version: 66.06
glider: 146
mission: 5
dive: 42
start: 8 21 110 14 52 9
data:
$ID,146
$MISSION,5
$DIVE,42
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$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,208
$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,-247935.02
$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,50
$R_STBD_OVSHOOT,61
$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
$GPS1,144506,2248.961,-15745.386,37,1.1,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.3
$GPS2,145114,2248.962,-15745.422,11,1.9,11,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,0.018
$KALMAN_X,-30414.8,-163.1,-337.9,74265.2,-70.6
$KALMAN_Y,35417.3,-258.3,-246.8,91732.6,-191.8
$MHEAD_RNG_PITCHd_Wd,75.6,5842,-14.1,-8.013
$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,-1.06,-146.0,0.0,0.0,0,96,0.00,0.00,-78.32,0.000,2,0.000,0.000,478,1730,3227,0,0,0,0,0,0
$GC,99,-1.06,-146.0,3.1,-3.8,10,125,12.07,2.55,-7.05,0.000,4,0.158,0.036,2758,3335,3597,0,0,0,0,0,0
$GC,163,-0.73,-146.0,19.9,-21.5,18,171,0.35,2.53,0.00,0.000,6,0.087,0.038,2838,1801,3598,0,0,0,0,0,0
$GC,451,-0.73,-146.0,54.1,-11.4,49,455,0.00,2.75,0.00,0.000,4,0.000,0.063,2839,192,3599,0,0,0,0,0,0
$GC,509,-0.77,-146.0,61.2,-11.3,53,513,0.00,2.38,0.00,0.000,6,0.000,0.016,2839,1780,3599,0,0,0,0,0,0
$GC,775,-0.81,-146.0,86.9,-8.5,77,780,0.00,2.72,0.00,0.000,4,0.000,0.066,2839,189,3599,0,0,0,0,0,0
$GC,811,-0.81,-146.0,89.8,-8.9,79,815,0.00,2.35,0.00,0.000,6,0.000,0.018,2838,1759,3599,0,0,0,0,0,0
$GC,1077,-0.86,-146.0,109.2,-7.6,103,1082,0.12,2.42,0.00,0.000,4,0.073,0.028,2797,3306,3600,0,0,0,0,0,0
$GC,1136,-0.86,-146.0,115.1,-9.9,107,1142,0.00,2.47,0.00,0.000,6,0.000,0.037,2796,1756,3600,0,0,0,0,0,0
$GC,1398,-0.86,-146.0,139.0,-9.5,132,1403,0.00,2.67,0.00,0.000,4,0.000,0.067,2797,189,3600,0,0,0,0,0,0
$GC,1420,-0.86,-146.0,141.6,-10.3,133,1426,0.00,2.33,0.00,0.000,6,0.000,0.017,2796,1753,3601,0,0,0,0,0,0
$GC,1684,-0.86,-146.0,163.9,-8.4,158,1688,0.00,2.47,0.00,0.000,4,0.000,0.029,2796,3314,3601,0,0,0,0,0,0
$GC,1701,-0.86,-146.0,165.6,-8.4,159,1705,0.00,2.50,0.00,0.000,6,0.000,0.028,2796,1750,3600,0,0,0,0,0,0
$GC,1965,-0.86,-146.0,187.5,-8.6,183,1969,0.00,2.67,0.00,0.000,4,0.000,0.069,2796,189,3601,0,0,0,0,0,0
$GC,1986,-0.86,-146.0,189.2,-9.1,184,1991,0.00,2.35,0.00,0.000,6,0.000,0.016,2796,1774,3601,0,0,0,0,0,0
$GC,2271,-0.86,-146.0,213.9,-8.4,199,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1776,3601,0,0,0,0,0,0
