version: 66.06
glider: 146
mission: 5
dive: 167
start: 9 8 110 17 43 21
data:
$ID,146
$MISSION,5
$DIVE,167
$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,-250683.86
$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,24
$R_STBD_OVSHOOT,37
$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
$GPS1,173636,2251.142,-15742.146,26,1.5,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.8
$GPS2,174226,2251.120,-15742.188,14,1.0,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.058,0.217
$KALMAN_X,-182660.9,170.6,-139.9,231533.1,-663.7
$KALMAN_Y,-21922.5,-295.8,-3.9,152859.2,-611.2
$MHEAD_RNG_PITCHd_Wd,4.8,12747,-15.5,-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,15,begin dive
$GC,17,-1.11,-116.8,0.0,0.0,0,105,0.00,0.00,-85.40,0.000,6,0.000,0.000,475,1694,3479,0,0,0,0,0,0
$GC,108,-1.11,-116.8,4.6,-6.7,11,126,11.55,2.65,0.00,0.000,4,0.140,0.028,2747,3361,3480,0,0,0,0,0,0
$GC,223,-1.02,-116.8,31.2,-13.8,27,228,0.12,2.58,0.00,0.000,6,0.105,0.033,2775,1769,3481,0,0,0,0,0,0
$GC,490,-0.90,-116.8,66.6,-13.7,51,496,0.12,2.72,0.00,0.000,4,0.114,0.067,2802,188,3481,0,0,0,0,0,0
$GC,513,-0.79,-116.8,70.2,-13.9,52,518,0.10,2.45,0.00,0.000,6,0.119,0.015,2825,1820,3481,0,0,0,0,0,0
$GC,776,-0.84,-116.8,94.2,-8.6,76,780,0.00,2.78,0.00,0.000,4,0.000,0.066,2825,186,3482,0,0,0,0,0,0
$GC,824,-0.91,-116.8,97.9,-8.8,79,829,0.10,2.33,0.00,0.000,6,0.084,0.015,2786,1755,3481,0,0,0,0,0,0
$GC,1090,-0.91,-116.8,122.7,-8.3,103,1094,0.00,2.42,0.00,0.000,4,0.000,0.032,2786,3309,3482,0,0,0,0,0,0
$GC,1123,-0.91,-116.8,125.6,-8.7,105,1127,0.00,2.47,0.00,0.000,6,0.000,0.029,2786,1748,3482,0,0,0,0,0,0
$GC,1389,-0.91,-116.8,147.8,-9.0,129,1393,0.00,2.62,0.00,0.000,4,0.000,0.064,2786,195,3482,0,0,0,0,0,0
$GC,1420,-0.91,-116.8,150.8,-9.4,131,1425,0.00,2.30,0.00,0.000,6,0.000,0.023,2786,1754,3482,0,0,0,0,0,0
$GC,1683,-0.91,-116.8,172.5,-8.3,155,1687,0.00,2.42,0.00,0.000,4,0.000,0.031,2786,3310,3482,0,0,0,0,0,0
$GC,1716,-0.96,-116.8,175.1,-8.9,157,1720,0.00,2.47,0.00,0.000,6,0.000,0.031,2786,1752,3482,0,0,0,0,0,0
$GC,1983,-0.96,-116.8,198.2,-8.4,181,1988,0.00,2.65,0.00,0.000,4,0.000,0.067,2786,199,3483,0,0,0,0,0,0
$GC,2016,-0.96,-116.8,201.6,-9.0,182,2021,0.00,2.33,0.00,0.000,6,0.000,0.015,2786,1749,3483,0,0,0,0,0,0
$GC,2266,-0.96,-116.8,221.9,-8.0,189,2270,0.00,2.42,0.00,0.000,4,0.000,0.033,2786,3311,3482,0,0,0,0,0,0
