version: 66.06
glider: 146
mission: 5
dive: 135
start: 9 4 110 2 47 32
data:
$ID,146
$MISSION,5
$DIVE,135
$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,-250014.23
$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,56
$R_STBD_OVSHOOT,29
$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
$GPS1,023937,2254.397,-15755.471,47,1.0,47,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.7
$GPS2,024637,2254.404,-15755.533,9,1.4,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.124,0.179
$KALMAN_X,-128987.5,51.8,46.3,154832.7,-1252.5
$KALMAN_Y,-2479.8,337.3,151.5,138711.0,-83.2
$MHEAD_RNG_PITCHd_Wd,24.6,6722,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,105,0.00,0.00,-85.93,0.000,6,0.000,0.000,474,1737,3479,0,0,0,0,0,0
$GC,109,-1.15,-116.8,4.3,-5.7,11,126,11.60,2.58,0.00,0.000,4,0.143,0.026,2742,3376,3481,0,0,0,0,0,0
$GC,203,-1.06,-116.8,27.8,-13.5,24,213,0.08,2.58,0.00,0.000,6,0.084,0.038,2764,1806,3482,0,0,0,0,0,0
$GC,481,-0.94,-116.8,65.4,-13.1,50,487,0.15,2.78,0.00,0.000,4,0.106,0.058,2796,189,3482,0,0,0,0,0,0
$GC,516,-0.89,-116.8,69.8,-11.0,52,520,0.00,2.45,0.00,0.000,6,0.000,0.015,2796,1823,3482,0,0,0,0,0,0
$GC,778,-0.89,-116.8,94.3,-8.7,76,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1824,3482,0,0,0,0,0,0
$GC,1032,-0.89,-116.8,115.2,-7.8,100,1036,0.00,2.78,0.00,0.000,4,0.000,0.066,2796,194,3483,0,0,0,0,0,0
$GC,1084,-0.94,-116.8,119.5,-8.2,104,1088,0.00,2.42,0.00,0.000,6,0.000,0.020,2796,1808,3483,0,0,0,0,0,0
$GC,1349,-0.98,-116.8,137.3,-6.8,128,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1809,3483,0,0,0,0,0,0
$GC,1611,-1.03,-116.8,159.6,-9.4,153,1616,0.00,2.75,0.00,0.000,4,0.000,0.063,2796,194,3483,0,0,0,0,0,0
$GC,1642,-1.07,-116.8,162.4,-9.7,155,1647,0.12,2.30,0.00,0.000,6,0.069,0.017,2750,1760,3483,0,0,0,0,0,0
$GC,1903,-1.07,-116.8,190.0,-10.0,179,1907,0.00,2.40,0.00,0.000,4,0.000,0.032,2750,3309,3483,0,0,0,0,0,0
$GC,1970,-1.07,-116.8,196.0,-8.9,184,1975,0.00,2.47,0.00,0.000,6,0.000,0.029,2750,1754,3483,0,0,0,0,0,0
$GC,2222,-1.07,-116.8,219.3,-9.2,193,2226,0.00,2.67,0.00,0.000,4,0.000,0.071,2750,197,3483,0,0,0,0,0,0
$GC,2254,-1.02,-116.8,222.7,-10.3,193,2260,0.12,2.33,0.00,0.000,6,0.103,0.016,2778,1739,3483,0,0,0,0,0,0
$GC,2505,-1.02,-116.8,240.7,-7.0,200,2510,0.00,2.47,0.00,0.000,4,0.000,0.031,2778,3324,3483,0,0,0,0,0,0
