version: 66.06
glider: 146
mission: 5
dive: 228
start: 9 17 110 14 6 47
data:
$ID,146
$MISSION,5
$DIVE,228
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,800
$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,-251788.17
$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,52
$R_STBD_OVSHOOT,60
$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
$GPS1,135936,2249.925,-15744.273,38,0.9,57,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-68.5
$GPS2,140550,2249.871,-15744.312,10,1.8,10,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.038,0.215
$KALMAN_X,-241593.1,-11.7,37.3,286816.3,-602.9
$KALMAN_Y,-180473.5,-411.2,291.5,308920.0,-3186.9
$MHEAD_RNG_PITCHd_Wd,359.8,15563,-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,12,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,96,0.00,0.00,-78.38,0.000,2,0.000,0.000,475,1738,3220,0,0,0,0,0,0
$GC,99,-1.15,-116.8,3.1,-3.6,10,125,11.48,2.58,-5.03,0.000,4,0.137,0.043,2740,3329,3479,0,0,0,0,0,0
$GC,189,-1.04,-116.8,23.4,-14.6,22,199,0.10,2.50,0.00,0.000,6,0.079,0.029,2767,1799,3481,0,0,0,0,0,0
$GC,473,-0.91,-116.8,61.9,-15.4,51,478,0.15,2.78,0.00,0.000,4,0.104,0.064,2801,188,3481,0,0,0,0,0,0
$GC,519,-0.91,-116.8,68.3,-12.8,54,523,0.00,2.40,0.00,0.000,6,0.000,0.015,2801,1787,3480,0,0,0,0,0,0
$GC,783,-0.94,-116.8,94.8,-8.8,78,787,0.00,2.38,0.00,0.000,4,0.000,0.023,2801,3321,3481,0,0,0,0,0,0
$GC,813,-1.00,-116.8,97.9,-9.0,80,818,0.00,2.47,0.00,0.000,6,0.000,0.028,2801,1762,3481,0,0,0,0,0,0
$GC,1076,-1.05,-116.8,123.1,-9.8,104,1078,0.12,0.00,0.00,0.000,6,0.071,0.000,2759,1762,3482,0,0,0,0,0,0
$GC,1330,-1.05,-116.8,148.1,-8.9,128,1335,0.00,2.65,0.00,0.000,4,0.000,0.067,2759,196,3482,0,0,0,0,0,0
$GC,1374,-1.05,-116.8,152.4,-9.3,131,1380,0.00,2.38,0.00,0.000,6,0.000,0.015,2759,1799,3482,0,0,0,0,0,0
$GC,1638,-1.05,-116.8,172.1,-7.6,156,1642,0.00,2.35,0.00,0.000,4,0.000,0.025,2759,3317,3482,0,0,0,0,0,0
$GC,1659,-1.05,-116.8,173.6,-8.3,157,1663,0.00,2.45,0.00,0.000,6,0.000,0.033,2759,1768,3482,0,0,0,0,0,0
$GC,1927,-1.05,-116.8,193.3,-6.9,181,1932,0.00,2.67,0.00,0.000,4,0.000,0.069,2759,193,3482,0,0,0,0,0,0
$GC,1955,-1.05,-116.8,195.8,-7.4,183,1959,0.00,2.35,0.00,0.000,6,0.000,0.017,2759,1777,3482,0,0,0,0,0,0
$GC,2218,-1.05,-116.8,214.9,-7.3,193,2222,0.00,2.38,0.00,0.000,4,0.000,0.025,2759,3315,3482,0,0,0,0,0,0
$GC,2246,-1.05,-116.8,217.0,-7.3,193,2251,0.00,2.47,0.00,0.000,6,0.000,0.035,2759,1764,3482,0,0,0,0,0,0
