version: 66.06
glider: 146
mission: 5
dive: 158
start: 9 7 110 10 9 10
data:
$ID,146
$MISSION,5
$DIVE,158
$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,-250484.25
$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,62
$R_STBD_OVSHOOT,66
$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
$GPS1,100137,2251.254,-15745.647,25,1.6,25,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-67.4
$GPS2,100813,2251.224,-15745.712,11,1.7,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.057
$KALMAN_X,-170942.3,265.7,329.0,213191.3,-2490.7
$KALMAN_Y,-11083.0,150.5,133.2,141631.0,-1693.6
$MHEAD_RNG_PITCHd_Wd,95.2,7559,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,96,0.00,0.00,-78.45,0.000,2,0.000,0.000,471,1730,3219,0,0,0,0,0,0
$GC,99,-1.15,-116.8,3.1,-3.7,10,125,11.55,2.58,-5.15,0.000,4,0.140,0.040,2740,3329,3480,0,0,0,0,0,0
$GC,143,-0.18,-116.8,15.4,-26.6,15,153,0.93,2.50,0.00,0.000,6,0.068,0.034,2956,1804,3481,0,0,0,0,0,0
$GC,478,-0.51,-116.8,32.2,-6.3,61,483,0.25,2.72,0.00,0.000,4,0.045,0.058,2871,191,3481,0,0,0,0,0,0
$GC,524,-0.67,-116.8,36.4,-9.9,64,529,0.00,2.40,0.00,0.000,6,0.000,0.015,2872,1784,3481,0,0,0,0,0,0
$GC,794,-0.78,-116.8,57.5,-7.0,88,799,0.17,2.38,0.00,0.000,4,0.059,0.032,2814,3307,3482,0,0,0,0,0,0
$GC,828,-0.83,-116.8,60.6,-9.3,90,832,0.00,2.50,0.00,0.000,6,0.000,0.028,2814,1751,3482,0,0,0,0,0,0
$GC,1092,-0.87,-116.8,84.8,-8.6,114,1096,0.00,2.65,0.00,0.000,4,0.000,0.066,2814,189,3482,0,0,0,0,0,0
$GC,1114,-0.92,-116.8,87.1,-8.4,115,1120,0.00,2.35,0.00,0.000,6,0.000,0.015,2814,1765,3482,0,0,0,0,0,0
$GC,1377,-0.98,-116.8,108.5,-8.3,140,1379,0.12,0.00,0.00,0.000,6,0.071,0.000,2768,1767,3482,0,0,0,0,0,0
$GC,1631,-0.98,-116.8,132.9,-9.6,164,1635,0.00,2.67,0.00,0.000,4,0.000,0.061,2767,194,3482,0,0,0,0,0,0
$GC,1687,-0.98,-116.8,139.3,-11.0,168,1697,0.00,2.35,0.00,0.000,6,0.000,0.015,2768,1753,3483,0,0,0,0,0,0
$GC,1954,-0.98,-116.8,163.3,-8.9,193,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1755,3483,0,0,0,0,0,0
$GC,2214,-0.98,-116.8,187.5,-9.8,218,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1755,3483,0,0,0,0,0,0
$GC,2477,-0.98,-116.8,210.7,-8.5,234,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1756,3483,0,0,0,0,0,0
$GC,2718,-0.98,-116.8,231.0,-8.4,240,2722,0.00,2.67,0.00,0.000,4,0.000,0.072,2767,197,3483,0,0,0,0,0,0
$GC,2739,-0.98,-116.8,232.9,-8.5,240,2743,0.00,2.30,0.00,0.000,6,0.000,0.021,2768,1741,3483,0,0,0,0,0,0
$GC,3000,-0.98,-116.8,254.7,-8.5,247,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1742,3483,0,0,0,0,0,0
$GC,3245,-0.98,-116.8,276.0,-8.7,253,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1742,3482,0,0,0,0,0,0
$GC,3488,-1.02,-116.8,295.8,-8.1,259,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1743,3482,0,0,0,0,0,0
$GC,3732,-1.06,-116.8,315.1,-8.1,265,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1742,3482,0,0,0,0,0,0
$GC,3976,-1.12,-116.8,332.5,-6.9,271,3980,0.00,2.53,0.00,0.000,4,0.000,0.038,2767,3313,3481,0,0,0,0,0,0
$GC,3999,-1.19,-116.8,334.0,-6.9,271,4004,0.12,2.55,0.00,0.000,6,0.067,0.037,2717,1743,3481,0,0,0,0,0,0
$GC,4254,-1.19,-116.8,355.3,-8.2,278,4256,0.10,0.00,0.00,0.000,6,0.119,0.000,2738,1743,3480,0,0,0,0,0,0
