version: 66.06
glider: 146
mission: 5
dive: 60
start: 8 24 110 5 19 55
data:
$ID,146
$MISSION,5
$DIVE,60
$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,-248375.02
$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,46
$R_STBD_OVSHOOT,81
$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
$GPS1,051328,2249.550,-15755.078,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.2
$GPS2,051903,2249.566,-15755.072,10,99.0,29,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.026,0.259
$KALMAN_X,-46340.7,127.1,-213.2,73161.1,-301.2
$KALMAN_Y,19488.8,549.8,253.8,107465.4,-885.3
$MHEAD_RNG_PITCHd_Wd,355.6,15621,-12.5,-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,16,-0.96,-146.0,0.0,0.0,0,105,0.00,0.00,-86.25,0.000,2,0.000,0.000,476,1746,3517,0,0,0,0,0,0
$GC,108,-0.96,-146.0,4.8,-7.1,11,134,12.15,2.55,-1.33,0.000,4,0.156,0.047,2778,3310,3602,0,0,0,0,0,0
$GC,191,-0.82,-146.0,29.5,-14.4,22,201,0.15,2.50,0.00,0.000,6,0.091,0.035,2815,1797,3603,0,0,0,0,0,0
$GC,458,-0.71,-146.0,59.1,-10.8,47,463,0.15,2.80,0.00,0.000,4,0.104,0.069,2847,185,3602,0,0,0,0,0,0
$GC,529,-0.71,-146.0,66.0,-8.9,52,534,0.00,2.35,0.00,0.000,6,0.000,0.015,2847,1764,3603,0,0,0,0,0,0
$GC,792,-0.71,-146.0,84.9,-7.0,76,796,0.00,2.40,0.00,0.000,4,0.000,0.024,2847,3310,3603,0,0,0,0,0,0
$GC,822,-0.71,-146.0,87.1,-6.9,78,827,0.00,2.50,0.00,0.000,6,0.000,0.028,2847,1750,3603,0,0,0,0,0,0
$GC,1085,-0.71,-146.0,106.4,-8.1,102,1089,0.00,2.62,0.00,0.000,4,0.000,0.070,2847,197,3603,0,0,0,0,0,0
$GC,1129,-0.71,-146.0,110.1,-9.1,105,1134,0.00,2.30,0.00,0.000,6,0.000,0.019,2848,1756,3603,0,0,0,0,0,0
$GC,1398,-0.75,-146.0,130.2,-6.9,129,1402,0.00,2.67,0.00,0.000,4,0.000,0.066,2847,190,3604,0,0,0,0,0,0
$GC,1438,-0.84,-146.0,133.7,-7.8,132,1443,0.15,2.30,0.00,0.000,6,0.065,0.024,2797,1733,3604,0,0,0,0,0,0
$GC,1700,-0.79,-146.0,156.0,-7.9,156,1705,0.15,2.45,0.00,0.000,4,0.098,0.025,2832,3304,3604,0,0,0,0,0,0
$GC,1745,-0.87,-146.0,159.2,-6.7,159,1754,0.08,2.53,0.00,0.000,6,0.041,0.031,2787,1746,3604,0,0,0,0,0,0
$GC,2010,-0.81,-146.0,181.3,-8.9,184,2015,0.17,2.70,0.00,0.000,4,0.090,0.073,2827,190,3604,0,0,0,0,0,0
$GC,2067,-0.87,-146.0,186.3,-8.2,188,2073,0.00,2.30,0.00,0.000,6,0.000,0.017,2827,1726,3604,0,0,0,0,0,0
$GC,2337,-0.87,-146.0,206.2,-7.5,208,2341,0.00,2.47,0.00,0.000,4,0.000,0.029,2827,3314,3604,0,0,0,0,0,0
$GC,2370,-0.93,-146.0,208.8,-7.4,208,2376,0.12,2.53,0.00,0.000,6,0.072,0.028,2780,1729,3604,0,0,0,0,0,0
$GC,2621,-0.87,-146.0,231.5,-9.2,215,2623,0.15,0.00,0.00,0.000,6,0.098,0.000,2814,1728,3604,0,0,0,0,0,0
$GC,2863,-0.87,-146.0,249.6,-7.4,221,2868,0.00,2.62,0.00,0.000,4,0.000,0.071,2814,196,3603,0,0,0,0,0,0
$GC,2897,-0.87,-146.0,252.5,-8.2,221,2902,0.00,2.30,0.00,0.000,6,0.000,0.016,2814,1731,3603,0,0,0,0,0,0
$GC,3148,-0.87,-146.0,272.5,-8.0,228,3152,0.00,2.50,0.00,0.000,4,0.000,0.036,2814,3327,3603,0,0,0,0,0,0
$GC,3180,-0.92,-146.0,275.3,-8.1,228,3186,0.00,2.55,0.00,0.000,6,0.000,0.040,2814,1737,3603,0,0,0,0,0,0
$GC,3432,-0.92,-146.0,291.1,-6.1,235,3436,0.00,2.70,0.00,0.000,4,0.000,0.084,2814,186,3602,0,0,0,0,0,0
$GC,3460,-0.96,-146.0,292.8,-5.8,235,3465,0.10,2.33,0.00,0.000,6,0.082,0.022,2776,1716,3602,0,0,0,0,0,0
