version: 66.06
glider: 146
mission: 5
dive: 168
start: 9 8 110 21 16 5
data:
$ID,146
$MISSION,5
$DIVE,168
$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,-250698.7
$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,47
$R_STBD_OVSHOOT,39
$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
$GPS1,210731,2252.010,-15741.855,37,1.4,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.2
$GPS2,211508,2251.968,-15741.891,12,1.0,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.098,0.201
$KALMAN_X,-183416.4,261.6,319.1,232252.5,-1240.6
$KALMAN_Y,-23356.6,-410.5,416.5,155564.2,-1678.8
$MHEAD_RNG_PITCHd_Wd,15.9,11172,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.11,-116.8,0.0,0.0,0,104,0.00,0.00,-86.18,0.000,2,0.000,0.000,479,1745,3478,0,0,0,0,0,0
$GC,107,-1.11,-116.8,4.0,-5.2,11,124,11.50,2.58,0.00,0.000,4,0.137,0.053,2752,208,3480,0,0,0,0,0,0
$GC,187,-0.93,-116.8,27.3,-16.6,22,196,0.17,2.45,0.00,0.000,6,0.081,0.016,2795,1802,3480,0,0,0,0,0,0
$GC,465,-0.85,-116.8,59.7,-11.6,48,470,0.00,2.70,0.00,0.000,4,0.000,0.058,2795,214,3480,0,0,0,0,0,0
$GC,487,-0.75,-116.8,62.8,-12.0,49,492,0.17,2.35,0.00,0.000,6,0.095,0.015,2834,1790,3481,0,0,0,0,0,0
$GC,755,-0.82,-116.8,84.9,-7.3,73,759,0.00,2.35,0.00,0.000,4,0.000,0.029,2834,3309,3481,0,0,0,0,0,0
$GC,790,-0.92,-116.8,88.0,-6.9,75,796,0.15,2.40,0.00,0.000,6,0.061,0.028,2779,1783,3481,0,0,0,0,0,0
$GC,1054,-0.92,-116.8,113.9,-10.1,100,1059,0.10,2.70,0.00,0.000,4,0.112,0.062,2802,199,3481,0,0,0,0,0,0
$GC,1131,-0.99,-116.8,121.4,-9.4,106,1135,0.00,2.30,0.00,0.000,6,0.000,0.016,2802,1750,3482,0,0,0,0,0,0
$GC,1395,-1.03,-116.8,140.5,-7.0,130,1400,0.12,2.45,0.00,0.000,4,0.070,0.026,2760,3311,3481,0,0,0,0,0,0
$GC,1439,-1.03,-116.8,144.1,-8.2,133,1444,0.00,2.53,0.00,0.000,6,0.000,0.036,2760,1741,3482,0,0,0,0,0,0
$GC,1706,-0.99,-116.8,166.4,-8.6,157,1712,0.10,0.00,0.00,0.000,6,0.112,0.000,2783,1739,3482,0,0,0,0,0,0
$GC,1970,-0.99,-116.8,187.2,-7.6,182,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1739,3482,0,0,0,0,0,0
$GC,2258,-0.99,-116.8,210.2,-7.8,201,2262,0.00,2.62,0.00,0.000,4,0.000,0.067,2783,197,3482,0,0,0,0,0,0
$GC,2291,-0.99,-116.8,213.1,-8.6,201,2297,0.00,2.33,0.00,0.000,6,0.000,0.021,2783,1745,3482,0,0,0,0,0,0
$GC,2541,-0.99,-116.8,232.6,-7.6,208,2546,0.00,2.45,0.00,0.000,4,0.000,0.031,2783,3315,3481,0,0,0,0,0,0
$GC,2586,-1.06,-116.8,236.1,-7.6,209,2590,0.00,2.47,0.00,0.000,6,0.000,0.035,2783,1758,3481,0,0,0,0,0,0
$GC,2865,-1.11,-116.8,259.5,-8.9,216,2870,0.10,2.70,0.00,0.000,4,0.084,0.071,2744,196,3481,0,0,0,0,0,0
$GC,2915,-1.11,-116.8,265.1,-10.5,217,2919,0.00,2.35,0.00,0.000,6,0.000,0.018,2744,1751,3481,0,0,0,0,0,0
$GC,3188,-1.11,-116.8,288.2,-7.9,224,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1752,3480,0,0,0,0,0,0
$GC,3430,-1.11,-116.8,307.9,-8.3,230,3434,0.00,2.53,0.00,0.000,4,0.000,0.041,2744,3334,3480,0,0,0,0,0,0
$GC,3452,-1.11,-116.8,309.9,-8.8,230,3456,0.00,2.55,0.00,0.000,6,0.000,0.038,2745,1765,3480,0,0,0,0,0,0
$GC,3707,-1.11,-116.8,333.3,-9.2,237,3711,0.00,2.50,0.00,0.000,4,0.000,0.038,2745,3336,3479,0,0,0,0,0,0