$GC,4498,-1.19,-116.8,373.6,-7.6,284,4502,0.00,2.53,0.00,0.000,4,0.000,0.038,2738,3316,3478,0,0,0,0,0,0
$GC,4516,-1.19,-116.8,374.9,-8.0,284,4521,0.00,2.60,0.00,0.000,6,0.000,0.049,2738,1744,3479,0,0,0,0,0,0
$GC,4777,-1.19,-116.8,397.7,-8.9,291,4782,0.00,2.55,0.00,0.000,4,0.000,0.046,2738,3313,3477,0,0,0,0,0,0
$GC,4810,-1.24,-116.8,400.8,-9.0,291,4816,0.00,2.62,0.00,0.000,6,0.000,0.055,2738,1758,3477,0,0,0,0,0,0
$GC,5062,-1.24,-116.8,422.9,-8.9,298,5066,0.00,2.85,0.00,0.000,4,0.000,0.104,2738,185,3476,0,0,0,0,0,0
$GC,5100,-1.24,-116.8,426.6,-9.0,299,5105,0.00,2.42,0.00,0.000,6,0.000,0.033,2738,1699,3475,0,0,0,0,0,0
$GC,5384,-1.24,-116.8,447.6,-7.1,306,5389,0.00,2.67,0.00,0.000,4,0.000,0.057,2738,3301,3473,0,0,0,0,0,0
$GC,5431,-1.31,-116.8,450.8,-7.2,307,5435,0.00,2.65,0.00,0.000,6,0.000,0.061,2738,1747,3473,0,0,0,0,0,0
$GC,5708,-1.34,-116.8,469.8,-6.8,314,5714,0.12,2.90,0.00,0.000,4,0.076,0.104,2698,180,3471,0,0,0,0,0,0
$GC,5743,-1.27,-116.8,472.9,-9.3,314,5749,0.12,2.45,0.00,0.000,6,0.114,0.032,2724,1696,3471,0,0,0,0,0,0
$GC,5995,-1.27,-116.8,492.9,-8.0,321,5999,0.00,2.75,0.00,0.000,4,0.000,0.068,2723,3306,3469,0,0,0,0,0,0
$GC,6016,-1.27,-116.8,494.9,-8.4,321,6020,0.00,2.65,0.00,0.000,6,0.000,0.061,2724,1753,3469,0,0,0,0,0,0
$STATE,6112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6112,begin apogee
$GC,6119,-0.31,0.0,503.3,8.7,324,6218,0.93,0.00,95.32,0.921,6,0.078,0.000,2932,1753,3001,0,0,0,0,0,0
$STATE,6219,end apogee,CONTROL_FINISHED_OK
$STATE,6219,begin climb
$GC,6221,1.15,116.8,506.0,0.0,326,6333,1.33,2.97,99.97,0.898,4,0.044,0.107,3254,235,2521,0,0,0,0,0,0
$GC,6347,1.05,196.8,506.3,4.3,329,6422,0.12,2.55,68.93,0.882,6,0.132,0.035,3232,1774,2198,0,0,0,0,0,0
$GC,6674,0.98,196.8,479.0,9.2,337,6678,0.00,2.78,0.00,0.000,4,0.000,0.063,3232,3401,2188,0,0,0,0,0,0
$GC,6792,0.98,196.8,467.5,9.4,339,6796,0.00,2.72,0.00,0.000,6,0.000,0.060,3231,1825,2186,0,0,0,0,0,0
$GC,7042,0.91,196.8,445.3,8.7,345,7047,0.15,2.92,0.00,0.000,4,0.160,0.099,3201,232,2184,0,0,0,0,0,0
$GC,7058,0.85,196.8,443.7,8.7,345,7063,0.00,2.60,0.00,0.000,6,0.000,0.025,3201,1846,2183,0,0,0,0,0,0
$GC,7321,0.87,214.1,424.7,7.2,352,7341,0.00,2.67,13.70,0.815,4,0.000,0.049,3201,3408,2129,0,0,0,0,0,0
$GC,7386,0.87,214.1,419.5,8.4,353,7390,0.00,2.65,0.00,0.000,6,0.000,0.054,3200,1837,2126,0,0,0,0,0,0
$GC,7648,0.88,220.3,399.6,7.7,360,7662,0.00,2.92,6.47,0.704,4,0.000,0.091,3201,234,2103,0,0,0,0,0,0
$GC,7685,0.88,220.3,395.9,9.6,360,7692,0.00,2.60,0.00,0.000,6,0.000,0.027,3201,1857,2102,0,0,0,0,0,0
$GC,7935,0.89,229.8,376.6,7.6,367,7950,0.00,2.53,9.82,0.768,4,0.000,0.044,3201,3401,2064,0,0,0,0,0,0
$GC,7968,0.95,249.0,374.1,7.1,367,7993,0.00,2.60,18.95,0.812,6,0.000,0.045,3201,1838,1985,0,0,0,0,0,0
$GC,8261,0.98,269.5,352.4,7.1,375,8282,0.00,0.00,19.05,0.802,6,0.000,0.000,3201,1838,1902,0,0,0,0,0,0
$GC,8505,1.02,269.5,333.4,8.0,381,8510,0.10,2.55,0.00,0.000,4,0.097,0.031,3227,3403,1898,0,0,0,0,0,0
$GC,8533,1.02,269.5,330.9,9.5,381,8537,0.00,2.58,0.00,0.000,6,0.000,0.042,3227,1841,1896,0,0,0,0,0,0
$GC,8782,1.02,269.5,307.5,9.6,387,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1840,1896,0,0,0,0,0,0
