version: 66.06
glider: 146
mission: 5
dive: 170
start: 9 9 110 4 23 9
data:
$ID,146
$MISSION,5
$DIVE,170
$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,-250727.67
$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,54
$R_STBD_OVSHOOT,52
$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
$GPS1,041636,2252.127,-15742.873,35,1.1,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-68.9
$GPS2,042214,2252.098,-15742.939,13,1.2,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.085,0.201
$KALMAN_X,-185677.5,-102.4,-429.7,233828.5,-739.1
$KALMAN_Y,-27496.0,-199.2,-609.8,160763.3,-370.7
$MHEAD_RNG_PITCHd_Wd,12.7,11048,-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,-116.7,0.0,0.0,0,105,0.00,0.00,-86.12,0.000,6,0.000,0.000,470,1733,3478,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.4,-6.2,11,126,11.55,2.60,0.00,0.000,4,0.140,0.032,2741,3351,3480,0,0,0,0,0,0
$GC,151,-0.13,-116.8,21.0,-37.5,16,159,0.95,2.55,0.00,0.000,6,0.066,0.039,2963,1803,3481,0,0,0,0,0,0
$GC,450,-0.47,-116.8,35.1,-3.6,53,456,0.25,2.72,0.00,0.000,4,0.046,0.061,2878,192,3481,0,0,0,0,0,0
$GC,497,-0.65,-116.8,38.0,-6.8,56,502,0.00,2.40,0.00,0.000,6,0.000,0.015,2878,1803,3480,0,0,0,0,0,0
$GC,767,-0.78,-116.8,55.9,-7.3,80,772,0.20,2.35,0.00,0.000,4,0.052,0.025,2813,3312,3481,0,0,0,0,0,0
$GC,788,-0.87,-116.8,58.0,-7.9,81,793,0.00,2.50,0.00,0.000,6,0.000,0.028,2813,1747,3481,0,0,0,0,0,0
$GC,1053,-0.87,-116.8,86.4,-10.5,105,1057,0.00,2.62,0.00,0.000,4,0.000,0.067,2812,197,3481,0,0,0,0,0,0
$GC,1075,-0.87,-116.8,89.2,-10.5,106,1084,0.00,2.35,0.00,0.000,6,0.000,0.023,2812,1763,3481,0,0,0,0,0,0
$GC,1341,-0.91,-116.8,112.9,-8.3,131,1345,0.00,2.40,0.00,0.000,4,0.000,0.030,2813,3296,3482,0,0,0,0,0,0
$GC,1373,-0.99,-116.8,115.7,-8.5,133,1378,0.12,2.45,0.00,0.000,6,0.068,0.036,2763,1754,3482,0,0,0,0,0,0
$GC,1639,-0.99,-116.8,142.0,-9.8,157,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1753,3482,0,0,0,0,0,0
$GC,1901,-0.99,-116.8,167.3,-9.6,182,1903,0.10,0.00,0.00,0.000,6,0.116,0.000,2786,1753,3482,0,0,0,0,0,0
$GC,2156,-1.03,-116.8,189.7,-8.9,206,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1753,3482,0,0,0,0,0,0
$GC,2434,-1.07,-116.8,214.8,-8.9,221,2438,0.00,2.42,0.00,0.000,4,0.000,0.031,2785,3302,3482,0,0,0,0,0,0
$GC,2462,-1.14,-116.8,217.1,-8.1,221,2467,0.15,2.45,0.00,0.000,6,0.061,0.035,2732,1771,3482,0,0,0,0,0,0
$GC,2712,-1.07,-116.8,242.7,-10.3,227,2717,0.15,2.72,0.00,0.000,4,0.098,0.077,2765,193,3482,0,0,0,0,0,0
$GC,2763,-1.07,-116.8,247.8,-9.9,228,2767,0.00,2.30,0.00,0.000,6,0.000,0.022,2765,1734,3482,0,0,0,0,0,0
$GC,3036,-1.07,-116.8,270.0,-7.8,235,3040,0.00,2.47,0.00,0.000,4,0.000,0.030,2765,3322,3482,0,0,0,0,0,0
$GC,3085,-1.12,-116.8,273.8,-7.3,236,3089,0.00,2.47,0.00,0.000,6,0.000,0.031,2765,1768,3481,0,0,0,0,0,0
$GC,3359,-1.16,-116.8,294.7,-7.9,243,3363,0.00,2.75,0.00,0.000,4,0.000,0.082,2765,193,3481,0,0,0,0,0,0
$GC,3391,-1.16,-116.8,298.0,-9.5,243,3397,0.00,2.38,0.00,0.000,6,0.000,0.018,2765,1750,3481,0,0,0,0,0,0
$GC,3641,-1.21,-116.8,318.8,-8.2,250,3646,0.12,2.58,0.00,0.000,4,0.074,0.042,2724,3349,3480,0,0,0,0,0,0
