version: 66.06
glider: 146
mission: 5
dive: 229
start: 9 17 110 17 42 3
data:
$ID,146
$MISSION,5
$DIVE,229
$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,-251801.2
$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,38
$R_STBD_OVSHOOT,51
$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
$GPS1,173124,2249.668,-15744.234,24,1.3,41,10.1
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,2
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-67.0
$GPS2,174108,2249.553,-15744.265,10,1.3,10,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.073,0.206
$KALMAN_X,-242205.1,-27.5,280.1,287285.5,-1050.4
$KALMAN_Y,-183740.6,-153.2,29.7,311600.6,-3142.2
$MHEAD_RNG_PITCHd_Wd,9.4,16114,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.15,-116.8,0.0,0.0,0,107,0.00,0.00,-86.72,0.000,2,0.000,0.000,474,1739,3450,0,0,0,0,0,0
$GC,110,-1.15,-116.8,4.2,-5.4,11,128,11.52,2.55,-0.47,0.000,4,0.140,0.036,2741,3357,3479,0,0,0,0,0,0
$GC,204,-1.07,-116.8,29.9,-16.7,24,214,0.08,2.58,0.00,0.000,6,0.084,0.028,2762,1774,3480,0,0,0,0,0,0
$GC,472,-0.94,-116.8,63.6,-12.6,49,477,0.15,2.70,0.00,0.000,4,0.109,0.059,2794,196,3480,0,0,0,0,0,0
$GC,507,-0.85,-116.8,68.9,-13.9,51,512,0.10,2.40,0.00,0.000,6,0.121,0.019,2815,1801,3480,0,0,0,0,0,0
$GC,775,-0.90,-116.8,93.0,-6.8,75,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1802,3481,0,0,0,0,0,0
$GC,1037,-0.97,-116.8,109.4,-6.2,100,1042,0.10,2.38,0.00,0.000,4,0.083,0.028,2775,3311,3481,0,0,0,0,0,0
$GC,1082,-0.97,-116.8,112.5,-8.1,103,1086,0.00,2.42,0.00,0.000,6,0.000,0.026,2775,1779,3481,0,0,0,0,0,0
$GC,1348,-0.97,-116.8,136.9,-10.3,127,1353,0.00,2.67,0.00,0.000,4,0.000,0.063,2774,196,3482,0,0,0,0,0,0
$GC,1429,-1.03,-116.8,145.6,-10.2,133,1433,0.00,2.38,0.00,0.000,6,0.000,0.020,2774,1779,3482,0,0,0,0,0,0
$GC,1695,-1.03,-116.8,167.6,-7.6,157,1700,0.00,2.40,0.00,0.000,4,0.000,0.025,2774,3311,3482,0,0,0,0,0,0
$GC,1731,-1.09,-116.8,170.6,-7.7,159,1740,0.00,2.50,0.00,0.000,6,0.000,0.032,2774,1767,3482,0,0,0,0,0,0
$GC,1997,-1.09,-116.8,187.9,-7.1,184,2001,0.00,2.70,0.00,0.000,4,0.000,0.064,2775,191,3482,0,0,0,0,0,0
$GC,2039,-1.09,-116.8,191.7,-8.8,187,2044,0.00,2.35,0.00,0.000,6,0.000,0.022,2774,1762,3482,0,0,0,0,0,0
$GC,2305,-1.09,-116.8,216.6,-9.7,200,2309,0.00,2.42,0.00,0.000,4,0.000,0.028,2774,3319,3481,0,0,0,0,0,0
$GC,2332,-1.13,-116.8,219.5,-10.1,200,2336,0.00,2.47,0.00,0.000,6,0.000,0.028,2774,1764,3481,0,0,0,0,0,0
$GC,2581,-1.13,-116.8,242.6,-8.9,206,2586,0.00,2.70,0.00,0.000,4,0.000,0.068,2774,196,3481,0,0,0,0,0,0
$GC,2627,-1.17,-116.8,246.5,-8.6,207,2632,0.12,2.35,0.00,0.000,6,0.070,0.015,2732,1753,3481,0,0,0,0,0,0
$GC,2905,-1.12,-116.8,269.5,-8.2,214,2907,0.10,0.00,0.00,0.000,6,0.118,0.000,2754,1754,3480,0,0,0,0,0,0
$GC,3150,-1.12,-116.8,289.0,-8.4,220,3154,0.00,2.50,0.00,0.000,4,0.000,0.037,2755,3339,3480,0,0,0,0,0,0
$GC,3171,-1.12,-116.8,291.1,-9.1,220,3175,0.00,2.53,0.00,0.000,6,0.000,0.030,2754,1760,3480,0,0,0,0,0,0
$GC,3426,-1.12,-116.8,313.3,-8.6,227,3430,0.00,2.47,0.00,0.000,4,0.000,0.028,2754,3332,3480,0,0,0,0,0,0