$GC,2294,-1.01,-116.8,224.2,-8.0,189,2299,0.00,2.47,0.00,0.000,6,0.000,0.029,2786,1754,3483,0,0,0,0,0,0
$GC,2544,-1.01,-116.8,244.9,-8.4,195,2548,0.00,2.67,0.00,0.000,4,0.000,0.071,2786,196,3483,0,0,0,0,0,0
$GC,2570,-1.01,-116.8,247.2,-8.9,195,2574,0.00,2.33,0.00,0.000,6,0.000,0.020,2786,1748,3482,0,0,0,0,0,0
$GC,2828,-1.05,-116.8,265.2,-6.7,202,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1750,3483,0,0,0,0,0,0
$GC,3070,-1.11,-116.8,279.7,-6.0,208,3075,0.12,2.53,0.00,0.000,4,0.070,0.031,2741,3332,3482,0,0,0,0,0,0
$GC,3103,-1.11,-116.8,282.3,-7.7,208,3109,0.00,2.53,0.00,0.000,6,0.000,0.035,2741,1765,3482,0,0,0,0,0,0
$GC,3355,-1.11,-116.8,304.1,-8.9,215,3359,0.00,2.75,0.00,0.000,4,0.000,0.083,2741,195,3481,0,0,0,0,0,0
$GC,3387,-1.06,-116.8,307.6,-10.6,215,3393,0.12,2.40,0.00,0.000,6,0.104,0.022,2768,1747,3481,0,0,0,0,0,0
$GC,3637,-1.11,-116.8,326.3,-7.3,222,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1747,3480,0,0,0,0,0,0
$GC,3883,-1.16,-116.8,345.1,-7.8,228,3887,0.00,2.58,0.00,0.000,4,0.000,0.041,2768,3339,3480,0,0,0,0,0,0
$GC,3915,-1.23,-116.8,348.0,-8.1,228,3922,0.15,2.58,0.00,0.000,6,0.061,0.043,2714,1773,3480,0,0,0,0,0,0
$GC,4165,-1.18,-116.8,373.5,-10.4,235,4171,0.12,2.88,0.00,0.000,4,0.103,0.093,2741,182,3479,0,0,0,0,0,0
$GC,4194,-1.18,-116.8,376.4,-10.1,235,4198,0.00,2.47,0.00,0.000,6,0.000,0.028,2741,1761,3479,0,0,0,0,0,0
$GC,4444,-1.18,-116.8,396.6,-7.9,241,4448,0.00,2.60,0.00,0.000,4,0.000,0.051,2741,3355,3478,0,0,0,0,0,0
$GC,4494,-1.22,-116.8,400.4,-7.8,242,4498,0.00,2.65,0.00,0.000,6,0.000,0.054,2741,1780,3477,0,0,0,0,0,0
$GC,4767,-1.22,-116.8,418.6,-6.4,249,4772,0.00,2.92,0.00,0.000,4,0.000,0.106,2742,178,3475,0,0,0,0,0,0
$GC,4811,-1.22,-116.8,422.0,-8.0,250,4815,0.00,2.55,0.00,0.000,6,0.000,0.029,2741,1769,3476,0,0,0,0,0,0
$GC,5088,-1.22,-116.8,442.9,-7.8,257,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1769,3473,0,0,0,0,0,0
$GC,5333,-1.22,-116.8,463.9,-8.6,263,5337,0.00,2.67,0.00,0.000,4,0.000,0.065,2741,3353,3472,0,0,0,0,0,0
$GC,5377,-1.27,-116.8,468.0,-9.3,264,5381,0.00,2.70,0.00,0.000,6,0.000,0.058,2741,1774,3472,0,0,0,0,0,0
$GC,5654,-1.27,-116.8,491.1,-8.2,271,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1774,3470,0,0,0,0,0,0
$STATE,5773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5773,begin apogee
$GC,5781,-0.31,0.0,500.6,7.9,274,5880,0.82,0.00,95.75,0.909,6,0.074,0.000,2931,1847,3001,0,0,0,0,0,0