$GC,3740,-1.11,-116.8,336.5,-9.4,237,3746,0.00,2.58,0.00,0.000,6,0.000,0.041,2745,1766,3479,0,0,0,0,0,0
$GC,3990,-1.11,-116.8,359.1,-8.9,244,3995,0.00,2.83,0.00,0.000,4,0.000,0.095,2744,188,3478,0,0,0,0,0,0
$GC,4022,-1.11,-116.8,362.1,-9.1,244,4028,0.00,2.42,0.00,0.000,6,0.000,0.024,2744,1751,3478,0,0,0,0,0,0
$GC,4274,-1.11,-116.8,381.0,-7.4,251,4278,0.00,2.60,0.00,0.000,4,0.000,0.045,2744,3348,3476,0,0,0,0,0,0
$GC,4351,-1.16,-116.8,387.4,-8.4,252,4357,0.00,2.65,0.00,0.000,6,0.000,0.054,2744,1779,3476,0,0,0,0,0,0
$GC,4601,-1.16,-116.8,406.8,-7.9,259,4606,0.00,2.92,0.00,0.000,4,0.000,0.102,2745,182,3475,0,0,0,0,0,0
$GC,4629,-1.16,-116.8,409.2,-8.7,259,4634,0.00,2.53,0.00,0.000,6,0.000,0.032,2744,1779,3475,0,0,0,0,0,0
$GC,4879,-1.16,-116.8,429.5,-8.1,265,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1780,3473,0,0,0,0,0,0
$GC,5123,-1.16,-116.8,448.5,-7.5,271,5128,0.00,2.65,0.00,0.000,4,0.000,0.063,2744,3358,3471,0,0,0,0,0,0
$GC,5156,-1.20,-116.8,451.2,-8.5,271,5162,0.00,2.70,0.00,0.000,6,0.000,0.058,2744,1778,3471,0,0,0,0,0,0
$GC,5406,-1.20,-116.8,470.2,-7.6,278,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1778,3469,0,0,0,0,0,0
$GC,5650,-1.20,-116.8,488.6,-7.5,284,5655,0.00,2.97,0.00,0.000,4,0.000,0.113,2745,185,3468,0,0,0,0,0,0
$GC,5671,-1.20,-116.8,490.5,-8.2,284,5676,0.00,2.58,0.00,0.000,6,0.000,0.039,2744,1778,3468,0,0,0,0,0,0
$STATE,5810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5810,begin apogee
$GC,5817,-0.31,0.0,501.1,7.6,288,5916,0.82,0.00,95.43,0.917,6,0.074,0.000,2933,1832,3001,0,0,0,0,0,0
$STATE,5917,end apogee,CONTROL_FINISHED_OK
$STATE,5917,begin climb
$GC,5919,1.11,116.8,503.9,0.0,290,6024,1.27,0.00,100.68,0.893,6,0.044,0.000,3243,1832,2524,0,0,0,0,0,0
$GC,6248,1.04,165.9,493.4,5.9,298,6297,0.00,2.80,42.15,0.875,4,0.000,0.070,3243,3393,2323,0,0,0,0,0,0
$GC,6321,0.94,165.9,487.5,8.2,299,6326,0.17,2.72,0.00,0.000,6,0.110,0.060,3207,1825,2320,0,0,0,0,0,0
$GC,6571,0.94,168.0,468.0,7.9,305,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1825,2316,0,0,0,0,0,0
$GC,6816,0.90,170.3,448.5,7.9,311,6821,0.00,2.62,0.00,0.000,4,0.000,0.046,3207,3408,2314,0,0,0,0,0,0
$GC,6905,0.90,170.3,441.0,8.4,313,6910,0.00,2.65,0.00,0.000,6,0.000,0.054,3207,1841,2312,0,0,0,0,0,0
$GC,7189,0.95,209.3,422.2,6.3,320,7229,0.00,0.00,37.58,0.857,6,0.000,0.000,3207,1841,2147,0,0,0,0,0,0
$GC,7473,0.97,226.1,401.9,7.3,327,7493,0.00,2.60,15.18,0.810,4,0.000,0.040,3207,3412,2079,0,0,0,0,0,0
$GC,7527,0.97,226.1,397.6,8.3,328,7531,0.00,2.65,0.00,0.000,6,0.000,0.047,3207,1844,2077,0,0,0,0,0,0
$GC,7794,0.97,226.1,374.6,8.8,335,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1844,2074,0,0,0,0,0,0
$GC,8037,0.97,226.1,353.1,8.8,341,8041,0.00,2.53,0.00,0.000,4,0.000,0.035,3207,3405,2072,0,0,0,0,0,0
$GC,8052,0.97,226.1,351.8,8.3,341,8056,0.00,2.60,0.00,0.000,6,0.000,0.041,3207,1844,2072,0,0,0,0,0,0
$GC,8313,0.97,226.1,330.7,8.0,348,8317,0.00,2.53,0.00,0.000,4,0.000,0.031,3207,3412,2071,0,0,0,0,0,0
$GC,8354,1.01,226.1,327.5,8.7,349,8358,0.00,2.55,0.00,0.000,6,0.000,0.038,3207,1856,2070,0,0,0,0,0,0
