version: 66.06
glider: 146
mission: 5
dive: 30
start: 8 18 110 19 35 2
data:
$ID,146
$MISSION,5
$DIVE,30
$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,-247712.17
$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,1760
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,59
$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
$GPS1,192707,2240.718,-15800.402,25,1.3,26,10.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.7
$GPS2,193407,2240.785,-15800.408,13,1.2,13,10.0
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,STNA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.100,0.193
$KALMAN_X,-19361.4,-115.3,145.5,36878.7,-1549.8
$KALMAN_Y,39650.0,-297.5,-310.5,72470.0,3443.9
$MHEAD_RNG_PITCHd_Wd,17.4,7837,-16.1,-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,-1.15,-116.6,0.0,0.0,0,105,0.00,0.00,-86.93,0.000,2,0.000,0.000,479,1778,3475,0,0,0,0,0,0
$GC,108,-1.18,-146.0,4.1,-5.5,11,134,11.80,2.50,-2.12,0.000,4,0.151,0.047,2736,3315,3600,0,0,0,0,0,0
$GC,237,-1.09,-146.0,34.8,-14.7,27,242,0.12,2.55,0.00,0.000,6,0.112,0.034,2761,1757,3601,0,0,0,0,0,0
$GC,504,-0.99,-146.0,74.6,-14.2,51,510,0.10,2.75,0.00,0.000,4,0.128,0.065,2781,181,3601,0,0,0,0,0,0
$GC,587,-0.99,-146.0,85.0,-10.4,57,592,0.00,2.40,0.00,0.000,6,0.000,0.015,2781,1763,3602,0,0,0,0,0,0
$GC,855,-0.99,-146.0,111.5,-9.7,81,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1764,3602,0,0,0,0,0,0
$GC,1115,-0.99,-146.0,136.6,-9.1,106,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1764,3603,0,0,0,0,0,0
$GC,1376,-0.99,-146.0,159.4,-9.0,130,1380,0.00,2.45,0.00,0.000,4,0.000,0.033,2781,3309,3602,0,0,0,0,0,0
$GC,1406,-1.05,-146.0,162.4,-9.1,132,1410,0.00,2.53,0.00,0.000,6,0.000,0.036,2781,1738,3603,0,0,0,0,0,0
$GC,1670,-1.08,-146.0,186.2,-9.4,156,1674,0.00,2.70,0.00,0.000,4,0.000,0.076,2781,182,3603,0,0,0,0,0,0
$GC,1691,-1.08,-146.0,188.1,-9.5,157,1695,0.00,2.35,0.00,0.000,6,0.000,0.023,2781,1750,3603,0,0,0,0,0,0
$GC,1977,-1.12,-146.0,215.4,-9.4,172,1979,0.12,0.00,0.00,0.000,6,0.077,0.000,2743,1751,3602,0,0,0,0,0,0
$GC,2222,-1.08,-146.0,242.0,-11.1,178,2226,0.00,2.47,0.00,0.000,4,0.000,0.028,2743,3304,3603,0,0,0,0,0,0
$GC,2242,-1.08,-146.0,244.5,-10.7,178,2247,0.00,2.50,0.00,0.000,6,0.000,0.031,2742,1741,3603,0,0,0,0,0,0
$GC,2498,-1.08,-146.0,270.2,-9.9,185,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1741,3602,0,0,0,0,0,0
$GC,2741,-1.08,-146.0,294.4,-9.9,191,2746,0.10,2.53,0.00,0.000,4,0.120,0.034,2764,3307,3602,0,0,0,0,0,0
$GC,2792,-1.16,-146.0,298.9,-8.9,192,2797,0.00,2.55,0.00,0.000,6,0.000,0.043,2763,1747,3602,0,0,0,0,0,0