$STATE,5881,end apogee,CONTROL_FINISHED_OK
$STATE,5881,begin climb
$GC,5883,1.11,116.8,502.9,0.0,276,5994,1.27,2.62,99.85,0.888,4,0.044,0.051,3242,3379,2522,0,0,0,0,0,0
$GC,6011,1.06,176.0,501.7,5.4,279,6070,0.00,2.70,50.92,0.868,6,0.000,0.061,3243,1817,2282,0,0,0,0,0,0
$GC,6332,0.94,176.0,473.9,9.1,287,6334,0.17,0.00,0.00,0.000,6,0.117,0.000,3208,1817,2274,0,0,0,0,0,0
$GC,6577,0.98,206.0,456.7,6.7,293,6608,0.00,2.62,25.58,0.852,4,0.000,0.045,3208,3379,2160,0,0,0,0,0,0
$GC,6673,1.02,234.9,450.3,6.8,295,6706,0.00,2.67,26.30,0.844,6,0.000,0.051,3208,1823,2042,0,0,0,0,0,0
$GC,6995,1.03,244.1,426.6,7.6,303,7005,0.00,0.00,8.70,0.750,6,0.000,0.000,3208,1823,2005,0,0,0,0,0,0
$GC,7235,1.03,246.0,407.3,7.9,309,7240,0.00,2.90,0.00,0.000,4,0.000,0.093,3207,228,2002,0,0,0,0,0,0
$GC,7251,0.99,246.0,405.8,8.3,309,7256,0.00,2.47,0.00,0.000,6,0.000,0.024,3208,1807,2001,0,0,0,0,0,0
$GC,7513,0.99,246.0,382.3,9.1,316,7518,0.00,2.60,0.00,0.000,4,0.000,0.039,3208,3401,2000,0,0,0,0,0,0
$GC,7591,1.03,246.0,374.7,10.0,317,7598,0.00,2.60,0.00,0.000,6,0.000,0.047,3208,1837,1999,0,0,0,0,0,0
$GC,7841,1.03,246.0,353.8,8.2,324,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1836,1998,0,0,0,0,0,0
$GC,8086,1.05,257.3,335.5,7.5,330,8105,0.00,2.62,12.15,0.759,4,0.000,0.038,3208,3400,1951,0,0,0,0,0,0
$GC,8156,1.11,257.3,329.5,8.8,331,8161,0.15,2.60,0.00,0.000,6,0.075,0.039,3246,1837,1949,0,0,0,0,0,0
$GC,8413,1.06,257.3,305.3,9.4,338,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1837,1948,0,0,0,0,0,0
$GC,8655,1.01,257.3,281.4,9.9,344,8660,0.12,2.53,0.00,0.000,4,0.210,0.031,3222,3405,1947,0,0,0,0,0,0
$GC,8688,1.05,257.3,278.1,9.3,344,8694,0.00,2.53,0.00,0.000,6,0.000,0.039,3222,1851,1946,0,0,0,0,0,0
$GC,8938,1.05,257.3,257.0,8.5,351,8942,0.00,2.47,0.00,0.000,4,0.000,0.030,3222,3400,1946,0,0,0,0,0,0
$GC,8961,1.05,257.3,255.0,8.5,351,8965,0.00,2.50,0.00,0.000,6,0.000,0.040,3222,1856,1946,0,0,0,0,0,0
$GC,9217,1.05,259.7,234.5,7.9,358,9222,0.00,2.78,0.00,0.000,4,0.000,0.070,3222,241,1945,0,0,0,0,0,0
$GC,9238,1.05,259.7,232.5,8.6,358,9243,0.00,2.55,0.00,0.000,6,0.000,0.021,3222,1882,1944,0,0,0,0,0,0
$GC,9501,1.07,273.1,212.8,7.4,365,9520,0.00,2.47,14.27,0.668,4,0.000,0.031,3222,3401,1886,0,0,0,0,0,0
$GC,9532,1.07,275.1,209.9,7.9,365,9537,0.00,2.50,0.00,0.000,6,0.000,0.032,3222,1856,1886,0,0,0,0,0,0
