version: 66.06
glider: 146
mission: 5
dive: 231
start: 9 18 110 0 38 8
data:
$ID,146
$MISSION,5
$DIVE,231
$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,-251833.33
$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,66
$R_STBD_OVSHOOT,64
$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
$GPS1,003107,2248.782,-15744.164,40,1.4,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-65.8
$GPS2,003713,2248.752,-15744.185,9,1.4,14,10.1
$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,-243347.5,85.0,-192.3,288926.9,-233.6
$KALMAN_Y,-190791.0,274.8,-13.0,316786.1,-3211.4
$MHEAD_RNG_PITCHd_Wd,352.5,17527,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,98,0.00,0.00,-78.30,0.000,2,0.000,0.000,474,1724,3241,0,0,0,0,0,0
$GC,101,-1.15,-116.8,3.3,-4.0,10,127,11.50,2.60,-4.60,0.000,4,0.138,0.038,2744,3328,3479,0,0,0,0,0,0
$GC,158,-0.65,-116.8,18.3,-24.6,17,167,0.47,2.50,0.00,0.000,6,0.067,0.036,2856,1802,3480,0,0,0,0,0,0
$GC,448,-0.73,-116.8,45.0,-8.5,50,452,0.00,2.72,0.00,0.000,4,0.000,0.058,2857,191,3481,0,0,0,0,0,0
$GC,494,-0.86,-116.8,49.4,-9.0,53,499,0.17,2.40,0.00,0.000,6,0.057,0.015,2797,1802,3481,0,0,0,0,0,0
$GC,761,-0.86,-116.8,79.0,-10.1,77,765,0.00,2.33,0.00,0.000,4,0.000,0.031,2797,3305,3481,0,0,0,0,0,0
$GC,779,-0.86,-116.8,81.4,-9.6,78,783,0.00,2.47,0.00,0.000,6,0.000,0.034,2797,1747,3482,0,0,0,0,0,0
$GC,1042,-0.86,-116.8,102.3,-7.1,102,1046,0.00,2.42,0.00,0.000,4,0.000,0.025,2797,3307,3482,0,0,0,0,0,0
$GC,1064,-0.89,-116.8,103.6,-6.7,103,1068,0.00,2.45,0.00,0.000,6,0.000,0.034,2797,1769,3482,0,0,0,0,0,0
$GC,1331,-0.94,-116.8,122.5,-7.8,127,1335,0.00,2.65,0.00,0.000,4,0.000,0.065,2797,189,3482,0,0,0,0,0,0
$GC,1371,-1.01,-116.8,126.6,-9.1,130,1375,0.00,2.35,0.00,0.000,6,0.000,0.015,2797,1774,3482,0,0,0,0,0,0
$GC,1639,-1.07,-116.8,151.5,-9.6,154,1644,0.12,2.38,0.00,0.000,4,0.073,0.024,2751,3299,3483,0,0,0,0,0,0
$GC,1671,-1.07,-116.8,155.8,-11.1,156,1681,0.00,2.45,0.00,0.000,6,0.000,0.029,2750,1775,3483,0,0,0,0,0,0
$GC,1939,-1.02,-116.8,182.3,-9.0,181,1945,0.12,2.70,0.00,0.000,4,0.100,0.063,2778,192,3483,0,0,0,0,0,0
$GC,1956,-1.02,-116.8,184.6,-9.3,182,1961,0.00,2.33,0.00,0.000,6,0.000,0.023,2779,1756,3482,0,0,0,0,0,0
$GC,2242,-1.02,-116.8,207.9,-8.5,203,2246,0.00,2.42,0.00,0.000,4,0.000,0.025,2778,3317,3483,0,0,0,0,0,0
$GC,2281,-1.10,-116.8,211.3,-8.3,204,2285,0.00,2.45,0.00,0.000,6,0.000,0.032,2779,1771,3483,0,0,0,0,0,0
$GC,2565,-1.10,-116.8,233.6,-7.6,211,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1771,3482,0,0,0,0,0,0
$GC,2810,-1.14,-116.8,249.9,-6.6,217,2812,0.12,0.00,0.00,0.000,6,0.084,0.000,2728,1771,3482,0,0,0,0,0,0
$GC,3052,-1.08,-116.8,271.4,-9.1,223,3054,0.15,0.00,0.00,0.000,6,0.098,0.000,2763,1771,3482,0,0,0,0,0,0
$GC,3296,-1.08,-116.8,292.2,-8.6,229,3300,0.00,2.42,0.00,0.000,4,0.000,0.035,2763,3315,3482,0,0,0,0,0,0
$GC,3336,-1.16,-116.8,295.7,-9.2,230,3341,0.00,2.45,0.00,0.000,6,0.000,0.030,2763,1787,3482,0,0,0,0,0,0
$GC,3620,-1.20,-116.8,319.7,-8.4,237,3626,0.10,2.80,0.00,0.000,4,0.086,0.081,2725,187,3481,0,0,0,0,0,0
