version: 66.06
glider: 146
mission: 5
dive: 64
start: 8 24 110 19 54 20
data:
$ID,146
$MISSION,5
$DIVE,64
$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,-248479.95
$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,39
$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
$GPS1,193852,2253.760,-15755.357,11,99.0,30,10.1
$_CALLS,2
$_XMS_NAKs,27
$_XMS_TOUTs,1
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.1
$GPS2,195328,2253.855,-15755.455,15,99.0,34,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.084,0.225
$KALMAN_X,-51345.9,-373.7,24.3,77772.5,-836.3
$KALMAN_Y,17087.4,-385.6,447.6,118555.5,-755.1
$MHEAD_RNG_PITCHd_Wd,10.3,7716,-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,17,-1.06,-145.9,0.0,0.0,0,105,0.00,0.00,-85.62,0.000,2,0.000,0.000,474,1744,3461,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.1,-5.5,11,134,12.40,2.55,-2.35,0.000,4,0.168,0.042,2761,3320,3600,0,0,0,0,0,0
$GC,152,0.06,-146.0,21.4,-37.3,16,162,1.08,2.53,0.00,0.000,6,0.081,0.040,3004,1789,3601,0,0,0,0,0,0
$GC,451,-0.44,-146.0,47.2,-9.7,50,456,0.40,2.70,0.00,0.000,4,0.059,0.059,2900,190,3601,0,0,0,0,0,0
$GC,599,-0.91,-146.0,58.6,-6.5,61,609,0.38,2.40,0.00,0.000,6,0.040,0.016,2795,1798,3601,0,0,0,0,0,0
$GC,861,-0.84,-146.0,83.2,-9.3,86,866,0.10,2.35,0.00,0.000,4,0.120,0.033,2817,3290,3601,0,0,0,0,0,0
$GC,963,-0.90,-146.0,90.8,-7.6,94,967,0.00,2.42,0.00,0.000,6,0.000,0.035,2817,1758,3601,0,0,0,0,0,0
$GC,1225,-0.90,-146.0,112.5,-8.9,118,1229,0.00,2.40,0.00,0.000,4,0.000,0.033,2817,3290,3601,0,0,0,0,0,0
$GC,1248,-0.90,-146.0,114.5,-8.3,120,1252,0.00,2.38,0.00,0.000,6,0.000,0.036,2817,1782,3601,0,0,0,0,0,0
$GC,1512,-0.90,-146.0,137.9,-8.2,144,1516,0.00,2.67,0.00,0.000,4,0.000,0.068,2817,199,3602,0,0,0,0,0,0
$GC,1546,-0.94,-146.0,141.0,-8.0,146,1556,0.08,2.38,0.00,0.000,6,0.048,0.015,2780,1772,3601,0,0,0,0,0,0
$GC,1810,-0.90,-146.0,162.8,-7.5,171,1815,0.10,2.70,0.00,0.000,4,0.117,0.065,2803,190,3602,0,0,0,0,0,0
$GC,1839,-0.90,-146.0,165.2,-6.7,173,1844,0.00,2.38,0.00,0.000,6,0.000,0.018,2802,1791,3601,0,0,0,0,0,0
$GC,2103,-0.90,-146.0,183.1,-7.4,197,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1792,3602,0,0,0,0,0,0
$GC,2392,-0.90,-146.0,207.7,-8.6,219,2397,0.00,2.72,0.00,0.000,4,0.000,0.065,2803,197,3602,0,0,0,0,0,0
$GC,2413,-0.90,-146.0,209.8,-9.6,219,2417,0.00,2.35,0.00,0.000,6,0.000,0.016,2803,1779,3601,0,0,0,0,0,0
$GC,2676,-0.90,-146.0,230.0,-7.5,226,2681,0.00,2.72,0.00,0.000,4,0.000,0.073,2803,200,3601,0,0,0,0,0,0