$GC,9788,1.07,275.1,187.1,8.9,380,9792,0.00,2.78,0.00,0.000,4,0.000,0.065,3222,246,1885,0,0,0,0,0,0
$GC,9822,1.07,275.1,183.5,10.9,382,9828,0.00,2.55,0.00,0.000,6,0.000,0.019,3222,1886,1884,0,0,0,0,0,0
$GC,10085,1.11,275.1,161.2,8.0,407,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1889,1885,0,0,0,0,0,0
$GC,10344,1.15,275.1,138.8,9.3,431,10349,0.12,2.85,0.00,0.000,4,0.082,0.061,3258,239,1884,0,0,0,0,0,0
$GC,10380,1.10,275.1,134.9,12.2,433,10384,0.00,2.53,0.00,0.000,6,0.000,0.023,3258,1881,1884,0,0,0,0,0,0
$GC,10647,1.10,275.1,107.5,8.8,457,10651,0.00,2.38,0.00,0.000,4,0.000,0.035,3258,3407,1884,0,0,0,0,0,0
$GC,10664,1.10,275.1,105.6,8.6,458,10668,0.00,2.50,0.00,0.000,6,0.000,0.031,3258,1851,1884,0,0,0,0,0,0
$GC,10926,1.10,275.1,84.2,8.8,482,10931,0.00,2.70,0.00,0.000,4,0.000,0.061,3258,244,1884,0,0,0,0,0,0
$GC,10937,1.10,275.1,83.2,8.5,482,10946,0.00,2.53,0.00,0.000,6,0.000,0.018,3258,1876,1884,0,0,0,0,0,0
$GC,11204,1.18,304.9,64.0,6.7,507,11235,0.00,0.00,28.60,0.555,6,0.000,0.000,3258,1878,1757,0,0,0,0,0,0
$GC,11490,1.22,304.9,41.8,8.4,534,11499,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1878,1753,0,0,0,0,0,0
$GC,11790,1.26,305.7,17.5,8.0,570,11800,0.00,2.83,0.00,0.000,4,0.000,0.062,3258,238,1753,0,0,0,0,0,0
$GC,11811,1.26,307.9,15.8,7.9,572,11821,0.00,2.55,0.00,0.000,6,0.000,0.025,3258,1875,1754,0,0,0,0,0,0
$STATE,11959,end climb,SURFACE_DEPTH_REACHED
$STATE,11959,begin surface coast
$FINISH,0.3,1.008734
$STATE,12037,end surface coast,CONTROL_FINISHED_OK
$STATE,12037,begin surface
$SM_CCo,12060,105.75,0.458,1,0,1287,420.20
$SM_GC,0.93,0.00,0.00,105.75,0.000,0.000,0.458,480,1746,1287,-11.60,-0.68,420.20
$IRIDIUM_FIX,2241.69,-15744.57,031299,141417
$TT8_MAMPS,0.025311
$HUMID,43.38
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.00
$XPDR_PINGS,62
$24V_AH,23.6,25.021
$10V_AH,10.3,25.163
$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,26.475,155.075,362.125,105.750,0.000,28.362,29.031,152.119,15.500,0.000,16.457,1211.414,7979.322,552.080,2236.929,541.171,33.370,1362.198,0.000,2243.502,0.000,0.535,0.000
$DEVICE_MAMPS,210.158,115.817,908.895,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,408.785,357.237,465.995,897.884,1358.081,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,47775,604
$CAP_FILE_SIZE,124608,0
$CFSIZE,260165632,172724224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080910,210731,2252.010,-15741.855,37,1.4,37,10.1