version: 66.06
glider: 146
mission: 5
dive: 14
start: 8 14 110 17 23 31
data:
$ID,146
$MISSION,5
$DIVE,14
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$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,333
$T_MISSION,400
$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,150
$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,-247440.94
$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,3010
$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,1800
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,56
$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
$GPS1,171628,2144.553,-15814.085,7,99.0,26,9.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-68.2
$GPS2,172236,2144.573,-15814.151,11,1.6,27,9.9
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,STNA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.022,0.239
$KALMAN_X,2276.4,57.8,-408.4,-8024.9,1635.5
$KALMAN_Y,111.0,366.7,-418.8,7336.9,752.2
$MHEAD_RNG_PITCHd_Wd,344.9,114491,-14.1,-8.008
$D_GRID,800
$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,-1.06,-146.0,0.0,0.0,0,105,0.00,0.00,-86.78,0.000,2,0.000,0.000,476,2046,3494,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.5,-6.4,11,127,11.95,2.17,-1.70,0.000,4,0.150,0.048,2770,3379,3600,0,0,0,0,0,0
$GC,222,-1.00,-146.0,33.1,-13.0,26,227,0.10,2.58,0.00,0.000,6,0.119,0.037,2791,1799,3602,0,0,0,0,0,0
$GC,489,-0.93,-146.0,64.9,-11.1,50,494,0.00,2.75,0.00,0.000,4,0.000,0.072,2791,220,3602,0,0,0,0,0,0
$GC,559,-0.89,-146.0,72.5,-10.6,55,564,0.10,2.42,0.00,0.000,6,0.122,0.018,2814,1816,3602,0,0,0,0,0,0
$GC,826,-0.89,-146.0,93.2,-7.5,79,831,0.00,2.72,0.00,0.000,4,0.000,0.065,2814,225,3603,0,0,0,0,0,0
$GC,860,-0.89,-146.0,97.0,-9.6,81,865,0.00,2.38,0.00,0.000,6,0.000,0.021,2814,1799,3603,0,0,0,0,0,0
$GC,1123,-0.93,-146.0,117.2,-7.5,106,1127,0.00,2.42,0.00,0.000,4,0.000,0.032,2814,3355,3604,0,0,0,0,0,0
$GC,1170,-1.01,-146.0,120.3,-7.2,109,1175,0.10,2.50,0.00,0.000,6,0.087,0.032,2779,1793,3603,0,0,0,0,0,0
$GC,1434,-1.01,-146.0,144.0,-8.6,133,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1793,3604,0,0,0,0,0,0
$GC,1696,-1.01,-146.0,167.7,-9.6,158,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1793,3604,0,0,0,0,0,0
$GC,1950,-1.01,-146.0,192.7,-9.9,182,1954,0.00,2.70,0.00,0.000,4,0.000,0.071,2779,228,3604,0,0,0,0,0,0
$GC,2017,-1.01,-146.0,199.1,-10.3,187,2021,0.00,2.38,0.00,0.000,6,0.000,0.018,2779,1804,3603,0,0,0,0,0,0
$GC,2267,-1.01,-146.0,222.1,-8.5,193,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1805,3604,0,0,0,0,0,0
$GC,2510,-1.01,-146.0,241.5,-7.9,199,2515,0.00,2.72,0.00,0.000,4,0.000,0.071,2779,228,3603,0,0,0,0,0,0
