version: 66.06
glider: 146
mission: 5
dive: 171
start: 9 9 110 7 49 9
data:
$ID,146
$MISSION,5
$DIVE,171
$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,-250741.5
$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,44
$R_STBD_OVSHOOT,61
$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
$GPS1,074222,2253.049,-15742.596,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-69.2
$GPS2,074814,2253.021,-15742.646,11,2.0,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.058,0.210
$KALMAN_X,-186578.6,-282.2,97.2,234884.1,-621.5
$KALMAN_Y,-29509.4,-27.4,430.5,163268.4,-1754.7
$MHEAD_RNG_PITCHd_Wd,5.4,9287,-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,-85.57,0.000,6,0.000,0.000,475,1749,3480,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.6,-6.8,11,125,11.43,2.53,0.00,0.000,4,0.136,0.029,2742,3345,3482,0,0,0,0,0,0
$GC,169,-0.80,-116.8,24.1,-24.7,19,179,0.32,2.55,0.00,0.000,6,0.067,0.034,2821,1797,3482,0,0,0,0,0,0
$GC,446,-0.80,-116.8,54.8,-10.6,47,451,0.00,2.75,0.00,0.000,4,0.000,0.067,2821,183,3482,0,0,0,0,0,0
$GC,493,-0.80,-116.8,60.2,-12.2,50,498,0.00,2.40,0.00,0.000,6,0.000,0.015,2821,1787,3482,0,0,0,0,0,0
$GC,756,-0.80,-116.8,86.7,-8.3,74,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1788,3483,0,0,0,0,0,0
$GC,1011,-0.87,-116.8,106.6,-7.7,98,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1788,3483,0,0,0,0,0,0
$GC,1264,-0.95,-116.8,126.7,-8.2,122,1266,0.12,0.00,0.00,0.000,6,0.071,0.000,2778,1788,3484,0,0,0,0,0,0
$GC,1520,-0.95,-116.8,153.6,-10.3,146,1524,0.00,2.75,0.00,0.000,4,0.000,0.066,2778,189,3484,0,0,0,0,0,0
$GC,1552,-0.95,-116.8,156.8,-11.3,148,1557,0.00,2.35,0.00,0.000,6,0.000,0.021,2778,1767,3484,0,0,0,0,0,0
$GC,1820,-0.95,-116.8,183.6,-10.1,172,1824,0.00,2.40,0.00,0.000,4,0.000,0.026,2778,3318,3484,0,0,0,0,0,0
$GC,1841,-0.95,-116.8,186.4,-9.6,173,1847,0.00,2.47,0.00,0.000,6,0.000,0.028,2777,1754,3485,0,0,0,0,0,0
$GC,2118,-0.95,-116.8,210.3,-8.2,191,2122,0.00,2.67,0.00,0.000,4,0.000,0.068,2777,192,3484,0,0,0,0,0,0
$GC,2151,-0.95,-116.8,213.4,-9.2,191,2157,0.00,2.33,0.00,0.000,6,0.000,0.020,2778,1756,3485,0,0,0,0,0,0
$GC,2401,-0.95,-116.8,233.4,-7.9,198,2406,0.00,2.47,0.00,0.000,4,0.000,0.033,2778,3330,3485,0,0,0,0,0,0
$GC,2435,-1.02,-116.8,236.3,-9.0,198,2440,0.00,2.50,0.00,0.000,6,0.000,0.031,2778,1762,3485,0,0,0,0,0,0
$GC,2686,-1.06,-116.8,256.1,-8.0,205,2691,0.00,2.67,0.00,0.000,4,0.000,0.075,2778,197,3484,0,0,0,0,0,0
$GC,2747,-1.13,-116.8,261.4,-8.6,206,2752,0.10,2.38,0.00,0.000,6,0.085,0.018,2741,1754,3484,0,0,0,0,0,0
$GC,3008,-1.13,-116.8,282.6,-7.8,213,3012,0.00,2.50,0.00,0.000,4,0.000,0.034,2741,3339,3484,0,0,0,0,0,0
$GC,3053,-1.13,-116.8,285.9,-7.5,214,3057,0.00,2.53,0.00,0.000,6,0.000,0.032,2741,1764,3483,0,0,0,0,0,0
$GC,3330,-1.13,-116.8,308.1,-8.3,221,3334,0.00,2.78,0.00,0.000,4,0.000,0.081,2741,189,3483,0,0,0,0,0,0
$GC,3362,-1.13,-116.8,311.4,-10.0,221,3368,0.00,2.40,0.00,0.000,6,0.000,0.020,2741,1754,3483,0,0,0,0,0,0
$GC,3613,-1.13,-116.8,333.6,-9.0,228,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1754,3483,0,0,0,0,0,0
$GC,3857,-1.13,-116.8,355.8,-9.2,234,3862,0.00,2.58,0.00,0.000,4,0.000,0.049,2741,3340,3482,0,0,0,0,0,0