$GC,3676,-1.20,-116.8,325.5,-10.5,238,3680,0.00,2.40,0.00,0.000,6,0.000,0.025,2725,1747,3481,0,0,0,0,0,0
$GC,3944,-1.20,-116.8,346.9,-7.7,245,3948,0.00,2.55,0.00,0.000,4,0.000,0.039,2725,3350,3481,0,0,0,0,0,0
$GC,3983,-1.20,-116.8,349.4,-6.1,246,3987,0.00,2.58,0.00,0.000,6,0.000,0.040,2725,1785,3481,0,0,0,0,0,0
$GC,4267,-1.20,-116.8,364.5,-5.4,253,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1785,3479,0,0,0,0,0,0
$GC,4509,-1.20,-116.8,383.3,-8.0,259,4513,0.00,2.53,0.00,0.000,4,0.000,0.039,2725,3346,3478,0,0,0,0,0,0
$GC,4576,-1.20,-116.8,388.9,-8.1,260,4580,0.00,2.58,0.00,0.000,6,0.000,0.051,2725,1785,3477,0,0,0,0,0,0
$GC,4831,-1.20,-116.8,410.0,-8.4,267,4835,0.00,2.88,0.00,0.000,4,0.000,0.096,2725,186,3476,0,0,0,0,0,0
$GC,4887,-1.20,-116.8,415.4,-9.7,268,4891,0.00,2.53,0.00,0.000,6,0.000,0.025,2725,1776,3476,0,0,0,0,0,0
$GC,5153,-1.20,-116.8,438.0,-8.5,275,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1776,3474,0,0,0,0,0,0
$GC,5396,-1.20,-116.8,458.6,-8.4,281,5401,0.00,2.62,0.00,0.000,4,0.000,0.058,2725,3356,3473,0,0,0,0,0,0
$GC,5453,-1.24,-116.8,463.6,-9.1,282,5458,0.00,2.67,0.00,0.000,6,0.000,0.054,2725,1780,3473,0,0,0,0,0,0
$GC,5719,-1.24,-116.8,486.7,-8.9,289,5724,0.00,2.58,0.00,0.000,4,0.000,0.051,2725,3347,3470,0,0,0,0,0,0
$GC,5748,-1.24,-116.8,489.5,-8.9,289,5753,0.00,2.62,0.00,0.000,6,0.000,0.056,2725,1794,3471,0,0,0,0,0,0
$STATE,5873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5874,begin apogee
$GC,5881,-0.31,0.0,501.0,9.0,292,5981,0.90,0.00,96.85,0.915,6,0.072,0.000,2930,1794,3001,0,0,0,0,0,0
$STATE,5981,end apogee,CONTROL_FINISHED_OK
$STATE,5982,begin climb
$GC,5984,1.15,116.8,503.7,0.0,294,6097,1.33,2.83,100.65,0.889,4,0.044,0.055,3253,3397,2523,0,0,0,0,0,0
$GC,6126,1.06,153.8,502.9,6.3,297,6166,0.12,2.72,32.62,0.861,6,0.124,0.055,3229,1816,2374,0,0,0,0,0,0
$GC,6439,0.97,153.8,477.8,8.4,305,6443,0.00,2.65,0.00,0.000,4,0.000,0.044,3229,3397,2364,0,0,0,0,0,0
$GC,6472,0.91,153.8,474.9,9.4,305,6479,0.15,2.72,0.00,0.000,6,0.116,0.055,3199,1820,2363,0,0,0,0,0,0
$GC,6722,0.93,166.7,455.7,7.4,312,6739,0.00,2.65,11.12,0.790,4,0.000,0.040,3200,3405,2320,0,0,0,0,0,0
$GC,6757,0.98,207.3,453.5,6.1,312,6803,0.00,2.70,37.08,0.855,6,0.000,0.054,3199,1825,2155,0,0,0,0,0,0
$GC,7048,0.98,209.2,430.9,7.9,320,7053,0.00,2.60,0.00,0.000,4,0.000,0.043,3199,3404,2149,0,0,0,0,0,0
$GC,7104,1.03,209.2,426.0,8.7,321,7109,0.10,2.62,0.00,0.000,6,0.092,0.054,3226,1845,2148,0,0,0,0,0,0
$GC,7372,0.99,209.2,402.0,9.0,328,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1845,2146,0,0,0,0,0,0
$GC,7614,0.99,209.2,381.2,8.5,334,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1845,2144,0,0,0,0,0,0
$GC,7857,0.99,209.2,360.5,8.5,340,7862,0.00,2.53,0.00,0.000,4,0.000,0.036,3226,3412,2143,0,0,0,0,0,0
$GC,7964,0.99,209.2,350.5,10.1,342,7969,0.00,2.60,0.00,0.000,6,0.000,0.040,3226,1836,2142,0,0,0,0,0,0
$GC,8225,0.99,209.2,326.8,9.0,349,8229,0.00,2.80,0.00,0.000,4,0.000,0.080,3226,235,2141,0,0,0,0,0,0
$GC,8280,0.92,209.2,321.4,9.8,350,8285,0.12,2.53,0.00,0.000,6,0.120,0.020,3201,1857,2141,0,0,0,0,0,0
$GC,8548,0.96,239.7,303.2,6.6,357,8582,0.00,2.58,27.42,0.777,4,0.000,0.038,3202,3395,2022,0,0,0,0,0,0