$GC,3465,-1.19,-116.8,316.5,-8.1,228,3470,0.00,2.53,0.00,0.000,6,0.000,0.036,2754,1769,3480,0,0,0,0,0,0
$GC,3749,-1.22,-116.8,337.8,-7.4,235,3753,0.00,2.80,0.00,0.000,4,0.000,0.087,2754,183,3479,0,0,0,0,0,0
$GC,3804,-1.27,-116.8,342.4,-8.6,236,3809,0.12,2.40,0.00,0.000,6,0.074,0.028,2713,1738,3478,0,0,0,0,0,0
$GC,4072,-1.23,-116.8,365.8,-8.7,243,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1738,3477,0,0,0,0,0,0
$GC,4314,-1.23,-116.8,388.7,-9.5,249,4318,0.00,2.65,0.00,0.000,4,0.000,0.052,2713,3354,3476,0,0,0,0,0,0
$GC,4380,-1.23,-116.8,395.1,-9.5,250,4384,0.00,2.67,0.00,0.000,6,0.000,0.052,2713,1765,3476,0,0,0,0,0,0
$GC,4642,-1.23,-116.8,417.3,-8.4,257,4646,0.00,2.60,0.00,0.000,4,0.000,0.042,2713,3354,3474,0,0,0,0,0,0
$GC,4685,-1.23,-116.8,421.0,-8.1,258,4690,0.00,2.70,0.00,0.000,6,0.000,0.059,2713,1765,3474,0,0,0,0,0,0
$GC,4964,-1.23,-116.8,438.4,-6.1,265,4968,0.00,2.60,0.00,0.000,4,0.000,0.048,2713,3347,3472,0,0,0,0,0,0
$GC,4986,-1.23,-116.8,439.8,-6.2,265,4991,0.00,2.67,0.00,0.000,6,0.000,0.055,2713,1766,3472,0,0,0,0,0,0
$GC,5242,-1.23,-116.8,455.8,-6.4,272,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1766,3470,0,0,0,0,0,0
$GC,5486,-1.23,-116.8,472.1,-6.9,278,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1766,3469,0,0,0,0,0,0
$GC,5729,-1.23,-116.8,489.4,-7.1,284,5734,0.00,2.65,0.00,0.000,4,0.000,0.053,2713,3350,3467,0,0,0,0,0,0
$GC,5764,-1.23,-116.8,492.2,-7.8,284,5769,0.00,2.72,0.00,0.000,6,0.000,0.061,2713,1769,3466,0,0,0,0,0,0
$STATE,5889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5889,begin apogee
$GC,5896,-0.31,0.0,501.9,7.6,288,5995,0.98,0.00,95.57,0.921,6,0.080,0.000,2932,1835,3001,0,0,0,0,0,0
$STATE,5995,end apogee,CONTROL_FINISHED_OK
$STATE,5995,begin climb
$GC,5998,1.15,116.8,504.1,0.0,290,6111,1.33,2.70,101.22,0.898,4,0.047,0.055,3253,3375,2523,0,0,0,0,0,0
$GC,6156,1.08,173.9,503.4,5.4,293,6212,0.00,2.70,50.05,0.877,6,0.000,0.062,3253,1813,2292,0,0,0,0,0,0
$GC,6491,0.97,173.9,477.0,8.6,302,6496,0.20,2.65,0.00,0.000,4,0.110,0.042,3214,3390,2282,0,0,0,0,0,0
$GC,6518,0.97,173.9,474.6,8.3,302,6522,0.00,2.70,0.00,0.000,6,0.000,0.061,3214,1827,2281,0,0,0,0,0,0
$GC,6769,0.97,173.9,454.2,8.3,308,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1827,2279,0,0,0,0,0,0
$GC,7011,0.97,173.9,432.9,8.8,314,7016,0.00,2.55,0.00,0.000,4,0.000,0.040,3213,3389,2277,0,0,0,0,0,0
$GC,7039,0.97,173.9,430.3,8.7,314,7043,0.00,2.65,0.00,0.000,6,0.000,0.051,3214,1826,2277,0,0,0,0,0,0
$GC,7295,0.98,184.8,410.5,7.5,321,7310,0.00,2.62,8.35,0.753,4,0.000,0.035,3214,3389,2247,0,0,0,0,0,0
$GC,7356,0.99,195.9,406.0,7.5,322,7374,0.00,2.65,11.48,0.787,6,0.000,0.046,3213,1826,2202,0,0,0,0,0,0
$GC,7626,1.02,220.6,387.3,6.9,329,7655,0.00,2.62,23.08,0.827,4,0.000,0.038,3213,3383,2100,0,0,0,0,0,0
$GC,7707,1.02,220.6,381.3,8.5,330,7713,0.00,2.60,0.00,0.000,6,0.000,0.046,3214,1842,2097,0,0,0,0,0,0
$GC,7957,1.02,220.6,358.9,9.2,337,7961,0.00,2.53,0.00,0.000,4,0.000,0.035,3214,3398,2095,0,0,0,0,0,0
$GC,8023,1.06,220.6,352.4,10.1,338,8027,0.00,2.58,0.00,0.000,6,0.000,0.041,3213,1844,2094,0,0,0,0,0,0
$GC,8279,1.08,231.5,332.5,7.5,345,8295,0.00,2.90,10.05,0.739,4,0.000,0.081,3213,236,2056,0,0,0,0,0,0
