version: 66.06
glider: 146
mission: 5
dive: 161
start: 9 7 110 20 39 27
data:
$ID,146
$MISSION,5
$DIVE,161
$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,-250576.86
$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,51
$R_STBD_OVSHOOT,21
$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
$GPS1,203231,2248.866,-15743.409,37,1.1,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-68.9
$GPS2,203832,2248.839,-15743.447,13,1.5,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.188,0.110
$KALMAN_X,-174888.1,-100.0,469.2,221256.8,-1832.0
$KALMAN_Y,-14553.3,-521.7,412.9,141081.0,-1316.6
$MHEAD_RNG_PITCHd_Wd,49.5,2489,-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,-85.78,0.000,6,0.000,0.000,479,1741,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.4,-6.0,11,126,11.40,2.58,0.00,0.000,4,0.136,0.023,2741,3375,3481,0,0,0,0,0,0
$GC,157,-0.38,-116.8,21.8,-35.5,17,167,0.73,2.60,0.00,0.000,6,0.063,0.034,2914,1797,3482,0,0,0,0,0,0
$GC,456,-0.60,-116.8,40.1,-5.3,50,461,0.17,2.75,0.00,0.000,4,0.054,0.061,2850,188,3482,0,0,0,0,0,0
$GC,502,-0.70,-116.8,43.7,-8.2,53,507,0.00,2.47,0.00,0.000,6,0.000,0.015,2850,1826,3482,0,0,0,0,0,0
$GC,770,-0.77,-116.8,65.3,-8.5,77,775,0.00,2.78,0.00,0.000,4,0.000,0.063,2850,184,3482,0,0,0,0,0,0
$GC,804,-0.84,-116.8,68.5,-8.9,79,809,0.15,2.45,0.00,0.000,6,0.064,0.015,2797,1831,3482,0,0,0,0,0,0
$GC,1070,-0.84,-116.8,95.2,-9.5,103,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1832,3483,0,0,0,0,0,0
$GC,1333,-0.84,-116.8,118.3,-8.3,128,1337,0.00,2.80,0.00,0.000,4,0.000,0.064,2797,185,3483,0,0,0,0,0,0
$GC,1378,-0.89,-116.8,122.1,-9.9,131,1382,0.00,2.45,0.00,0.000,6,0.000,0.023,2797,1817,3483,0,0,0,0,0,0
$GC,1646,-0.94,-116.8,144.6,-8.5,155,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1819,3483,0,0,0,0,0,0
$GC,1909,-1.00,-116.8,164.9,-6.9,180,1914,0.00,2.78,0.00,0.000,4,0.000,0.069,2797,190,3484,0,0,0,0,0,0
$GC,1943,-1.05,-116.8,167.8,-8.1,182,1949,0.12,2.30,0.00,0.000,6,0.073,0.019,2751,1740,3484,0,0,0,0,0,0
$GC,2206,-1.05,-116.8,190.5,-8.4,207,2211,0.00,2.45,0.00,0.000,4,0.000,0.029,2751,3311,3484,0,0,0,0,0,0
$GC,2228,-1.05,-116.8,192.1,-8.4,208,2233,0.00,2.53,0.00,0.000,6,0.000,0.035,2751,1729,3484,0,0,0,0,0,0
$GC,2483,-1.05,-116.8,215.6,-9.2,220,2487,0.00,2.62,0.00,0.000,4,0.000,0.066,2750,192,3484,0,0,0,0,0,0
$GC,2504,-1.01,-116.8,218.2,-10.7,220,2509,0.12,2.33,0.00,0.000,6,0.100,0.023,2780,1738,3484,0,0,0,0,0,0
$GC,2760,-1.05,-116.8,238.8,-7.9,227,2764,0.00,2.45,0.00,0.000,4,0.000,0.034,2779,3318,3484,0,0,0,0,0,0
$GC,2783,-1.11,-116.8,240.7,-8.3,227,2787,0.00,2.53,0.00,0.000,6,0.000,0.031,2779,1738,3484,0,0,0,0,0,0
$GC,3038,-1.16,-116.8,259.8,-7.3,234,3043,0.15,2.65,0.00,0.000,4,0.064,0.076,2724,190,3483,0,0,0,0,0,0
$GC,3071,-1.09,-116.8,263.0,-10.1,234,3078,0.17,2.33,0.00,0.000,6,0.094,0.018,2762,1720,3483,0,0,0,0,0,0
$GC,3323,-1.09,-116.8,283.0,-8.0,241,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1722,3483,0,0,0,0,0,0
$GC,3565,-1.09,-116.8,302.0,-7.9,247,3569,0.00,2.55,0.00,0.000,4,0.000,0.039,2762,3338,3482,0,0,0,0,0,0
$GC,3610,-1.19,-116.8,305.5,-7.9,248,3614,0.00,2.58,0.00,0.000,6,0.000,0.037,2762,1739,3482,0,0,0,0,0,0
