version: 66.06
glider: 146
mission: 5
dive: 136
start: 9 4 110 6 15 29
data:
$ID,146
$MISSION,5
$DIVE,136
$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,-250032.12
$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,43
$R_STBD_OVSHOOT,49
$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
$GPS1,060700,2255.639,-15755.323,36,1.3,41,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-67.0
$GPS2,061432,2255.618,-15755.365,15,1.7,15,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.131,0.174
$KALMAN_X,-130323.6,181.7,-9.4,156381.3,-1392.6
$KALMAN_Y,-2273.8,164.9,128.8,140948.2,-454.1
$MHEAD_RNG_PITCHd_Wd,26.9,4455,-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,-116.7,0.0,0.0,0,104,0.00,0.00,-85.57,0.000,6,0.000,0.000,476,1741,3478,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.6,-6.2,11,124,11.57,2.53,0.00,0.000,4,0.142,0.021,2742,3354,3480,0,0,0,0,0,0
$GC,162,-0.60,-116.8,23.8,-33.1,18,172,0.52,2.58,0.00,0.000,6,0.067,0.039,2866,1788,3481,0,0,0,0,0,0
$GC,446,-0.70,-116.8,46.8,-7.0,47,450,0.00,2.70,0.00,0.000,4,0.000,0.061,2866,192,3481,0,0,0,0,0,0
$GC,504,-0.86,-116.8,51.6,-8.2,51,509,0.22,2.42,0.00,0.000,6,0.050,0.015,2797,1800,3481,0,0,0,0,0,0
$GC,773,-0.86,-116.8,79.8,-10.1,75,777,0.00,2.38,0.00,0.000,4,0.000,0.025,2797,3322,3481,0,0,0,0,0,0
$GC,813,-0.92,-116.8,84.4,-9.7,78,818,0.00,2.50,0.00,0.000,6,0.000,0.029,2797,1759,3481,0,0,0,0,0,0
$GC,1077,-0.92,-116.8,107.8,-8.6,102,1081,0.00,2.62,0.00,0.000,4,0.000,0.061,2797,196,3481,0,0,0,0,0,0
$GC,1194,-0.97,-116.8,119.6,-9.9,111,1199,0.00,2.33,0.00,0.000,6,0.000,0.015,2797,1752,3481,0,0,0,0,0,0
$GC,1458,-1.02,-116.8,140.6,-7.1,136,1463,0.00,2.42,0.00,0.000,4,0.000,0.026,2797,3310,3482,0,0,0,0,0,0
$GC,1493,-1.10,-116.8,143.6,-7.5,138,1502,0.12,2.53,0.00,0.000,6,0.035,0.030,2743,1753,3482,0,0,0,0,0,0
$GC,1761,-1.04,-116.8,167.2,-8.8,163,1766,0.12,2.67,0.00,0.000,4,0.107,0.065,2770,192,3482,0,0,0,0,0,0
$GC,1789,-1.04,-116.8,170.3,-8.7,165,1794,0.00,2.33,0.00,0.000,6,0.000,0.015,2771,1762,3482,0,0,0,0,0,0
$GC,2052,-1.04,-116.8,190.2,-8.0,189,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1763,3483,0,0,0,0,0,0
$GC,2302,-1.04,-116.8,211.3,-8.6,204,2306,0.00,2.40,0.00,0.000,4,0.000,0.028,2770,3308,3482,0,0,0,0,0,0
$GC,2329,-1.04,-116.8,214.0,-8.5,204,2333,0.00,2.47,0.00,0.000,6,0.000,0.031,2770,1758,3482,0,0,0,0,0,0
$GC,2579,-1.04,-116.8,234.0,-7.9,210,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1758,3482,0,0,0,0,0,0
$GC,2824,-1.04,-116.8,253.6,-8.1,216,2828,0.00,2.42,0.00,0.000,4,0.000,0.027,2771,3306,3481,0,0,0,0,0,0
$GC,2845,-1.08,-116.8,255.5,-7.9,216,2850,0.00,2.50,0.00,0.000,6,0.000,0.035,2770,1754,3481,0,0,0,0,0,0
$GC,3101,-1.08,-116.8,275.8,-8.0,223,3105,0.00,2.67,0.00,0.000,4,0.000,0.074,2770,196,3481,0,0,0,0,0,0
$GC,3134,-1.08,-116.8,278.8,-9.0,223,3140,0.00,2.35,0.00,0.000,6,0.000,0.017,2771,1742,3481,0,0,0,0,0,0
$GC,3384,-1.12,-116.8,300.9,-8.8,230,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1743,3480,0,0,0,0,0,0
$GC,3628,-1.18,-116.8,320.7,-7.8,236,3633,0.12,2.53,0.00,0.000,4,0.081,0.041,2730,3328,3480,0,0,0,0,0,0
