version: 66.06
glider: 146
mission: 5
dive: 62
start: 8 24 110 12 36 3
data:
$ID,146
$MISSION,5
$DIVE,62
$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,-248409.05
$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,48
$R_STBD_OVSHOOT,62
$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
$GPS1,122906,2251.565,-15755.328,34,1.1,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.0
$GPS2,123508,2251.498,-15755.395,15,1.1,15,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.144,0.192
$KALMAN_X,-48887.5,235.5,60.6,74772.1,-1722.1
$KALMAN_Y,18161.2,30.1,-263.7,113406.5,-1092.5
$MHEAD_RNG_PITCHd_Wd,26.7,12061,-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,-146.0,0.0,0.0,0,104,0.00,0.00,-85.95,0.000,2,0.000,0.000,476,1736,3484,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.3,-6.3,11,133,12.30,2.58,-1.92,0.000,4,0.165,0.039,2760,3325,3601,1,0,0,0,0,0
$GC,145,0.27,-146.0,20.9,-36.1,15,155,1.30,2.53,0.00,0.000,6,0.097,0.033,3052,1797,3602,0,0,0,0,0,0
$GC,441,-0.24,-146.0,46.8,-10.1,49,446,0.43,2.42,0.00,0.000,4,0.061,0.025,2942,3334,3603,0,0,0,0,0,0
$GC,465,-0.65,-146.0,49.9,-10.2,50,475,0.35,2.55,0.00,0.000,6,0.048,0.028,2848,1764,3603,0,0,0,0,0,0
$GC,732,-0.82,-146.0,69.9,-7.0,75,737,0.12,2.47,0.00,0.000,4,0.071,0.025,2805,3335,3603,0,0,0,0,0,0
$GC,791,-0.82,-146.0,74.9,-8.9,79,795,0.00,2.28,0.00,0.000,6,0.000,0.027,2805,1896,3603,0,0,0,0,0,0
$GC,1057,-0.82,-146.0,100.2,-9.5,103,1061,0.00,2.90,0.00,0.000,4,0.000,0.067,2805,192,3604,0,0,0,0,0,0
$GC,1113,-0.86,-146.0,105.1,-8.1,107,1118,0.00,2.60,0.00,0.000,6,0.000,0.023,2805,1909,3604,0,0,0,0,0,0
$GC,1380,-0.86,-146.0,124.6,-6.6,131,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1910,3604,0,0,0,0,0,0
$GC,1642,-0.86,-146.0,144.4,-7.9,156,1647,0.00,2.92,0.00,0.000,4,0.000,0.068,2805,198,3604,0,0,0,0,0,0
$GC,1710,-0.92,-146.0,150.1,-9.1,161,1714,0.00,2.55,0.00,0.000,6,0.000,0.018,2805,1890,3604,0,0,0,0,0,0
$GC,1973,-0.92,-146.0,173.4,-8.5,185,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1892,3604,0,0,0,0,0,0
$GC,2225,-0.92,-146.0,192.3,-7.0,209,2230,0.00,2.90,0.00,0.000,4,0.000,0.069,2804,197,3604,0,0,0,0,0,0
$GC,2278,-0.99,-146.0,196.1,-7.6,213,2282,0.00,2.55,0.00,0.000,6,0.000,0.023,2805,1886,3604,0,0,0,0,0,0
$GC,2541,-1.03,-146.0,216.6,-7.9,223,2543,0.12,0.00,0.00,0.000,6,0.071,0.000,2760,1887,3604,0,0,0,0,0,0
$GC,2784,-0.97,-146.0,240.0,-9.6,229,2790,0.12,2.92,0.00,0.000,4,0.103,0.067,2787,199,3604,0,0,0,0,0,0
$GC,2818,-0.97,-146.0,243.1,-9.0,229,2824,0.00,2.58,0.00,0.000,6,0.000,0.025,2787,1872,3604,0,0,0,0,0,0
$GC,3068,-0.97,-146.0,264.7,-8.8,236,3073,0.00,2.90,0.00,0.000,4,0.000,0.075,2787,196,3603,0,0,0,0,0,0
$GC,3118,-1.02,-146.0,269.4,-9.1,237,3122,0.00,2.55,0.00,0.000,6,0.000,0.025,2787,1834,3603,0,0,0,0,0,0
$GC,3391,-1.02,-146.0,291.8,-8.0,244,3395,0.00,2.40,0.00,0.000,4,0.000,0.043,2787,3330,3603,0,0,0,0,0,0
$GC,3418,-1.08,-146.0,294.2,-8.2,244,3422,0.00,2.35,0.00,0.000,6,0.000,0.035,2787,1858,3603,0,0,0,0,0,0
$GC,3673,-1.08,-146.0,313.7,-7.6,251,3678,0.00,2.92,0.00,0.000,4,0.000,0.088,2787,199,3602,0,0,0,0,0,0