$GC,2516,-0.86,-146.0,233.9,-8.2,205,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1776,3600,0,0,0,0,0,0
$GC,2759,-0.86,-146.0,252.5,-7.6,211,2764,0.00,2.75,0.00,0.000,4,0.000,0.076,2797,196,3600,0,0,0,0,0,0
$GC,2792,-0.86,-146.0,255.2,-7.9,211,2797,0.00,2.33,0.00,0.000,6,0.000,0.025,2797,1740,3600,0,0,0,0,0,0
$GC,3043,-0.86,-146.0,273.0,-7.1,218,3047,0.00,2.53,0.00,0.000,4,0.000,0.037,2796,3335,3600,0,0,0,0,0,0
$GC,3076,-0.93,-146.0,275.5,-7.6,218,3082,0.00,2.55,0.00,0.000,6,0.000,0.035,2797,1757,3600,0,0,0,0,0,0
$GC,3326,-0.97,-146.0,292.8,-6.8,225,3331,0.00,2.75,0.00,0.000,4,0.000,0.081,2796,186,3599,0,0,0,0,0,0
$GC,3360,-1.04,-146.0,295.2,-7.1,225,3367,0.10,2.40,0.00,0.000,6,0.084,0.022,2761,1748,3599,0,0,0,0,0,0
$GC,3610,-1.04,-146.0,316.1,-8.5,232,3614,0.00,2.55,0.00,0.000,4,0.000,0.038,2760,3347,3599,0,0,0,0,0,0
$GC,3642,-1.04,-146.0,319.0,-8.8,232,3648,0.00,2.62,0.00,0.000,6,0.000,0.041,2760,1760,3598,0,0,0,0,0,0
$GC,3893,-1.04,-146.0,339.8,-8.3,239,3898,0.00,2.83,0.00,0.000,4,0.000,0.100,2760,185,3598,0,0,0,0,0,0
$GC,3920,-1.04,-146.0,342.1,-8.2,239,3924,0.00,2.45,0.00,0.000,6,0.000,0.025,2760,1748,3598,0,0,0,0,0,0
$GC,4176,-1.04,-146.0,361.2,-7.5,246,4181,0.00,2.62,0.00,0.000,4,0.000,0.052,2760,3355,3597,0,0,0,0,0,0
$GC,4215,-1.04,-146.0,364.3,-7.6,247,4220,0.00,2.67,0.00,0.000,6,0.000,0.051,2760,1766,3597,0,0,0,0,0,0
$GC,4500,-1.04,-146.0,387.9,-8.4,254,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1766,3595,0,0,0,0,0,0
$GC,4742,-1.04,-146.0,408.4,-8.4,260,4747,0.00,2.92,0.00,0.000,4,0.000,0.107,2760,181,3594,0,0,0,0,0,0
$GC,4797,-1.04,-146.0,413.4,-8.8,261,4801,0.00,2.53,0.00,0.000,6,0.000,0.033,2760,1765,3593,0,0,0,0,0,0
$GC,5065,-1.04,-146.0,434.9,-8.1,268,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1765,3593,0,0,0,0,0,0
$GC,5308,-1.04,-146.0,452.8,-7.0,274,5312,0.00,2.67,0.00,0.000,4,0.000,0.067,2760,3356,3591,0,0,0,0,0,0
$GC,5341,-1.08,-146.0,455.1,-7.1,274,5347,0.00,2.72,0.00,0.000,6,0.000,0.061,2760,1768,3591,0,0,0,0,0,0
$GC,5592,-1.08,-146.0,471.9,-6.8,281,5597,0.00,2.97,0.00,0.000,4,0.000,0.119,2760,186,3589,0,0,0,0,0,0
$GC,5625,-1.08,-146.0,474.6,-7.3,281,5630,0.00,2.55,0.00,0.000,6,0.000,0.042,2760,1763,3588,0,0,0,0,0,0
$GC,5875,-1.08,-146.0,492.5,-7.1,288,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1763,3587,0,0,0,0,0,0
$STATE,5994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5994,begin apogee
