version: 66.06
glider: 146
mission: 5
dive: 18
start: 8 15 110 16 36 21
data:
$ID,146
$MISSION,5
$DIVE,18
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,375
$T_MISSION,420
$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,-247530
$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,1760
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,51
$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
$GPS1,162907,2157.253,-15811.899,25,1.3,25,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.6
$GPS2,163526,2157.262,-15812.015,12,1.3,12,9.9
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,STNA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.028,0.239
$KALMAN_X,2628.0,-719.1,-60.7,-4253.8,862.2
$KALMAN_Y,4296.0,78.9,171.7,26340.4,1026.3
$MHEAD_RNG_PITCHd_Wd,356.8,90761,-14.1,-8.000
$D_GRID,900
$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,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-85.93,0.000,2,0.000,0.000,483,1753,3468,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.5,-6.4,11,133,11.85,2.58,-2.17,0.000,4,0.147,0.044,2769,3338,3600,0,0,0,0,0,0
$GC,190,-0.95,-146.0,29.0,-15.7,22,200,0.12,2.62,0.00,0.000,6,0.080,0.034,2801,1750,3601,0,0,0,0,0,0
$GC,458,-0.90,-146.0,63.1,-10.0,47,462,0.00,2.50,0.00,0.000,4,0.000,0.029,2801,3339,3602,0,0,0,0,0,0
$GC,480,-0.90,-146.0,66.0,-9.1,48,490,0.00,2.58,0.00,0.000,6,0.000,0.031,2801,1761,3602,0,0,0,0,0,0
$GC,745,-0.90,-146.0,90.4,-8.9,73,750,0.00,2.72,0.00,0.000,4,0.000,0.075,2802,183,3603,0,0,0,0,0,0
$GC,779,-0.86,-146.0,93.4,-9.4,75,784,0.10,2.40,0.00,0.000,6,0.120,0.023,2823,1785,3603,0,0,0,0,0,0
$GC,1046,-0.90,-146.0,115.1,-7.6,99,1050,0.00,2.75,0.00,0.000,4,0.000,0.070,2823,187,3603,0,0,0,0,0,0
$GC,1069,-0.94,-146.0,117.3,-7.9,100,1078,0.00,2.38,0.00,0.000,6,0.000,0.024,2823,1750,3604,0,0,0,0,0,0
$GC,1335,-1.00,-146.0,137.3,-7.3,125,1340,0.12,2.47,0.00,0.000,4,0.078,0.029,2783,3306,3604,0,0,0,0,0,0
$GC,1404,-1.00,-146.0,144.0,-9.5,130,1414,0.00,2.50,0.00,0.000,6,0.000,0.036,2783,1768,3604,0,0,0,0,0,0
$GC,1666,-1.00,-146.0,168.1,-9.2,155,1671,0.00,2.75,0.00,0.000,4,0.000,0.071,2782,184,3604,0,0,0,0,0,0
$GC,1712,-1.00,-146.0,172.9,-9.9,158,1718,0.00,2.40,0.00,0.000,6,0.000,0.024,2783,1761,3604,0,0,0,0,0,0
$GC,1973,-1.00,-146.0,197.5,-9.6,183,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1762,3604,0,0,0,0,0,0
$GC,2249,-1.00,-146.0,222.6,-8.6,192,2253,0.00,2.42,0.00,0.000,4,0.000,0.035,2783,3311,3604,0,0,0,0,0,0
$GC,2300,-1.05,-146.0,226.5,-7.2,193,2304,0.00,2.47,0.00,0.000,6,0.000,0.038,2783,1779,3604,0,0,0,0,0,0
