version: 66.06
glider: 146
mission: 5
dive: 61
start: 8 24 110 9 1 20
data:
$ID,146
$MISSION,5
$DIVE,61
$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,-248391.59
$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,22
$R_STBD_OVSHOOT,65
$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
$GPS1,085431,2250.963,-15755.311,37,2.0,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-66.6
$GPS2,090025,2250.930,-15755.313,9,1.8,14,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.103,0.217
$KALMAN_X,-47676.8,289.5,224.8,73485.8,-1265.7
$KALMAN_Y,18644.9,432.7,513.8,110694.1,-2211.8
$MHEAD_RNG_PITCHd_Wd,15.3,13104,-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,-146.0,0.0,0.0,0,111,0.00,0.00,-93.72,0.000,2,0.000,0.000,476,1773,3561,0,0,0,0,0,0
$GC,115,-1.06,-146.0,4.7,-6.7,12,133,12.20,2.47,-0.57,0.000,4,0.163,0.044,2759,3340,3597,0,0,0,0,0,0
$GC,204,-0.95,-146.0,31.6,-14.2,24,214,0.12,2.58,0.00,0.000,6,0.093,0.033,2789,1770,3599,0,0,0,0,0,0
$GC,471,-0.84,-146.0,64.7,-12.1,49,477,0.12,2.72,0.00,0.000,4,0.120,0.064,2815,191,3599,0,0,0,0,0,0
$GC,529,-0.84,-146.0,72.2,-11.1,53,534,0.00,2.35,0.00,0.000,6,0.000,0.015,2815,1762,3599,0,0,0,0,0,0
$GC,796,-0.84,-146.0,98.2,-9.5,77,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1763,3599,0,0,0,0,0,0
$GC,1058,-0.84,-146.0,122.0,-8.6,102,1062,0.00,2.67,0.00,0.000,4,0.000,0.064,2815,190,3599,0,0,0,0,0,0
$GC,1102,-0.89,-146.0,125.4,-8.3,105,1106,0.00,2.33,0.00,0.000,6,0.000,0.021,2815,1753,3600,0,0,0,0,0,0
$GC,1370,-0.89,-146.0,142.2,-5.8,129,1374,0.00,2.47,0.00,0.000,4,0.000,0.034,2815,3318,3600,0,0,0,0,0,0
$GC,1415,-0.98,-146.0,145.3,-6.0,132,1424,0.10,2.55,0.00,0.000,6,0.040,0.036,2768,1743,3600,0,0,0,0,0,0
$GC,1680,-0.91,-146.0,168.1,-9.3,157,1685,0.15,2.65,0.00,0.000,4,0.098,0.066,2802,193,3601,0,0,0,0,0,0
$GC,1725,-0.91,-146.0,172.6,-8.6,160,1731,0.00,2.30,0.00,0.000,6,0.000,0.020,2802,1746,3601,0,0,0,0,0,0
$GC,1989,-0.91,-146.0,192.0,-7.3,185,1994,0.00,2.42,0.00,0.000,4,0.000,0.030,2802,3311,3601,0,0,0,0,0,0
$GC,2024,-0.97,-146.0,194.9,-7.8,187,2030,0.00,2.50,0.00,0.000,6,0.000,0.033,2802,1739,3601,0,0,0,0,0,0
$GC,2297,-0.97,-146.0,217.9,-8.8,199,2301,0.00,2.67,0.00,0.000,4,0.000,0.071,2802,189,3600,0,0,0,0,0,0
$GC,2319,-0.97,-146.0,219.9,-8.9,199,2323,0.00,2.30,0.00,0.000,6,0.000,0.018,2802,1740,3600,0,0,0,0,0,0
$GC,2574,-1.01,-146.0,241.5,-8.3,206,2578,0.00,2.45,0.00,0.000,4,0.000,0.032,2802,3313,3600,0,0,0,0,0,0