$GC,3065,-1.20,-146.0,320.2,-7.8,199,3070,0.12,2.50,0.00,0.000,4,0.078,0.039,2726,3299,3602,0,0,0,0,0,0
$GC,3116,-1.20,-146.0,324.7,-8.8,200,3120,0.00,2.58,0.00,0.000,6,0.000,0.049,2725,1753,3601,0,0,0,0,0,0
$GC,3387,-1.20,-146.0,352.8,-10.6,207,3392,0.00,2.85,0.00,0.000,4,0.000,0.097,2725,175,3601,0,0,0,0,0,0
$GC,3426,-1.20,-146.0,357.2,-11.9,208,3430,0.00,2.42,0.00,0.000,6,0.000,0.032,2725,1702,3600,0,0,0,0,0,0
$GC,3711,-1.20,-146.0,386.0,-9.7,215,3715,0.00,2.65,0.00,0.000,4,0.000,0.058,2725,3293,3600,0,0,0,0,0,0
$GC,3760,-1.20,-146.0,390.6,-8.9,216,3764,0.00,2.60,0.00,0.000,6,0.000,0.054,2725,1749,3599,0,0,0,0,0,0
$GC,4032,-1.20,-146.0,413.6,-8.3,223,4037,0.00,2.58,0.00,0.000,4,0.000,0.048,2725,3301,3597,0,0,0,0,0,0
$GC,4077,-1.20,-146.0,417.4,-8.6,224,4082,0.00,2.65,0.00,0.000,6,0.000,0.058,2725,1754,3598,0,0,0,0,0,0
$GC,4355,-1.20,-146.0,441.1,-8.6,231,4359,0.00,2.97,0.00,0.000,4,0.000,0.117,2725,176,3597,0,0,0,0,0,0
$GC,4381,-1.20,-146.0,443.8,-10.2,231,4386,0.00,2.45,0.00,0.000,6,0.000,0.040,2725,1703,3596,0,0,0,0,0,0
$GC,4633,-1.20,-146.0,466.0,-8.7,237,4637,0.00,2.70,0.00,0.000,4,0.000,0.071,2725,3289,3595,0,0,0,0,0,0
$GC,4681,-1.24,-146.0,470.4,-8.5,238,4686,0.00,2.60,0.00,0.000,6,0.000,0.061,2725,1767,3594,0,0,0,0,0,0
$GC,4954,-1.24,-146.0,494.5,-8.9,245,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1767,3593,0,0,0,0,0,0
$GC,5198,-1.24,-146.0,514.1,-7.7,251,5202,0.00,2.60,0.00,0.000,4,0.000,0.059,2725,3286,3591,0,0,0,0,0,0
$GC,5260,-1.29,-146.0,518.5,-7.1,252,5265,0.00,2.62,0.00,0.000,6,0.000,0.067,2725,1780,3591,0,0,0,0,0,0
$GC,5521,-1.29,-146.0,537.8,-7.5,259,5526,0.00,3.15,0.00,0.000,4,0.000,0.137,2725,173,3589,0,0,0,0,0,0
$GC,5538,-1.29,-146.0,539.2,-7.7,259,5542,0.00,2.55,0.00,0.000,6,0.000,0.048,2725,1725,3588,0,0,0,0,0,0
$GC,5798,-1.29,-146.0,560.8,-8.4,266,5803,0.00,2.90,0.00,0.000,4,0.000,0.087,2725,3349,3587,0,0,0,0,0,0
$GC,5859,-1.36,-146.0,566.3,-9.3,267,5863,0.00,2.72,0.00,0.000,6,0.000,0.077,2725,1794,3587,0,0,0,0,0,0
$GC,6120,-1.36,-146.0,588.0,-8.4,274,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1794,3585,0,0,0,0,0,0
$GC,6363,-1.36,-146.0,609.5,-8.9,280,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1794,3583,0,0,0,0,0,0
$GC,6607,-1.40,-146.0,631.9,-9.3,286,6612,0.12,2.80,0.00,0.000,4,0.085,0.087,2690,3346,3581,0,0,0,0,0,0
$GC,6623,-1.40,-146.0,633.7,-9.6,286,6628,0.00,2.85,0.00,0.000,6,0.000,0.098,2690,1789,3580,0,0,0,0,0,0
$GC,6885,-1.40,-146.0,663.5,-11.6,293,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1789,3579,0,0,0,0,0,0
