version: 66.06
glider: 146
mission: 5
dive: 222
start: 9 16 110 17 13 2
data:
$ID,146
$MISSION,5
$DIVE,222
$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,-251666.12
$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,37
$R_STBD_OVSHOOT,77
$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
$GPS1,170337,2251.726,-15743.432,63,0.9,63,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-63.1
$GPS2,171207,2251.645,-15743.462,10,1.5,15,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.050,0.212
$KALMAN_X,-236095.7,-339.7,166.6,282986.3,-731.5
$KALMAN_Y,-161362.6,-177.2,-8.7,293163.0,-3160.5
$MHEAD_RNG_PITCHd_Wd,3.1,12031,-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,15,-1.15,-116.8,0.0,0.0,0,96,0.00,0.00,-78.07,0.000,2,0.000,0.000,476,1750,3233,0,0,0,0,0,0
$GC,99,-1.15,-116.8,3.2,-3.7,10,125,11.40,2.53,-4.75,0.000,4,0.135,0.041,2741,3318,3480,0,0,0,0,0,0
$GC,143,-0.20,-116.8,16.4,-28.2,15,152,0.90,2.53,0.00,0.000,6,0.067,0.030,2951,1778,3481,0,0,0,0,0,0
$GC,466,-0.51,-116.8,31.0,-2.7,61,475,0.25,0.00,0.00,0.000,6,0.044,0.000,2867,1778,3481,0,0,0,0,0,0
$GC,733,-0.61,-116.8,46.4,-7.7,86,738,0.00,2.65,0.00,0.000,4,0.000,0.059,2866,192,3482,0,0,0,0,0,0
$GC,768,-0.74,-116.8,49.9,-10.2,88,773,0.12,2.38,0.00,0.000,6,0.069,0.015,2822,1791,3482,0,0,0,0,0,0
$GC,1035,-0.74,-116.8,74.8,-8.9,112,1039,0.00,2.35,0.00,0.000,4,0.000,0.029,2822,3308,3482,0,0,0,0,0,0
$GC,1070,-0.80,-116.8,78.1,-8.9,114,1075,0.00,2.45,0.00,0.000,6,0.000,0.035,2822,1763,3482,0,0,0,0,0,0
$GC,1334,-0.88,-116.8,98.4,-7.2,138,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1763,3483,0,0,0,0,0,0
$GC,1588,-0.98,-116.8,115.8,-6.3,162,1593,0.15,2.42,0.00,0.000,4,0.060,0.031,2765,3307,3483,0,0,0,0,0,0
$GC,1609,-1.04,-116.8,117.3,-6.8,163,1614,0.00,2.42,0.00,0.000,6,0.000,0.031,2765,1772,3483,0,0,0,0,0,0
$GC,1877,-1.04,-116.8,140.6,-8.7,187,1882,0.00,2.67,0.00,0.000,4,0.000,0.065,2764,189,3483,0,0,0,0,0,0
$GC,1922,-1.04,-116.8,145.6,-9.8,190,1932,0.00,2.40,0.00,0.000,6,0.000,0.023,2765,1774,3483,0,0,0,0,0,0
$GC,2184,-1.04,-116.8,168.8,-9.6,215,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1776,3484,0,0,0,0,0,0
$GC,2439,-1.04,-116.8,195.3,-10.5,239,2443,0.00,2.40,0.00,0.000,4,0.000,0.028,2765,3317,3484,0,0,0,0,0,0
$GC,2472,-1.04,-116.8,199.1,-10.9,241,2478,0.00,2.42,0.00,0.000,6,0.000,0.034,2764,1783,3484,0,0,0,0,0,0
$GC,2733,-1.04,-116.8,224.7,-9.8,249,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1783,3484,0,0,0,0,0,0
$GC,2978,-1.04,-116.8,244.6,-7.9,255,2983,0.00,2.72,0.00,0.000,4,0.000,0.069,2764,194,3483,0,0,0,0,0,0
$GC,3005,-1.04,-116.8,247.0,-8.2,255,3010,0.00,2.38,0.00,0.000,6,0.000,0.022,2764,1770,3483,0,0,0,0,0,0
$GC,3262,-1.04,-116.8,265.9,-7.3,262,3266,0.00,2.47,0.00,0.000,4,0.000,0.035,2764,3340,3483,0,0,0,0,0,0
$GC,3307,-1.12,-116.8,269.2,-7.2,263,3312,0.00,2.47,0.00,0.000,6,0.000,0.038,2765,1796,3483,0,0,0,0,0,0
$GC,3586,-1.16,-116.8,288.8,-7.0,270,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1793,3482,0,0,0,0,0,0
$GC,3829,-1.22,-116.8,307.3,-7.6,276,3831,0.12,0.00,0.00,0.000,6,0.073,0.000,2723,1793,3482,0,0,0,0,0,0