$GC,2603,-1.07,-146.0,243.7,-7.9,206,2608,0.15,2.53,0.00,0.000,6,0.064,0.038,2751,1736,3600,0,0,0,0,0,0
$GC,2854,-1.01,-146.0,267.9,-9.8,212,2856,0.12,0.00,0.00,0.000,6,0.107,0.000,2778,1736,3600,0,0,0,0,0,0
$GC,3096,-1.01,-146.0,285.4,-7.0,218,3101,0.00,2.50,0.00,0.000,4,0.000,0.032,2778,3304,3599,0,0,0,0,0,0
$GC,3124,-1.01,-146.0,287.3,-6.6,218,3128,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,1745,3599,0,0,0,0,0,0
$GC,3375,-1.01,-146.0,302.7,-6.3,224,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1745,3599,0,0,0,0,0,0
$GC,3617,-1.01,-146.0,321.8,-8.1,230,3621,0.00,2.53,0.00,0.000,4,0.000,0.038,2778,3310,3598,0,0,0,0,0,0
$GC,3644,-1.06,-146.0,324.3,-8.9,230,3649,0.00,2.55,0.00,0.000,6,0.000,0.049,2779,1756,3598,0,0,0,0,0,0
$GC,3894,-1.06,-146.0,343.7,-7.6,236,3899,0.00,2.83,0.00,0.000,4,0.000,0.097,2779,186,3596,0,0,0,0,0,0
$GC,3921,-1.06,-146.0,345.8,-7.6,236,3925,0.00,2.38,0.00,0.000,6,0.000,0.029,2778,1710,3596,0,0,0,0,0,0
$GC,4171,-1.10,-146.0,363.8,-7.4,242,4176,0.00,2.60,0.00,0.000,4,0.000,0.050,2778,3303,3595,0,0,0,0,0,0
$GC,4216,-1.18,-146.0,367.6,-8.2,243,4221,0.15,2.58,0.00,0.000,6,0.064,0.056,2726,1758,3595,0,0,0,0,0,0
$GC,4495,-1.12,-146.0,395.2,-9.9,250,4497,0.15,0.00,0.00,0.000,6,0.105,0.000,2758,1758,3594,0,0,0,0,0,0
$GC,4737,-1.12,-146.0,412.5,-6.8,256,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1758,3592,0,0,0,0,0,0
$GC,4982,-1.12,-146.0,429.4,-7.0,262,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1758,3591,0,0,0,0,0,0
$GC,5225,-1.12,-146.0,447.6,-7.5,268,5229,0.00,2.58,0.00,0.000,4,0.000,0.058,2758,3292,3589,0,0,0,0,0,0
$GC,5257,-1.16,-146.0,450.3,-8.1,268,5263,0.00,2.65,0.00,0.000,6,0.000,0.062,2758,1756,3589,0,0,0,0,0,0
$GC,5507,-1.16,-146.0,469.5,-7.6,275,5512,0.00,3.00,0.00,0.000,4,0.000,0.122,2758,185,3587,0,0,0,0,0,0
$GC,5530,-1.16,-146.0,471.1,-7.2,275,5534,0.00,2.45,0.00,0.000,6,0.000,0.037,2758,1695,3587,0,0,0,0,0,0
$GC,5785,-1.16,-146.0,486.8,-5.9,282,5790,0.00,2.75,0.00,0.000,4,0.000,0.072,2758,3295,3585,0,0,0,0,0,0
$GC,5829,-1.22,-146.0,489.6,-6.5,283,5834,0.12,2.62,0.00,0.000,6,0.074,0.061,2719,1754,3585,0,0,0,0,0,0
$STATE,5983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5983,begin apogee
$GC,5989,-0.31,0.0,501.4,7.8,287,6111,0.95,0.00,118.47,0.924,6,0.081,0.000,2932,1754,3001,0,0,0,0,0,0
$STATE,6112,end apogee,CONTROL_FINISHED_OK