$GC,7128,-1.40,-146.0,691.0,-11.0,299,7133,0.00,2.90,0.00,0.000,4,0.000,0.113,2690,3346,3577,0,0,0,0,0,0
$GC,7171,-1.40,-146.0,695.6,-10.2,300,7176,0.00,2.83,0.00,0.000,6,0.000,0.090,2690,1796,3577,0,0,0,0,0,0
$GC,7450,-1.40,-146.0,721.5,-9.0,307,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1796,3575,0,0,0,0,0,0
$GC,7693,-1.40,-146.0,742.0,-8.4,313,7697,0.00,2.72,0.00,0.000,4,0.000,0.076,2690,3348,3574,0,0,0,0,0,0
$GC,7725,-1.40,-146.0,744.8,-8.4,313,7731,0.00,2.78,0.00,0.000,6,0.000,0.087,2690,1800,3574,0,0,0,0,0,0
$GC,7975,-1.40,-146.0,765.7,-8.4,320,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1800,3573,0,0,0,0,0,0
$GC,8220,-1.40,-146.0,785.6,-8.1,326,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1799,3571,0,0,0,0,0,0
$GC,8463,-1.40,-146.0,804.5,-7.7,332,8467,0.00,2.70,0.00,0.000,4,0.000,0.074,2690,3349,3569,0,0,0,0,0,0
$GC,8506,-1.40,-146.0,808.0,-7.4,333,8511,0.00,2.75,0.00,0.000,6,0.000,0.080,2690,1810,3569,0,0,0,0,0,0
$GC,8786,-1.40,-146.0,829.2,-7.6,340,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1809,3568,0,0,0,0,0,0
$GC,9028,-1.40,-146.0,847.2,-7.4,346,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1809,3567,0,0,0,0,0,0
$GC,9272,-1.40,-146.0,864.9,-7.2,352,9276,0.00,2.70,0.00,0.000,4,0.000,0.076,2690,3349,3566,0,0,0,0,0,0
$GC,9316,-1.40,-146.0,868.3,-7.4,353,9320,0.00,2.75,0.00,0.000,6,0.000,0.084,2690,1803,3566,0,0,0,0,0,0
$GC,9594,-1.40,-146.0,889.1,-7.6,360,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1803,3565,0,0,0,0,0,0
$STATE,9753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9753,begin apogee
$GC,9758,-0.31,0.0,901.8,7.8,364,9886,1.10,0.00,123.60,1.258,6,0.096,0.000,2928,1803,3000,0,0,0,0,0,0
$STATE,9886,end apogee,CONTROL_FINISHED_OK
$STATE,9887,begin climb
$GC,9889,1.18,146.0,905.1,0.0,367,10031,1.40,3.28,132.50,1.225,4,0.045,0.133,3262,211,2403,0,0,0,0,0,0
$GC,10075,0.90,146.0,895.8,12.0,371,10081,0.32,2.70,0.00,0.000,6,0.122,0.046,3199,1796,2397,0,0,0,0,0,0
$GC,10333,0.82,146.0,874.7,8.0,378,10337,0.00,2.88,0.00,0.000,4,0.000,0.084,3200,3393,2391,0,0,0,0,0,0
$GC,10372,0.77,146.0,871.4,8.1,379,10377,0.15,2.80,0.00,0.000,6,0.143,0.070,3171,1808,2390,0,0,0,0,0,0
$GC,10657,0.79,163.4,850.9,7.2,386,10677,0.00,2.80,14.62,1.111,4,0.000,0.062,3171,3394,2335,0,0,0,0,0,0
$GC,10727,0.79,163.4,845.2,8.6,387,10732,0.00,2.80,0.00,0.000,6,0.000,0.067,3172,1810,2332,0,0,0,0,0,0
$GC,10977,0.82,182.0,827.0,7.1,393,10998,0.00,0.00,18.98,1.134,6,0.000,0.000,3171,1811,2258,0,0,0,0,0,0
$GC,11222,0.83,197.2,808.9,7.3,399,11243,0.00,2.78,15.02,1.102,4,0.000,0.058,3172,3392,2197,0,0,0,0,0,0