$GC,2572,-1.05,-146.0,247.7,-8.0,200,2576,0.00,2.42,0.00,0.000,4,0.000,0.032,2783,3310,3604,0,0,0,0,0,0
$GC,2604,-1.05,-146.0,250.3,-7.6,200,2610,0.00,2.45,0.00,0.000,6,0.000,0.038,2783,1789,3604,0,0,0,0,0,0
$GC,2856,-1.05,-146.0,267.8,-7.0,207,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1789,3603,0,0,0,0,0,0
$GC,3098,-1.05,-146.0,284.1,-6.7,213,3103,0.00,2.88,0.00,0.000,4,0.000,0.091,2782,181,3602,0,0,0,0,0,0
$GC,3144,-1.10,-146.0,287.1,-7.1,214,3148,0.00,2.45,0.00,0.000,6,0.000,0.023,2783,1756,3602,0,0,0,0,0,0
$GC,3423,-1.15,-146.0,305.8,-6.8,221,3425,0.10,0.00,0.00,0.000,6,0.091,0.000,2752,1757,3601,0,0,0,0,0,0
$GC,3665,-1.15,-146.0,327.0,-8.9,227,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1757,3600,0,0,0,0,0,0
$GC,3908,-1.15,-146.0,348.6,-8.8,233,3913,0.00,2.58,0.00,0.000,4,0.000,0.054,2752,3336,3599,0,0,0,0,0,0
$GC,3950,-1.19,-146.0,352.2,-9.0,234,3954,0.00,2.58,0.00,0.000,6,0.000,0.048,2752,1791,3599,0,0,0,0,0,0
$GC,4233,-1.19,-146.0,375.8,-8.4,241,4237,0.00,2.97,0.00,0.000,4,0.000,0.104,2752,177,3597,0,0,0,0,0,0
$GC,4253,-1.19,-146.0,377.8,-8.6,241,4258,0.00,2.55,0.00,0.000,6,0.000,0.028,2752,1785,3597,0,0,0,0,0,0
$GC,4510,-1.19,-146.0,400.1,-8.9,248,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1786,3596,0,0,0,0,0,0
$GC,4752,-1.19,-146.0,420.8,-8.3,254,4757,0.00,2.60,0.00,0.000,4,0.000,0.056,2752,3343,3594,0,0,0,0,0,0
$GC,4797,-1.24,-146.0,424.4,-7.9,255,4802,0.00,2.62,0.00,0.000,6,0.000,0.063,2752,1793,3594,0,0,0,0,0,0
$GC,5076,-1.24,-146.0,444.6,-7.4,262,5081,0.00,3.10,0.00,0.000,4,0.000,0.120,2752,171,3592,0,0,0,0,0,0
$GC,5108,-1.24,-146.0,447.4,-8.2,262,5114,0.00,2.62,0.00,0.000,6,0.000,0.042,2752,1779,3592,0,0,0,0,0,0
$GC,5359,-1.24,-146.0,465.1,-6.9,269,5363,0.00,2.65,0.00,0.000,4,0.000,0.062,2752,3355,3590,0,0,0,0,0,0
$GC,5387,-1.24,-146.0,467.1,-7.1,269,5391,0.00,2.67,0.00,0.000,6,0.000,0.058,2752,1780,3590,0,0,0,0,0,0
$GC,5637,-1.24,-146.0,485.7,-7.5,275,5642,0.00,3.05,0.00,0.000,4,0.000,0.126,2752,174,3588,0,0,0,0,0,0
$GC,5658,-1.24,-146.0,487.8,-9.1,275,5662,0.00,2.62,0.00,0.000,6,0.000,0.043,2752,1783,3588,0,0,0,0,0,0
$GC,5914,-1.24,-146.0,508.6,-7.9,282,5919,0.00,2.97,0.00,0.000,4,0.000,0.104,2752,174,3587,0,0,0,0,0,0
$GC,5942,-1.24,-146.0,510.8,-8.7,282,5946,0.00,2.65,0.00,0.000,6,0.000,0.041,2752,1773,3586,0,0,0,0,0,0
$GC,6192,-1.24,-146.0,530.2,-8.0,288,6196,0.00,2.78,0.00,0.000,4,0.000,0.081,2752,3351,3585,0,0,0,0,0,0
$GC,6219,-1.28,-146.0,532.2,-7.9,288,6223,0.00,2.75,0.00,0.000,6,0.000,0.067,2752,1774,3584,0,0,0,0,0,0
$GC,6470,-1.28,-146.0,550.2,-7.2,294,6475,0.00,3.15,0.00,0.000,4,0.000,0.137,2752,175,3583,0,0,0,0,0,0