$GC,2710,-0.94,-146.0,232.6,-7.5,226,2716,0.00,2.38,0.00,0.000,6,0.000,0.017,2803,1763,3601,0,0,0,0,0,0
$GC,2962,-0.98,-146.0,248.2,-6.0,233,2966,0.00,2.45,0.00,0.000,4,0.000,0.035,2803,3328,3601,0,0,0,0,0,0
$GC,2996,-1.06,-146.0,250.2,-5.5,233,3002,0.15,2.47,0.00,0.000,6,0.064,0.030,2753,1769,3600,0,0,0,0,0,0
$GC,3246,-1.00,-146.0,269.5,-8.0,240,3251,0.12,2.72,0.00,0.000,4,0.205,0.074,2779,196,3600,0,0,0,0,0,0
$GC,3269,-1.00,-146.0,271.4,-8.3,240,3273,0.00,2.40,0.00,0.000,6,0.000,0.026,2780,1759,3600,0,0,0,0,0,0
$GC,3523,-1.00,-146.0,291.5,-8.0,247,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1759,3599,0,0,0,0,0,0
$GC,3768,-1.00,-146.0,310.2,-7.5,253,3772,0.00,2.53,0.00,0.000,4,0.000,0.044,2780,3335,3599,0,0,0,0,0,0
$GC,3809,-1.06,-146.0,313.1,-7.4,254,3813,0.00,2.53,0.00,0.000,6,0.000,0.044,2780,1780,3598,0,0,0,0,0,0
$GC,4093,-1.06,-146.0,333.9,-7.2,261,4098,0.00,2.85,0.00,0.000,4,0.000,0.094,2780,182,3597,0,0,0,0,0,0
$GC,4143,-1.13,-146.0,337.8,-8.0,262,4148,0.12,2.45,0.00,0.000,6,0.080,0.031,2741,1755,3597,0,0,0,0,0,0
$GC,4417,-1.10,-146.0,360.0,-7.9,269,4422,0.00,2.58,0.00,0.000,4,0.000,0.052,2740,3347,3596,0,0,0,0,0,0
$GC,4450,-1.10,-146.0,362.7,-7.8,269,4456,0.00,2.62,0.00,0.000,6,0.000,0.051,2741,1780,3596,0,0,0,0,0,0
$GC,4701,-1.10,-146.0,381.6,-7.6,276,4705,0.00,2.88,0.00,0.000,4,0.000,0.103,2740,183,3594,0,0,0,0,0,0
$GC,4741,-1.06,-146.0,384.6,-7.6,277,4747,0.12,2.50,0.00,0.000,6,0.110,0.035,2767,1766,3595,0,0,0,0,0,0
$GC,5025,-1.06,-146.0,404.3,-7.0,284,5030,0.00,2.62,0.00,0.000,4,0.000,0.054,2768,3356,3592,0,0,0,0,0,0
$GC,5067,-1.12,-146.0,407.2,-7.4,285,5071,0.00,2.62,0.00,0.000,6,0.000,0.057,2767,1774,3592,0,0,0,0,0,0
$GC,5350,-1.16,-146.0,426.8,-6.9,292,5355,0.00,2.90,0.00,0.000,4,0.000,0.102,2768,179,3590,0,0,0,0,0,0
$GC,5390,-1.22,-146.0,429.5,-7.2,293,5395,0.15,2.58,0.00,0.000,6,0.064,0.037,2719,1776,3590,0,0,0,0,0,0
$GC,5675,-1.17,-146.0,453.3,-8.8,300,5680,0.12,2.67,0.00,0.000,4,0.114,0.066,2744,3357,3588,0,0,0,0,0,0
$GC,5725,-1.17,-146.0,457.6,-8.1,301,5729,0.00,2.65,0.00,0.000,6,0.000,0.060,2744,1783,3588,0,0,0,0,0,0
$GC,5998,-1.17,-146.0,479.3,-8.1,308,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1783,3586,0,0,0,0,0,0
$GC,6240,-1.17,-146.0,499.4,-8.3,314,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1783,3584,0,0,0,0,0,0
$STATE,6279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6279,begin apogee
