version: 66.06
glider: 146
mission: 5
dive: 174
start: 9 9 110 18 11 3
data:
$ID,146
$MISSION,5
$DIVE,174
$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,-250809.73
$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,32
$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
$GPS1,180406,2253.732,-15742.632,34,1.2,34,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.5
$GPS2,181008,2253.734,-15742.672,14,1.2,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.039,0.215
$KALMAN_X,-189637.0,215.9,-398.6,237898.4,-296.5
$KALMAN_Y,-35419.6,62.3,27.7,170807.6,-1383.5
$MHEAD_RNG_PITCHd_Wd,0.2,7984,-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,-85.95,0.000,6,0.000,0.000,475,1749,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.3,-5.9,11,125,11.55,2.55,0.00,0.000,4,0.141,0.024,2741,3365,3481,0,0,0,0,0,0
$GC,208,-1.05,-116.8,30.7,-14.7,25,214,0.12,2.55,0.00,0.000,6,0.109,0.032,2768,1786,3482,0,0,0,0,0,0
$GC,476,-0.93,-116.8,66.4,-12.8,49,482,0.12,2.78,0.00,0.000,4,0.114,0.064,2795,190,3482,0,0,0,0,0,0
$GC,513,-0.85,-116.8,72.3,-13.1,51,522,0.00,2.47,0.00,0.000,6,0.000,0.015,2795,1804,3482,0,0,0,0,0,0
$GC,774,-0.85,-116.8,98.6,-9.1,76,778,0.00,2.38,0.00,0.000,4,0.000,0.025,2795,3326,3482,0,0,0,0,0,0
$GC,797,-0.85,-116.8,100.2,-9.2,77,801,0.00,2.53,0.00,0.000,6,0.000,0.035,2795,1743,3482,0,0,0,0,0,0
$GC,1063,-0.85,-116.8,125.0,-9.1,101,1067,0.00,2.62,0.00,0.000,4,0.000,0.064,2795,193,3483,0,0,0,0,0,0
$GC,1120,-0.91,-116.8,130.5,-10.0,105,1124,0.00,2.33,0.00,0.000,6,0.000,0.018,2795,1763,3483,0,0,0,0,0,0
$GC,1384,-0.95,-116.8,152.7,-8.2,129,1389,0.00,2.42,0.00,0.000,4,0.000,0.030,2795,3309,3484,0,0,0,0,0,0
$GC,1449,-1.06,-116.8,158.2,-8.3,134,1454,0.12,2.47,0.00,0.000,6,0.070,0.031,2750,1750,3484,0,0,0,0,0,0
$GC,1709,-1.02,-116.8,183.3,-9.9,158,1711,0.12,0.00,0.00,0.000,6,0.104,0.000,2778,1750,3484,0,0,0,0,0,0
$GC,1963,-1.02,-116.8,204.1,-8.1,179,1968,0.00,2.65,0.00,0.000,4,0.000,0.071,2778,198,3483,0,0,0,0,0,0
$GC,1990,-1.02,-116.8,206.7,-9.1,179,1995,0.00,2.33,0.00,0.000,6,0.000,0.019,2778,1761,3484,0,0,0,0,0,0
$GC,2246,-1.02,-116.8,228.0,-8.4,186,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1763,3483,0,0,0,0,0,0
$GC,2490,-1.06,-116.8,249.1,-8.6,192,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1764,3483,0,0,0,0,0,0
$GC,2736,-1.11,-116.8,269.0,-8.0,198,2740,0.00,2.45,0.00,0.000,4,0.000,0.027,2778,3313,3483,0,0,0,0,0,0
$GC,2768,-1.19,-116.8,271.9,-8.5,198,2775,0.17,2.47,0.00,0.000,6,0.058,0.038,2721,1762,3483,0,0,0,0,0,0
$GC,3018,-1.13,-116.8,298.6,-11.0,205,3024,0.15,2.75,0.00,0.000,4,0.100,0.077,2753,192,3482,0,0,0,0,0,0
$GC,3098,-1.13,-116.8,306.9,-10.5,206,3103,0.00,2.33,0.00,0.000,6,0.000,0.020,2753,1710,3482,0,0,0,0,0,0
$GC,3348,-1.13,-116.8,327.9,-8.0,213,3352,0.00,2.58,0.00,0.000,4,0.000,0.040,2753,3311,3482,0,0,0,0,0,0
$GC,3404,-1.19,-116.8,332.3,-8.1,214,3409,0.00,2.55,0.00,0.000,6,0.000,0.041,2753,1752,3481,0,0,0,0,0,0
$GC,3670,-1.19,-116.8,351.3,-7.0,221,3675,0.00,2.80,0.00,0.000,4,0.000,0.088,2753,186,3480,0,0,0,0,0,0
$GC,3697,-1.19,-116.8,353.7,-8.3,221,3701,0.00,2.35,0.00,0.000,6,0.000,0.025,2753,1714,3481,0,0,0,0,0,0