$GC,6503,-1.32,-146.0,553.0,-8.3,294,6509,0.12,2.70,0.00,0.000,6,0.086,0.050,2717,1777,3583,0,0,0,0,0,0
$GC,6753,-1.32,-146.0,573.0,-7.9,301,6757,0.00,2.80,0.00,0.000,4,0.000,0.092,2717,3344,3582,0,0,0,0,0,0
$GC,6809,-1.32,-146.0,577.5,-8.5,302,6813,0.00,2.80,0.00,0.000,6,0.000,0.078,2717,1772,3581,0,0,0,0,0,0
$GC,7076,-1.32,-146.0,597.0,-7.3,309,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1772,3580,0,0,0,0,0,0
$GC,7320,-1.32,-146.0,616.0,-7.8,315,7325,0.00,3.20,0.00,0.000,4,0.000,0.147,2717,174,3579,0,0,0,0,0,0
$GC,7348,-1.28,-146.0,618.7,-10.1,315,7353,0.00,2.78,0.00,0.000,6,0.000,0.067,2717,1783,3579,0,0,0,0,0,0
$GC,7598,-1.28,-146.0,640.2,-8.5,321,7602,0.00,2.88,0.00,0.000,4,0.000,0.107,2717,3346,3577,0,0,0,0,0,0
$GC,7641,-1.28,-146.0,644.4,-9.5,322,7646,0.00,2.90,0.00,0.000,6,0.000,0.103,2716,1783,3577,0,0,0,0,0,0
$GC,7920,-1.28,-146.0,668.0,-8.6,329,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1783,3575,0,0,0,0,0,0
$GC,8162,-1.28,-146.0,688.4,-8.3,335,8167,0.00,2.92,0.00,0.000,4,0.000,0.113,2717,3349,3574,0,0,0,0,0,0
$GC,8211,-1.28,-146.0,692.7,-9.0,336,8216,0.00,3.03,0.00,0.000,6,0.000,0.124,2716,1797,3573,0,0,0,0,0,0
$GC,8485,-1.28,-146.0,713.0,-7.4,343,8490,0.00,3.00,0.00,0.000,4,0.000,0.128,2716,3346,3573,0,0,0,0,0,0
$GC,8524,-1.28,-146.0,716.0,-7.0,344,8529,0.00,3.10,0.00,0.000,6,0.000,0.137,2716,1799,3573,0,0,0,0,0,0
$GC,8808,-1.28,-146.0,734.8,-6.5,351,8813,0.00,3.05,0.00,0.000,4,0.000,0.136,2716,3348,3571,0,0,0,0,0,0
$GC,8848,-1.28,-146.0,737.5,-6.7,352,8853,0.00,2.78,0.00,0.000,6,0.000,0.084,2716,1804,3571,0,0,0,0,0,0
$GC,9131,-1.28,-146.0,756.4,-6.6,359,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1804,3570,0,0,0,0,0,0
$GC,9375,-1.28,-146.0,773.5,-6.9,365,9380,0.00,2.70,0.00,0.000,4,0.000,0.079,2716,3351,3569,0,0,0,0,0,0
$GC,9422,-1.28,-146.0,777.1,-7.9,366,9426,0.00,2.72,0.00,0.000,6,0.000,0.086,2716,1819,3569,0,0,0,0,0,0
$GC,9699,-1.28,-146.0,797.3,-7.3,373,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1819,3568,0,0,0,0,0,0
$GC,9943,-1.28,-146.0,815.2,-7.4,379,9948,0.00,3.30,0.00,0.000,4,0.000,0.151,2716,172,3567,0,0,0,0,0,0
$GC,9966,-1.28,-146.0,817.0,-7.7,379,9971,0.00,2.80,0.00,0.000,6,0.000,0.057,2716,1824,3567,0,0,0,0,0,0
$GC,10221,-1.28,-146.0,835.4,-7.0,386,10225,0.00,2.75,0.00,0.000,4,0.000,0.098,2716,3353,3566,0,0,0,0,0,0
$GC,10260,-1.28,-146.0,838.4,-7.8,387,10265,0.00,2.72,0.00,0.000,6,0.000,0.077,2717,1817,3566,0,0,0,0,0,0
$GC,10545,-1.28,-146.0,858.1,-7.1,394,10549,0.00,2.67,0.00,0.000,4,0.000,0.074,2716,3349,3565,0,0,0,0,0,0