$GC,2496,-1.05,-116.8,235.8,-7.8,199,2501,0.00,2.67,0.00,0.000,4,0.000,0.071,2759,192,3482,0,0,0,0,0,0
$GC,2545,-1.05,-116.8,240.5,-9.7,200,2549,0.00,2.33,0.00,0.000,6,0.000,0.021,2759,1754,3482,0,0,0,0,0,0
$GC,2825,-1.05,-116.8,268.8,-10.8,207,2829,0.00,2.45,0.00,0.000,4,0.000,0.036,2759,3329,3482,0,0,0,0,0,0
$GC,2852,-1.09,-116.8,272.2,-11.1,207,2857,0.00,2.50,0.00,0.000,6,0.000,0.034,2759,1763,3482,0,0,0,0,0,0
$GC,3102,-1.09,-116.8,300.9,-11.5,213,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1760,3482,0,0,0,0,0,0
$GC,3346,-1.09,-116.8,321.2,-7.6,219,3350,0.00,2.45,0.00,0.000,4,0.000,0.035,2759,3320,3481,0,0,0,0,0,0
$GC,3374,-1.15,-116.8,323.1,-7.2,219,3379,0.00,2.53,0.00,0.000,6,0.000,0.042,2759,1768,3481,0,0,0,0,0,0
$GC,3625,-1.19,-116.8,338.7,-6.2,225,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1768,3481,0,0,0,0,0,0
$GC,3869,-1.23,-116.8,355.4,-6.9,231,3874,0.12,2.83,0.00,0.000,4,0.069,0.088,2712,183,3480,0,0,0,0,0,0
$GC,3914,-1.17,-116.8,359.4,-9.1,232,3920,0.15,2.42,0.00,0.000,6,0.101,0.027,2744,1752,3479,0,0,0,0,0,0
$GC,4193,-1.17,-116.8,376.9,-5.7,239,4197,0.00,2.72,0.00,0.000,4,0.000,0.077,2744,189,3478,0,0,0,0,0,0
$GC,4238,-1.21,-116.8,379.7,-6.6,240,4243,0.00,2.47,0.00,0.000,6,0.000,0.023,2744,1769,3478,0,0,0,0,0,0
$GC,4516,-1.21,-116.8,397.7,-6.8,247,4520,0.00,2.60,0.00,0.000,4,0.000,0.046,2744,3360,3476,0,0,0,0,0,0
$GC,4566,-1.28,-116.8,401.4,-7.3,248,4571,0.10,2.65,0.00,0.000,6,0.087,0.056,2709,1786,3476,0,0,0,0,0,0
$GC,4840,-1.24,-116.8,426.8,-9.7,255,4845,0.10,2.55,0.00,0.000,4,0.118,0.041,2730,3354,3474,0,0,0,0,0,0
$GC,4867,-1.24,-116.8,429.7,-9.2,255,4871,0.00,2.65,0.00,0.000,6,0.000,0.055,2730,1789,3474,0,0,0,0,0,0
$GC,5118,-1.24,-116.8,449.1,-7.5,261,5123,0.00,2.97,0.00,0.000,4,0.000,0.111,2730,182,3473,0,0,0,0,0,0
$GC,5162,-1.24,-116.8,453.1,-8.7,262,5167,0.00,2.58,0.00,0.000,6,0.000,0.030,2730,1783,3473,0,0,0,0,0,0
$GC,5441,-1.24,-116.8,474.1,-7.5,269,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1784,3471,0,0,0,0,0,0
$GC,5684,-1.24,-116.8,492.6,-7.6,275,5689,0.00,2.65,0.00,0.000,4,0.000,0.065,2730,3352,3470,0,0,0,0,0,0
$GC,5746,-1.29,-116.8,497.4,-8.0,276,5751,0.00,2.70,0.00,0.000,6,0.000,0.060,2730,1772,3470,0,0,0,0,0,0
$STATE,5802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5802,begin apogee