$GC,3658,-1.21,-116.8,320.1,-8.1,250,3663,0.00,2.58,0.00,0.000,6,0.000,0.037,2724,1763,3480,0,0,0,0,0,0
$GC,3919,-1.21,-116.8,343.7,-8.9,257,3923,0.00,2.53,0.00,0.000,4,0.000,0.038,2724,3339,3480,0,0,0,0,0,0
$GC,3951,-1.21,-116.8,346.7,-8.9,257,3957,0.00,2.55,0.00,0.000,6,0.000,0.048,2724,1780,3479,0,0,0,0,0,0
$GC,4202,-1.21,-116.8,368.7,-8.8,264,4207,0.00,2.88,0.00,0.000,4,0.000,0.095,2724,182,3478,0,0,0,0,0,0
$GC,4223,-1.17,-116.8,370.9,-9.3,264,4228,0.00,2.47,0.00,0.000,6,0.000,0.026,2724,1766,3478,0,0,0,0,0,0
$GC,4478,-1.17,-116.8,393.6,-8.7,271,4483,0.10,2.60,0.00,0.000,4,0.114,0.048,2745,3351,3477,0,0,0,0,0,0
$GC,4520,-1.25,-116.8,396.8,-7.9,272,4524,0.00,2.62,0.00,0.000,6,0.000,0.057,2745,1785,3476,0,0,0,0,0,0
$GC,4802,-1.25,-116.8,419.7,-8.3,279,4807,0.00,2.92,0.00,0.000,4,0.000,0.104,2745,185,3475,0,0,0,0,0,0
$GC,4841,-1.25,-116.8,423.3,-9.3,280,4846,0.00,2.55,0.00,0.000,6,0.000,0.031,2745,1777,3475,0,0,0,0,0,0
$GC,5126,-1.28,-116.8,449.2,-9.1,287,5132,0.12,2.65,0.00,0.000,4,0.078,0.061,2706,3355,3472,0,0,0,0,0,0
$GC,5154,-1.28,-116.8,452.3,-10.5,287,5158,0.00,2.65,0.00,0.000,6,0.000,0.054,2706,1785,3472,0,0,0,0,0,0
$GC,5404,-1.28,-116.8,476.3,-9.4,293,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1785,3471,0,0,0,0,0,0
$GC,5649,-1.28,-116.8,497.7,-8.7,299,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1785,3469,0,0,0,0,0,0
$STATE,5685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5686,begin apogee
$GC,5691,-0.31,0.0,501.2,8.7,300,5790,1.00,0.00,95.75,0.906,6,0.080,0.000,2930,1785,3001,0,0,0,0,0,0
$STATE,5791,end apogee,CONTROL_FINISHED_OK
$STATE,5791,begin climb
$GC,5794,1.15,116.8,503.2,0.0,302,5902,1.35,3.00,100.65,0.884,4,0.048,0.107,3254,242,2523,0,0,0,0,0,0
$GC,5915,1.01,152.8,500.3,6.3,305,5954,0.17,2.60,31.15,0.854,6,0.119,0.037,3220,1818,2377,0,0,0,0,0,0
$GC,6217,0.96,152.8,475.6,8.4,313,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1818,2369,0,0,0,0,0,0
$GC,6460,0.94,167.2,457.1,7.3,319,6479,0.00,2.80,12.07,0.804,4,0.000,0.060,3220,3408,2318,0,0,0,0,0,0
$GC,6530,0.96,182.6,452.1,7.3,320,6550,0.00,2.70,15.05,0.820,6,0.000,0.057,3219,1815,2256,0,0,0,0,0,0
$GC,6830,0.98,201.3,431.0,7.1,328,6854,0.00,2.75,17.00,0.823,4,0.000,0.044,3219,3418,2179,0,0,0,0,0,0
$GC,6875,0.98,206.5,427.5,7.8,329,6886,0.00,2.70,6.05,0.670,6,0.000,0.048,3219,1824,2159,0,0,0,0,0,0
$GC,7158,0.98,206.5,402.0,9.0,336,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1823,2154,0,0,0,0,0,0
$GC,7402,0.98,206.5,380.8,8.6,342,7406,0.00,2.60,0.00,0.000,4,0.000,0.038,3219,3421,2153,0,0,0,0,0,0
$GC,7430,0.98,206.5,378.5,8.3,342,7434,0.00,2.70,0.00,0.000,6,0.000,0.041,3219,1810,2152,0,0,0,0,0,0
$GC,7680,0.99,213.1,358.6,7.7,348,7693,0.00,2.83,6.15,0.676,4,0.000,0.083,3219,235,2132,0,0,0,0,0,0
$GC,7723,0.93,216.8,355.4,7.8,349,7733,0.00,2.50,4.97,0.609,6,0.000,0.019,3219,1834,2117,0,0,0,0,0,0
$GC,8007,0.98,259.9,337.7,6.0,356,8052,0.00,2.58,39.35,0.807,4,0.000,0.041,3219,3393,1941,0,0,0,0,0,0
$GC,8098,1.03,259.9,330.9,8.0,358,8103,0.00,2.62,0.00,0.000,6,0.000,0.044,3219,1814,1938,0,0,0,0,0,0
