version: 66.06
glider: 146
mission: 5
dive: 113
start: 9 1 110 0 13 33
data:
$ID,146
$MISSION,5
$DIVE,113
$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,120
$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,-249537.06
$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,41
$R_STBD_OVSHOOT,50
$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
$GPS1,000336,2252.335,-15746.801,36,1.0,36,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-68.2
$GPS2,001238,2252.385,-15746.869,12,1.0,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,-0.063
$KALMAN_X,-107278.7,166.7,19.4,147947.8,-881.1
$KALMAN_Y,1701.7,351.0,427.0,130499.1,-496.5
$MHEAD_RNG_PITCHd_Wd,96.8,10412,-16.1,-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,16,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-85.53,0.000,6,0.000,0.000,480,1754,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.4,-6.4,11,125,11.60,2.60,0.00,0.000,4,0.144,0.054,2740,203,3480,0,0,0,0,0,0
$GC,164,-0.57,-116.8,23.8,-32.6,18,173,0.57,2.45,0.00,0.000,6,0.081,0.021,2870,1797,3481,0,0,0,0,0,0
$GC,440,-0.69,-116.8,47.1,-7.3,46,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1799,3481,0,0,0,0,0,0
$GC,706,-0.83,-116.8,66.0,-6.4,71,712,0.22,2.70,0.00,0.000,4,0.051,0.055,2802,204,3481,0,0,0,0,0,0
$GC,740,-0.86,-116.8,69.0,-9.4,73,744,0.00,2.38,0.00,0.000,6,0.000,0.015,2802,1782,3481,0,0,0,0,0,0
$GC,1006,-0.86,-116.8,96.3,-10.2,97,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1784,3482,0,0,0,0,0,0
$GC,1266,-0.86,-116.8,124.2,-10.5,122,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1784,3482,0,0,0,0,0,0
$GC,1522,-0.92,-116.8,146.4,-8.2,146,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1784,3482,0,0,0,0,0,0
$GC,1778,-0.98,-116.8,167.2,-8.2,170,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1784,3483,0,0,0,0,0,0
$GC,2032,-1.05,-116.8,187.5,-7.7,194,2037,0.12,2.70,0.00,0.000,4,0.072,0.067,2759,210,3482,0,0,0,0,0,0
$GC,2055,-1.05,-116.8,189.6,-9.0,195,2064,0.00,2.35,0.00,0.000,6,0.000,0.024,2760,1763,3483,0,0,0,0,0,0
$GC,2331,-1.05,-116.8,216.3,-9.9,210,2335,0.00,2.40,0.00,0.000,4,0.000,0.032,2759,3310,3482,0,0,0,0,0,0
$GC,2351,-1.05,-116.8,218.6,-9.5,210,2356,0.00,2.45,0.00,0.000,6,0.000,0.029,2759,1779,3482,0,0,0,0,0,0
$GC,2614,-1.05,-116.8,242.9,-9.3,217,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1778,3482,0,0,0,0,0,0
$GC,2856,-1.05,-116.8,263.6,-8.1,223,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1778,3482,0,0,0,0,0,0
$GC,3100,-1.05,-116.8,283.7,-8.4,229,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1779,3481,0,0,0,0,0,0
$GC,3344,-1.05,-116.8,305.7,-9.4,235,3348,0.00,2.78,0.00,0.000,4,0.000,0.078,2759,194,3481,0,0,0,0,0,0
$GC,3398,-1.05,-116.8,311.3,-10.2,236,3402,0.00,2.38,0.00,0.000,6,0.000,0.022,2759,1735,3481,0,0,0,0,0,0
$GC,3666,-1.09,-116.8,332.9,-7.9,243,3670,0.00,2.62,0.00,0.000,4,0.000,0.047,2759,3354,3481,0,0,0,0,0,0
$GC,3733,-1.18,-116.8,338.3,-7.9,244,3738,0.00,2.58,0.00,0.000,6,0.000,0.042,2759,1796,3480,0,0,0,0,0,0
$GC,3989,-1.23,-116.8,357.5,-7.5,251,3994,0.12,2.50,0.00,0.000,4,0.069,0.040,2711,3347,3479,0,0,0,0,0,0
$GC,4005,-1.23,-116.8,359.0,-8.0,251,4010,0.10,2.55,0.00,0.000,6,0.116,0.051,2733,1800,3479,0,0,0,0,0,0