$GC,2539,-1.10,-116.8,243.2,-7.6,200,2545,0.00,2.50,0.00,0.000,6,0.000,0.031,2778,1757,3482,0,0,0,0,0,0
$GC,2789,-1.14,-116.8,261.4,-7.5,207,2795,0.12,2.72,0.00,0.000,4,0.074,0.074,2733,188,3482,0,0,0,0,0,0
$GC,2831,-1.08,-116.8,265.4,-10.7,208,2836,0.15,2.35,0.00,0.000,6,0.095,0.019,2766,1739,3482,0,0,0,0,0,0
$GC,3114,-1.08,-116.8,289.9,-8.4,215,3118,0.00,2.55,0.00,0.000,4,0.000,0.031,2766,3339,3481,0,0,0,0,0,0
$GC,3156,-1.15,-116.8,293.2,-8.5,216,3161,0.00,2.53,0.00,0.000,6,0.000,0.040,2766,1767,3481,0,0,0,0,0,0
$GC,3440,-1.19,-116.8,315.9,-7.7,223,3445,0.12,2.80,0.00,0.000,4,0.073,0.084,2725,187,3481,0,0,0,0,0,0
$GC,3480,-1.12,-116.8,319.8,-10.2,224,3485,0.12,2.45,0.00,0.000,6,0.104,0.023,2753,1749,3481,0,0,0,0,0,0
$GC,3765,-1.12,-116.8,341.2,-7.2,231,3769,0.00,2.62,0.00,0.000,4,0.000,0.051,2753,3358,3480,0,0,0,0,0,0
$GC,3804,-1.20,-116.8,344.1,-7.1,232,3809,0.00,2.62,0.00,0.000,6,0.000,0.052,2753,1771,3480,0,0,0,0,0,0
$GC,4089,-1.20,-116.8,364.8,-7.5,239,4093,0.00,2.55,0.00,0.000,4,0.000,0.041,2753,3351,3480,0,0,0,0,0,0
$GC,4133,-1.28,-116.8,368.8,-8.5,240,4138,0.15,2.62,0.00,0.000,6,0.066,0.052,2706,1781,3479,0,0,0,0,0,0
$GC,4411,-1.23,-116.8,398.0,-10.4,247,4416,0.12,2.95,0.00,0.000,4,0.107,0.110,2732,185,3478,0,0,0,0,0,0
$GC,4440,-1.23,-116.8,400.9,-9.8,247,4444,0.00,2.55,0.00,0.000,6,0.000,0.036,2733,1773,3477,0,0,0,0,0,0
$GC,4689,-1.23,-116.8,422.0,-8.1,253,4694,0.00,2.65,0.00,0.000,4,0.000,0.062,2732,3365,3477,0,0,0,0,0,0
$GC,4706,-1.23,-116.8,423.3,-7.6,253,4710,0.00,2.67,0.00,0.000,6,0.000,0.061,2733,1784,3476,0,0,0,0,0,0
$GC,4968,-1.23,-116.8,442.4,-7.6,260,4972,0.00,3.00,0.00,0.000,4,0.000,0.110,2733,179,3475,0,0,0,0,0,0
$GC,5017,-1.23,-116.8,446.8,-8.5,261,5021,0.00,2.58,0.00,0.000,6,0.000,0.041,2732,1777,3475,0,0,0,0,0,0
$GC,5290,-1.23,-116.8,468.2,-7.9,268,5294,0.00,2.70,0.00,0.000,4,0.000,0.071,2732,3361,3472,0,0,0,0,0,0
$GC,5324,-1.23,-116.8,470.8,-7.8,268,5329,0.00,2.72,0.00,0.000,6,0.000,0.060,2732,1776,3472,0,0,0,0,0,0
$GC,5573,-1.23,-116.8,490.3,-7.6,275,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1777,3470,0,0,0,0,0,0
$STATE,5733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5733,begin apogee
$GC,5739,-0.31,0.0,501.8,7.0,279,5839,0.88,0.00,96.15,0.920,6,0.076,0.000,2931,1852,3001,0,0,0,0,0,0
$STATE,5840,end apogee,CONTROL_FINISHED_OK
$STATE,5840,begin climb
