version: 66.06
glider: 146
mission: 5
dive: 209
start: 9 14 110 20 15 2
data:
$ID,146
$MISSION,5
$DIVE,209
$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,-251412.02
$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,50
$R_STBD_OVSHOOT,42
$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
$GPS1,200136,2254.636,-15744.053,34,1.0,34,10.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-60.8
$GPS2,201407,2254.531,-15744.165,8,1.3,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.103,0.192
$KALMAN_X,-224331.2,35.6,-199.6,270000.5,-853.2
$KALMAN_Y,-123405.9,303.2,-379.1,260430.5,-1660.1
$MHEAD_RNG_PITCHd_Wd,18.0,7411,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.15,-116.8,0.0,0.0,0,135,0.00,0.00,-116.88,0.000,6,0.000,0.000,474,1735,3479,0,0,0,0,0,0
$GC,139,-1.15,-116.8,4.4,-5.9,15,156,11.52,2.58,0.00,0.000,4,0.140,0.031,2742,3363,3481,0,0,0,0,0,0
$GC,228,-1.06,-116.8,27.2,-14.0,27,238,0.08,2.58,0.00,0.000,6,0.081,0.032,2764,1798,3482,0,0,0,0,0,0
$GC,505,-0.96,-116.8,65.1,-13.1,53,510,0.12,2.75,0.00,0.000,4,0.110,0.062,2791,193,3481,0,0,0,0,0,0
$GC,553,-0.96,-116.8,71.3,-12.2,56,557,0.00,2.40,0.00,0.000,6,0.000,0.015,2791,1799,3481,0,0,0,0,0,0
$GC,815,-0.96,-116.8,99.1,-9.8,80,819,0.00,2.35,0.00,0.000,4,0.000,0.028,2791,3314,3481,0,0,0,0,0,0
$GC,862,-1.03,-116.8,103.2,-9.8,83,866,0.00,2.50,0.00,0.000,6,0.000,0.036,2791,1758,3482,0,0,0,0,0,0
$GC,1128,-1.07,-116.8,131.1,-10.7,107,1133,0.10,0.00,0.00,0.000,6,0.085,0.000,2752,1758,3482,0,0,0,0,0,0
$GC,1392,-1.02,-116.8,162.2,-12.0,132,1401,0.10,0.00,0.00,0.000,6,0.113,0.000,2776,1757,3481,0,0,0,0,0,0
$GC,1657,-1.02,-116.8,188.2,-9.2,157,1662,0.00,2.67,0.00,0.000,4,0.000,0.071,2776,196,3481,0,0,0,0,0,0
$GC,1678,-1.02,-116.8,190.6,-9.3,158,1684,0.00,2.35,0.00,0.000,6,0.000,0.018,2776,1783,3481,0,0,0,0,0,0
$GC,1955,-1.02,-116.8,212.3,-7.4,173,1959,0.00,2.75,0.00,0.000,4,0.000,0.065,2776,190,3480,0,0,0,0,0,0
$GC,1999,-1.07,-116.8,216.0,-8.3,174,2003,0.00,2.35,0.00,0.000,6,0.000,0.015,2776,1750,3481,0,0,0,0,0,0
$GC,2284,-1.07,-116.8,237.9,-8.0,181,2288,0.00,2.42,0.00,0.000,4,0.000,0.026,2776,3316,3480,0,0,0,0,0,0
$GC,2311,-1.13,-116.8,240.5,-8.9,181,2316,0.10,2.47,0.00,0.000,6,0.081,0.035,2735,1757,3480,0,0,0,0,0,0
$GC,2561,-1.09,-116.8,268.3,-11.5,187,2566,0.12,2.47,0.00,0.000,4,0.104,0.027,2763,3315,3480,0,0,0,0,0,0
$GC,2590,-1.13,-116.8,271.2,-9.7,187,2594,0.00,2.50,0.00,0.000,6,0.000,0.033,2763,1758,3480,0,0,0,0,0,0
$GC,2839,-1.13,-116.8,294.0,-8.8,193,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1758,3479,0,0,0,0,0,0
$GC,3083,-1.17,-116.8,314.6,-8.6,199,3088,0.00,2.75,0.00,0.000,4,0.000,0.081,2763,189,3479,0,0,0,0,0,0
$GC,3129,-1.21,-116.8,319.3,-10.2,200,3134,0.12,2.40,0.00,0.000,6,0.074,0.026,2723,1743,3478,0,0,0,0,0,0