$STATE,6112,begin climb
$GC,6115,1.06,146.0,504.2,0.0,290,6249,1.27,2.75,123.62,0.900,4,0.048,0.056,3240,3348,2405,0,0,0,0,0,0
$GC,6267,0.93,175.9,501.1,6.9,294,6302,0.17,2.67,26.52,0.854,6,0.114,0.058,3206,1820,2284,0,0,0,0,0,0
$GC,6555,0.86,193.3,480.3,7.4,301,6576,0.00,2.60,15.43,0.827,4,0.000,0.045,3206,3347,2212,0,0,0,0,0,0
$GC,6594,0.80,205.5,477.0,7.6,302,6614,0.15,2.65,12.07,0.797,6,0.118,0.064,3177,1819,2163,0,0,0,0,0,0
$GC,6881,0.80,205.5,454.0,8.1,309,6886,0.00,3.03,0.00,0.000,4,0.000,0.120,3176,231,2157,0,0,0,0,0,0
$GC,6923,0.74,205.5,450.4,9.3,310,6927,0.00,2.47,0.00,0.000,6,0.000,0.032,3176,1753,2156,0,0,0,0,0,0
$GC,7206,0.77,235.0,429.9,6.9,317,7239,0.00,2.72,26.27,0.854,4,0.000,0.054,3176,3347,2041,0,0,0,0,0,0
$GC,7305,0.79,245.5,422.9,7.6,319,7320,0.00,2.60,10.25,0.778,6,0.000,0.055,3176,1822,2000,0,0,0,0,0,0
$GC,7576,0.82,270.0,403.3,7.1,326,7601,0.00,0.00,22.95,0.838,6,0.000,0.000,3176,1823,1900,0,0,0,0,0,0
$GC,7820,0.82,275.4,384.7,7.8,332,7831,0.00,2.92,5.68,0.657,4,0.000,0.091,3176,233,1877,0,0,0,0,0,0
$GC,7865,0.82,275.4,380.7,8.9,333,7869,0.00,2.47,0.00,0.000,6,0.000,0.025,3176,1791,1876,0,0,0,0,0,0
$GC,8142,0.83,277.3,359.0,7.9,340,8147,0.00,2.62,0.00,0.000,4,0.000,0.040,3176,3397,1874,0,0,0,0,0,0
$GC,8176,0.89,277.3,356.2,8.1,340,8182,0.00,2.62,0.00,0.000,6,0.000,0.048,3177,1833,1873,0,0,0,0,0,0
$GC,8426,0.90,285.5,336.5,7.7,347,8441,0.00,2.90,9.62,0.744,4,0.000,0.087,3177,236,1836,0,0,0,0,0,0
$GC,8486,0.90,285.5,331.4,8.5,348,8490,0.00,2.55,0.00,0.000,6,0.000,0.027,3176,1833,1835,0,0,0,0,0,0
$GC,8748,0.97,306.4,312.5,7.2,355,8771,0.15,0.00,19.95,0.779,6,0.078,0.000,3214,1834,1750,0,0,0,0,0,0
$GC,8990,0.97,306.4,289.9,9.5,361,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1834,1746,0,0,0,0,0,0
$GC,9234,0.97,306.4,268.4,8.7,367,9238,0.00,2.50,0.00,0.000,4,0.000,0.039,3215,3398,1745,0,0,0,0,0,0
$GC,9249,0.97,306.4,267.0,8.4,367,9254,0.00,2.55,0.00,0.000,6,0.000,0.037,3215,1832,1744,0,0,0,0,0,0
$GC,9517,0.97,306.4,244.2,8.9,374,9522,0.00,2.78,0.00,0.000,4,0.000,0.071,3214,244,1743,0,0,0,0,0,0
$GC,9550,0.90,306.4,240.3,12.0,374,9556,0.00,2.50,0.00,0.000,6,0.000,0.020,3214,1855,1743,0,0,0,0,0,0
$GC,9799,0.90,306.4,213.3,10.9,381,9804,0.00,2.42,0.00,0.000,4,0.000,0.038,3215,3390,1743,0,0,0,0,0,0
$GC,9822,0.90,306.4,210.9,10.8,381,9827,0.00,2.50,0.00,0.000,6,0.000,0.035,3215,1833,1742,0,0,0,0,0,0