$GC,9026,1.02,269.5,284.6,9.4,393,9031,0.00,2.80,0.00,0.000,4,0.000,0.071,3227,239,1895,0,0,0,0,0,0
$GC,9043,1.02,269.5,283.0,9.1,393,9047,0.00,2.55,0.00,0.000,6,0.000,0.025,3227,1859,1893,0,0,0,0,0,0
$GC,9303,1.02,269.5,259.6,8.9,400,9307,0.00,2.45,0.00,0.000,4,0.000,0.038,3227,3394,1893,0,0,0,0,0,0
$GC,9347,1.08,269.5,255.5,9.4,401,9351,0.00,2.53,0.00,0.000,6,0.000,0.036,3227,1838,1893,0,0,0,0,0,0
$GC,9625,1.08,269.5,230.4,9.1,408,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1838,1892,0,0,0,0,0,0
$GC,9867,1.08,269.5,209.2,8.6,414,9872,0.00,2.75,0.00,0.000,4,0.000,0.069,3227,243,1893,0,0,0,0,0,0
$GC,9888,1.08,269.5,207.0,10.0,414,9893,0.00,2.50,0.00,0.000,6,0.000,0.019,3227,1857,1892,0,0,0,0,0,0
$GC,10157,1.08,269.5,183.7,9.0,433,10161,0.00,2.42,0.00,0.000,4,0.000,0.034,3227,3387,1892,0,0,0,0,0,0
$GC,10201,1.15,269.5,179.8,9.0,436,10206,0.10,2.50,0.00,0.000,6,0.089,0.037,3257,1844,1891,0,0,0,0,0,0
$GC,10466,1.15,269.5,152.6,9.2,460,10470,0.00,2.75,0.00,0.000,4,0.000,0.064,3257,240,1892,0,0,0,0,0,0
$GC,10488,1.09,269.5,150.1,9.4,461,10494,0.00,2.50,0.00,0.000,6,0.000,0.021,3257,1862,1891,0,0,0,0,0,0
$GC,10751,1.09,269.5,126.5,8.7,486,10755,0.00,2.78,0.00,0.000,4,0.000,0.064,3257,242,1891,0,0,0,0,0,0
$GC,10781,1.04,269.5,123.6,10.7,488,10786,0.15,2.45,0.00,0.000,6,0.110,0.025,3226,1836,1891,0,0,0,0,0,0
$GC,11043,1.13,281.2,103.4,7.5,512,11056,0.00,0.00,10.27,0.552,6,0.000,0.000,3226,1838,1854,0,0,0,0,0,0
$GC,11314,1.22,281.2,82.4,8.1,537,11319,0.17,2.45,0.00,0.000,4,0.072,0.028,3275,3387,1853,0,0,0,0,0,0
$GC,11331,1.29,281.2,80.2,8.7,538,11335,0.00,2.53,0.00,0.000,6,0.000,0.038,3275,1817,1852,0,0,0,0,0,0
$GC,11599,1.29,281.2,55.3,8.7,562,11607,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1817,1853,0,0,0,0,0,0
$GC,11863,1.29,281.2,32.3,9.1,587,11867,0.00,2.47,0.00,0.000,4,0.000,0.025,3275,3390,1852,0,0,0,0,0,0
$GC,11912,1.34,285.5,28.7,7.8,591,11923,0.00,2.53,5.38,0.420,6,0.000,0.032,3275,1840,1837,0,0,0,0,0,0
$GC,12245,1.34,285.5,4.1,9.8,640,12254,0.00,2.47,0.00,0.000,4,0.000,0.033,3275,3383,1837,0,0,0,0,0,0
$STATE,12262,end climb,SURFACE_DEPTH_REACHED
$STATE,12262,begin surface coast
$FINISH,1.4,1.023340
$STATE,12270,end surface coast,CONTROL_FINISHED_OK
$STATE,12270,begin surface
$SM_CCo,12295,115.93,0.466,1,0,1288,420.20
$SM_GC,1.05,0.00,0.00,115.93,0.000,0.000,0.466,475,1752,1288,-11.62,-0.51,420.20
$IRIDIUM_FIX,2241.69,-15744.57,021299,060653
$TT8_MAMPS,0.025311
$HUMID,42.91
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.70
$XPDR_PINGS,57
$24V_AH,23.6,23.996
$10V_AH,10.4,23.961
$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,27.875,150.525,347.875,115.925,0.000,30.846,36.869,186.050,14.250,0.000,16.076,1270.511,7983.118,558.095,2416.887,586.363,33.375,1375.798,0.000,2429.421,0.000,0.536,0.000
$DEVICE_MAMPS,159.536,107.380,921.167,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,435.918,394.138,506.283,1019.272,1541.747,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,51002,643
$CAP_FILE_SIZE,125886,0
$CFSIZE,260165632,173268992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070910,133740,2249.704,-15745.308,32,99.0,51,10.1