$GC,3407,-1.21,-116.8,349.5,-10.6,207,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1744,3477,0,0,0,0,0,0
$GC,3650,-1.21,-116.8,371.6,-8.9,213,3655,0.00,2.60,0.00,0.000,4,0.000,0.048,2722,3346,3476,0,0,0,0,0,0
$GC,3677,-1.21,-116.8,373.9,-8.3,213,3681,0.00,2.58,0.00,0.000,6,0.000,0.053,2722,1790,3476,0,0,0,0,0,0
$GC,3929,-1.21,-116.8,393.6,-7.9,219,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1790,3475,0,0,0,0,0,0
$GC,4171,-1.21,-116.8,414.6,-8.8,225,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1790,3473,0,0,0,0,0,0
$GC,4414,-1.21,-116.8,437.8,-9.7,231,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1790,3471,0,0,0,0,0,0
$GC,4658,-1.21,-116.8,459.2,-8.4,237,4663,0.00,2.97,0.00,0.000,4,0.000,0.107,2722,180,3470,0,0,0,0,0,0
$GC,4692,-1.17,-116.8,462.1,-9.2,237,4698,0.10,2.55,0.00,0.000,6,0.124,0.038,2743,1771,3469,0,0,0,0,0,0
$GC,4942,-1.21,-116.8,479.3,-6.8,244,4947,0.00,2.70,0.00,0.000,4,0.000,0.067,2742,3362,3468,0,0,0,0,0,0
$GC,4971,-1.27,-116.8,481.2,-7.0,244,4976,0.00,2.67,0.00,0.000,6,0.000,0.058,2742,1789,3467,0,0,0,0,0,0
$GC,5222,-1.31,-116.8,499.2,-7.2,250,5223,0.12,0.00,0.00,0.000,6,0.077,0.000,2705,1789,3465,0,0,0,0,0,0
$STATE,5259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5259,begin apogee
$GC,5264,-0.31,0.0,502.7,7.5,251,5363,1.00,0.00,95.25,0.911,6,0.074,0.000,2931,1789,3000,0,0,0,0,0,0
$STATE,5364,end apogee,CONTROL_FINISHED_OK
$STATE,5364,begin climb
$GC,5368,1.15,116.8,504.7,0.0,253,5480,1.33,3.05,100.60,0.889,4,0.054,0.116,3252,240,2523,0,0,0,0,0,0
$GC,5486,1.09,198.8,503.1,4.2,255,5565,0.00,2.62,71.25,0.875,6,0.000,0.039,3252,1816,2189,0,0,0,0,0,0
$GC,5816,0.99,198.8,474.2,9.3,264,5821,0.17,2.72,0.00,0.000,4,0.131,0.058,3217,3407,2180,0,0,0,0,0,0
$GC,5957,0.99,198.8,460.6,10.1,267,5962,0.00,2.70,0.00,0.000,6,0.000,0.057,3217,1831,2177,0,0,0,0,0,0
$GC,6230,0.99,198.8,433.4,9.9,274,6234,0.00,2.92,0.00,0.000,4,0.000,0.101,3217,234,2175,0,0,0,0,0,0
$GC,6245,0.94,198.8,431.4,10.0,274,6250,0.00,2.60,0.00,0.000,6,0.000,0.029,3217,1848,2174,0,0,0,0,0,0
$GC,6506,0.94,198.8,406.0,9.6,281,6510,0.00,2.55,0.00,0.000,4,0.000,0.044,3217,3406,2173,0,0,0,0,0,0
$GC,6528,0.94,198.8,403.8,9.8,281,6532,0.00,2.62,0.00,0.000,6,0.000,0.049,3217,1845,2172,0,0,0,0,0,0
$GC,6783,0.94,198.8,379.4,9.5,288,6787,0.00,2.55,0.00,0.000,4,0.000,0.033,3218,3412,2171,0,0,0,0,0,0
$GC,6849,0.94,198.8,373.3,8.9,289,6853,0.00,2.58,0.00,0.000,6,0.000,0.043,3217,1860,2170,0,0,0,0,0,0
$GC,7105,0.98,231.9,355.9,6.5,296,7140,0.00,2.62,27.02,0.812,4,0.000,0.039,3217,3408,2054,0,0,0,0,0,0
$GC,7238,1.08,276.1,348.4,6.0,299,7283,0.00,2.55,39.75,0.805,6,0.000,0.045,3217,1881,1875,0,0,0,0,0,0
$GC,7561,1.08,276.1,324.6,8.1,307,7566,0.00,2.90,0.00,0.000,4,0.000,0.082,3217,235,1867,0,0,0,0,0,0
$GC,7582,1.08,276.1,322.5,9.5,307,7586,0.00,2.62,0.00,0.000,6,0.000,0.021,3217,1902,1865,0,0,0,0,0,0