$GC,8377,1.03,259.9,307.7,8.4,365,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1814,1934,0,0,0,0,0,0
$GC,8619,1.05,272.1,289.4,7.4,371,8638,0.00,2.80,11.25,0.712,4,0.000,0.073,3219,237,1889,0,0,0,0,0,0
$GC,8649,1.05,272.1,286.8,8.3,371,8653,0.00,2.53,0.00,0.000,6,0.000,0.021,3219,1838,1889,0,0,0,0,0,0
$GC,8901,1.10,277.8,267.6,7.8,377,8912,0.00,2.50,6.18,0.611,4,0.000,0.036,3219,3389,1867,0,0,0,0,0,0
$GC,8974,1.17,277.8,261.5,8.3,378,8979,0.15,2.55,0.00,0.000,6,0.074,0.038,3260,1836,1866,0,0,0,0,0,0
$GC,9226,1.13,277.8,237.1,10.0,384,9230,0.00,2.78,0.00,0.000,4,0.000,0.069,3260,243,1864,0,0,0,0,0,0
$GC,9269,1.04,277.8,231.7,12.2,385,9275,0.15,2.50,0.00,0.000,6,0.111,0.025,3229,1836,1863,0,0,0,0,0,0
$GC,9547,1.04,277.8,205.9,9.3,392,9551,0.00,2.47,0.00,0.000,4,0.000,0.036,3229,3392,1863,0,0,0,0,0,0
$GC,9598,1.12,277.8,201.0,9.7,393,9602,0.00,2.55,0.00,0.000,6,0.000,0.037,3229,1829,1862,0,0,0,0,0,0
$GC,9861,1.12,278.2,177.6,8.0,416,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1829,1863,0,0,0,0,0,0
$GC,10116,1.17,285.8,157.9,7.7,440,10130,0.10,2.50,8.05,0.569,4,0.094,0.033,3260,3394,1833,0,0,0,0,0,0
$GC,10147,1.17,285.8,155.5,8.8,442,10152,0.00,2.53,0.00,0.000,6,0.000,0.038,3259,1832,1833,0,0,0,0,0,0
$GC,10411,1.17,285.8,129.7,10.3,466,10415,0.00,2.72,0.00,0.000,4,0.000,0.067,3259,244,1833,0,0,0,0,0,0
$GC,10432,1.17,285.8,127.5,10.8,467,10437,0.00,2.50,0.00,0.000,6,0.000,0.018,3259,1864,1833,0,0,0,0,0,0
$GC,10700,1.17,285.8,99.8,10.0,491,10704,0.00,2.40,0.00,0.000,4,0.000,0.031,3259,3382,1833,0,0,0,0,0,0
$GC,10755,1.24,285.8,93.8,10.3,495,10760,0.00,2.47,0.00,0.000,6,0.000,0.034,3260,1846,1832,0,0,0,0,0,0
$GC,11022,1.29,291.3,70.4,7.8,519,11037,0.00,2.47,6.30,0.475,4,0.000,0.028,3260,3378,1812,0,0,0,0,0,0
$GC,11128,1.44,334.0,64.2,6.0,527,11173,0.22,2.40,37.42,0.559,6,0.091,0.031,3323,1891,1639,0,0,0,0,0,0
$GC,11441,1.38,334.0,33.4,10.7,555,11446,0.12,2.85,0.00,0.000,4,0.115,0.060,3298,242,1635,0,0,0,0,0,0
$GC,11462,1.30,334.0,30.7,10.9,556,11466,0.00,2.55,0.00,0.000,6,0.000,0.018,3297,1904,1634,0,0,0,0,0,0
$STATE,11727,end climb,SURFACE_DEPTH_REACHED
$STATE,11728,begin surface coast
$FINISH,0.4,1.021853
$STATE,11777,end surface coast,CONTROL_FINISHED_OK
$STATE,11777,begin surface
$SM_CCo,11799,75.45,0.441,1,0,1287,420.20
$SM_GC,0.89,0.00,0.00,75.45,0.000,0.000,0.441,475,1749,1287,-11.62,-0.59,420.20
$IRIDIUM_FIX,2246.36,-15743.68,041299,000004
$TT8_MAMPS,0.025311
$HUMID,45.03
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.40
$XPDR_PINGS,59
$24V_AH,23.6,25.375
$10V_AH,10.4,25.571
$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,28.575,155.175,397.400,75.450,0.000,24.606,27.478,148.271,14.750,0.000,14.578,1229.669,7620.062,564.918,2282.119,518.617,33.376,1374.553,0.000,2285.661,0.000,0.536,0.000
$DEVICE_MAMPS,139.594,107.380,905.827,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.642,384.388,470.761,932.211,1410.022,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,47861,602
$CAP_FILE_SIZE,126836,0
$CFSIZE,260165632,172535808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090910,074222,2253.049,-15742.596,11,99.0,30,10.1