$GC,3955,-1.23,-116.8,373.0,-7.5,228,3960,0.00,2.58,0.00,0.000,4,0.000,0.047,2753,3309,3479,0,0,0,0,0,0
$GC,4013,-1.30,-116.8,377.5,-8.4,229,4018,0.17,2.58,0.00,0.000,6,0.062,0.051,2699,1763,3479,0,0,0,0,0,0
$GC,4281,-1.25,-116.8,404.9,-10.5,236,4283,0.12,0.00,0.00,0.000,6,0.107,0.000,2725,1764,3478,0,0,0,0,0,0
$GC,4524,-1.25,-116.8,426.8,-8.9,242,4528,0.00,2.53,0.00,0.000,4,0.000,0.051,2725,3309,3476,0,0,0,0,0,0
$GC,4551,-1.25,-116.8,429.3,-8.5,242,4555,0.00,2.62,0.00,0.000,6,0.000,0.059,2725,1766,3477,0,0,0,0,0,0
$GC,4806,-1.25,-116.8,448.0,-7.1,249,4811,0.00,2.92,0.00,0.000,4,0.000,0.112,2725,181,3475,0,0,0,0,0,0
$GC,4827,-1.25,-116.8,449.7,-7.2,249,4832,0.00,2.45,0.00,0.000,6,0.000,0.037,2725,1715,3475,0,0,0,0,0,0
$GC,5084,-1.25,-116.8,467.1,-6.7,256,5089,0.00,2.65,0.00,0.000,4,0.000,0.065,2725,3298,3473,0,0,0,0,0,0
$GC,5117,-1.25,-116.8,469.7,-7.2,256,5123,0.00,2.62,0.00,0.000,6,0.000,0.057,2725,1758,3473,0,0,0,0,0,0
$GC,5368,-1.25,-116.8,487.9,-7.6,263,5372,0.00,2.90,0.00,0.000,4,0.000,0.113,2725,185,3471,0,0,0,0,0,0
$GC,5397,-1.25,-116.8,490.4,-9.2,263,5401,0.00,2.45,0.00,0.000,6,0.000,0.037,2725,1701,3471,0,0,0,0,0,0
$STATE,5522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5522,begin apogee
$GC,5529,-0.31,0.0,501.2,8.4,266,5628,0.90,0.00,95.97,0.917,6,0.075,0.000,2931,1773,3000,0,0,0,0,0,0
$STATE,5629,end apogee,CONTROL_FINISHED_OK
$STATE,5629,begin climb
$GC,5631,1.15,116.8,503.8,0.0,268,5744,1.33,2.85,99.62,0.891,4,0.051,0.093,3252,233,2522,0,0,0,0,0,0
$GC,5778,0.97,154.9,501.6,6.2,271,5818,0.20,2.60,33.30,0.860,6,0.113,0.038,3213,1814,2368,0,0,0,0,0,0
$GC,6085,0.98,161.5,479.3,7.7,279,6096,0.00,2.75,5.82,0.673,4,0.000,0.061,3213,3408,2341,0,0,0,0,0,0
$GC,6152,0.98,162.1,473.8,8.0,280,6157,0.00,2.72,0.00,0.000,6,0.000,0.052,3213,1814,2339,0,0,0,0,0,0
$GC,6408,0.99,169.6,454.0,7.7,287,6423,0.00,2.70,7.97,0.750,4,0.000,0.044,3213,3405,2309,0,0,0,0,0,0
$GC,6434,0.99,176.2,451.8,7.7,287,6450,0.00,2.70,7.85,0.738,6,0.000,0.051,3213,1817,2281,0,0,0,0,0,0
$GC,6694,0.99,176.2,431.0,8.1,294,6698,0.00,2.62,0.00,0.000,4,0.000,0.042,3213,3415,2277,0,0,0,0,0,0
$GC,6735,0.99,176.2,427.7,8.6,295,6740,0.00,2.70,0.00,0.000,6,0.000,0.048,3213,1823,2277,0,0,0,0,0,0
$GC,7019,1.01,192.8,406.0,7.2,302,7036,0.00,0.00,15.18,0.818,6,0.000,0.000,3213,1823,2215,0,0,0,0,0,0
$GC,7263,1.03,208.2,388.5,7.3,308,7283,0.00,2.65,14.60,0.805,4,0.000,0.041,3213,3417,2151,0,0,0,0,0,0
$GC,7356,1.03,208.2,381.2,8.2,310,7361,0.00,2.65,0.00,0.000,6,0.000,0.048,3213,1829,2149,0,0,0,0,0,0
$GC,7628,1.04,214.0,360.1,7.7,317,7639,0.00,2.58,5.70,0.653,4,0.000,0.032,3213,3417,2129,0,0,0,0,0,0
$GC,7707,1.08,214.0,353.9,8.2,318,7713,0.00,2.62,0.00,0.000,6,0.000,0.041,3213,1843,2128,0,0,0,0,0,0
$GC,7957,1.08,214.0,333.7,8.1,325,7962,0.10,2.85,0.00,0.000,4,0.099,0.078,3240,233,2127,0,0,0,0,0,0
$GC,7968,1.08,215.4,332.7,7.9,325,7972,0.00,2.60,0.00,0.000,6,0.000,0.024,3240,1884,2126,0,0,0,0,0,0
$GC,8235,1.08,215.4,308.9,9.1,332,8240,0.00,2.47,0.00,0.000,4,0.000,0.036,3240,3424,2126,0,0,0,0,0,0
$GC,8302,1.08,215.4,302.5,9.6,333,8306,0.00,2.58,0.00,0.000,6,0.000,0.037,3240,1857,2125,0,0,0,0,0,0