$GC,6285,-0.31,0.0,502.7,8.2,315,6406,0.82,0.00,118.28,0.923,6,0.078,0.000,2932,1844,3001,0,0,0,0,0,0
$STATE,6407,end apogee,CONTROL_FINISHED_OK
$STATE,6407,begin climb
$GC,6410,1.06,146.0,506.5,0.0,318,6544,1.25,2.67,122.93,0.897,4,0.054,0.061,3235,3388,2403,0,0,0,0,0,0
$GC,6594,0.92,146.0,500.4,8.9,322,6600,0.17,2.72,0.00,0.000,6,0.117,0.065,3201,1822,2398,0,0,0,0,0,0
$GC,6857,0.86,166.4,481.4,7.3,329,6882,0.00,2.72,17.23,0.835,4,0.000,0.049,3201,3391,2322,0,0,0,0,0,0
$GC,6922,0.82,173.3,476.5,7.8,330,6937,0.10,2.70,7.47,0.730,6,0.143,0.061,3181,1815,2294,0,0,0,0,0,0
$GC,7189,0.86,208.7,458.9,6.7,337,7230,0.00,2.72,31.65,0.865,4,0.000,0.044,3181,3392,2149,0,0,0,0,0,0
$GC,7263,0.86,208.7,453.0,8.3,338,7267,0.00,2.70,0.00,0.000,6,0.000,0.060,3180,1827,2146,0,0,0,0,0,0
$GC,7513,0.86,208.7,431.6,8.9,344,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1827,2143,0,0,0,0,0,0
$GC,7758,0.86,208.7,410.7,8.3,350,7763,0.00,2.95,0.00,0.000,4,0.000,0.107,3180,229,2141,0,0,0,0,0,0
$GC,7774,0.83,215.6,409.4,7.8,350,7786,0.00,2.55,6.18,0.690,6,0.000,0.027,3180,1826,2121,0,0,0,0,0,0
$GC,8036,0.90,274.1,393.0,5.8,357,8096,0.00,2.70,52.55,0.851,4,0.000,0.044,3181,3404,1882,0,0,0,0,0,0
$GC,8122,0.94,303.1,387.9,6.9,359,8156,0.10,2.67,26.23,0.821,6,0.091,0.053,3207,1829,1764,0,0,0,0,0,0
$GC,8408,0.94,303.1,363.6,8.7,366,8413,0.00,2.88,0.00,0.000,4,0.000,0.091,3207,230,1757,0,0,0,0,0,0
$GC,8464,0.88,303.1,357.7,10.2,367,8469,0.00,2.58,0.00,0.000,6,0.000,0.029,3207,1851,1755,0,0,0,0,0,0
$GC,8730,0.88,303.1,332.0,9.9,374,8734,0.00,2.50,0.00,0.000,4,0.000,0.038,3207,3406,1754,0,0,0,0,0,0
$GC,8762,0.88,303.1,328.5,10.8,374,8768,0.00,2.60,0.00,0.000,6,0.000,0.044,3207,1827,1753,0,0,0,0,0,0
$GC,9014,0.88,303.1,301.8,10.6,381,9018,0.00,2.80,0.00,0.000,4,0.000,0.083,3207,232,1753,0,0,0,0,0,0
$GC,9035,0.83,303.1,299.2,11.1,381,9040,0.12,2.53,0.00,0.000,6,0.121,0.024,3183,1852,1752,0,0,0,0,0,0
$GC,9291,0.88,313.1,278.3,7.6,388,9300,0.00,0.00,7.82,0.673,6,0.000,0.000,3182,1854,1724,0,0,0,0,0,0
$GC,9536,0.96,330.3,260.3,7.4,394,9561,0.12,2.92,16.62,0.725,4,0.080,0.069,3215,234,1653,0,0,0,0,0,0
$GC,9572,0.92,330.3,256.8,10.5,394,9578,0.00,2.50,0.00,0.000,6,0.000,0.025,3215,1834,1652,0,0,0,0,0,0
$GC,9823,0.92,330.3,231.7,10.1,401,9827,0.00,2.45,0.00,0.000,4,0.000,0.038,3215,3389,1651,0,0,0,0,0,0
$GC,9838,0.92,330.3,230.0,10.1,401,9842,0.00,2.55,0.00,0.000,6,0.000,0.033,3215,1810,1650,0,0,0,0,0,0