$GC,4074,-1.22,-116.8,329.4,-9.2,282,4078,0.00,2.80,0.00,0.000,4,0.000,0.082,2723,193,3480,0,0,0,0,0,0
$GC,4100,-1.22,-116.8,332.4,-10.4,282,4105,0.00,2.45,0.00,0.000,6,0.000,0.025,2723,1778,3480,0,0,0,0,0,0
$GC,4350,-1.22,-116.8,354.4,-8.4,288,4355,0.00,2.55,0.00,0.000,4,0.000,0.045,2723,3357,3479,0,0,0,0,0,0
$GC,4419,-1.22,-116.8,359.6,-7.2,289,4423,0.00,2.55,0.00,0.000,6,0.000,0.043,2723,1802,3479,0,0,0,0,0,0
$GC,4674,-1.22,-116.8,379.2,-7.8,296,4678,0.00,2.90,0.00,0.000,4,0.000,0.094,2723,180,3477,0,0,0,0,0,0
$GC,4745,-1.22,-116.8,386.4,-9.9,297,4750,0.00,2.53,0.00,0.000,6,0.000,0.030,2723,1792,3477,0,0,0,0,0,0
$GC,4997,-1.22,-116.8,410.5,-10.0,303,5001,0.00,2.83,0.00,0.000,4,0.000,0.083,2723,188,3476,0,0,0,0,0,0
$GC,5036,-1.22,-116.8,414.9,-10.7,304,5040,0.00,2.53,0.00,0.000,6,0.000,0.032,2723,1783,3475,0,0,0,0,0,0
$GC,5318,-1.22,-116.8,441.9,-9.2,311,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1782,3473,0,0,0,0,0,0
$GC,5564,-1.22,-116.8,460.6,-7.6,317,5568,0.00,2.60,0.00,0.000,4,0.000,0.061,2723,3353,3472,0,0,0,0,0,0
$GC,5596,-1.22,-116.8,463.3,-7.7,317,5602,0.00,2.67,0.00,0.000,6,0.000,0.062,2723,1783,3472,0,0,0,0,0,0
$GC,5846,-1.22,-116.8,482.9,-7.9,324,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1783,3470,0,0,0,0,0,0
$STATE,6088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6088,begin apogee
$GC,6095,-0.31,0.0,501.0,7.4,330,6194,0.93,0.00,95.53,0.918,6,0.074,0.000,2934,1783,3001,0,0,0,0,0,0
$STATE,6194,end apogee,CONTROL_FINISHED_OK
$STATE,6195,begin climb
$GC,6197,1.15,116.8,502.7,0.0,332,6309,1.30,2.85,100.68,0.896,4,0.041,0.052,3252,3399,2522,0,0,0,0,0,0
$GC,6339,1.07,167.1,500.6,5.7,335,6388,0.00,2.72,44.00,0.870,6,0.000,0.060,3253,1819,2319,0,0,0,0,0,0
$GC,6646,0.95,167.1,474.9,8.9,343,6652,0.22,3.03,0.00,0.000,4,0.108,0.110,3207,228,2309,0,0,0,0,0,0
$GC,6664,0.84,167.1,473.2,8.8,343,6670,0.12,2.60,0.00,0.000,6,0.120,0.037,3182,1810,2308,0,0,0,0,0,0
$GC,6926,0.87,193.4,455.0,6.8,350,6955,0.00,2.78,22.52,0.844,4,0.000,0.054,3182,3404,2211,0,0,0,0,0,0
$GC,7026,0.97,219.2,448.1,6.8,352,7058,0.12,2.70,23.70,0.840,6,0.081,0.051,3215,1816,2106,0,0,0,0,0,0
$GC,7301,0.97,219.2,425.8,8.0,359,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1816,2101,0,0,0,0,0,0
$GC,7545,0.97,221.1,406.7,7.9,365,7549,0.00,2.62,0.00,0.000,4,0.000,0.036,3215,3418,2098,0,0,0,0,0,0
$GC,7589,0.97,221.1,402.9,8.9,366,7594,0.00,2.67,0.00,0.000,6,0.000,0.050,3215,1823,2098,0,0,0,0,0,0
$GC,7867,0.97,221.1,379.0,8.6,373,7871,0.00,2.85,0.00,0.000,4,0.000,0.092,3215,233,2096,0,0,0,0,0,0
$GC,7906,0.90,221.1,375.4,9.6,374,7910,0.00,2.55,0.00,0.000,6,0.000,0.021,3215,1850,2095,0,0,0,0,0,0
$GC,8190,0.92,230.0,353.1,7.6,381,8205,0.00,2.58,8.85,0.739,4,0.000,0.039,3215,3404,2063,0,0,0,0,0,0
$GC,8267,0.92,237.2,347.3,7.7,382,8281,0.00,2.60,8.25,0.720,6,0.000,0.043,3214,1834,2033,0,0,0,0,0,0
$GC,8567,0.93,242.8,325.1,7.8,390,8580,0.00,2.55,6.35,0.664,4,0.000,0.031,3215,3403,2010,0,0,0,0,0,0
$GC,8602,0.93,242.8,321.9,8.8,390,8608,0.00,2.58,0.00,0.000,6,0.000,0.041,3215,1834,2009,0,0,0,0,0,0
$GC,8853,0.93,242.8,300.7,8.3,397,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1834,2008,0,0,0,0,0,0