$GC,3724,-1.15,-146.0,317.7,-7.8,252,3729,0.17,2.53,0.00,0.000,6,0.058,0.024,2728,1817,3602,0,0,0,0,0,0
$GC,3997,-1.07,-146.0,345.3,-10.2,259,3999,0.17,0.00,0.00,0.000,6,0.097,0.000,2765,1817,3602,0,0,0,0,0,0
$GC,4240,-1.07,-146.0,365.5,-8.0,265,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1818,3600,0,0,0,0,0,0
$GC,4485,-1.07,-146.0,385.3,-8.2,271,4490,0.00,2.90,0.00,0.000,4,0.000,0.088,2765,199,3599,0,0,0,0,0,0
$GC,4524,-1.07,-146.0,389.0,-9.6,272,4528,0.00,2.65,0.00,0.000,6,0.000,0.034,2765,1838,3599,0,0,0,0,0,0
$GC,4806,-1.07,-146.0,413.7,-8.8,279,4811,0.00,2.95,0.00,0.000,4,0.000,0.094,2765,199,3598,0,0,0,0,0,0
$GC,4853,-1.11,-146.0,418.1,-10.1,280,4858,0.00,2.65,0.00,0.000,6,0.000,0.037,2765,1819,3597,0,0,0,0,0,0
$GC,5131,-1.11,-146.0,444.0,-8.9,287,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1820,3595,0,0,0,0,0,0
$GC,5376,-1.15,-146.0,462.6,-7.4,293,5380,0.00,2.95,0.00,0.000,4,0.000,0.094,2765,201,3594,0,0,0,0,0,0
$GC,5409,-1.15,-146.0,465.1,-7.2,293,5415,0.00,2.65,0.00,0.000,6,0.000,0.038,2765,1820,3594,0,0,0,0,0,0
$GC,5659,-1.15,-146.0,482.1,-6.8,300,5664,0.00,2.67,0.00,0.000,4,0.000,0.076,2765,3360,3591,0,0,0,0,0,0
$GC,5687,-1.21,-146.0,483.9,-6.5,300,5692,0.12,2.58,0.00,0.000,6,0.076,0.058,2727,1838,3591,0,0,0,0,0,0
$STATE,5893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5893,begin apogee
$GC,5900,-0.31,0.0,501.0,8.3,305,6023,0.90,0.00,119.35,0.911,6,0.079,0.000,2929,1837,3001,0,0,0,0,0,0
$STATE,6024,end apogee,CONTROL_FINISHED_OK
$STATE,6024,begin climb
$GC,6026,1.06,146.0,505.0,0.0,308,6159,1.25,2.75,123.15,0.889,4,0.059,0.053,3233,3416,2403,0,0,0,0,0,0
$GC,6287,0.93,146.0,493.8,8.3,314,6293,0.15,2.75,0.00,0.000,6,0.117,0.062,3204,1835,2397,0,0,0,0,0,0
$GC,6566,0.87,164.5,472.8,7.3,321,6587,0.00,2.67,15.57,0.825,4,0.000,0.045,3204,3415,2329,0,0,0,0,0,0
$GC,6616,0.80,166.2,468.9,8.0,322,6622,0.15,2.75,0.00,0.000,6,0.121,0.061,3175,1830,2327,0,0,0,0,0,0
$GC,6889,0.84,199.2,449.9,6.8,329,6922,0.00,0.00,31.25,0.859,6,0.000,0.000,3175,1829,2188,0,0,0,0,0,0
$GC,7133,0.88,227.1,433.1,7.0,335,7160,0.00,0.00,25.02,0.844,6,0.000,0.000,3175,1829,2075,0,0,0,0,0,0
$GC,7376,0.89,239.2,415.1,7.6,341,7389,0.00,0.00,11.60,0.785,6,0.000,0.000,3175,1829,2025,0,0,0,0,0,0
$GC,7619,0.91,251.5,396.5,7.6,347,7639,0.10,3.03,12.05,0.782,4,0.256,0.097,3200,233,1974,0,0,0,0,0,0
$GC,7668,0.82,251.5,392.3,9.4,348,7673,0.00,2.60,0.00,0.000,6,0.000,0.025,3200,1850,1972,0,0,0,0,0,0
$GC,7946,0.83,255.1,370.2,7.9,355,7955,0.00,2.55,3.97,0.540,4,0.000,0.041,3200,3404,1961,0,0,0,0,0,0
$GC,7972,0.83,255.9,368.0,8.0,355,7977,0.00,2.62,0.00,0.000,6,0.000,0.048,3200,1833,1960,0,0,0,0,0,0
$GC,8227,0.83,256.2,347.6,8.0,362,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1832,1959,0,0,0,0,0,0
$GC,8471,0.83,262.6,328.2,7.8,368,8481,0.00,0.00,8.10,0.704,6,0.000,0.000,3200,1832,1930,0,0,0,0,0,0
$GC,8714,0.83,262.6,308.7,8.1,374,8718,0.00,2.55,0.00,0.000,4,0.000,0.036,3200,3407,1927,0,0,0,0,0,0
$GC,8731,0.83,262.6,307.4,8.1,374,8735,0.00,2.60,0.00,0.000,6,0.000,0.035,3200,1826,1926,0,0,0,0,0,0
$GC,8991,0.85,274.1,287.3,7.6,381,9010,0.00,2.58,11.40,0.714,4,0.000,0.038,3200,3404,1882,0,0,0,0,0,0