$GC,3879,-1.13,-116.8,358.0,-9.0,234,3883,0.00,2.60,0.00,0.000,6,0.000,0.051,2741,1768,3482,0,0,0,0,0,0
$GC,4134,-1.13,-116.8,379.7,-8.3,241,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1768,3481,0,0,0,0,0,0
$GC,4380,-1.13,-116.8,398.0,-7.4,247,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1768,3479,0,0,0,0,0,0
$GC,4622,-1.13,-116.8,416.8,-7.8,253,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1768,3477,0,0,0,0,0,0
$GC,4866,-1.13,-116.8,437.4,-8.6,259,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1768,3476,0,0,0,0,0,0
$GC,5110,-1.13,-116.8,456.8,-7.8,265,5114,0.00,2.92,0.00,0.000,4,0.000,0.110,2741,186,3474,0,0,0,0,0,0
$GC,5138,-1.13,-116.8,459.1,-9.0,265,5142,0.00,2.50,0.00,0.000,6,0.000,0.031,2741,1752,3474,0,0,0,0,0,0
$GC,5388,-1.17,-116.8,477.3,-7.2,271,5392,0.00,2.70,0.00,0.000,4,0.000,0.063,2741,3356,3473,0,0,0,0,0,0
$GC,5415,-1.22,-116.8,479.4,-7.4,271,5420,0.00,2.70,0.00,0.000,6,0.000,0.062,2741,1768,3473,0,0,0,0,0,0
$GC,5667,-1.26,-116.8,497.2,-7.1,277,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1768,3471,0,0,0,0,0,0
$STATE,5703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5703,begin apogee
$GC,5709,-0.31,0.0,500.1,7.1,278,5809,0.82,0.00,96.03,0.910,6,0.073,0.000,2930,1852,3001,0,0,0,0,0,0
$STATE,5809,end apogee,CONTROL_FINISHED_OK
$STATE,5810,begin climb
$GC,5812,1.15,116.8,501.9,0.0,280,5923,1.35,2.65,99.68,0.887,4,0.048,0.053,3256,3368,2523,0,0,0,0,0,0
$GC,5953,1.05,151.0,499.7,6.4,284,5989,0.12,2.67,29.98,0.852,6,0.123,0.061,3232,1817,2384,0,0,0,0,0,0
$GC,6236,0.97,151.0,475.6,8.9,290,6240,0.00,2.62,0.00,0.000,4,0.000,0.051,3232,3381,2375,0,0,0,0,0,0
$GC,6257,0.91,151.0,473.4,8.8,290,6262,0.15,2.67,0.00,0.000,6,0.116,0.053,3200,1818,2374,0,0,0,0,0,0
$GC,6513,0.93,168.0,454.6,7.2,297,6532,0.00,2.62,14.38,0.815,4,0.000,0.049,3200,3378,2315,0,0,0,0,0,0
$GC,6556,0.95,185.7,451.5,7.2,298,6580,0.00,2.65,17.12,0.819,6,0.000,0.058,3200,1831,2243,0,0,0,0,0,0
$GC,6837,0.97,198.8,430.2,7.4,305,6856,0.00,3.05,12.18,0.792,4,0.000,0.101,3200,233,2189,0,0,0,0,0,0
$GC,6874,0.93,198.8,427.2,8.9,305,6880,0.00,2.50,0.00,0.000,6,0.000,0.028,3200,1801,2187,0,0,0,0,0,0
$GC,7124,0.93,198.8,407.2,8.1,312,7128,0.00,2.65,0.00,0.000,4,0.000,0.046,3200,3407,2186,0,0,0,0,0,0
$GC,7156,0.93,201.5,404.4,7.9,312,7162,0.00,2.65,0.00,0.000,6,0.000,0.046,3199,1819,2184,0,0,0,0,0,0
$GC,7406,0.93,201.5,384.0,8.3,319,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1818,2183,0,0,0,0,0,0
$GC,7651,0.93,201.5,364.1,8.2,325,7656,0.00,2.58,0.00,0.000,4,0.000,0.035,3200,3405,2182,0,0,0,0,0,0
$GC,7696,1.00,212.2,360.4,7.5,326,7715,0.00,2.62,11.90,0.770,6,0.000,0.044,3200,1819,2136,0,0,0,0,0,0
$GC,7978,1.04,245.6,340.9,6.5,333,8019,0.10,2.85,30.75,0.804,4,0.091,0.084,3228,239,1997,0,0,0,0,0,0
$GC,8025,1.01,256.0,337.3,7.5,334,8041,0.00,2.55,10.73,0.728,6,0.000,0.023,3228,1841,1957,0,0,0,0,0,0
$GC,8302,1.01,256.0,314.1,8.6,341,8306,0.00,2.50,0.00,0.000,4,0.000,0.036,3228,3397,1952,0,0,0,0,0,0
$GC,8330,1.01,256.0,311.6,9.2,341,8334,0.00,2.60,0.00,0.000,6,0.000,0.042,3228,1813,1950,0,0,0,0,0,0