$GC,2543,-1.01,-146.0,244.5,-9.4,199,2549,0.00,2.38,0.00,0.000,6,0.000,0.020,2779,1788,3603,0,0,0,0,0,0
$GC,2794,-1.01,-146.0,265.8,-8.6,206,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1790,3603,0,0,0,0,0,0
$GC,3036,-1.01,-146.0,285.7,-8.3,212,3041,0.00,2.53,0.00,0.000,4,0.000,0.039,2779,3372,3602,0,0,0,0,0,0
$GC,3069,-1.08,-146.0,288.6,-8.6,212,3075,0.00,2.58,0.00,0.000,6,0.000,0.036,2779,1792,3602,0,0,0,0,0,0
$GC,3321,-1.13,-146.0,307.0,-7.2,219,3326,0.00,2.80,0.00,0.000,4,0.000,0.089,2779,217,3601,0,0,0,0,0,0
$GC,3399,-1.21,-146.0,312.2,-6.4,220,3405,0.15,2.42,0.00,0.000,6,0.068,0.032,2734,1769,3601,0,0,0,0,0,0
$GC,3648,-1.21,-146.0,332.5,-8.4,227,3653,0.00,2.62,0.00,0.000,4,0.000,0.048,2734,3385,3600,0,0,0,0,0,0
$GC,3693,-1.21,-146.0,336.7,-9.4,228,3698,0.00,2.67,0.00,0.000,6,0.000,0.051,2734,1779,3600,0,0,0,0,0,0
$GC,3970,-1.21,-146.0,362.2,-9.2,235,3975,0.00,2.60,0.00,0.000,4,0.000,0.050,2733,3379,3597,0,0,0,0,0,0
$GC,4003,-1.21,-146.0,365.7,-10.4,235,4010,0.00,2.67,0.00,0.000,6,0.000,0.057,2734,1783,3597,0,0,0,0,0,0
$GC,4254,-1.21,-146.0,389.7,-9.7,242,4259,0.00,2.88,0.00,0.000,4,0.000,0.104,2733,217,3596,0,0,0,0,0,0
$GC,4327,-1.21,-146.0,397.4,-10.2,243,4331,0.00,2.47,0.00,0.000,6,0.000,0.040,2733,1763,3596,0,0,0,0,0,0
$GC,4576,-1.21,-146.0,419.2,-8.3,249,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1764,3593,0,0,0,0,0,0
$GC,4822,-1.21,-146.0,438.7,-8.0,255,4826,0.00,2.72,0.00,0.000,4,0.000,0.067,2733,3383,3592,0,0,0,0,0,0
$GC,4871,-1.21,-146.0,443.0,-8.5,256,4875,0.00,2.70,0.00,0.000,6,0.000,0.063,2733,1782,3592,0,0,0,0,0,0
$GC,5143,-1.21,-146.0,466.1,-8.5,263,5147,0.00,2.67,0.00,0.000,4,0.000,0.059,2733,3382,3590,0,0,0,0,0,0
$GC,5204,-1.21,-146.0,471.2,-8.2,264,5209,0.00,2.72,0.00,0.000,6,0.000,0.067,2733,1789,3589,0,0,0,0,0,0
$GC,5465,-1.21,-146.0,491.3,-7.9,271,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1789,3587,0,0,0,0,0,0
$GC,5708,-1.21,-146.0,510.5,-7.4,277,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1789,3586,0,0,0,0,0,0
$GC,5953,-1.21,-146.0,530.3,-8.0,283,5958,0.00,2.75,0.00,0.000,4,0.000,0.073,2733,3377,3584,0,0,0,0,0,0
$GC,5975,-1.21,-146.0,532.1,-7.7,283,5980,0.00,2.75,0.00,0.000,6,0.000,0.074,2734,1801,3584,0,0,0,0,0,0
$GC,6231,-1.21,-146.0,551.4,-7.4,290,6236,0.00,2.70,0.00,0.000,4,0.000,0.077,2733,3375,3582,0,0,0,0,0,0
$GC,6259,-1.21,-146.0,553.5,-7.9,290,6264,0.00,2.75,0.00,0.000,6,0.000,0.080,2734,1810,3582,0,0,0,0,0,0
$GC,6509,-1.21,-146.0,572.5,-7.5,296,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1811,3580,0,0,0,0,0,0
