version: 66.06
glider: 146
mission: 5
dive: 224
start: 9 17 110 0 11 59
data:
$ID,146
$MISSION,5
$DIVE,224
$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,-251695.22
$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,43
$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
$GPS1,000437,2251.579,-15743.976,39,1.2,39,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-67.9
$GPS2,001102,2251.552,-15744.021,11,1.4,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.010,0.218
$KALMAN_X,-238132.5,2.8,-234.9,284121.7,-260.2
$KALMAN_Y,-167599.7,407.7,146.0,298484.9,-3199.3
$MHEAD_RNG_PITCHd_Wd,352.4,12430,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-86.15,0.000,2,0.000,0.000,474,1747,3477,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.2,-5.6,11,125,11.57,2.47,0.00,0.000,4,0.141,0.022,2740,3328,3480,0,0,0,0,0,0
$GC,228,-1.04,-116.8,30.5,-13.2,28,236,0.10,2.53,0.00,0.000,6,0.081,0.030,2768,1785,3480,0,0,0,0,0,0
$GC,497,-0.92,-116.8,67.5,-14.6,53,506,0.15,0.00,0.00,0.000,6,0.104,0.000,2801,1785,3480,0,0,0,0,0,0
$GC,758,-0.92,-116.8,100.8,-10.5,78,762,0.00,2.70,0.00,0.000,4,0.000,0.065,2801,192,3481,0,0,0,0,0,0
$GC,829,-0.97,-116.8,108.1,-9.5,83,834,0.00,2.35,0.00,0.000,6,0.000,0.016,2801,1787,3481,0,0,0,0,0,0
$GC,1093,-1.02,-116.8,127.9,-6.7,108,1097,0.00,2.35,0.00,0.000,4,0.000,0.031,2801,3307,3481,0,0,0,0,0,0
$GC,1133,-1.11,-116.8,130.2,-6.4,111,1138,0.20,2.45,0.00,0.000,6,0.051,0.028,2737,1760,3482,0,0,0,0,0,0
$GC,1394,-1.04,-116.8,155.7,-10.4,135,1399,0.17,2.67,0.00,0.000,4,0.093,0.065,2776,194,3482,0,0,0,0,0,0
$GC,1427,-1.04,-116.8,159.3,-9.7,137,1433,0.00,2.33,0.00,0.000,6,0.000,0.021,2776,1768,3482,0,0,0,0,0,0
$GC,1690,-1.04,-116.8,184.3,-9.8,162,1694,0.00,2.38,0.00,0.000,4,0.000,0.027,2776,3301,3482,0,0,0,0,0,0
$GC,1719,-1.09,-116.8,187.4,-9.8,164,1723,0.00,2.45,0.00,0.000,6,0.000,0.035,2775,1756,3483,0,0,0,0,0,0
$GC,1976,-1.09,-116.8,212.3,-9.6,179,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1756,3482,0,0,0,0,0,0
$GC,2218,-1.09,-116.8,232.5,-7.9,185,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1755,3482,0,0,0,0,0,0
$GC,2462,-1.09,-116.8,248.6,-6.5,191,2466,0.00,2.45,0.00,0.000,4,0.000,0.029,2776,3310,3482,0,0,0,0,0,0
$GC,2506,-1.17,-116.8,251.6,-7.1,192,2511,0.12,2.50,0.00,0.000,6,0.069,0.030,2732,1753,3482,0,0,0,0,0,0
$GC,2786,-1.11,-116.8,277.7,-9.7,199,2787,0.12,0.00,0.00,0.000,6,0.107,0.000,2759,1749,3481,0,0,0,0,0,0
$GC,3027,-1.11,-116.8,297.6,-8.0,205,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1749,3481,0,0,0,0,0,0
$GC,3271,-1.11,-116.8,315.8,-7.5,211,3276,0.00,2.45,0.00,0.000,4,0.000,0.031,2759,3298,3481,0,0,0,0,0,0
$GC,3306,-1.19,-116.8,318.3,-8.1,211,3312,0.00,2.50,0.00,0.000,6,0.000,0.038,2759,1759,3481,0,0,0,0,0,0
$GC,3556,-1.23,-116.8,336.4,-7.2,218,3562,0.12,2.78,0.00,0.000,4,0.069,0.085,2710,185,3480,0,0,0,0,0,0
$GC,3578,-1.23,-116.8,338.6,-9.7,218,3583,0.10,2.40,0.00,0.000,6,0.117,0.019,2731,1738,3480,0,0,0,0,0,0
$GC,3840,-1.23,-116.8,361.1,-8.5,225,3844,0.00,2.60,0.00,0.000,4,0.000,0.045,2731,3346,3479,0,0,0,0,0,0