$GC,8558,1.09,221.0,282.5,7.8,340,8572,0.00,2.88,7.28,0.666,4,0.000,0.076,3240,248,2099,0,0,0,0,0,0
$GC,8630,1.01,221.7,276.8,8.0,341,8635,0.00,2.58,0.00,0.000,6,0.000,0.021,3240,1882,2098,0,0,0,0,0,0
$GC,8886,1.03,238.1,258.5,7.3,348,8909,0.00,2.58,16.50,0.726,4,0.000,0.033,3240,3423,2029,0,0,0,0,0,0
$GC,8961,1.03,238.1,252.6,8.3,349,8966,0.00,2.55,0.00,0.000,6,0.000,0.037,3240,1854,2027,0,0,0,0,0,0
$GC,9211,1.03,238.1,230.2,9.2,355,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1854,2025,0,0,0,0,0,0
$GC,9454,1.03,238.1,208.0,9.1,361,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1854,2025,0,0,0,0,0,0
$GC,9708,1.03,238.1,186.9,8.5,376,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1854,2025,0,0,0,0,0,0
$GC,9970,1.03,238.1,162.9,9.5,401,9974,0.00,2.50,0.00,0.000,4,0.000,0.030,3240,3421,2025,0,0,0,0,0,0
$GC,10003,1.03,238.1,160.2,9.7,403,10007,0.00,2.53,0.00,0.000,6,0.000,0.031,3240,1858,2025,0,0,0,0,0,0
$GC,10271,1.05,250.2,137.9,7.4,427,10294,0.00,2.50,11.43,0.593,4,0.000,0.029,3240,3421,1981,0,0,0,0,0,0
$GC,10306,1.05,256.0,134.7,7.7,430,10321,0.00,2.53,6.75,0.525,6,0.000,0.031,3240,1855,1957,0,0,0,0,0,0
$GC,10576,1.09,284.1,115.2,6.7,455,10611,0.00,2.85,25.50,0.601,4,0.000,0.064,3240,248,1841,0,0,0,0,0,0
$GC,10628,1.10,293.6,111.5,7.6,459,10642,0.00,2.58,9.38,0.538,6,0.000,0.023,3240,1899,1804,0,0,0,0,0,0
$GC,10899,1.18,308.3,91.8,7.3,484,10918,0.00,2.88,13.82,0.554,4,0.000,0.059,3240,241,1743,0,0,0,0,0,0
$GC,10954,1.18,308.3,87.1,9.6,488,10958,0.00,2.55,0.00,0.000,6,0.000,0.018,3240,1895,1741,0,0,0,0,0,0
$GC,11222,1.29,316.1,66.7,7.7,512,11232,0.17,0.00,7.75,0.489,6,0.129,0.000,3289,1897,1712,0,0,0,0,0,0
$GC,11488,1.29,316.1,40.6,10.2,537,11496,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1897,1711,0,0,0,0,0,0
$GC,11797,1.29,316.1,10.9,9.5,576,11807,0.00,2.85,0.00,0.000,4,0.000,0.060,3289,248,1711,0,0,0,0,0,0
$GC,11823,1.29,316.1,8.2,9.7,579,11833,0.00,2.58,0.00,0.000,6,0.000,0.018,3289,1899,1710,0,0,0,0,0,0
$STATE,11868,end climb,SURFACE_DEPTH_REACHED
$STATE,11868,begin surface coast
$FINISH,0.3,1.023298
$STATE,11926,end surface coast,CONTROL_FINISHED_OK
$STATE,11926,begin surface
$SM_CCo,11948,90.75,0.453,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,90.75,0.000,0.000,0.453,472,1735,1288,-11.63,-0.99,420.20
$IRIDIUM_FIX,2246.36,-15743.68,041299,141426
$TT8_MAMPS,0.025311
$HUMID,44.05
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.50
$XPDR_PINGS,62
$24V_AH,23.6,25.830
$10V_AH,10.4,26.088
$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,26.750,156.525,384.425,90.750,0.000,28.340,27.670,166.356,15.500,0.000,16.119,1203.045,7901.120,562.186,2198.780,540.484,33.376,1393.083,0.000,2201.059,0.000,0.536,0.000
$DEVICE_MAMPS,141.128,254.644,916.565,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,400.788,343.484,454.149,843.570,1273.976,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,48066,593
$CAP_FILE_SIZE,125762,0
$CFSIZE,260165632,172290048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090910,213306,2254.467,-15742.371,36,1.3,36,10.1