,-8.8,185,2785,0.00,2.58,0.00,0.000,6,0.000,0.043,2699,1764,3482,0,0,0,0,0,0
$GC,3060,-1.45,-116.8,338.5,-10.5,192,3065,0.00,2.80,0.00,0.000,4,0.000,0.088,2699,186,3481,0,0,0,0,0,0
$GC,3087,-1.45,-116.8,342.1,-12.1,192,3091,0.00,2.42,0.00,0.000,6,0.000,0.021,2699,1751,3481,0,0,0,0,0,0
$GC,3337,-1.50,-116.8,369.7,-11.2,198,3342,0.12,2.60,0.00,0.000,4,0.078,0.040,2660,3357,3480,0,0,0,0,0,0
$GC,3381,-1.50,-116.8,375.5,-12.5,199,3386,0.00,2.65,0.00,0.000,6,0.000,0.048,2660,1772,3480,0,0,0,0,0,0
$GC,3661,-1.50,-116.8,411.0,-12.9,206,3665,0.00,2.88,0.00,0.000,4,0.000,0.101,2660,182,3478,0,0,0,0,0,0
$GC,3682,-1.46,-116.8,414.1,-12.8,206,3687,0.10,2.47,0.00,0.000,6,0.127,0.030,2681,1752,3478,0,0,0,0,0,0
$GC,3939,-1.46,-116.8,441.3,-10.2,213,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1752,3476,0,0,0,0,0,0
$GC,4181,-1.46,-116.8,463.6,-9.3,219,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1752,3474,0,0,0,0,0,0
$GC,4425,-1.50,-116.8,486.2,-9.2,225,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1752,3473,0,0,0,0,0,0
$STATE,4625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4625,begin apogee
$GC,4632,-0.31,0.0,502.9,8.3,230,4732,1.12,0.00,97.03,0.921,6,0.079,0.000,2933,1830,3000,0,0,0,0,0,0
$STATE,4733,end apogee,CONTROL_FINISHED_OK
$STATE,4733,begin climb
$GC,4737,1.38,116.8,503.6,0.0,232,4843,1.52,0.00,101.18,0.898,6,0.042,0.000,3306,1831,2524,0,0,0,0,0,0
$GC,5064,1.27,127.1,480.8,9.4,240,5079,0.15,2.70,8.93,0.766,4,0.144,0.057,3278,3389,2482,0,0,0,0,0,0
$GC,5150,1.26,153.6,473.4,8.5,241,5180,0.00,2.67,24.42,0.858,6,0.000,0.050,3278,1822,2374,0,0,0,0,0,0
$GC,5438,1.23,168.4,447.2,9.2,249,5458,0.00,2.67,13.55,0.815,4,0.000,0.045,3278,3394,2314,0,0,0,0,0,0
$GC,5527,1.23,168.4,438.4,10.3,251,5532,0.00,2.67,0.00,0.000,6,0.000,0.055,3278,1827,2311,0,0,0,0,0,0
$GC,5811,1.25,182.6,411.3,9.2,258,5826,0.00,0.00,13.43,0.810,6,0.000,0.000,3277,1827,2256,0,0,0,0,0,0
$GC,6056,1.26,189.5,387.8,9.6,264,6070,0.00,2.97,7.07,0.716,4,0.000,0.090,3277,232,2227,0,0,0,0,0,0
$GC,6115,1.17,189.5,380.9,11.9,265,6120,0.12,2.58,0.00,0.000,6,0.137,0.027,3254,1838,2226,0,0,0,0,0,0
$GC,6382,1.19,207.2,356.9,9.0,272,6406,0.00,2.65,16.80,0.805,4,0.000,0.038,3254,3407,2155,0,0,0,0,0,0
$GC,6453,1.25,207.2,349.9,10.5,273,6457,0.00,2.65,0.00,0.000,6,0.000,0.047,3254,1831,2153,0,0,0,0,0,0
$GC,6708,1.30,207.2,324.0,10.2,280,6710,0.12,0.00,0.00,0.000,6,0.222,0.000,3286,1830,2151,0,0,0,0,0,0
$GC,6953,1.31,211.8,300.1,9.8,286,6960,0.00,0.00,4.68,0.583,6,0.000,0.000,3287,1830,2137,0,0,0,0,0,0
$GC,7195,1.35,246.3,279.5,8.0,292,7236,0.00,2.65,31.67,0.780,4,0.000,0.035,3286,3400,1995,0,0,0,0,0,0