$GC,3889,-1.24,-116.8,327.9,-8.2,255,3894,0.15,2.58,0.00,0.000,4,0.067,0.036,2715,3335,3481,0,0,0,0,0,0
$GC,3910,-1.24,-116.8,330.2,-9.1,255,3915,0.00,2.62,0.00,0.000,6,0.000,0.045,2715,1731,3481,0,0,0,0,0,0
$GC,4166,-1.19,-116.8,355.4,-10.0,262,4171,0.10,2.80,0.00,0.000,4,0.116,0.091,2738,181,3480,0,0,0,0,0,0
$GC,4200,-1.19,-116.8,358.8,-9.4,262,4206,0.00,2.40,0.00,0.000,6,0.000,0.028,2738,1717,3480,0,0,0,0,0,0
$GC,4450,-1.19,-116.8,379.4,-8.0,269,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1717,3478,0,0,0,0,0,0
$GC,4693,-1.19,-116.8,399.4,-8.4,275,4698,0.00,2.65,0.00,0.000,4,0.000,0.051,2738,3325,3477,0,0,0,0,0,0
$GC,4727,-1.24,-116.8,402.4,-9.3,275,4733,0.00,2.67,0.00,0.000,6,0.000,0.052,2738,1734,3477,0,0,0,0,0,0
$GC,4977,-1.24,-116.8,425.2,-9.3,282,4981,0.00,2.60,0.00,0.000,4,0.000,0.048,2738,3329,3476,0,0,0,0,0,0
$GC,5038,-1.29,-116.8,431.1,-9.6,283,5042,0.00,2.72,0.00,0.000,6,0.000,0.063,2738,1735,3475,0,0,0,0,0,0
$GC,5300,-1.29,-116.8,451.2,-7.4,290,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1736,3474,0,0,0,0,0,0
$GC,5542,-1.32,-116.8,467.8,-6.7,296,5548,0.12,2.65,0.00,0.000,4,0.075,0.051,2699,3326,3472,0,0,0,0,0,0
$GC,5575,-1.32,-116.8,470.3,-8.3,296,5581,0.00,2.72,0.00,0.000,6,0.000,0.063,2699,1739,3472,0,0,0,0,0,0
$GC,5827,-1.28,-116.8,491.6,-8.6,303,5829,0.10,0.00,0.00,0.000,6,0.123,0.000,2719,1739,3470,0,0,0,0,0,0
$STATE,5945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5945,begin apogee
$GC,5951,-0.31,0.0,500.8,7.8,306,6050,0.93,0.00,95.80,0.917,6,0.077,0.000,2929,1816,3001,0,0,0,0,0,0
$STATE,6051,end apogee,CONTROL_FINISHED_OK
$STATE,6051,begin climb
$GC,6053,1.15,116.8,502.3,0.0,308,6158,1.35,0.00,100.43,0.892,6,0.052,0.000,3253,1817,2524,0,0,0,0,0,0
$GC,6382,1.02,125.8,484.8,7.6,316,6397,0.15,2.70,7.47,0.732,4,0.121,0.056,3224,3382,2487,0,0,0,0,0,0
$GC,6408,0.97,148.9,482.6,6.9,316,6437,0.00,2.70,21.83,0.844,6,0.000,0.058,3224,1822,2392,0,0,0,0,0,0
$GC,6714,0.94,180.4,462.4,6.6,324,6748,0.00,2.70,28.08,0.857,4,0.000,0.048,3224,3382,2265,0,0,0,0,0,0
$GC,6793,0.94,180.4,456.0,8.2,325,6799,0.00,2.67,0.00,0.000,6,0.000,0.059,3224,1834,2261,0,0,0,0,0,0
$GC,7045,0.89,180.4,435.6,8.3,332,7050,0.15,2.58,0.00,0.000,4,0.126,0.039,3194,3394,2258,0,0,0,0,0,0
$GC,7079,0.89,180.4,432.8,8.0,332,7085,0.00,2.65,0.00,0.000,6,0.000,0.049,3194,1837,2257,0,0,0,0,0,0
$GC,7329,0.91,196.7,414.2,7.3,339,7345,0.00,0.00,14.12,0.816,6,0.000,0.000,3194,1837,2199,0,0,0,0,0,0
$GC,7574,0.94,218.4,397.0,7.0,345,7600,0.00,2.58,20.50,0.829,4,0.000,0.035,3194,3394,2108,0,0,0,0,0,0
$GC,7633,1.01,218.4,392.2,8.5,346,7639,0.12,2.62,0.00,0.000,6,0.084,0.048,3226,1841,2106,0,0,0,0,0,0
$GC,7894,1.01,218.4,368.8,9.1,353,7899,0.00,2.50,0.00,0.000,4,0.000,0.035,3226,3396,2103,0,0,0,0,0,0
$GC,7940,1.01,218.4,364.5,10.2,354,7944,0.00,2.58,0.00,0.000,6,0.000,0.042,3226,1855,2103,0,0,0,0,0,0
$GC,8217,1.02,225.0,341.7,7.7,361,8230,0.00,2.88,6.30,0.673,4,0.000,0.078,3226,235,2082,0,0,0,0,0,0
$GC,8248,0.96,234.7,339.1,7.6,361,8264,0.00,2.55,10.07,0.742,6,0.000,0.025,3226,1855,2044,0,0,0,0,0,0
$GC,8543,0.96,234.7,314.7,8.8,369,8548,0.00,2.50,0.00,0.000,4,0.000,0.035,3225,3401,2040,0,0,0,0,0,0