$GC,3711,-0.92,-146.0,310.7,-7.4,241,3716,0.10,2.58,0.00,0.000,4,0.118,0.042,2798,3326,3602,0,0,0,0,0,0
$GC,3751,-0.96,-146.0,313.6,-6.9,242,3755,0.00,2.58,0.00,0.000,6,0.000,0.044,2798,1742,3602,0,0,0,0,0,0
$GC,4035,-0.96,-146.0,333.9,-7.3,249,4040,0.00,2.75,0.00,0.000,4,0.000,0.091,2799,189,3601,0,0,0,0,0,0
$GC,4079,-1.01,-146.0,337.4,-8.2,250,4083,0.00,2.35,0.00,0.000,6,0.000,0.028,2798,1709,3601,0,0,0,0,0,0
$GC,4358,-1.01,-146.0,355.7,-6.6,257,4362,0.00,2.60,0.00,0.000,4,0.000,0.045,2798,3313,3600,0,0,0,0,0,0
$GC,4391,-1.07,-146.0,358.1,-6.6,257,4397,0.15,2.65,0.00,0.000,6,0.067,0.054,2751,1732,3600,0,0,0,0,0,0
$GC,4641,-1.00,-146.0,377.5,-7.8,264,4647,0.12,2.80,0.00,0.000,4,0.105,0.102,2780,187,3598,0,0,0,0,0,0
$GC,4682,-1.00,-146.0,380.7,-8.1,265,4686,0.00,2.38,0.00,0.000,6,0.000,0.035,2780,1697,3598,0,0,0,0,0,0
$GC,4965,-1.00,-146.0,401.3,-7.3,272,4970,0.00,2.67,0.00,0.000,4,0.000,0.054,2780,3310,3597,0,0,0,0,0,0
$GC,5026,-1.05,-146.0,405.7,-7.1,273,5031,0.00,2.67,0.00,0.000,6,0.000,0.057,2780,1732,3596,0,0,0,0,0,0
$GC,5288,-1.05,-146.0,423.4,-6.7,280,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1732,3595,0,0,0,0,0,0
$GC,5530,-1.05,-146.0,439.0,-6.4,286,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1732,3593,0,0,0,0,0,0
$GC,5774,-1.05,-146.0,454.3,-6.3,292,5779,0.00,2.65,0.00,0.000,4,0.000,0.051,2780,3316,3592,0,0,0,0,0,0
$GC,5825,-1.11,-146.0,457.5,-6.1,293,5830,0.00,2.72,0.00,0.000,6,0.000,0.066,2780,1730,3592,0,0,0,0,0,0
$GC,6097,-1.11,-146.0,474.6,-6.2,300,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1730,3590,0,0,0,0,0,0
$GC,6341,-1.11,-146.0,490.0,-6.3,306,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1730,3588,0,0,0,0,0,0
$STATE,6502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6502,begin apogee
$GC,6510,-0.31,0.0,501.0,6.8,310,6632,0.65,0.00,119.05,0.924,6,0.075,0.000,2930,1794,3001,0,0,0,0,0,0
$STATE,6633,end apogee,CONTROL_FINISHED_OK
$STATE,6633,begin climb
$GC,6635,0.96,146.0,505.1,0.0,313,6769,1.17,2.80,123.62,0.895,4,0.046,0.056,3214,3378,2404,0,0,0,0,0,0
$GC,6833,0.84,171.9,499.7,7.2,318,6863,0.15,2.75,22.85,0.847,6,0.117,0.061,3186,1814,2300,0,0,0,0,0,0
$GC,7123,0.76,173.1,477.4,8.0,325,7128,0.00,3.08,0.00,0.000,4,0.000,0.124,3185,230,2291,0,0,0,0,0,0
$GC,7157,0.60,173.1,474.1,9.5,325,7163,0.25,2.58,0.00,0.000,6,0.110,0.037,3135,1796,2290,0,0,0,0,0,0
$GC,7407,0.67,226.2,457.7,6.4,332,7461,0.00,2.85,47.05,0.874,4,0.000,0.059,3135,3412,2076,0,0,0,0,0,0
$GC,7487,0.78,270.1,452.7,6.7,333,7534,0.15,2.75,39.45,0.858,6,0.084,0.057,3170,1815,1899,0,0,0,0,0,0
$GC,7779,0.79,279.0,429.8,7.7,341,7789,0.00,0.00,8.23,0.737,6,0.000,0.000,3170,1815,1863,0,0,0,0,0,0
$GC,8020,0.79,279.0,410.3,8.0,347,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1815,1859,0,0,0,0,0,0
$GC,8265,0.79,279.0,389.5,8.6,353,8270,0.00,2.90,0.00,0.000,4,0.000,0.100,3170,227,1857,0,0,0,0,0,0
$GC,8292,0.73,279.0,386.7,10.0,353,8297,0.00,2.55,0.00,0.000,6,0.000,0.027,3170,1825,1856,0,0,0,0,0,0
$GC,8542,0.73,279.0,364.8,8.9,359,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1825,1855,0,0,0,0,0,0
$GC,8787,0.73,279.0,342.9,8.9,365,8792,0.00,2.83,0.00,0.000,4,0.000,0.078,3170,229,1855,0,0,0,0,0,0