$GC,4267,-1.23,-116.8,382.4,-8.8,258,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1799,3477,0,0,0,0,0,0
$GC,4510,-1.23,-116.8,402.3,-8.0,264,4514,0.00,2.53,0.00,0.000,4,0.000,0.043,2733,3346,3476,0,0,0,0,0,0
$GC,4537,-1.23,-116.8,404.2,-7.3,264,4541,0.00,2.60,0.00,0.000,6,0.000,0.058,2733,1806,3476,0,0,0,0,0,0
$GC,4788,-1.23,-116.8,423.0,-7.7,270,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1805,3474,0,0,0,0,0,0
$GC,5030,-1.23,-116.8,442.8,-8.1,276,5035,0.00,3.03,0.00,0.000,4,0.000,0.112,2733,181,3473,0,0,0,0,0,0
$GC,5057,-1.23,-116.8,445.2,-8.9,276,5061,0.00,2.60,0.00,0.000,6,0.000,0.034,2733,1794,3472,0,0,0,0,0,0
$GC,5307,-1.23,-116.8,463.6,-7.3,282,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1795,3471,0,0,0,0,0,0
$GC,5552,-1.23,-116.8,480.4,-6.8,288,5557,0.00,2.92,0.00,0.000,4,0.000,0.098,2732,185,3470,0,0,0,0,0,0
$GC,5568,-1.23,-116.8,481.5,-6.6,288,5572,0.00,2.60,0.00,0.000,6,0.000,0.039,2733,1801,3469,0,0,0,0,0,0
$GC,5828,-1.23,-116.8,498.4,-6.3,295,5833,0.00,2.67,0.00,0.000,4,0.000,0.075,2732,3356,3467,0,0,0,0,0,0
$GC,5852,-1.27,-116.8,499.9,-6.5,295,5856,0.00,2.08,0.00,0.000,3,0.000,0.058,2733,2125,3467,0,0,0,0,0,0
$STATE,5857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5857,begin apogee
$GC,5863,-0.31,0.0,500.3,6.6,295,5962,0.85,0.00,95.47,0.917,6,0.077,0.000,2929,1816,3001,0,0,0,0,0,0
$STATE,5962,end apogee,CONTROL_FINISHED_OK
$STATE,5963,begin climb
$GC,5965,1.15,116.8,501.9,0.0,298,6078,1.33,2.80,100.40,0.895,4,0.044,0.054,3251,3404,2523,0,0,0,0,0,0
$GC,6091,1.07,167.6,499.8,5.7,301,6141,0.00,2.75,44.40,0.872,6,0.000,0.054,3251,1820,2316,0,0,0,0,0,0
$GC,6414,0.96,167.6,471.2,8.7,309,6419,0.20,2.67,0.00,0.000,4,0.170,0.041,3211,3414,2307,0,0,0,0,0,0
$GC,6453,0.97,182.9,468.1,7.3,310,6473,0.00,2.70,13.32,0.808,6,0.000,0.052,3210,1830,2254,0,0,0,0,0,0
$GC,6742,1.00,200.7,447.4,7.2,317,6766,0.00,3.10,16.58,0.830,4,0.000,0.104,3210,232,2181,0,0,0,0,0,0
$GC,6784,0.93,200.7,443.8,8.8,318,6789,0.00,2.62,0.00,0.000,6,0.000,0.027,3210,1845,2179,0,0,0,0,0,0
$GC,7067,0.93,200.7,419.1,8.8,325,7072,0.00,2.88,0.00,0.000,4,0.000,0.080,3210,233,2176,0,0,0,0,0,0
$GC,7084,0.89,200.7,417.5,9.0,325,7088,0.00,2.58,0.00,0.000,6,0.000,0.027,3210,1841,2175,0,0,0,0,0,0
$GC,7345,0.89,200.7,393.3,9.2,332,7350,0.00,2.58,0.00,0.000,4,0.000,0.047,3210,3406,2174,0,0,0,0,0,0
$GC,7367,0.89,200.7,391.1,9.5,332,7371,0.00,2.65,0.00,0.000,6,0.000,0.050,3210,1821,2173,0,0,0,0,0,0
$GC,7624,0.91,215.0,371.1,7.4,339,7643,0.00,2.65,12.60,0.792,4,0.000,0.038,3210,3401,2123,0,0,0,0,0,0
$GC,7705,0.92,226.1,365.0,7.5,340,7722,0.00,2.62,11.23,0.772,6,0.000,0.044,3210,1838,2079,0,0,0,0,0,0
$GC,7996,0.92,226.1,343.3,8.0,348,8000,0.00,2.83,0.00,0.000,4,0.000,0.084,3210,236,2074,0,0,0,0,0,0
$GC,8011,0.92,226.1,341.8,8.2,348,8015,0.00,2.58,0.00,0.000,6,0.000,0.019,3210,1868,2074,0,0,0,0,0,0
$GC,8273,0.93,230.8,321.5,7.8,355,8282,0.00,2.50,4.82,0.597,4,0.000,0.039,3210,3396,2060,0,0,0,0,0,0
$GC,8329,0.98,230.8,317.1,8.4,356,8333,0.00,2.55,0.00,0.000,6,0.000,0.035,3210,1848,2059,0,0,0,0,0,0
$GC,8595,1.00,245.4,297.3,7.3,363,8615,0.00,2.88,14.45,0.757,4,0.000,0.077,3210,243,2000,0,0,0,0,0,0