$GC,3889,-1.23,-116.8,365.7,-8.9,226,3894,0.00,2.60,0.00,0.000,6,0.000,0.047,2731,1765,3479,0,0,0,0,0,0
$GC,4162,-1.23,-116.8,387.8,-7.9,233,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1765,3477,0,0,0,0,0,0
$GC,4406,-1.23,-116.8,404.8,-6.9,239,4410,0.00,2.55,0.00,0.000,4,0.000,0.044,2731,3344,3476,0,0,0,0,0,0
$GC,4433,-1.23,-116.8,406.9,-7.7,239,4437,0.00,2.62,0.00,0.000,6,0.000,0.051,2731,1771,3476,0,0,0,0,0,0
$GC,4682,-1.23,-116.8,426.9,-8.3,245,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1771,3475,0,0,0,0,0,0
$GC,4927,-1.23,-116.8,447.3,-8.4,251,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1771,3473,0,0,0,0,0,0
$GC,5170,-1.23,-116.8,465.4,-7.2,257,5174,0.00,2.58,0.00,0.000,4,0.000,0.052,2731,3340,3472,0,0,0,0,0,0
$GC,5220,-1.28,-116.8,469.0,-7.2,258,5224,0.00,2.67,0.00,0.000,6,0.000,0.064,2731,1776,3471,0,0,0,0,0,0
$GC,5493,-1.28,-116.8,486.9,-6.6,265,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1776,3469,0,0,0,0,0,0
$STATE,5692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5692,begin apogee
$GC,5698,-0.31,0.0,501.2,7.2,270,5797,0.88,0.00,95.88,0.916,6,0.077,0.000,2930,1776,3001,0,0,0,0,0,0
$STATE,5798,end apogee,CONTROL_FINISHED_OK
$STATE,5798,begin climb
$GC,5800,1.15,116.8,503.6,0.0,272,5912,1.35,2.83,100.03,0.893,4,0.052,0.058,3254,3378,2523,0,0,0,0,0,0
$GC,5923,1.12,199.3,504.6,4.2,275,6003,0.00,2.72,71.72,0.879,6,0.000,0.055,3254,1811,2187,0,0,0,0,0,0
$GC,6266,1.00,199.3,475.1,9.2,284,6272,0.17,2.65,0.00,0.000,4,0.114,0.048,3220,3395,2178,0,0,0,0,0,0
$GC,6306,1.00,199.3,471.7,8.4,285,6310,0.00,2.70,0.00,0.000,6,0.000,0.057,3219,1825,2176,0,0,0,0,0,0
$GC,6589,1.00,199.3,448.8,8.2,292,6593,0.00,2.60,0.00,0.000,4,0.000,0.040,3220,3396,2175,0,0,0,0,0,0
$GC,6650,1.00,199.3,443.2,9.1,293,6655,0.00,2.67,0.00,0.000,6,0.000,0.051,3219,1834,2173,0,0,0,0,0,0
$GC,6911,1.00,199.3,419.5,9.1,300,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1834,2172,0,0,0,0,0,0
$GC,7154,1.00,199.3,398.3,8.7,306,7159,0.00,2.55,0.00,0.000,4,0.000,0.039,3219,3401,2171,0,0,0,0,0,0
$GC,7195,1.00,199.3,394.9,8.2,307,7200,0.00,2.65,0.00,0.000,6,0.000,0.046,3220,1824,2170,0,0,0,0,0,0
$GC,7479,1.03,219.5,374.1,7.1,314,7500,0.00,2.58,15.95,0.807,4,0.000,0.031,3219,3397,2105,0,0,0,0,0,0
$GC,7524,1.05,237.9,370.8,7.2,315,7548,0.00,2.62,17.95,0.801,6,0.000,0.042,3219,1831,2029,0,0,0,0,0,0
$GC,7806,1.05,237.9,346.9,9.0,322,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1831,2025,0,0,0,0,0,0
$GC,8048,1.05,237.9,323.8,9.5,328,8052,0.00,2.53,0.00,0.000,4,0.000,0.029,3219,3396,2023,0,0,0,0,0,0
$GC,8123,1.10,237.9,316.6,9.7,329,8128,0.00,2.55,0.00,0.000,6,0.000,0.038,3220,1838,2022,0,0,0,0,0,0
$GC,8373,1.10,237.9,294.7,8.5,335,8377,0.00,2.50,0.00,0.000,4,0.000,0.036,3219,3401,2021,0,0,0,0,0,0
$GC,8388,1.10,237.9,293.2,8.8,335,8392,0.00,2.50,0.00,0.000,6,0.000,0.033,3219,1851,2021,0,0,0,0,0,0
$GC,8649,1.10,238.6,272.2,8.0,342,8654,0.00,2.80,0.00,0.000,4,0.000,0.071,3219,238,2021,0,0,0,0,0,0
$GC,8672,1.11,244.0,270.4,7.8,342,8683,0.10,2.53,5.10,0.582,6,0.095,0.020,3246,1871,2006,0,0,0,0,0,0