$GC,5844,1.15,116.8,503.2,0.0,281,5949,1.33,0.00,100.90,0.894,6,0.048,0.000,3253,1852,2524,0,0,0,0,0,0
$GC,6171,1.04,143.3,488.3,6.8,289,6201,0.12,2.67,22.75,0.851,4,0.127,0.050,3230,3390,2415,0,0,0,0,0,0
$GC,6238,1.01,163.8,483.9,7.1,290,6262,0.00,2.70,19.12,0.835,6,0.000,0.058,3229,1835,2332,0,0,0,0,0,0
$GC,6542,0.93,163.8,458.9,8.7,298,6548,0.12,2.58,0.00,0.000,4,0.137,0.042,3206,3387,2326,0,0,0,0,0,0
$GC,6594,0.95,174.4,454.7,7.5,299,6609,0.00,2.65,9.82,0.778,6,0.000,0.054,3206,1846,2289,0,0,0,0,0,0
$GC,6864,0.99,205.9,436.3,6.6,306,6899,0.00,3.10,28.83,0.854,4,0.000,0.109,3206,232,2160,0,0,0,0,0,0
$GC,6906,1.00,214.5,433.3,7.6,306,6920,0.00,2.60,8.95,0.744,6,0.000,0.028,3206,1823,2126,0,0,0,0,0,0
$GC,7190,1.00,214.5,409.0,9.2,313,7194,0.00,2.83,0.00,0.000,4,0.000,0.082,3206,230,2121,0,0,0,0,0,0
$GC,7217,0.95,214.5,406.2,10.4,313,7221,0.00,2.58,0.00,0.000,6,0.000,0.024,3206,1842,2120,0,0,0,0,0,0
$GC,7466,0.95,214.5,383.8,9.2,319,7471,0.00,2.58,0.00,0.000,4,0.000,0.047,3206,3415,2118,0,0,0,0,0,0
$GC,7533,1.00,214.5,377.0,9.7,320,7538,0.00,2.65,0.00,0.000,6,0.000,0.048,3206,1842,2116,0,0,0,0,0,0
$GC,7788,1.00,218.0,355.8,7.9,327,7793,0.00,2.88,0.00,0.000,4,0.000,0.088,3206,236,2116,0,0,0,0,0,0
$GC,7805,1.00,218.0,354.3,8.0,327,7809,0.00,2.58,0.00,0.000,6,0.000,0.026,3206,1863,2114,0,0,0,0,0,0
$GC,8066,1.08,279.0,338.8,5.2,334,8130,0.12,2.58,56.12,0.815,4,0.087,0.038,3239,3408,1863,0,0,0,0,0,0
$GC,8163,1.08,279.0,331.8,8.7,336,8168,0.00,2.60,0.00,0.000,6,0.000,0.044,3239,1841,1860,0,0,0,0,0,0
$GC,8431,1.08,279.0,306.2,10.1,343,8436,0.00,2.85,0.00,0.000,4,0.000,0.079,3239,235,1856,0,0,0,0,0,0
$GC,8441,1.08,279.0,305.0,10.2,343,8446,0.00,2.55,0.00,0.000,6,0.000,0.021,3239,1867,1855,0,0,0,0,0,0
$GC,8708,1.08,279.0,278.3,10.3,350,8712,0.00,2.85,0.00,0.000,4,0.000,0.071,3239,237,1854,0,0,0,0,0,0
$GC,8725,1.04,279.0,276.4,10.6,350,8729,0.00,2.53,0.00,0.000,6,0.000,0.025,3239,1842,1853,0,0,0,0,0,0
$GC,8986,1.04,279.0,249.0,10.5,357,8991,0.00,2.45,0.00,0.000,4,0.000,0.038,3240,3388,1853,0,0,0,0,0,0
$GC,9019,1.04,279.0,245.3,10.2,357,9025,0.00,2.55,0.00,0.000,6,0.000,0.034,3240,1827,1852,0,0,0,0,0,0
$GC,9270,1.04,279.0,222.2,9.0,364,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1827,1852,0,0,0,0,0,0
$GC,9513,1.04,279.0,199.8,9.3,370,9517,0.00,2.47,0.00,0.000,4,0.000,0.031,3239,3390,1852,0,0,0,0,0,0
$GC,9534,1.04,279.0,197.7,9.6,371,9540,0.00,2.53,0.00,0.000,6,0.000,0.035,3240,1835,1853,0,0,0,0,0,0