$GC,6753,-1.21,-146.0,592.7,-8.4,302,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1810,3579,0,0,0,0,0,0
$GC,6996,-1.21,-146.0,613.0,-8.1,308,7001,0.00,2.80,0.00,0.000,4,0.000,0.092,2734,3379,3577,0,0,0,0,0,0
$GC,7024,-1.21,-146.0,614.9,-7.5,308,7029,0.00,2.85,0.00,0.000,6,0.000,0.092,2733,1809,3577,0,0,0,0,0,0
$GC,7274,-1.21,-146.0,634.4,-8.1,314,7279,0.00,3.22,0.00,0.000,4,0.000,0.152,2734,213,3575,0,0,0,0,0,0
$GC,7318,-1.21,-146.0,638.3,-8.5,315,7322,0.00,2.78,0.00,0.000,6,0.000,0.074,2733,1797,3575,0,0,0,0,0,0
$GC,7598,-1.21,-146.0,659.8,-7.4,322,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1797,3574,0,0,0,0,0,0
$GC,7840,-1.21,-146.0,679.8,-8.2,328,7844,0.00,3.00,0.00,0.000,4,0.000,0.118,2733,3388,3573,0,0,0,0,0,0
$GC,7867,-1.21,-146.0,682.2,-8.4,328,7872,0.00,3.03,0.00,0.000,6,0.000,0.118,2733,1805,3573,0,0,0,0,0,0
$GC,8116,-1.21,-146.0,702.9,-8.5,334,8121,0.00,3.00,0.00,0.000,4,0.000,0.123,2733,3388,3572,0,0,0,0,0,0
$GC,8144,-1.21,-146.0,705.3,-9.1,334,8149,0.00,3.10,0.00,0.000,6,0.000,0.136,2733,1812,3571,0,0,0,0,0,0
$GC,8394,-1.21,-146.0,728.7,-9.6,340,8399,0.00,3.47,0.00,0.000,4,0.000,0.186,2734,213,3570,0,0,0,0,0,0
$GC,8427,-1.21,-146.0,732.3,-11.0,340,8433,0.00,3.00,0.00,0.000,6,0.000,0.116,2733,1806,3570,0,0,0,0,0,0
$GC,8678,-1.21,-146.0,755.2,-9.0,347,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1807,3569,0,0,0,0,0,0
$GC,8920,-1.21,-146.0,776.7,-8.7,353,8925,0.00,2.78,0.00,0.000,4,0.000,0.084,2734,3404,3567,0,0,0,0,0,0
$GC,8953,-1.24,-146.0,779.5,-8.2,353,8959,0.00,2.80,0.00,0.000,6,0.000,0.077,2734,1808,3567,0,0,0,0,0,0
$GC,9204,-1.24,-146.0,799.1,-7.6,360,9209,0.00,3.10,0.00,0.000,4,0.000,0.131,2734,212,3567,0,0,0,0,0,0
$STATE,9212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9212,begin apogee
$GC,9221,-0.31,0.0,800.0,7.1,360,9345,0.90,0.00,120.55,1.210,6,0.083,0.000,2938,1909,3001,0,0,0,0,0,0
$STATE,9346,end apogee,CONTROL_FINISHED_OK
$STATE,9346,begin climb
$GC,9348,1.06,146.0,802.9,0.0,363,9487,1.27,2.80,129.23,1.174,4,0.058,0.083,3242,3484,2403,0,0,0,0,0,0
$GC,9499,0.82,146.0,797.4,8.6,366,9504,0.25,2.80,0.00,0.000,6,0.124,0.071,3194,1897,2401,0,0,0,0,0,0
$GC,9756,0.70,146.0,773.2,9.3,373,9758,0.15,0.00,0.00,0.000,6,0.193,0.000,3166,1897,2393,0,0,0,0,0,0
$GC,9999,0.69,177.9,755.8,6.8,379,10029,0.00,0.00,28.48,1.114,6,0.000,0.000,3167,1897,2275,0,0,0,0,0,0
$GC,10242,0.68,207.0,738.9,6.9,385,10277,0.00,3.17,26.90,1.106,4,0.000,0.126,3166,314,2156,0,0,0,0,0,0
$GC,10296,0.61,217.0,734.9,7.6,386,10312,0.12,2.70,10.60,0.998,6,0.148,0.045,3146,1907,2116,0,0,0,0,0,0
$GC,10569,0.65,253.0,716.1,6.7,393,10610,0.00,3.03,33.75,1.101,4,0.000,0.100,3146,314,1968,0,0,0,0,0,0