$GC,10571,-1.28,-146.0,860.2,-7.6,394,10576,0.00,2.72,0.00,0.000,6,0.000,0.077,2717,1820,3565,0,0,0,0,0,0
$GC,10821,-1.28,-146.0,878.4,-7.3,400,10826,0.00,3.28,0.00,0.000,4,0.000,0.139,2716,171,3564,0,0,0,0,0,0
$GC,10850,-1.28,-146.0,880.6,-8.3,400,10854,0.00,2.80,0.00,0.000,6,0.000,0.058,2716,1826,3564,0,0,0,0,0,0
$GC,11100,-1.28,-146.0,898.9,-7.1,406,11104,0.00,2.75,0.00,0.000,4,0.000,0.100,2717,3354,3564,0,0,0,0,0,0
$STATE,11113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11113,begin apogee
$GC,11121,-0.31,0.0,900.0,7.0,406,11248,1.00,0.00,123.40,1.274,6,0.088,0.000,2940,1829,3001,0,0,0,0,0,0
$STATE,11249,end apogee,CONTROL_FINISHED_OK
$STATE,11249,begin climb
$GC,11253,1.06,146.0,902.9,0.0,409,11391,1.27,0.00,133.25,1.239,6,0.046,0.000,3243,1829,2405,0,0,0,0,0,0
$GC,11618,0.84,146.0,878.2,9.7,418,11624,0.25,2.80,0.00,0.000,4,0.121,0.067,3195,3419,2394,0,0,0,0,0,0
$GC,11654,0.72,146.0,875.2,8.1,418,11661,0.15,2.83,0.00,0.000,6,0.164,0.071,3169,1829,2393,0,0,0,0,0,0
$GC,11905,0.67,165.0,856.6,7.3,425,11923,0.00,0.00,16.92,1.140,6,0.000,0.000,3169,1829,2327,0,0,0,0,0,0
$GC,12150,0.62,183.3,838.8,7.3,431,12175,0.12,2.85,18.20,1.147,4,0.155,0.064,3148,3416,2253,0,0,0,0,0,0
$GC,12219,0.62,183.3,833.5,8.1,432,12224,0.00,2.78,0.00,0.000,6,0.000,0.068,3148,1839,2250,0,0,0,0,0,0
$GC,12475,0.64,197.9,814.8,7.5,439,12491,0.00,0.00,14.50,1.123,6,0.000,0.000,3148,1839,2194,0,0,0,0,0,0
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$STATE,21703,end climb,SURFACE_DEPTH_REACHED
$STATE,21703,begin surface coast
$FINISH,0.3,1.017146
$STATE,21753,end surface coast,CONTROL_FINISHED_OK
$STATE,21753,begin surface
$SM_CCo,21774,40.05,0.393,1,0,1288,420.20
$SM_GC,0.91,0.00,0.00,40.05,0.000,0.000,0.393,476,1706,1288,-11.66,-1.53,420.20
$IRIDIUM_FIX,2143.45,-15808.90,091199,101021
$TT8_MAMPS,0.026078
$HUMID,41.80
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,22.80
$XPDR_PINGS,102
$24V_AH,23.2,5.801
$10V_AH,10.3,5.371
$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,27.325,305.450,487.750,40.050,0.000,25.212,26.967,177.161,25.500,0.000,13.752,1752.431,16315.914,738.038,2700.928,682.156,33.344,1916.101,0.000,2697.404,0.000,0.533,0.000
$DEVICE_MAMPS,164.138,164.138,1273.987,392.704,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,553.750,398.221,478.144,798.067,1208.265,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,63688,812
$CAP_FILE_SIZE,204501,0
$CFSIZE,260165632,182231040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150810,224106,2201.286,-15812.202,25,1.9,25,9.9