$GC,5808,-0.31,0.0,501.9,7.7,278,5908,0.88,0.00,96.55,0.918,6,0.072,0.000,2930,1845,3001,0,0,0,0,0,0
$STATE,5909,end apogee,CONTROL_FINISHED_OK
$STATE,5909,begin climb
$GC,5912,1.15,116.8,504.2,0.0,280,6024,1.33,2.65,101.10,0.895,4,0.044,0.056,3254,3372,2523,0,0,0,0,0,0
$GC,6041,1.08,171.0,503.8,5.5,283,6096,0.00,2.70,48.10,0.874,6,0.000,0.056,3254,1814,2301,0,0,0,0,0,0
$GC,6367,0.96,171.0,473.5,9.9,291,6372,0.22,2.65,0.00,0.000,4,0.107,0.042,3208,3388,2292,0,0,0,0,0,0
$GC,6433,0.96,171.0,467.3,9.0,292,6438,0.00,2.67,0.00,0.000,6,0.000,0.058,3208,1826,2290,0,0,0,0,0,0
$GC,6696,0.98,189.1,448.3,7.2,299,6713,0.00,0.00,15.10,0.822,6,0.000,0.000,3208,1825,2230,0,0,0,0,0,0
$GC,6939,1.01,209.9,431.4,7.0,305,6963,0.00,2.62,19.52,0.836,4,0.000,0.038,3208,3390,2144,0,0,0,0,0,0
$GC,6985,1.01,209.9,427.6,8.3,306,6990,0.00,2.67,0.00,0.000,6,0.000,0.054,3208,1833,2142,0,0,0,0,0,0
$GC,7265,1.02,216.9,406.1,7.7,313,7279,0.00,2.62,7.07,0.716,4,0.000,0.037,3208,3387,2116,0,0,0,0,0,0
$GC,7308,1.02,216.9,402.5,8.2,314,7313,0.00,2.60,0.00,0.000,6,0.000,0.051,3208,1839,2114,0,0,0,0,0,0
$GC,7593,1.02,219.5,380.2,7.9,321,7597,0.00,2.53,0.00,0.000,4,0.000,0.038,3208,3390,2113,0,0,0,0,0,0
$GC,7647,1.02,219.5,375.6,8.3,322,7652,0.00,2.55,0.00,0.000,6,0.000,0.047,3208,1849,2112,0,0,0,0,0,0
$GC,7914,1.02,219.5,354.2,8.1,329,7918,0.00,2.50,0.00,0.000,4,0.000,0.037,3207,3393,2111,0,0,0,0,0,0
$GC,8016,1.08,225.2,346.0,7.7,331,8031,0.12,2.53,8.12,0.722,6,0.082,0.040,3241,1864,2082,0,0,0,0,0,0
$GC,8289,1.05,234.7,324.6,7.6,338,8305,0.00,2.92,9.88,0.735,4,0.000,0.081,3241,239,2044,0,0,0,0,0,0
$GC,8323,0.96,234.7,321.6,9.2,338,8329,0.15,2.60,0.00,0.000,6,0.114,0.025,3211,1874,2043,0,0,0,0,0,0
$GC,8573,0.99,261.6,304.6,6.8,345,8600,0.00,0.00,25.67,0.779,6,0.000,0.000,3211,1875,1934,0,0,0,0,0,0
$GC,8817,1.03,261.6,285.4,8.1,351,8821,0.00,2.42,0.00,0.000,4,0.000,0.031,3211,3387,1929,0,0,0,0,0,0
$GC,8879,1.11,262.3,280.5,8.0,352,8885,0.15,2.47,0.00,0.000,6,0.073,0.035,3251,1872,1927,0,0,0,0,0,0
$GC,9140,1.12,269.0,259.5,7.7,359,9149,0.00,0.00,7.10,0.645,6,0.000,0.000,3251,1872,1904,0,0,0,0,0,0
$GC,9384,1.15,288.1,241.8,7.1,365,9404,0.00,0.00,18.40,0.716,6,0.000,0.000,3251,1872,1826,0,0,0,0,0,0
$GC,9629,1.15,288.1,221.2,8.7,371,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1872,1822,0,0,0,0,0,0
$GC,9871,1.15,288.1,197.5,10.0,377,9876,0.00,2.83,0.00,0.000,4,0.000,0.071,3251,237,1822,0,0,0,0,0,0