$GC,8808,0.73,279.0,340.9,9.0,365,8812,0.00,2.53,0.00,0.000,6,0.000,0.028,3170,1819,1853,0,0,0,0,0,0
$GC,9064,0.76,303.1,322.1,7.3,372,9087,0.00,0.00,21.23,0.787,6,0.000,0.000,3170,1819,1765,0,0,0,0,0,0
$GC,9307,0.77,308.3,303.3,7.9,378,9315,0.00,0.00,5.50,0.615,6,0.000,0.000,3170,1820,1744,0,0,0,0,0,0
$GC,9553,0.78,319.6,284.5,7.7,384,9571,0.00,2.88,11.68,0.717,4,0.000,0.075,3170,230,1697,0,0,0,0,0,0
$GC,9589,0.78,319.6,281.3,8.9,384,9595,0.00,2.47,0.00,0.000,6,0.000,0.025,3170,1813,1696,0,0,0,0,0,0
$GC,9839,0.81,342.4,262.8,7.3,391,9865,0.00,2.58,20.65,0.729,4,0.000,0.034,3170,3394,1604,0,0,0,0,0,0
$GC,9883,0.90,367.7,259.5,7.2,392,9913,0.10,2.65,23.55,0.721,6,0.087,0.035,3200,1784,1501,0,0,0,0,0,0
$GC,10165,0.90,367.7,232.1,10.0,399,10169,0.00,2.70,0.00,0.000,4,0.000,0.074,3200,241,1496,0,0,0,0,0,0
$GC,10215,0.90,367.7,226.6,10.7,400,10220,0.00,2.40,0.00,0.000,6,0.000,0.023,3199,1794,1496,0,0,0,0,0,0
$GC,10487,0.90,367.7,201.8,9.0,407,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1795,1495,0,0,0,0,0,0
$GC,10742,0.90,367.7,178.0,9.6,428,10743,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1796,1495,0,0,0,0,0,0
$GC,10995,0.90,367.7,154.9,8.3,452,11000,0.00,2.65,0.00,0.000,4,0.000,0.064,3200,240,1495,0,0,0,0,0,0
$GC,11040,0.90,367.7,150.7,9.5,455,11046,0.00,2.35,0.00,0.000,6,0.000,0.025,3200,1784,1495,0,0,0,0,0,0
$GC,11304,0.90,367.7,128.8,8.8,480,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1786,1495,0,0,0,0,0,0
$GC,11555,0.90,367.7,104.6,9.1,504,11560,0.00,2.62,0.00,0.000,4,0.000,0.063,3199,239,1495,0,0,0,0,0,0
$GC,11602,0.90,367.7,100.5,10.6,507,11607,0.00,2.33,0.00,0.000,6,0.000,0.019,3200,1779,1495,0,0,0,0,0,0
$GC,11869,0.99,402.9,79.4,6.9,531,11908,0.00,0.00,30.90,0.571,6,0.000,0.000,3199,1781,1357,0,0,0,0,0,0
$GC,12165,1.13,454.1,59.9,6.4,559,12220,0.20,2.75,44.17,0.551,4,0.057,0.062,3254,230,1147,0,0,0,0,0,0
$GC,12263,1.07,454.1,50.3,12.3,566,12267,0.00,2.38,0.00,0.000,6,0.000,0.018,3254,1770,1146,0,0,0,0,0,0
$GC,12556,1.07,454.1,16.1,12.4,598,12565,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1771,1146,0,0,0,0,0,0
$STATE,12667,end climb,SURFACE_DEPTH_REACHED
$STATE,12667,begin surface coast
$FINISH,0.4,1.010440
$STATE,12719,end surface coast,CONTROL_FINISHED_OK
$STATE,12720,begin surface
$SM_CCo,12800,0.00,0.000,0,0,1144,455.52
$SM_GC,1.01,11.18,0.00,0.00,0.025,0.000,0.000,477,1771,1144,-11.51,0.03,455.52
$IRIDIUM_FIX,2241.69,-15754.99,181199,020234
$TT8_MAMPS,0.025311
$HUMID,42.36
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.60
$XPDR_PINGS,54
$24V_AH,23.5,12.123
$10V_AH,10.4,11.204
$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,27.600,144.800,517.925,0.000,0.000,29.098,27.498,135.204,13.500,0.000,31.869,1236.451,8552.681,568.152,2262.388,512.321,33.362,1427.519,0.000,2257.546,0.000,0.536,0.000
$DEVICE_MAMPS,155.701,124.254,924.235,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,419.177,381.114,470.708,871.563,1318.190,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,47992,621
$CAP_FILE_SIZE,128350,0
$CFSIZE,260165632,179265536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240810,085431,2250.963,-15755.311,37,2.0,37,10.1