$GC,10639,0.66,262.8,711.1,7.6,394,10655,0.00,2.67,10.18,0.982,6,0.000,0.044,3145,1898,1928,0,0,0,0,0,0
$GC,10899,0.69,289.3,693.2,7.0,401,10929,0.00,3.00,24.88,1.077,4,0.000,0.100,3145,313,1820,0,0,0,0,0,0
$GC,10947,0.69,289.3,689.5,8.3,402,10951,0.00,2.65,0.00,0.000,6,0.000,0.045,3145,1884,1819,0,0,0,0,0,0
$GC,11219,0.71,301.7,668.8,7.5,409,11238,0.00,3.05,11.77,1.005,4,0.000,0.104,3145,310,1770,0,0,0,0,0,0
$GC,11266,0.71,301.7,664.5,9.4,410,11271,0.00,2.62,0.00,0.000,6,0.000,0.047,3145,1872,1768,0,0,0,0,0,0
$GC,11546,0.75,301.7,640.3,9.0,417,11551,0.12,2.92,0.00,0.000,4,0.106,0.100,3173,314,1766,0,0,0,0,0,0
$GC,11591,0.70,301.7,635.0,11.8,418,11595,0.00,2.60,0.00,0.000,6,0.000,0.042,3173,1866,1766,0,0,0,0,0,0
$GC,11868,0.70,301.7,606.2,10.3,425,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1867,1765,0,0,0,0,0,0
$GC,12113,0.70,301.7,582.1,9.7,431,12117,0.00,2.85,0.00,0.000,4,0.000,0.104,3173,314,1765,0,0,0,0,0,0
$GC,12140,0.64,301.7,579.0,10.9,431,12145,0.12,2.55,0.00,0.000,6,0.141,0.039,3152,1850,1764,0,0,0,0,0,0
$GC,12389,0.64,301.7,558.4,8.1,437,12394,0.00,2.83,0.00,0.000,4,0.000,0.103,3151,314,1763,0,0,0,0,0,0
$GC,12417,0.64,301.7,556.0,8.0,437,12421,0.00,2.53,0.00,0.000,6,0.000,0.043,3152,1838,1763,0,0,0,0,0,0
$GC,12667,0.72,332.3,537.9,6.9,443,12702,0.00,3.00,28.02,1.013,4,0.000,0.080,3152,3488,1646,0,0,0,0,0,0
$GC,12732,0.88,383.7,534.1,6.1,444,12787,0.22,2.90,47.40,1.009,6,0.090,0.065,3202,1843,1437,0,0,0,0,0,0
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$STATE,18101,end climb,SURFACE_DEPTH_REACHED
$STATE,18102,begin surface coast
$FINISH,0.3,1.023236
$STATE,18166,end surface coast,CONTROL_FINISHED_OK
$STATE,18166,begin surface
$SM_CCo,18188,29.15,0.340,1,0,1288,420.20
$SM_GC,0.99,0.00,0.00,29.15,0.000,0.000,0.340,477,1753,1288,-11.65,-1.33,420.20
$IRIDIUM_FIX,2138.81,-15814.93,081199,141446
$TT8_MAMPS,0.026078
$HUMID,43.22
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,22.80
$XPDR_PINGS,85
$24V_AH,23.3,5.086
$10V_AH,10.3,4.770
$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,27.150,232.300,486.025,29.150,0.000,30.430,29.662,170.782,21.250,0.000,29.250,1520.516,13286.458,634.536,2551.235,602.594,33.380,1687.937,0.000,2531.349,0.000,0.536,0.000
$DEVICE_MAMPS,193.284,185.614,1209.559,339.781,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,491.728,382.437,457.909,798.820,1208.340,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356068
$DATA_FILE_SIZE,57347,722
$CAP_FILE_SIZE,170123,0
$CFSIZE,260165632,182591488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140810,222851,2147.831,-15814.001,36,99.0,55,9.9