$GC,8637,1.01,226.1,304.1,8.3,356,8641,0.00,2.50,0.00,0.000,4,0.000,0.038,3207,3406,2070,0,0,0,0,0,0
$GC,8658,1.01,227.8,302.4,7.9,356,8662,0.00,2.53,0.00,0.000,6,0.000,0.040,3207,1857,2069,0,0,0,0,0,0
$GC,8914,1.03,244.8,283.5,7.3,363,8938,0.00,2.60,16.58,0.750,4,0.000,0.032,3207,3409,2001,0,0,0,0,0,0
$GC,8956,1.11,264.9,280.2,7.1,364,8982,0.15,2.53,19.02,0.741,6,0.070,0.040,3246,1866,1921,0,0,0,0,0,0
$GC,9246,1.07,264.9,255.1,8.8,371,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1866,1916,0,0,0,0,0,0
$GC,9486,1.07,264.9,232.9,9.2,377,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1866,1915,0,0,0,0,0,0
$GC,9730,1.07,264.9,210.8,8.9,383,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1866,1915,0,0,0,0,0,0
$GC,9980,1.07,264.9,188.0,9.4,398,9984,0.00,2.78,0.00,0.000,4,0.000,0.066,3247,242,1915,0,0,0,0,0,0
$GC,10014,1.00,264.9,185.2,10.6,400,10020,0.15,2.58,0.00,0.000,6,0.113,0.025,3216,1897,1913,0,0,0,0,0,0
$GC,10280,1.05,264.9,163.4,8.2,424,10284,0.00,2.85,0.00,0.000,4,0.000,0.066,3216,232,1913,0,0,0,0,0,0
$GC,10302,1.05,264.9,161.0,9.3,425,10307,0.00,2.58,0.00,0.000,6,0.000,0.025,3216,1894,1913,0,0,0,0,0,0
$GC,10565,1.12,280.8,140.8,7.3,450,10587,0.12,2.90,14.07,0.606,4,0.221,0.061,3252,239,1855,0,0,0,0,0,0
$GC,10605,1.07,280.8,137.9,8.3,453,10610,0.00,2.58,0.00,0.000,6,0.000,0.020,3252,1887,1854,0,0,0,0,0,0
$GC,10872,1.07,280.8,117.1,8.0,477,10876,0.00,2.40,0.00,0.000,4,0.000,0.035,3252,3413,1854,0,0,0,0,0,0
$GC,10930,1.13,280.8,111.5,9.5,481,10936,0.00,2.53,0.00,0.000,6,0.000,0.040,3252,1861,1853,0,0,0,0,0,0
$GC,11193,1.13,280.8,88.6,8.2,506,11194,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1860,1853,0,0,0,0,0,0
$GC,11452,1.18,286.9,67.7,7.7,530,11462,0.00,0.00,6.90,0.482,6,0.000,0.000,3252,1861,1830,0,0,0,0,0,0
$GC,11720,1.26,312.5,49.3,6.9,555,11750,0.10,0.00,23.45,0.537,6,0.085,0.000,3285,1861,1725,0,0,0,0,0,0
$GC,12022,1.26,312.5,22.2,9.2,588,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1861,1722,0,0,0,0,0,0
$STATE,12224,end climb,SURFACE_DEPTH_REACHED
$STATE,12224,begin surface coast
$FINISH,0.3,1.009538
$STATE,12282,end surface coast,CONTROL_FINISHED_OK
$STATE,12282,begin surface
$SM_CCo,12305,92.85,0.451,1,0,1287,420.20
$SM_GC,0.92,0.00,0.00,92.85,0.000,0.000,0.451,479,1736,1287,-11.60,-0.93,420.20
$IRIDIUM_FIX,2241.69,-15739.35,031299,171733
$TT8_MAMPS,0.026078
$HUMID,43.69
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,55
$24V_AH,23.6,25.141
$10V_AH,10.4,25.299
$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,26.600,134.525,371.025,92.850,0.000,25.382,29.378,263.258,13.750,0.000,14.225,1226.496,8209.756,562.926,2228.230,634.766,33.376,1343.823,0.000,2238.411,0.000,0.536,0.000
$DEVICE_MAMPS,220.896,128.856,916.565,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,422.803,384.734,485.893,916.197,1384.526,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,47895,625
$CAP_FILE_SIZE,121072,0
$CFSIZE,260165632,172666880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090910,004406,2251.894,-15741.948,35,0.9,35,10.1