$GC,7299,1.42,246.3,269.3,10.5,294,7304,0.10,2.62,0.00,0.000,6,0.105,0.041,3311,1820,1993,0,0,0,0,0,0
$GC,7567,1.42,246.3,237.8,11.9,301,7572,0.00,2.78,0.00,0.000,4,0.000,0.073,3311,241,1991,0,0,0,0,0,0
$GC,7600,1.33,246.3,233.2,13.6,301,7606,0.00,2.55,0.00,0.000,6,0.000,0.021,3311,1851,1989,0,0,0,0,0,0
$GC,7850,1.33,246.3,204.1,11.4,308,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1853,1989,0,0,0,0,0,0
$GC,8105,1.36,268.8,179.8,8.7,329,8130,0.00,2.53,20.00,0.686,4,0.000,0.030,3311,3397,1904,0,0,0,0,0,0
$GC,8178,1.41,272.5,172.9,9.8,335,8189,0.00,2.60,4.38,0.485,6,0.000,0.041,3311,1822,1890,0,0,0,0,0,0
$GC,8443,1.41,272.5,144.9,11.2,360,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1822,1887,0,0,0,0,0,0
$GC,8698,1.41,272.5,116.9,11.4,384,8703,0.00,2.53,0.00,0.000,4,0.000,0.028,3311,3400,1886,0,0,0,0,0,0
$GC,8746,1.49,272.5,112.5,11.3,387,8750,0.00,2.55,0.00,0.000,6,0.000,0.040,3311,1838,1886,0,0,0,0,0,0
$GC,9012,1.59,313.0,88.1,7.7,411,9061,0.15,2.83,35.47,0.610,4,0.075,0.061,3351,243,1723,0,0,0,0,0,0
$GC,9092,1.52,313.0,80.9,11.4,417,9096,0.00,2.53,0.00,0.000,6,0.000,0.021,3351,1861,1721,0,0,0,0,0,0
$GC,9358,1.52,313.0,52.8,10.9,441,9362,0.00,2.75,0.00,0.000,4,0.000,0.055,3351,241,1720,0,0,0,0,0,0
$GC,9381,1.52,313.0,50.1,12.1,442,9385,0.00,2.53,0.00,0.000,6,0.000,0.018,3350,1860,1718,0,0,0,0,0,0
$GC,9676,1.52,313.0,16.4,11.5,475,9685,0.00,2.42,0.00,0.000,4,0.000,0.028,3350,3383,1718,0,0,0,0,0,0
$GC,9716,1.56,313.0,12.5,10.3,480,9725,0.00,2.50,0.00,0.000,6,0.000,0.031,3351,1858,1717,0,0,0,0,0,0
$STATE,9800,end climb,SURFACE_DEPTH_REACHED
$STATE,9801,begin surface coast
$FINISH,0.4,1.010249
$STATE,9853,end surface coast,CONTROL_FINISHED_OK
$STATE,9853,begin surface
$SM_CCo,9875,93.07,0.471,1,0,1287,420.20
$SM_GC,1.07,0.00,0.00,93.07,0.000,0.000,0.471,475,1738,1287,-11.62,-0.90,420.20
$IRIDIUM_FIX,2241.69,-15751.94,030100,010156
$TT8_MAMPS,0.026078
$HUMID,49.88
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.30
$XPDR_PINGS,47
$24V_AH,23.5,51.534
$10V_AH,10.1,49.944
$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,26.900,104.225,378.600,93.075,0.000,25.646,36.959,425.200,11.750,0.000,10.922,996.618,6458.787,546.465,1821.985,824.544,33.373,1205.830,0.000,1830.145,0.000,0.536,0.000
$DEVICE_MAMPS,221.663,101.244,921.167,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.550,280.350,387.501,728.490,1101.908,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,38509,499
$CAP_FILE_SIZE,106616,0
$CFSIZE,260165632,160583680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091010,072004,2250.721,-15754.009,11,99.0,30,10.1