$GC,8927,1.12,251.9,250.6,7.6,348,8941,0.00,2.50,8.73,0.667,4,0.000,0.038,3246,3393,1974,0,0,0,0,0,0
$GC,8982,1.12,255.1,246.2,7.9,349,8992,0.00,2.47,4.45,0.522,6,0.000,0.035,3246,1868,1961,0,0,0,0,0,0
$GC,9253,1.12,256.5,225.1,7.9,356,9258,0.00,2.45,0.00,0.000,4,0.000,0.035,3246,3398,1959,0,0,0,0,0,0
$GC,9286,1.12,256.5,222.3,8.5,356,9292,0.00,2.47,0.00,0.000,6,0.000,0.033,3246,1866,1959,0,0,0,0,0,0
$GC,9536,1.12,256.5,202.3,8.1,363,9541,0.00,2.78,0.00,0.000,4,0.000,0.067,3246,240,1959,0,0,0,0,0,0
$GC,9551,1.12,256.5,200.9,8.1,363,9556,0.00,2.55,0.00,0.000,6,0.000,0.019,3246,1883,1958,0,0,0,0,0,0
$GC,9815,1.12,256.5,178.9,8.3,387,9819,0.00,2.40,0.00,0.000,4,0.000,0.037,3246,3399,1958,0,0,0,0,0,0
$GC,9880,1.12,256.5,173.6,8.3,392,9884,0.00,2.42,0.00,0.000,6,0.000,0.038,3246,1882,1957,0,0,0,0,0,0
$GC,10142,1.16,289.7,156.4,6.5,416,10180,0.00,2.88,31.48,0.645,4,0.000,0.062,3246,236,1818,0,0,0,0,0,0
$GC,10228,1.16,289.7,149.2,10.0,423,10233,0.00,2.58,0.00,0.000,6,0.000,0.018,3246,1895,1816,0,0,0,0,0,0
$GC,10490,1.16,289.7,120.1,13.5,448,10494,0.00,2.42,0.00,0.000,4,0.000,0.028,3246,3403,1815,0,0,0,0,0,0
$GC,10544,1.25,289.7,113.2,13.1,452,10549,0.10,2.50,0.00,0.000,6,0.091,0.037,3278,1860,1813,0,0,0,0,0,0
$GC,10805,1.28,313.7,88.4,6.9,476,10832,0.00,2.85,21.17,0.576,4,0.000,0.064,3278,243,1721,0,0,0,0,0,0
$GC,10868,1.21,313.7,84.2,8.3,481,10872,0.00,2.55,0.00,0.000,6,0.000,0.021,3278,1897,1719,0,0,0,0,0,0
$GC,11134,1.23,326.6,66.7,7.4,505,11152,0.00,2.42,12.40,0.529,4,0.000,0.027,3278,3409,1669,0,0,0,0,0,0
$GC,11179,1.31,326.6,62.5,8.7,508,11189,0.00,2.55,0.00,0.000,6,0.000,0.032,3278,1867,1668,0,0,0,0,0,0
$GC,11447,1.31,326.6,38.7,9.7,533,11451,0.00,2.75,0.00,0.000,4,0.000,0.057,3278,236,1668,0,0,0,0,0,0
$GC,11467,1.31,326.6,36.4,9.9,534,11472,0.00,2.55,0.00,0.000,6,0.000,0.018,3278,1901,1666,0,0,0,0,0,0
$GC,11789,1.36,326.6,6.4,10.0,576,11799,0.00,2.38,0.00,0.000,4,0.000,0.022,3277,3405,1666,0,0,0,0,0,0
$STATE,11820,end climb,SURFACE_DEPTH_REACHED
$STATE,11820,begin surface coast
$FINISH,2.9,1.023291
$STATE,11829,end surface coast,CONTROL_FINISHED_OK
$STATE,11829,begin surface
$SM_CCo,11854,88.35,0.454,1,0,1287,420.20
$SM_GC,0.97,0.00,0.00,88.35,0.000,0.000,0.454,477,1753,1287,-11.61,-0.48,420.20
$IRIDIUM_FIX,2244.02,-15748.90,111299,202032
$TT8_MAMPS,0.026078
$HUMID,45.35
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.30
$XPDR_PINGS,54
$24V_AH,23.5,31.751
$10V_AH,10.3,32.603
$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,26.850,148.525,384.850,88.350,0.000,25.655,33.432,187.954,13.500,0.000,12.638,1165.026,7946.515,547.182,2115.901,559.770,33.407,1344.569,0.000,2121.473,0.000,0.536,0.000
$DEVICE_MAMPS,141.128,85.137,915.798,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.793,332.646,440.002,818.819,1233.589,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,44763,581
$CAP_FILE_SIZE,120868,0
$CFSIZE,260165632,169209856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170910,033228,2251.404,-15744.274,19,99.0,38,10.1