$GC,10087,0.91,311.2,187.4,7.8,397,10098,0.00,2.78,4.18,0.469,4,0.000,0.066,3214,239,1732,0,0,0,0,0,0
$GC,10110,0.91,311.2,185.0,8.8,399,10114,0.00,2.47,0.00,0.000,6,0.000,0.025,3215,1849,1731,0,0,0,0,0,0
$GC,10373,0.91,311.2,164.0,8.1,423,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1850,1731,0,0,0,0,0,0
$GC,10629,0.92,321.2,143.9,7.6,447,10645,0.00,2.78,10.52,0.587,4,0.000,0.062,3215,242,1691,0,0,0,0,0,0
$GC,10663,0.93,326.7,141.4,7.8,449,10677,0.00,2.45,6.88,0.531,6,0.000,0.018,3214,1837,1667,0,0,0,0,0,0
$GC,10942,0.93,326.7,117.7,9.0,475,10947,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1838,1667,0,0,0,0,0,0
$GC,11205,0.97,326.7,93.6,8.5,500,11209,0.00,2.42,0.00,0.000,4,0.000,0.033,3215,3382,1666,0,0,0,0,0,0
$GC,11234,1.05,326.7,91.0,8.4,502,11238,0.00,2.53,0.00,0.000,6,0.000,0.038,3215,1818,1666,0,0,0,0,0,0
$GC,11502,1.11,337.0,70.7,7.6,526,11520,0.12,2.78,10.25,0.524,4,0.079,0.061,3253,240,1625,0,0,0,0,0,0
$GC,11556,1.06,337.0,65.3,11.0,530,11560,0.00,2.45,0.00,0.000,6,0.000,0.018,3253,1830,1625,0,0,0,0,0,0
$GC,11823,1.06,337.0,40.8,9.1,554,11828,0.00,2.45,0.00,0.000,4,0.000,0.026,3253,3386,1625,0,0,0,0,0,0
$GC,11844,1.06,337.0,38.7,8.4,555,11848,0.00,2.55,0.00,0.000,6,0.000,0.033,3253,1815,1624,0,0,0,0,0,0
$GC,12150,1.06,337.0,12.7,8.6,594,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1815,1624,0,0,0,0,0,0
$STATE,12234,end climb,SURFACE_DEPTH_REACHED
$STATE,12234,begin surface coast
$FINISH,0.3,1.023266
$STATE,12284,end surface coast,CONTROL_FINISHED_OK
$STATE,12284,begin surface
$SM_CCo,12305,74.03,0.446,1,0,1288,420.20
$SM_GC,0.94,0.00,0.00,74.03,0.000,0.000,0.446,477,1737,1288,-11.61,-0.93,420.20
$IRIDIUM_FIX,2241.69,-15754.11,181199,050514
$TT8_MAMPS,0.026078
$HUMID,41.80
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.60
$XPDR_PINGS,55
$24V_AH,23.5,12.248
$10V_AH,10.4,11.336
$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,27.375,155.075,422.675,74.025,0.000,27.569,33.232,153.922,13.750,0.000,15.955,1227.839,8166.742,601.825,2214.772,526.818,33.374,1411.881,0.000,2216.053,0.000,0.536,0.000
$DEVICE_MAMPS,162.604,124.254,924.235,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,414.996,378.207,470.730,868.434,1313.304,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,47903,613
$CAP_FILE_SIZE,127779,0
$CFSIZE,260165632,179200000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240810,122906,2251.565,-15755.328,34,1.1,39,10.1