$GC,9098,0.93,242.8,280.6,8.0,403,9102,0.00,2.53,0.00,0.000,4,0.000,0.035,3216,3401,2007,0,0,0,0,0,0
$GC,9158,1.03,259.1,275.7,7.3,404,9180,0.00,2.58,15.52,0.734,6,0.000,0.035,3215,1821,1944,0,0,0,0,0,0
$GC,9424,1.10,279.3,257.1,7.1,411,9446,0.10,0.00,19.08,0.726,6,0.250,0.000,3243,1821,1862,0,0,0,0,0,0
$GC,9668,1.10,279.3,235.8,9.1,417,9673,0.00,2.53,0.00,0.000,4,0.000,0.028,3243,3404,1858,0,0,0,0,0,0
$GC,9701,1.10,279.3,232.4,9.8,417,9707,0.00,2.58,0.00,0.000,6,0.000,0.040,3243,1834,1856,0,0,0,0,0,0
$GC,9951,1.10,279.3,208.3,9.6,424,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1834,1856,0,0,0,0,0,0
$GC,10206,1.10,279.3,187.1,8.4,439,10210,0.00,2.50,0.00,0.000,4,0.000,0.030,3243,3410,1856,0,0,0,0,0,0
$GC,10222,1.10,279.3,185.0,8.9,440,10227,0.00,2.53,0.00,0.000,6,0.000,0.038,3243,1840,1856,0,0,0,0,0,0
$GC,10485,1.10,279.3,160.1,9.9,464,10486,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1840,1855,0,0,0,0,0,0
$GC,10739,1.10,279.3,136.7,8.7,488,10744,0.00,2.50,0.00,0.000,4,0.000,0.027,3243,3412,1856,0,0,0,0,0,0
$GC,10760,1.10,279.3,135.3,8.1,489,10764,0.00,2.53,0.00,0.000,6,0.000,0.038,3243,1843,1855,0,0,0,0,0,0
$GC,11028,1.10,279.3,113.7,8.3,513,11032,0.00,2.72,0.00,0.000,4,0.000,0.067,3243,237,1855,0,0,0,0,0,0
$GC,11067,1.10,279.3,109.2,10.3,516,11072,0.00,2.53,0.00,0.000,6,0.000,0.018,3243,1878,1855,0,0,0,0,0,0
$GC,11332,1.15,279.3,86.9,8.6,540,11336,0.00,2.78,0.00,0.000,4,0.000,0.060,3243,236,1855,0,0,0,0,0,0
$GC,11342,1.20,279.3,85.5,9.1,540,11351,0.00,2.53,0.00,0.000,6,0.000,0.018,3243,1871,1855,0,0,0,0,0,0
$GC,11609,1.32,312.2,65.0,6.5,565,11648,0.17,0.00,28.80,0.566,6,0.061,0.000,3295,1873,1726,0,0,0,0,0,0
$GC,11904,1.32,312.2,40.1,8.7,593,11912,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1873,1724,0,0,0,0,0,0
$GC,12215,1.32,312.2,11.8,10.0,632,12224,0.00,2.45,0.00,0.000,4,0.000,0.028,3295,3403,1724,0,0,0,0,0,0
$GC,12241,1.32,312.2,9.3,8.8,635,12250,0.00,2.58,0.00,0.000,6,0.000,0.031,3295,1832,1723,0,0,0,0,0,0
$STATE,12291,end climb,SURFACE_DEPTH_REACHED
$STATE,12292,begin surface coast
$FINISH,0.4,1.023400
$STATE,12341,end surface coast,CONTROL_FINISHED_OK
$STATE,12341,begin surface
$SM_CCo,12364,93.68,0.459,1,0,1288,420.20
$SM_GC,0.99,0.00,0.00,93.68,0.000,0.000,0.459,473,1730,1288,-11.62,-1.10,420.20
$IRIDIUM_FIX,2244.02,-15746.73,111299,131329
$TT8_MAMPS,0.026078
$HUMID,44.76
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.20
$XPDR_PINGS,55
$24V_AH,23.5,31.516
$10V_AH,10.3,32.353
$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,27.250,139.675,373.275,93.675,0.000,58.759,64.720,177.849,13.750,0.000,16.544,1266.290,8054.468,551.640,2464.680,634.452,33.375,1396.390,0.000,2473.684,0.000,0.537,0.000
$DEVICE_MAMPS,250.042,110.448,918.099,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,439.371,398.557,513.720,1037.634,1569.462,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,50963,649
$CAP_FILE_SIZE,124676,0
$CFSIZE,260165632,169320448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160910,204231,2251.504,-15743.810,64,0.9,64,10.1