$GC,9798,1.04,279.0,173.1,9.6,396,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1835,1852,0,0,0,0,0,0
$GC,10063,1.04,279.0,148.1,9.4,421,10067,0.00,2.45,0.00,0.000,4,0.000,0.028,3240,3391,1852,0,0,0,0,0,0
$GC,10079,1.04,279.0,146.2,9.6,422,10084,0.00,2.47,0.00,0.000,6,0.000,0.031,3239,1842,1852,0,0,0,0,0,0
$GC,10343,1.04,279.0,123.0,8.7,446,10347,0.00,2.45,0.00,0.000,4,0.000,0.031,3240,3397,1852,0,0,0,0,0,0
$GC,10389,1.11,279.0,119.1,9.4,449,10394,0.00,2.47,0.00,0.000,6,0.000,0.039,3240,1864,1852,0,0,0,0,0,0
$GC,10657,1.18,303.4,99.3,6.9,473,10685,0.00,2.88,20.42,0.581,4,0.000,0.061,3240,242,1763,0,0,0,0,0,0
$GC,10715,1.18,303.4,94.2,8.7,478,10720,0.00,2.55,0.00,0.000,6,0.000,0.020,3240,1881,1762,0,0,0,0,0,0
$GC,10983,1.28,316.1,74.2,7.4,502,11001,0.15,2.42,12.18,0.535,4,0.071,0.030,3282,3391,1711,0,0,0,0,0,0
$GC,11027,1.28,316.1,70.5,9.6,505,11031,0.00,2.50,0.00,0.000,6,0.000,0.033,3281,1864,1711,0,0,0,0,0,0
$GC,11294,1.28,316.1,46.2,9.4,529,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1864,1710,0,0,0,0,0,0
$GC,11588,1.28,316.1,17.0,10.4,563,11597,0.00,2.80,0.00,0.000,4,0.000,0.066,3281,241,1710,0,0,0,0,0,0
$GC,11608,1.28,316.1,14.8,10.6,565,11617,0.00,2.55,0.00,0.000,6,0.000,0.021,3281,1882,1710,0,0,0,0,0,0
$STATE,11713,end climb,SURFACE_DEPTH_REACHED
$STATE,11713,begin surface coast
$FINISH,0.3,1.005983
$STATE,11766,end surface coast,CONTROL_FINISHED_OK
$STATE,11766,begin surface
$SM_CCo,11787,91.12,0.457,1,0,1288,420.20
$SM_GC,1.01,0.00,0.00,91.12,0.000,0.000,0.457,476,1742,1288,-11.61,-0.79,420.20
$IRIDIUM_FIX,2246.36,-15758.45,281199,232330
$TT8_MAMPS,0.025311
$HUMID,42.51
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.60
$XPDR_PINGS,65
$24V_AH,23.6,21.326
$10V_AH,10.4,20.959
$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,26.900,167.300,375.250,91.125,0.000,23.851,31.093,227.939,16.250,0.000,16.399,1196.969,7739.211,573.339,2194.016,602.306,33.376,1392.030,0.000,2195.806,0.000,0.535,0.000
$DEVICE_MAMPS,142.662,110.448,920.400,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,397.139,343.450,450.942,840.490,1271.224,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,47882,587
$CAP_FILE_SIZE,127292,0
$CFSIZE,260165632,174665728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040910,060700,2255.639,-15755.323,36,1.3,41,10.1