$GC,6001,-0.31,0.0,501.2,7.2,291,6123,0.75,0.00,118.78,0.916,6,0.078,0.000,2930,1830,3000,0,0,0,0,0,0
$STATE,6124,end apogee,CONTROL_FINISHED_OK
$STATE,6124,begin climb
$GC,6127,1.06,146.0,504.8,0.0,294,6260,1.25,2.80,123.78,0.893,4,0.059,0.079,3234,3396,2404,0,0,0,0,0,0
$GC,6312,0.91,146.0,499.7,8.4,298,6317,0.17,2.72,0.00,0.000,6,0.117,0.057,3200,1820,2399,0,0,0,0,0,0
$GC,6574,0.88,184.3,481.8,6.6,305,6609,0.00,0.00,33.30,0.866,6,0.000,0.000,3200,1821,2248,0,0,0,0,0,0
$GC,6855,0.85,215.4,462.6,6.9,311,6890,0.00,3.10,27.67,0.858,4,0.000,0.109,3199,235,2121,0,0,0,0,0,0
$GC,6902,0.78,236.6,459.1,7.2,312,6928,0.15,2.62,19.75,0.831,6,0.120,0.031,3170,1823,2036,0,0,0,0,0,0
$GC,7180,0.81,260.4,439.6,7.1,319,7209,0.00,2.80,21.67,0.839,4,0.000,0.059,3170,3410,1938,0,0,0,0,0,0
$GC,7238,0.87,260.4,435.0,8.2,320,7242,0.00,2.67,0.00,0.000,6,0.000,0.056,3170,1838,1936,0,0,0,0,0,0
$GC,7505,0.87,260.4,412.0,9.0,327,7510,0.00,2.95,0.00,0.000,4,0.000,0.100,3170,232,1933,0,0,0,0,0,0
$GC,7554,0.87,260.4,406.8,10.5,328,7558,0.00,2.60,0.00,0.000,6,0.000,0.029,3170,1843,1932,0,0,0,0,0,0
$GC,7826,0.87,260.4,383.7,8.3,335,7831,0.00,2.85,0.00,0.000,4,0.000,0.082,3170,233,1931,0,0,0,0,0,0
$GC,7877,0.87,260.4,379.0,9.7,336,7881,0.00,2.55,0.00,0.000,6,0.000,0.027,3170,1831,1930,0,0,0,0,0,0
$GC,8149,0.93,275.3,357.9,7.5,343,8169,0.12,2.65,13.25,0.779,4,0.084,0.042,3206,3404,1877,0,0,0,0,0,0
$GC,8213,0.93,275.3,352.4,9.2,344,8218,0.00,2.65,0.00,0.000,6,0.000,0.050,3206,1819,1876,0,0,0,0,0,0
$GC,8476,0.94,288.1,332.4,7.5,351,8496,0.00,2.90,12.27,0.756,4,0.000,0.084,3205,243,1825,0,0,0,0,0,0
$GC,8524,0.88,288.1,328.1,9.5,352,8528,0.00,2.53,0.00,0.000,6,0.000,0.021,3206,1833,1824,0,0,0,0,0,0
$GC,8801,0.88,288.1,305.9,8.1,359,8805,0.00,2.55,0.00,0.000,4,0.000,0.038,3206,3396,1823,0,0,0,0,0,0
$GC,8828,0.88,288.1,303.6,8.5,359,8832,0.00,2.58,0.00,0.000,6,0.000,0.037,3206,1817,1821,0,0,0,0,0,0
$GC,9078,0.88,288.1,281.3,9.1,365,9082,0.00,2.75,0.00,0.000,4,0.000,0.076,3206,239,1821,0,0,0,0,0,0
$GC,9093,0.88,288.1,279.7,9.8,365,9097,0.00,2.45,0.00,0.000,6,0.000,0.021,3206,1828,1820,0,0,0,0,0,0
$GC,9355,0.88,288.1,256.1,8.7,372,9359,0.00,2.53,0.00,0.000,4,0.000,0.034,3206,3386,1820,0,0,0,0,0,0
$GC,9377,0.88,288.1,254.2,8.0,372,9381,0.00,2.58,0.00,0.000,6,0.000,0.035,3206,1809,1819,0,0,0,0,0,0
$GC,9632,0.88,288.1,233.1,8.5,379,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1809,1820,0,0,0,0,0,0