$GC,3650,-1.18,-116.8,322.8,-8.7,236,3654,0.00,2.53,0.00,0.000,6,0.000,0.041,2730,1765,3480,0,0,0,0,0,0
$GC,3906,-1.18,-116.8,343.9,-8.2,243,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1765,3479,0,0,0,0,0,0
$GC,4148,-1.18,-116.8,366.0,-9.3,249,4153,0.00,2.50,0.00,0.000,4,0.000,0.036,2731,3322,3478,0,0,0,0,0,0
$GC,4181,-1.18,-116.8,369.5,-10.0,249,4187,0.00,2.58,0.00,0.000,6,0.000,0.048,2730,1767,3478,0,0,0,0,0,0
$GC,4432,-1.18,-116.8,392.7,-9.4,256,4437,0.00,2.50,0.00,0.000,4,0.000,0.042,2730,3321,3477,0,0,0,0,0,0
$GC,4465,-1.18,-116.8,395.9,-9.0,256,4470,0.00,2.62,0.00,0.000,6,0.000,0.051,2730,1766,3477,0,0,0,0,0,0
$GC,4715,-1.18,-116.8,418.0,-8.9,263,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1765,3475,0,0,0,0,0,0
$GC,4958,-1.18,-116.8,439.6,-8.8,269,4963,0.00,2.90,0.00,0.000,4,0.000,0.110,2730,186,3474,0,0,0,0,0,0
$GC,4981,-1.18,-116.8,441.6,-8.5,269,4985,0.00,2.47,0.00,0.000,6,0.000,0.034,2730,1731,3473,0,0,0,0,0,0
$GC,5235,-1.18,-116.8,462.8,-8.6,276,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1731,3472,0,0,0,0,0,0
$GC,5479,-1.18,-116.8,484.8,-9.0,282,5484,0.00,2.78,0.00,0.000,4,0.000,0.064,2730,3356,3470,0,0,0,0,0,0
$GC,5535,-1.23,-116.8,489.8,-8.5,283,5540,0.00,2.72,0.00,0.000,6,0.000,0.062,2730,1777,3470,0,0,0,0,0,0
$STATE,5677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5677,begin apogee
$GC,5683,-0.31,0.0,501.7,8.2,287,5782,0.88,0.00,95.95,0.922,6,0.075,0.000,2930,1841,3001,0,0,0,0,0,0
$STATE,5783,end apogee,CONTROL_FINISHED_OK
$STATE,5783,begin climb
$GC,5786,1.15,116.8,504.0,0.0,289,5897,1.35,2.65,100.53,0.896,4,0.046,0.054,3254,3389,2523,0,0,0,0,0,0
$GC,5921,1.07,168.2,502.4,5.6,293,5972,0.00,2.75,44.75,0.873,6,0.000,0.059,3254,1812,2315,0,0,0,0,0,0
$GC,6244,0.95,168.2,471.9,10.2,301,6246,0.22,0.00,0.00,0.000,6,0.116,0.000,3209,1812,2305,0,0,0,0,0,0
$GC,6488,0.95,168.2,450.2,8.7,307,6492,0.00,2.60,0.00,0.000,4,0.000,0.041,3209,3390,2303,0,0,0,0,0,0
$GC,6514,0.95,168.2,447.9,8.9,307,6519,0.00,2.67,0.00,0.000,6,0.000,0.051,3209,1810,2302,0,0,0,0,0,0
$GC,6766,0.97,184.3,429.4,7.3,313,6785,0.00,2.67,13.43,0.814,4,0.000,0.044,3209,3386,2248,0,0,0,0,0,0
$GC,6802,0.98,194.2,426.5,7.6,313,6818,0.00,2.65,10.25,0.774,6,0.000,0.052,3209,1824,2209,0,0,0,0,0,0
$GC,7091,0.98,194.2,403.0,8.2,321,7096,0.00,2.90,0.00,0.000,4,0.000,0.092,3209,234,2204,0,0,0,0,0,0
$GC,7120,0.93,194.2,400.5,9.4,321,7124,0.00,2.50,0.00,0.000,6,0.000,0.026,3209,1814,2203,0,0,0,0,0,0
$GC,7370,0.94,204.2,381.0,7.5,327,7381,0.00,0.00,9.45,0.765,6,0.000,0.000,3209,1814,2167,0,0,0,0,0,0
$GC,7613,0.94,204.2,361.6,8.1,333,7617,0.00,2.60,0.00,0.000,4,0.000,0.036,3209,3412,2164,0,0,0,0,0,0
$GC,7698,0.98,204.2,354.4,8.3,335,7703,0.00,2.67,0.00,0.000,6,0.000,0.041,3209,1807,2163,0,0,0,0,0,0
$GC,7981,0.99,217.3,332.7,7.4,342,8001,0.00,2.70,12.12,0.772,4,0.000,0.036,3209,3413,2114,0,0,0,0,0,0
$GC,8027,1.05,226.0,329.4,7.6,343,8041,0.00,2.65,9.43,0.729,6,0.000,0.044,3209,1811,2079,0,0,0,0,0,0
$GC,8309,1.09,235.7,307.4,7.6,350,8325,0.12,2.65,9.57,0.723,4,0.080,0.037,3242,3414,2039,0,0,0,0,0,0