$GC,7839,1.08,276.1,300.6,8.4,314,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1903,1864,0,0,0,0,0,0
$GC,8082,1.15,294.6,282.7,7.2,320,8100,0.15,0.00,15.88,0.729,6,0.087,0.000,3259,1903,1799,0,0,0,0,0,0
$GC,8325,1.15,294.6,260.7,9.3,326,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1904,1794,0,0,0,0,0,0
$GC,8568,1.15,294.6,235.3,10.6,332,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1903,1793,0,0,0,0,0,0
$GC,8814,1.15,294.6,207.2,11.6,338,8818,0.00,2.90,0.00,0.000,4,0.000,0.063,3259,233,1792,0,0,0,0,0,0
$GC,8863,1.08,294.6,200.7,13.2,339,8868,0.12,2.62,0.00,0.000,6,0.117,0.025,3234,1913,1791,0,0,0,0,0,0
$GC,9126,1.08,294.6,175.8,9.3,362,9131,0.00,2.90,0.00,0.000,4,0.000,0.066,3233,234,1791,0,0,0,0,0,0
$GC,9148,1.08,294.6,173.5,10.1,363,9157,0.00,2.62,0.00,0.000,6,0.000,0.025,3233,1909,1791,0,0,0,0,0,0
$GC,9410,1.08,294.6,149.0,9.1,388,9414,0.00,2.35,0.00,0.000,4,0.000,0.029,3233,3415,1791,0,0,0,0,0,0
$GC,9434,1.12,294.6,147.2,9.6,389,9438,0.00,2.50,0.00,0.000,6,0.000,0.035,3233,1869,1791,0,0,0,0,0,0
$GC,9700,1.16,294.6,123.2,8.2,413,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1869,1791,0,0,0,0,0,0
$GC,9963,1.23,301.0,102.7,7.7,438,9975,0.15,0.00,6.07,0.489,6,0.069,0.000,3277,1869,1772,0,0,0,0,0,0
$GC,10231,1.23,301.0,78.3,9.2,463,10235,0.00,2.47,0.00,0.000,4,0.000,0.034,3278,3416,1773,0,0,0,0,0,0
$GC,10251,1.23,301.0,76.1,9.7,464,10255,0.00,2.45,0.00,0.000,6,0.000,0.031,3277,1889,1772,0,0,0,0,0,0
$GC,10520,1.24,312.3,54.2,7.5,488,10537,0.00,2.88,11.43,0.518,4,0.000,0.061,3277,247,1726,0,0,0,0,0,0
$GC,10562,1.24,312.3,50.0,8.5,491,10572,0.00,2.60,0.00,0.000,6,0.000,0.018,3277,1910,1725,0,0,0,0,0,0
$GC,10836,1.24,312.3,26.8,9.1,518,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1913,1725,0,0,0,0,0,0
$STATE,11085,end climb,SURFACE_DEPTH_REACHED
$STATE,11085,begin surface coast
$FINISH,0.3,1.019257
$STATE,11135,end surface coast,CONTROL_FINISHED_OK
$STATE,11135,begin surface
$SM_CCo,11157,93.18,0.455,1,0,1287,420.20
$SM_GC,0.96,0.00,0.00,93.18,0.000,0.000,0.455,474,1741,1287,-11.62,-0.79,420.20
$IRIDIUM_FIX,2246.36,-15741.52,091299,202040
$TT8_MAMPS,0.026078
$HUMID,45.35
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.30
$XPDR_PINGS,46
$24V_AH,23.5,29.989
$10V_AH,10.3,30.647
$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,26.700,120.550,367.250,93.175,0.000,52.474,67.428,413.447,11.500,0.000,15.329,1101.775,7429.357,543.929,2079.561,852.766,33.372,1314.616,0.000,2084.431,0.000,0.535,0.000
$DEVICE_MAMPS,139.594,115.817,911.196,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.150,329.109,433.563,830.780,1256.654,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,44701,561
$CAP_FILE_SIZE,117504,0
$CFSIZE,260165632,170139648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140910,232325,2254.770,-15743.753,6,1.9,6,10.1