$GC,11260,0.86,220.2,806.1,6.9,400,11290,0.00,2.78,23.25,1.127,6,0.000,0.070,3171,1822,2102,0,0,0,0,0,0
$GC,11548,0.86,220.2,783.0,8.2,407,11549,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1822,2096,0,0,0,0,0,0
$GC,11790,0.86,220.2,760.8,9.2,413,11791,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1822,2094,0,0,0,0,0,0
$GC,12034,0.86,220.2,736.1,10.1,419,12038,0.00,2.67,0.00,0.000,4,0.000,0.053,3171,3392,2094,0,0,0,0,0,0
$GC,12049,0.86,220.2,734.5,10.4,419,12054,0.00,2.78,0.00,0.000,6,0.000,0.070,3171,1815,2093,0,0,0,0,0,0
$GC,12311,0.86,220.2,711.7,8.3,426,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1815,2092,0,0,0,0,0,0
$GC,12554,0.89,246.1,694.7,6.8,432,12584,0.10,2.75,23.83,1.089,4,0.104,0.053,3196,3393,1997,0,0,0,0,0,0
$GC,12596,0.93,273.3,691.5,6.7,433,12631,0.00,2.78,27.30,1.075,6,0.000,0.071,3196,1827,1885,0,0,0,0,0,0
$GC,12883,0.93,273.3,666.8,8.7,440,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1827,1879,0,0,0,0,0,0
$GC,13125,0.93,273.3,645.8,8.8,446,13130,0.00,3.17,0.00,0.000,4,0.000,0.128,3196,211,1878,0,0,0,0,0,0
$GC,13141,0.89,273.3,644.2,8.8,446,13146,0.00,2.67,0.00,0.000,6,0.000,0.035,3196,1834,1877,0,0,0,0,0,0
$GC,13402,0.89,273.3,619.7,9.5,453,13406,0.00,2.75,0.00,0.000,4,0.000,0.075,3196,3396,1877,0,0,0,0,0,0
$GC,13417,0.89,273.3,618.2,9.5,453,13421,0.00,2.72,0.00,0.000,6,0.000,0.062,3196,1829,1876,0,0,0,0,0,0
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$STATE,20001,end climb,SURFACE_DEPTH_REACHED
$STATE,20001,begin surface coast
$FINISH,1.6,1.023212
$STATE,20010,end surface coast,CONTROL_FINISHED_OK
$STATE,20010,begin surface
$SM_CCo,20033,75.60,0.450,1,0,1288,420.20
$SM_GC,0.87,0.00,0.00,75.60,0.000,0.000,0.450,478,1755,1288,-11.60,-0.14,420.20
$IRIDIUM_FIX,2232.34,-15726.40,121199,131340
$TT8_MAMPS,0.025311
$HUMID,40.74
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.30
$XPDR_PINGS,85
$24V_AH,23.2,7.945
$10V_AH,10.4,7.167
$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,27.925,242.925,436.500,75.600,0.000,27.864,46.229,194.001,21.250,0.000,14.947,1610.012,15026.210,654.772,2561.343,671.978,33.363,1746.820,0.000,2547.860,0.000,0.535,0.000
$DEVICE_MAMPS,247.741,136.526,1257.880,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,523.853,381.580,464.352,774.368,1167.224,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356040
$DATA_FILE_SIZE,60574,769
$CAP_FILE_SIZE,180034,0
$CFSIZE,260165632,181248000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190810,011137,2243.885,-15759.626,39,1.0,39,10.1