$GC,8659,1.00,245.4,291.6,9.6,364,8664,0.00,2.58,0.00,0.000,6,0.000,0.024,3210,1873,1997,0,0,0,0,0,0
$GC,8917,1.04,245.4,268.3,9.3,371,8921,0.00,2.47,0.00,0.000,4,0.000,0.034,3210,3394,1996,0,0,0,0,0,0
$GC,8949,1.11,245.4,264.7,10.6,371,8956,0.12,2.50,0.00,0.000,6,0.082,0.038,3243,1865,1995,0,0,0,0,0,0
$GC,9199,1.11,245.4,238.2,10.5,378,9203,0.00,2.42,0.00,0.000,4,0.000,0.035,3243,3393,1995,0,0,0,0,0,0
$GC,9215,1.11,245.4,236.5,10.0,378,9220,0.00,2.47,0.00,0.000,6,0.000,0.035,3243,1873,1994,0,0,0,0,0,0
$GC,9476,1.11,245.4,212.9,8.8,385,9481,0.00,2.80,0.00,0.000,4,0.000,0.071,3243,243,1994,0,0,0,0,0,0
$GC,9492,1.07,245.4,211.3,8.7,385,9496,0.00,2.53,0.00,0.000,6,0.000,0.025,3243,1884,1994,0,0,0,0,0,0
$GC,9753,1.07,245.4,188.9,9.8,400,9757,0.00,2.42,0.00,0.000,4,0.000,0.033,3243,3397,1994,0,0,0,0,0,0
$GC,9774,1.07,245.4,185.8,11.5,401,9780,0.00,2.45,0.00,0.000,6,0.000,0.037,3243,1871,1993,0,0,0,0,0,0
$GC,10037,1.07,245.4,159.3,10.3,426,10038,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1871,1993,0,0,0,0,0,0
$GC,10291,1.07,245.4,135.9,8.7,450,10296,0.00,2.80,0.00,0.000,4,0.000,0.067,3243,238,1993,0,0,0,0,0,0
$GC,10313,1.07,245.4,133.6,9.1,451,10319,0.00,2.55,0.00,0.000,6,0.000,0.024,3243,1898,1993,0,0,0,0,0,0
$GC,10578,1.09,267.1,114.4,7.0,476,10605,0.00,2.95,19.60,0.601,4,0.000,0.059,3243,237,1911,0,0,0,0,0,0
$GC,10617,1.09,267.8,111.5,8.0,479,10622,0.00,2.55,0.00,0.000,6,0.000,0.025,3243,1887,1910,0,0,0,0,0,0
$GC,10886,1.16,278.4,91.6,7.5,503,10909,0.00,2.85,11.07,0.547,4,0.000,0.056,3244,238,1864,0,0,0,0,0,0
$GC,10926,1.16,278.4,87.7,8.6,506,10935,0.00,2.58,0.00,0.000,6,0.000,0.018,3243,1877,1863,0,0,0,0,0,0
$GC,11194,1.22,278.4,66.1,8.4,531,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1879,1863,0,0,0,0,0,0
$GC,11460,1.33,311.3,45.7,6.5,556,11502,0.20,2.90,29.12,0.541,4,0.140,0.057,3299,241,1730,0,0,0,0,0,0
$GC,11509,1.28,311.3,41.2,9.2,559,11519,0.08,2.58,0.00,0.000,6,0.094,0.024,3280,1873,1729,0,0,0,0,0,0
$GC,11816,1.28,311.3,12.6,9.9,597,11825,0.00,2.42,0.00,0.000,4,0.000,0.028,3280,3395,1728,0,0,0,0,0,0
$GC,11843,1.28,311.3,9.7,10.5,600,11852,0.00,2.53,0.00,0.000,6,0.000,0.039,3279,1861,1726,0,0,0,0,0,0
$STATE,11894,end climb,SURFACE_DEPTH_REACHED
$STATE,11894,begin surface coast
$FINISH,0.3,1.004423
$STATE,11943,end surface coast,CONTROL_FINISHED_OK
$STATE,11944,begin surface
$SM_CCo,11965,95.10,0.459,1,0,1287,420.20
$SM_GC,1.00,0.00,0.00,95.10,0.000,0.000,0.459,476,1747,1287,-11.61,-0.65,420.20
$IRIDIUM_FIX,2241.69,-15826.68,261199,000029
$TT8_MAMPS,0.026078
$HUMID,42.47
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.80
$XPDR_PINGS,60
$24V_AH,23.6,18.780
$10V_AH,10.4,18.173
$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,26.900,152.425,373.075,95.100,0.000,58.937,57.236,222.111,15.000,0.000,15.899,1208.598,7922.762,552.466,2266.412,659.344,33.369,1390.874,0.000,2275.330,0.000,0.536,0.000
$DEVICE_MAMPS,169.507,177.177,917.332,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,414.966,371.353,477.529,919.552,1391.010,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,47883,614
$CAP_FILE_SIZE,127057,0
$CFSIZE,260165632,176001024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010910,033552,2251.810,-15745.622,10,3.4,29,10.1