$GC,10099,0.92,330.3,204.9,9.4,408,10104,0.00,2.70,0.00,0.000,4,0.000,0.073,3215,239,1649,0,0,0,0,0,0
$GC,10126,0.87,330.3,202.2,10.7,408,10131,0.12,2.47,0.00,0.000,6,0.115,0.019,3189,1842,1648,0,0,0,0,0,0
$GC,10388,0.93,330.3,181.3,8.0,429,10393,0.00,2.75,0.00,0.000,4,0.000,0.071,3189,243,1648,0,0,0,0,0,0
$GC,10411,0.97,330.3,179.5,8.4,430,10416,0.10,2.45,0.00,0.000,6,0.088,0.025,3217,1840,1648,0,0,0,0,0,0
$GC,10675,0.97,330.3,152.9,10.0,454,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1842,1648,0,0,0,0,0,0
$GC,10939,0.97,330.3,127.1,9.3,479,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1842,1648,0,0,0,0,0,0
$GC,11202,0.97,330.3,104.1,8.5,504,11206,0.00,2.72,0.00,0.000,4,0.000,0.061,3217,237,1648,0,0,0,0,0,0
$GC,11221,0.97,330.3,102.4,9.1,505,11226,0.00,2.40,0.00,0.000,6,0.000,0.024,3217,1823,1648,0,0,0,0,0,0
$GC,11490,1.10,380.9,82.2,6.1,529,11540,0.00,2.80,43.58,0.581,4,0.000,0.066,3217,242,1447,0,0,0,0,0,0
$GC,11567,1.16,398.4,76.5,7.4,535,11589,0.10,2.42,16.48,0.547,6,0.041,0.024,3254,1805,1376,0,0,0,0,0,0
$GC,11845,1.16,398.4,52.0,9.7,561,11849,0.00,2.65,0.00,0.000,4,0.000,0.060,3254,241,1373,0,0,0,0,0,0
$GC,11865,1.16,398.4,49.7,10.0,562,11870,0.00,2.38,0.00,0.000,6,0.000,0.024,3254,1803,1373,0,0,0,0,0,0
$GC,12152,1.16,398.4,20.0,10.4,592,12161,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1805,1372,0,0,0,0,0,0
$STATE,12311,end climb,SURFACE_DEPTH_REACHED
$STATE,12311,begin surface coast
$FINISH,0.3,1.010444
$STATE,12362,end surface coast,CONTROL_FINISHED_OK
$STATE,12362,begin surface
$SM_CCo,12383,29.33,0.332,1,0,1287,420.20
$SM_GC,1.02,0.00,0.00,29.33,0.000,0.000,0.332,476,1731,1287,-11.61,-1.13,420.20
$IRIDIUM_FIX,2244.02,-15756.28,181199,161601
$TT8_MAMPS,0.026078
$HUMID,42.87
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.60
$XPDR_PINGS,64
$24V_AH,23.6,12.652
$10V_AH,10.4,11.748
$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,29.550,166.350,467.000,29.325,0.000,47.933,114.178,493.022,16.000,0.000,36.395,1254.693,8116.774,570.930,2366.899,983.284,33.365,1461.405,0.000,2342.767,0.000,0.538,0.000
$DEVICE_MAMPS,204.789,161.837,922.701,332.111,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,420.401,382.727,478.405,903.566,1366.672,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,47814,622
$CAP_FILE_SIZE,140427,0
$CFSIZE,260165632,178999296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240810,232237,2254.830,-15755.530,36,1.1,36,10.1