$GC,9888,1.11,288.1,195.8,10.6,378,9893,0.00,2.58,0.00,0.000,6,0.000,0.019,3252,1888,1821,0,0,0,0,0,0
$GC,10152,1.11,288.1,168.1,10.1,402,10157,0.00,2.83,0.00,0.000,4,0.000,0.067,3251,236,1820,0,0,0,0,0,0
$GC,10175,1.06,288.1,165.3,11.2,403,10180,0.00,2.58,0.00,0.000,6,0.000,0.019,3251,1888,1820,0,0,0,0,0,0
$GC,10437,1.07,292.6,141.6,7.8,428,10452,0.00,2.42,4.53,0.469,4,0.000,0.036,3251,3389,1808,0,0,0,0,0,0
$GC,10470,1.07,292.6,138.9,8.4,430,10479,0.00,2.47,0.00,0.000,6,0.000,0.038,3251,1883,1808,0,0,0,0,0,0
$GC,10735,1.07,292.6,118.9,8.3,455,10740,0.00,2.80,0.00,0.000,4,0.000,0.063,3251,230,1808,0,0,0,0,0,0
$GC,10758,1.07,292.6,116.6,8.4,456,10766,0.00,2.62,0.00,0.000,6,0.000,0.018,3251,1910,1807,0,0,0,0,0,0
$GC,11024,1.10,292.6,93.9,9.0,481,11028,0.00,2.33,0.00,0.000,4,0.000,0.028,3250,3391,1807,0,0,0,0,0,0
$GC,11095,1.20,295.1,87.9,7.9,486,11105,0.00,2.42,4.20,0.414,6,0.000,0.031,3251,1902,1796,0,0,0,0,0,0
$GC,11361,1.35,342.8,72.1,5.8,511,11417,0.17,2.95,42.10,0.571,4,0.061,0.061,3302,235,1601,0,0,0,0,0,0
$GC,11461,1.31,342.8,63.9,10.4,518,11466,0.00,2.62,0.00,0.000,6,0.000,0.018,3302,1917,1600,0,0,0,0,0,0
$GC,11728,1.33,356.5,40.5,7.4,542,11745,0.00,2.35,12.60,0.508,4,0.000,0.025,3302,3402,1547,0,0,0,0,0,0
$GC,11771,1.41,426.3,38.4,4.8,545,11839,0.00,2.45,60.33,0.532,6,0.000,0.031,3302,1896,1261,0,0,0,0,0,0
$STATE,12068,end climb,SURFACE_DEPTH_REACHED
$STATE,12068,begin surface coast
$FINISH,0.4,1.019690
$STATE,12116,end surface coast,CONTROL_FINISHED_OK
$STATE,12116,begin surface
$SM_CCo,12197,0.00,0.000,0,0,1255,428.29
$SM_GC,1.08,11.52,0.00,0.00,0.028,0.000,0.000,474,1742,1255,-11.52,-0.79,428.29
$IRIDIUM_FIX,2244.02,-15746.73,121299,101038
$TT8_MAMPS,0.026078
$HUMID,47.00
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.70
$XPDR_PINGS,58
$24V_AH,23.5,32.221
$10V_AH,10.3,33.119
$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,26.875,159.800,480.375,0.000,0.000,28.077,26.054,181.091,14.500,0.000,11.638,1209.822,8051.582,524.422,2214.852,569.601,33.388,1391.308,0.000,2210.560,0.000,0.536,0.000
$DEVICE_MAMPS,137.293,115.050,918.099,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.850,344.012,449.422,835.546,1258.916,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,47869,590
$CAP_FILE_SIZE,128827,0
$CFSIZE,260165632,168951808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170910,173124,2249.668,-15744.234,24,1.3,41,10.1