$GC,8365,1.09,235.7,302.8,8.6,351,8369,0.00,2.62,0.00,0.000,6,0.000,0.040,3242,1834,2038,0,0,0,0,0,0
$GC,8632,1.09,235.7,280.1,8.8,358,8637,0.00,2.53,0.00,0.000,4,0.000,0.038,3242,3408,2036,0,0,0,0,0,0
$GC,8654,1.09,235.7,277.7,10.1,358,8658,0.00,2.58,0.00,0.000,6,0.000,0.040,3241,1836,2035,0,0,0,0,0,0
$GC,8910,1.09,235.7,253.7,9.4,365,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1836,2035,0,0,0,0,0,0
$GC,9152,1.09,235.7,230.5,9.4,371,9157,0.00,2.53,0.00,0.000,4,0.000,0.030,3242,3410,2034,0,0,0,0,0,0
$GC,9197,1.09,235.7,226.3,9.5,372,9201,0.00,2.55,0.00,0.000,6,0.000,0.033,3242,1843,2034,0,0,0,0,0,0
$GC,9474,1.09,235.7,200.3,9.4,379,9478,0.00,2.50,0.00,0.000,4,0.000,0.033,3242,3419,2034,0,0,0,0,0,0
$GC,9507,1.09,235.7,197.1,9.8,379,9513,0.00,2.53,0.00,0.000,6,0.000,0.032,3242,1850,2034,0,0,0,0,0,0
$GC,9770,1.09,235.7,174.0,8.5,404,9774,0.00,2.47,0.00,0.000,4,0.000,0.035,3242,3414,2034,0,0,0,0,0,0
$GC,9792,1.09,235.7,171.8,9.2,405,9802,0.00,2.55,0.00,0.000,6,0.000,0.033,3242,1856,2033,0,0,0,0,0,0
$GC,10060,1.09,235.7,149.6,8.1,430,10064,0.00,2.45,0.00,0.000,4,0.000,0.034,3242,3410,2033,0,0,0,0,0,0
$GC,10093,1.11,250.3,146.4,7.3,432,10114,0.00,2.53,13.77,0.615,6,0.000,0.031,3242,1863,1979,0,0,0,0,0,0
$GC,10367,1.11,250.3,123.5,8.0,458,10368,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1863,1978,0,0,0,0,0,0
$GC,10622,1.13,260.2,103.6,7.5,482,10637,0.00,2.80,10.00,0.554,4,0.000,0.065,3242,239,1939,0,0,0,0,0,0
$GC,10674,1.13,260.2,99.4,8.2,486,10678,0.00,2.55,0.00,0.000,6,0.000,0.018,3242,1890,1938,0,0,0,0,0,0
$GC,10937,1.19,263.6,80.3,7.9,510,10952,0.00,2.88,4.47,0.419,4,0.000,0.061,3242,239,1925,0,0,0,0,0,0
$GC,10970,1.19,263.6,78.1,8.1,512,10975,0.00,2.55,0.00,0.000,6,0.000,0.022,3242,1899,1925,0,0,0,0,0,0
$GC,11237,1.33,319.7,61.0,5.4,536,11297,0.20,0.00,48.88,0.562,6,0.080,0.000,3299,1901,1696,0,0,0,0,0,0
$GC,11552,1.33,319.7,31.7,10.2,565,11557,0.00,2.83,0.00,0.000,4,0.000,0.058,3299,239,1693,0,0,0,0,0,0
$GC,11573,1.28,319.7,29.3,11.3,566,11582,0.00,2.58,0.00,0.000,6,0.000,0.018,3298,1895,1691,0,0,0,0,0,0
$STATE,11805,end climb,SURFACE_DEPTH_REACHED
$STATE,11805,begin surface coast
$FINISH,0.3,1.001810
$STATE,11855,end surface coast,CONTROL_FINISHED_OK
$STATE,11855,begin surface
$SM_CCo,11876,86.97,0.454,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,86.97,0.000,0.000,0.454,475,1730,1288,-11.61,-1.13,420.20
$IRIDIUM_FIX,2246.36,-15753.23,291199,020227
$TT8_MAMPS,0.026078
$HUMID,43.30
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.40
$XPDR_PINGS,60
$24V_AH,23.6,21.445
$10V_AH,10.4,21.093
$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,26.875,149.925,382.600,86.975,0.000,30.934,37.196,245.606,15.000,0.000,17.270,1198.735,7815.228,539.801,2236.562,633.586,33.372,1361.987,0.000,2242.010,0.000,0.536,0.000
$DEVICE_MAMPS,141.895,116.584,921.934,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,409.613,366.213,472.328,897.157,1355.559,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,47769,606
$CAP_FILE_SIZE,122919,0
$CFSIZE,260165632,174608384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040910,093606,2256.396,-15755.753,9,1.3,25,10.1