$GC,8579,1.01,256.0,288.9,9.1,347,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1813,1949,0,0,0,0,0,0
$GC,8823,1.01,256.0,265.5,9.3,353,8827,0.00,2.53,0.00,0.000,4,0.000,0.033,3228,3393,1948,0,0,0,0,0,0
$GC,8851,1.01,256.0,262.9,9.7,353,8855,0.00,2.58,0.00,0.000,6,0.000,0.040,3228,1810,1947,0,0,0,0,0,0
$GC,9100,1.01,256.0,240.3,8.9,359,9105,0.00,2.70,0.00,0.000,4,0.000,0.076,3228,243,1947,0,0,0,0,0,0
$GC,9144,1.01,256.0,236.2,9.5,360,9148,0.00,2.45,0.00,0.000,6,0.000,0.019,3229,1816,1946,0,0,0,0,0,0
$GC,9423,1.01,256.0,212.8,8.3,367,9428,0.00,2.53,0.00,0.000,4,0.000,0.032,3228,3397,1946,0,0,0,0,0,0
$GC,9468,1.07,256.0,208.7,8.9,368,9472,0.00,2.60,0.00,0.000,6,0.000,0.040,3228,1805,1945,0,0,0,0,0,0
$GC,9735,1.07,256.0,184.7,9.4,385,9740,0.00,2.70,0.00,0.000,4,0.000,0.072,3228,235,1945,0,0,0,0,0,0
$GC,9754,1.07,256.0,182.7,9.6,386,9758,0.00,2.42,0.00,0.000,6,0.000,0.025,3228,1817,1944,0,0,0,0,0,0
$GC,10017,1.11,264.1,160.4,7.6,410,10028,0.00,2.55,6.55,0.548,4,0.000,0.034,3228,3381,1924,0,0,0,0,0,0
$GC,10080,1.21,269.8,155.9,7.7,415,10095,0.15,2.55,7.05,0.551,6,0.071,0.041,3270,1819,1900,0,0,0,0,0,0
$GC,10360,1.21,269.8,132.0,8.9,441,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1818,1899,0,0,0,0,0,0
$GC,10622,1.21,269.8,110.4,8.9,466,10627,0.00,2.47,0.00,0.000,4,0.000,0.032,3270,3388,1899,0,0,0,0,0,0
$GC,10652,1.21,269.8,107.7,8.9,468,10656,0.00,2.55,0.00,0.000,6,0.000,0.031,3270,1807,1898,0,0,0,0,0,0
$GC,10916,1.21,274.3,87.5,7.8,492,10930,0.00,2.55,5.45,0.461,4,0.000,0.031,3270,3385,1882,0,0,0,0,0,0
$GC,11043,1.30,283.0,78.2,7.6,502,11058,0.00,2.50,9.23,0.518,6,0.000,0.035,3271,1829,1847,0,0,0,0,0,0
$GC,11313,1.31,291.3,58.5,7.6,527,11324,0.00,0.00,8.52,0.494,6,0.000,0.000,3270,1829,1813,0,0,0,0,0,0
$GC,11581,1.31,291.3,37.6,8.2,552,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1829,1811,0,0,0,0,0,0
$GC,11898,1.33,312.1,12.8,7.0,593,11924,0.00,2.50,19.25,0.498,4,0.000,0.028,3270,3382,1727,0,0,0,0,0,0
$GC,11969,1.43,338.9,7.9,6.8,602,12003,0.12,2.55,23.42,0.492,6,0.041,0.037,3317,1837,1619,0,0,0,0,0,0
$STATE,12012,end climb,SURFACE_DEPTH_REACHED
$STATE,12012,begin surface coast
$FINISH,0.2,1.010047
$STATE,12071,end surface coast,CONTROL_FINISHED_OK
$STATE,12071,begin surface
$SM_CCo,12092,72.10,0.432,1,0,1288,420.20
$SM_GC,0.96,0.00,0.00,72.10,0.000,0.000,0.432,470,1746,1288,-11.64,-0.68,420.20
$IRIDIUM_FIX,2244.02,-15743.68,041299,040432
$TT8_MAMPS,0.026078
$HUMID,42.95
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.10
$XPDR_PINGS,56
$24V_AH,23.6,25.488
$10V_AH,10.4,25.706
$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,26.300,144.800,402.200,72.100,0.000,30.770,31.099,153.653,14.000,0.000,13.195,1211.508,7968.963,537.392,2268.623,535.074,33.373,1364.623,0.000,2278.882,0.000,0.536,0.000
$DEVICE_MAMPS,135.759,138.827,909.662,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,415.345,371.336,479.692,927.951,1403.665,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,47839,615
$CAP_FILE_SIZE,122978,0
$CFSIZE,260165632,172474368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090910,111307,2253.158,-15742.504,25,1.1,25,10.1