$GC,9033,0.86,283.1,284.1,7.7,382,9048,0.00,2.58,9.50,0.682,6,0.000,0.038,3200,1836,1846,0,0,0,0,0,0
$GC,9317,0.87,293.2,262.8,7.6,389,9332,0.00,2.85,9.93,0.676,4,0.000,0.076,3200,239,1805,0,0,0,0,0,0
$GC,9371,0.87,293.2,258.0,8.8,390,9375,0.00,2.50,0.00,0.000,6,0.000,0.021,3200,1848,1803,0,0,0,0,0,0
$GC,9638,0.87,293.2,236.2,8.2,397,9643,0.00,2.45,0.00,0.000,4,0.000,0.031,3200,3387,1802,0,0,0,0,0,0
$GC,9679,0.94,293.6,232.8,8.0,398,9683,0.00,2.55,0.00,0.000,6,0.000,0.040,3200,1827,1801,0,0,0,0,0,0
$GC,9962,0.95,301.5,210.7,7.7,405,9972,0.00,0.00,8.27,0.611,6,0.000,0.000,3200,1827,1771,0,0,0,0,0,0
$GC,10210,0.96,314.1,191.8,7.5,417,10228,0.00,2.78,12.62,0.634,4,0.000,0.068,3200,243,1719,0,0,0,0,0,0
$GC,10267,0.96,314.1,187.0,9.4,421,10271,0.00,2.47,0.00,0.000,6,0.000,0.025,3200,1839,1718,0,0,0,0,0,0
$GC,10534,0.96,314.1,165.2,8.1,445,10539,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1841,1717,0,0,0,0,0,0
$GC,10795,0.99,334.5,144.8,7.3,470,10820,0.00,2.80,19.02,0.615,4,0.000,0.064,3200,233,1635,0,0,0,0,0,0
$GC,10837,1.01,351.0,142.0,7.4,473,10862,0.00,2.47,14.70,0.592,6,0.000,0.025,3200,1843,1571,0,0,0,0,0,0
$GC,11119,1.06,357.6,120.8,7.8,499,11133,0.12,2.80,7.30,0.522,4,0.076,0.066,3235,247,1542,0,0,0,0,0,0
$GC,11145,1.06,357.6,117.9,10.6,501,11151,0.00,2.45,0.00,0.000,6,0.000,0.021,3235,1834,1542,0,0,0,0,0,0
$GC,11409,1.06,357.6,92.1,10.0,526,11414,0.00,2.45,0.00,0.000,4,0.000,0.028,3235,3376,1542,0,0,0,0,0,0
$GC,11467,1.15,357.6,86.0,9.9,530,11476,0.00,2.55,0.00,0.000,6,0.000,0.036,3235,1833,1540,0,0,0,0,0,0
$GC,11734,1.17,373.4,63.7,7.4,555,11762,0.00,2.83,15.12,0.538,4,0.000,0.061,3235,232,1477,0,0,0,0,0,0
$GC,11768,1.18,382.4,60.4,7.7,557,11782,0.00,2.50,9.27,0.496,6,0.000,0.018,3235,1836,1441,0,0,0,0,0,0
$GC,12041,1.18,382.4,38.5,8.6,582,12050,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1837,1439,0,0,0,0,0,0
$GC,12354,1.22,382.4,11.7,9.0,622,12364,0.12,2.78,0.00,0.000,4,0.077,0.062,3271,240,1439,0,0,0,0,0,0
$GC,12381,1.22,382.4,8.7,9.6,625,12390,0.00,2.45,0.00,0.000,6,0.000,0.018,3271,1834,1439,0,0,0,0,0,0
$STATE,12420,end climb,SURFACE_DEPTH_REACHED
$STATE,12420,begin surface coast
$FINISH,0.3,1.023461
$STATE,12463,end surface coast,CONTROL_FINISHED_OK
$STATE,12463,begin surface
$SM_CCo,12484,42.60,0.392,1,0,1287,420.20
$SM_GC,0.92,0.00,0.00,42.60,0.000,0.000,0.392,475,1735,1287,-11.62,-0.99,420.20
$IRIDIUM_FIX,2244.02,-15759.32,181199,090932
$TT8_MAMPS,0.026078
$HUMID,42.00
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.60
$XPDR_PINGS,53
$24V_AH,23.6,12.374
$10V_AH,10.4,11.475
$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,29.325,148.225,467.225,42.600,0.000,29.595,37.226,157.775,13.250,0.000,16.821,1258.376,8130.290,596.069,2360.420,549.097,33.370,1456.471,0.000,2368.543,0.000,0.536,0.000
$DEVICE_MAMPS,256.178,97.409,911.196,391.937,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,429.783,394.232,495.164,945.704,1426.966,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,51023,636
$CAP_FILE_SIZE,128005,0
$CFSIZE,260165632,179134464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,240810,160607,2252.400,-15755.391,29,1.2,29,10.1