$GC,8323,1.03,231.5,329.0,8.4,346,8327,0.00,2.53,0.00,0.000,6,0.000,0.025,3213,1847,2055,0,0,0,0,0,0
$GC,8602,1.06,261.9,310.1,6.6,353,8636,0.00,2.58,28.20,0.784,4,0.000,0.039,3213,3390,1932,0,0,0,0,0,0
$GC,8702,1.16,272.9,303.2,7.5,355,8721,0.17,2.53,11.07,0.717,6,0.071,0.041,3259,1861,1888,0,0,0,0,0,0
$GC,8980,1.10,272.9,277.3,9.5,362,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1860,1883,0,0,0,0,0,0
$GC,9220,1.06,272.9,253.1,9.8,368,9222,0.12,0.00,0.00,0.000,6,0.120,0.000,3233,1861,1882,0,0,0,0,0,0
$GC,9464,1.06,272.9,231.5,8.8,374,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1861,1881,0,0,0,0,0,0
$GC,9707,1.06,272.9,210.3,8.7,380,9712,0.00,2.80,0.00,0.000,4,0.000,0.071,3233,234,1881,0,0,0,0,0,0
$GC,9752,1.06,272.9,205.9,10.3,381,9757,0.00,2.58,0.00,0.000,6,0.000,0.023,3233,1879,1879,0,0,0,0,0,0
$GC,10018,1.06,272.9,183.6,8.4,401,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1881,1879,0,0,0,0,0,0
$GC,10274,1.06,272.9,160.8,9.9,425,10279,0.00,2.83,0.00,0.000,4,0.000,0.065,3233,239,1879,0,0,0,0,0,0
$GC,10296,1.06,272.9,158.3,10.5,426,10305,0.00,2.55,0.00,0.000,6,0.000,0.019,3233,1868,1879,0,0,0,0,0,0
$GC,10562,1.06,272.9,132.6,9.5,451,10566,0.00,2.40,0.00,0.000,4,0.000,0.034,3233,3386,1879,0,0,0,0,0,0
$GC,10595,1.11,272.9,129.6,9.0,453,10599,0.00,2.47,0.00,0.000,6,0.000,0.031,3233,1855,1879,0,0,0,0,0,0
$GC,10861,1.15,272.9,106.4,8.8,477,10866,0.00,2.75,0.00,0.000,4,0.000,0.067,3233,239,1879,0,0,0,0,0,0
$GC,10896,1.15,272.9,103.5,9.2,479,10900,0.00,2.47,0.00,0.000,6,0.000,0.021,3233,1866,1879,0,0,0,0,0,0
$GC,11163,1.22,276.2,81.6,7.9,503,11168,0.15,0.00,0.00,0.000,6,0.069,0.000,3278,1868,1879,0,0,0,0,0,0
$GC,11431,1.22,276.2,57.6,8.3,528,11436,0.00,2.38,0.00,0.000,4,0.000,0.028,3278,3378,1879,0,0,0,0,0,0
$GC,11501,1.32,300.0,52.2,6.9,533,11531,0.00,2.45,23.38,0.550,6,0.000,0.031,3278,1844,1778,0,0,0,0,0,0
$GC,11795,1.32,300.0,29.4,8.7,560,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1844,1775,0,0,0,0,0,0
$STATE,12087,end climb,SURFACE_DEPTH_REACHED
$STATE,12087,begin surface coast
$FINISH,0.3,1.001031
$STATE,12150,end surface coast,CONTROL_FINISHED_OK
$STATE,12150,begin surface
$SM_CCo,12172,104.25,0.463,1,0,1287,420.20
$SM_GC,0.92,0.00,0.00,104.25,0.000,0.000,0.463,475,1737,1287,-11.62,-0.93,420.20
$IRIDIUM_FIX,2241.69,-15742.40,121299,171728
$TT8_MAMPS,0.026078
$HUMID,46.29
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.00
$XPDR_PINGS,55
$24V_AH,23.5,32.344
$10V_AH,10.3,33.254
$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,26.525,144.425,362.450,104.250,0.000,55.420,108.150,222.468,13.750,0.000,12.402,1227.067,8103.748,546.637,2269.196,719.060,33.379,1376.725,0.000,2283.438,0.000,0.535,0.000
$DEVICE_MAMPS,139.594,118.885,921.167,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,414.117,364.205,473.774,884.260,1337.787,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,47864,611
$CAP_FILE_SIZE,125611,0
$CFSIZE,260165632,168890368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170910,210806,2249.055,-15744.244,39,1.4,39,10.1