$GC,9877,0.88,288.1,209.9,9.8,385,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1809,1819,0,0,0,0,0,0
$GC,10129,0.88,288.1,186.5,8.9,400,10133,0.00,2.53,0.00,0.000,4,0.000,0.035,3206,3388,1819,0,0,0,0,0,0
$GC,10145,0.88,288.1,184.7,9.0,401,10150,0.00,2.53,0.00,0.000,6,0.000,0.039,3206,1815,1819,0,0,0,0,0,0
$GC,10409,0.91,307.7,164.1,7.3,425,10429,0.00,0.00,17.65,0.637,6,0.000,0.000,3206,1815,1745,0,0,0,0,0,0
$GC,10686,0.93,326.9,144.3,7.3,451,10711,0.00,2.55,17.90,0.615,4,0.000,0.034,3205,3393,1667,0,0,0,0,0,0
$GC,10739,1.00,326.9,140.1,8.4,455,10744,0.00,2.58,0.00,0.000,6,0.000,0.041,3206,1814,1666,0,0,0,0,0,0
$GC,11006,1.05,326.9,116.8,8.2,479,11011,0.10,2.72,0.00,0.000,4,0.097,0.070,3234,244,1665,0,0,0,0,0,0
$GC,11048,1.00,326.9,112.1,10.7,482,11052,0.00,2.45,0.00,0.000,6,0.000,0.023,3234,1826,1664,0,0,0,0,0,0
$GC,11311,1.02,342.3,90.2,7.4,506,11330,0.00,2.50,14.23,0.559,4,0.000,0.029,3234,3393,1604,0,0,0,0,0,0
$GC,11384,1.13,370.5,85.2,7.0,511,11418,0.00,2.53,25.08,0.571,6,0.000,0.039,3234,1842,1489,0,0,0,0,0,0
$GC,11677,1.21,407.0,64.7,6.7,538,11719,0.12,2.83,32.00,0.555,4,0.077,0.066,3270,240,1342,0,0,0,0,0,0
$GC,11750,1.16,407.0,58.6,10.1,543,11754,0.00,2.53,0.00,0.000,6,0.000,0.018,3270,1864,1340,0,0,0,0,0,0
$GC,12020,1.11,407.0,27.6,12.4,568,12029,0.12,0.00,0.00,0.000,6,0.114,0.000,3244,1867,1340,0,0,0,0,0,0
$STATE,12244,end climb,SURFACE_DEPTH_REACHED
$STATE,12245,begin surface coast
$FINISH,0.3,1.023314
$STATE,12287,end surface coast,CONTROL_FINISHED_OK
$STATE,12287,begin surface
$SM_CCo,12308,16.92,0.183,1,0,1287,420.20
$SM_GC,0.95,0.00,0.00,16.92,0.000,0.000,0.183,475,1749,1287,-11.62,-0.59,420.20
$IRIDIUM_FIX,2239.35,-15747.62,151199,111126
$TT8_MAMPS,0.025311
$HUMID,42.04
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.80
$XPDR_PINGS,63
$24V_AH,23.5,9.871
$10V_AH,10.5,8.915
$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,26.725,162.425,477.325,16.925,0.000,31.254,39.209,164.873,15.750,0.000,12.632,1208.204,8181.120,550.819,2207.723,550.535,33.347,1402.371,0.000,2213.973,0.000,0.536,0.000
$DEVICE_MAMPS,158.002,121.953,915.798,182.546,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,409.247,374.368,462.273,852.333,1289.182,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,47770,606
$CAP_FILE_SIZE,127544,0
$CFSIZE,260165632,180363264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210810,181930,2248.652,-15743.870,67,1.2,67,10.1