$GC,8599,1.00,234.7,309.1,10.4,370,8603,0.00,2.55,0.00,0.000,6,0.000,0.038,3226,1855,2039,0,0,0,0,0,0
$GC,8866,1.00,234.7,284.5,9.2,377,8871,0.00,2.47,0.00,0.000,4,0.000,0.032,3225,3399,2038,0,0,0,0,0,0
$GC,8946,1.05,234.7,276.4,9.9,378,8951,0.00,2.47,0.00,0.000,6,0.000,0.039,3225,1881,2037,0,0,0,0,0,0
$GC,9196,1.05,236.2,255.7,7.9,385,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1881,2037,0,0,0,0,0,0
$GC,9441,1.07,247.3,237.8,7.5,391,9460,0.00,2.95,11.57,0.683,4,0.000,0.070,3225,235,1992,0,0,0,0,0,0
$GC,9471,1.07,247.3,235.0,8.3,391,9476,0.00,2.62,0.00,0.000,6,0.000,0.025,3226,1903,1991,0,0,0,0,0,0
$GC,9722,1.07,247.3,214.8,8.1,397,9726,0.00,2.40,0.00,0.000,4,0.000,0.037,3225,3402,1990,0,0,0,0,0,0
$GC,9750,1.11,247.3,212.3,9.0,397,9755,0.00,2.45,0.00,0.000,6,0.000,0.031,3225,1893,1988,0,0,0,0,0,0
$GC,10008,1.12,255.3,192.3,7.6,409,10022,0.00,2.90,8.27,0.606,4,0.000,0.064,3225,247,1959,0,0,0,0,0,0
$GC,10033,1.12,255.3,189.8,9.0,411,10043,0.00,2.62,0.00,0.000,6,0.000,0.019,3226,1913,1959,0,0,0,0,0,0
$GC,10301,1.12,255.3,168.6,8.3,436,10306,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1915,1959,0,0,0,0,0,0
$GC,10566,1.13,265.7,147.1,7.5,461,10585,0.00,0.00,11.00,0.594,6,0.000,0.000,3225,1915,1915,0,0,0,0,0,0
$GC,10845,1.20,282.2,126.2,7.3,487,10870,0.15,2.95,15.45,0.593,4,0.068,0.060,3269,241,1849,0,0,0,0,0,0
$GC,10875,1.20,282.2,122.5,9.8,489,10881,0.00,2.62,0.00,0.000,6,0.000,0.024,3269,1917,1849,0,0,0,0,0,0
$GC,11138,1.20,282.2,97.4,9.0,514,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1918,1848,0,0,0,0,0,0
$GC,11395,1.20,282.2,74.4,8.0,538,11399,0.00,2.33,0.00,0.000,4,0.000,0.028,3269,3401,1848,0,0,0,0,0,0
$GC,11404,1.20,282.2,73.2,8.2,538,11414,0.00,2.45,0.00,0.000,6,0.000,0.029,3269,1889,1847,0,0,0,0,0,0
$GC,11673,1.20,283.3,53.9,8.0,563,11677,0.00,2.80,0.00,0.000,4,0.000,0.060,3269,236,1847,0,0,0,0,0,0
$GC,11694,1.21,286.3,52.1,7.9,564,11709,0.00,2.58,4.75,0.411,6,0.000,0.018,3269,1920,1833,0,0,0,0,0,0
$GC,11965,1.21,286.3,30.4,8.1,589,11974,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1921,1833,0,0,0,0,0,0
$STATE,12285,end climb,SURFACE_DEPTH_REACHED
$STATE,12285,begin surface coast
$FINISH,0.2,1.003453
$STATE,12341,end surface coast,CONTROL_FINISHED_OK
$STATE,12341,begin surface
$SM_CCo,12364,118.22,0.466,1,0,1288,420.20
$SM_GC,1.00,0.00,0.00,118.22,0.000,0.000,0.466,474,1728,1288,-11.62,-1.19,420.20
$IRIDIUM_FIX,2241.69,-15742.40,021299,171734
$TT8_MAMPS,0.025311
$HUMID,42.91
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.80
$XPDR_PINGS,53
$24V_AH,23.6,24.339
$10V_AH,10.3,24.366
$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,27.625,151.100,355.650,118.225,0.000,28.627,31.085,161.941,13.250,0.000,15.364,1265.959,8059.596,603.584,2367.921,552.880,33.369,1415.201,0.000,2379.839,0.000,0.536,0.000
$DEVICE_MAMPS,135.759,246.207,916.565,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,434.686,392.178,506.388,989.873,1498.286,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,51141,643
$CAP_FILE_SIZE,126297,0
$CFSIZE,260165632,173084672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080910,000855,2248.492,-15743.050,38,1.6,38,10.1