$GC,8640,1.05,239.7,295.4,9.1,359,8646,0.12,2.55,0.00,0.000,6,0.081,0.035,3234,1838,2019,0,0,0,0,0,0
$GC,8920,1.05,239.7,270.3,8.9,366,8924,0.00,2.78,0.00,0.000,4,0.000,0.071,3234,239,2017,0,0,0,0,0,0
$GC,8935,1.05,239.7,268.6,9.0,366,8939,0.00,2.53,0.00,0.000,6,0.000,0.021,3234,1859,2017,0,0,0,0,0,0
$GC,9197,1.06,242.2,247.4,7.9,373,9201,0.00,2.45,0.00,0.000,4,0.000,0.035,3234,3390,2016,0,0,0,0,0,0
$GC,9219,1.06,242.2,245.6,8.2,373,9223,0.00,2.50,0.00,0.000,6,0.000,0.033,3234,1848,2016,0,0,0,0,0,0
$GC,9474,1.10,276.1,228.5,6.4,380,9515,0.00,2.60,32.17,0.715,4,0.000,0.030,3234,3397,1874,0,0,0,0,0,0
$GC,9538,1.17,297.5,224.1,7.0,381,9562,0.00,2.55,19.65,0.687,6,0.000,0.033,3234,1852,1788,0,0,0,0,0,0
$GC,9842,1.17,297.5,199.0,9.0,389,9847,0.00,2.78,0.00,0.000,4,0.000,0.064,3234,238,1783,0,0,0,0,0,0
$GC,9858,1.17,297.5,197.1,9.5,390,9863,0.00,2.55,0.00,0.000,6,0.000,0.020,3234,1871,1782,0,0,0,0,0,0
$GC,10122,1.17,297.5,170.6,9.9,414,10127,0.00,2.42,0.00,0.000,4,0.000,0.035,3235,3391,1781,0,0,0,0,0,0
$GC,10152,1.23,297.5,167.4,10.0,416,10157,0.15,2.47,0.00,0.000,6,0.068,0.033,3277,1858,1780,0,0,0,0,0,0
$GC,10413,1.18,297.5,140.7,9.2,440,10414,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1858,1780,0,0,0,0,0,0
$GC,10668,1.15,297.5,119.2,8.8,464,10670,0.12,0.00,0.00,0.000,6,0.114,0.000,3251,1858,1780,0,0,0,0,0,0
$GC,10924,1.15,297.5,96.9,8.8,488,10929,0.00,2.75,0.00,0.000,4,0.000,0.062,3251,233,1780,0,0,0,0,0,0
$GC,10953,1.15,297.5,94.1,10.2,490,10957,0.00,2.55,0.00,0.000,6,0.000,0.018,3251,1889,1779,0,0,0,0,0,0
$GC,11221,1.21,297.5,71.4,8.4,514,11225,0.00,2.80,0.00,0.000,4,0.000,0.063,3251,236,1779,0,0,0,0,0,0
$GC,11241,1.26,297.5,69.3,8.7,515,11246,0.10,2.50,0.00,0.000,6,0.090,0.018,3281,1875,1779,0,0,0,0,0,0
$GC,11507,1.28,312.8,46.9,7.3,539,11527,0.00,0.00,13.68,0.522,6,0.000,0.000,3281,1876,1725,0,0,0,0,0,0
$GC,11799,1.29,323.1,24.0,7.5,570,11816,0.00,0.00,10.57,0.486,6,0.000,0.000,3281,1877,1682,0,0,0,0,0,0
$STATE,12032,end climb,SURFACE_DEPTH_REACHED
$STATE,12032,begin surface coast
$FINISH,0.2,1.012206
$STATE,12094,end surface coast,CONTROL_FINISHED_OK
$STATE,12094,begin surface
$SM_CCo,12115,85.30,0.449,1,0,1288,420.20
$SM_GC,0.96,0.00,0.00,85.30,0.000,0.000,0.449,473,1744,1288,-11.62,-0.74,420.20
$IRIDIUM_FIX,2239.35,-15742.40,121299,212105
$TT8_MAMPS,0.025311
$HUMID,45.03
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.50
$XPDR_PINGS,59
$24V_AH,23.5,32.578
$10V_AH,10.3,33.517
$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,27.275,149.300,381.825,85.300,0.000,25.576,28.835,170.191,14.750,0.000,16.161,1242.478,7906.465,538.902,2324.562,558.692,33.378,1376.970,0.000,2333.070,0.000,0.536,0.000
$DEVICE_MAMPS,138.060,95.875,915.031,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,415.424,385.754,474.963,925.802,1400.384,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,47766,613
$CAP_FILE_SIZE,126475,0
$CFSIZE,260165632,168767488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180910,040255,2248.494,-15744.064,39,1.6,39,10.1