version: 66.06
glider: 146
mission: 5
dive: 236
start: 9 18 110 18 16 10
data:
$ID,146
$MISSION,5
$DIVE,236
$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,-251925.2
$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,41
$R_STBD_OVSHOOT,34
$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
$GPS1,180606,2245.623,-15744.429,41,1.3,46,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-66.2
$GPS2,181515,2245.498,-15744.439,10,1.6,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.042,0.214
$KALMAN_X,-245401.4,-215.1,226.6,290426.3,-716.9
$KALMAN_Y,-209764.6,-325.6,87.7,330234.8,-3748.4
$MHEAD_RNG_PITCHd_Wd,1.0,23524,-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,16,-1.15,-116.8,0.0,0.0,0,97,0.00,0.00,-78.85,0.000,2,0.000,0.000,474,1752,3236,0,0,0,0,0,0
$GC,100,-1.15,-116.8,3.0,-3.5,10,126,11.45,2.58,-4.75,0.000,4,0.136,0.035,2743,3359,3480,0,0,0,0,0,0
$GC,146,-0.19,-116.8,16.2,-28.1,15,156,0.88,2.58,0.00,0.000,6,0.065,0.035,2949,1786,3481,0,0,0,0,0,0
$GC,464,-0.50,-116.8,33.2,-2.8,56,469,0.25,2.70,0.00,0.000,4,0.044,0.058,2867,189,3481,0,0,0,0,0,0
$GC,490,-0.71,-116.8,34.6,-4.6,57,500,0.05,2.47,0.00,0.000,6,0.054,0.016,2833,1817,3481,0,0,0,0,0,0
$GC,757,-0.71,-116.8,55.3,-8.2,82,761,0.00,2.33,0.00,0.000,4,0.000,0.023,2833,3317,3482,0,0,0,0,0,0
$GC,780,-0.75,-116.8,57.3,-6.7,83,789,0.00,2.53,0.00,0.000,6,0.000,0.028,2833,1761,3482,0,0,0,0,0,0
$GC,1048,-0.83,-116.8,74.4,-7.4,108,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1761,3482,0,0,0,0,0,0
$GC,1315,-0.94,-116.8,95.1,-7.8,133,1320,0.15,2.45,0.00,0.000,4,0.064,0.025,2779,3317,3483,0,0,0,0,0,0
$GC,1336,-1.00,-116.8,97.8,-9.2,134,1345,0.00,2.50,0.00,0.000,6,0.000,0.027,2778,1770,3483,0,0,0,0,0,0
$GC,1604,-1.00,-116.8,121.2,-8.4,159,1608,0.00,2.42,0.00,0.000,4,0.000,0.028,2778,3320,3483,0,0,0,0,0,0
$GC,1640,-1.04,-116.8,124.2,-7.8,161,1644,0.00,2.45,0.00,0.000,6,0.000,0.030,2778,1772,3483,0,0,0,0,0,0
$GC,1906,-1.04,-116.8,147.8,-9.5,185,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1771,3483,0,0,0,0,0,0
$GC,2168,-1.04,-116.8,169.4,-6.8,210,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1771,3483,0,0,0,0,0,0
$GC,2422,-1.04,-116.8,185.9,-6.7,234,2426,0.00,2.40,0.00,0.000,4,0.000,0.024,2778,3312,3484,0,0,0,0,0,0
$GC,2453,-1.11,-116.8,187.7,-6.3,236,2457,0.00,2.42,0.00,0.000,6,0.000,0.035,2778,1790,3483,0,0,0,0,0,0
$GC,2733,-1.11,-116.8,206.7,-7.3,256,2738,0.00,2.72,0.00,0.000,4,0.000,0.072,2778,190,3483,0,0,0,0,0,0
$GC,2807,-1.16,-116.8,212.9,-8.5,257,2812,0.15,2.38,0.00,0.000,6,0.064,0.016,2726,1777,3483,0,0,0,0,0,0
$GC,3058,-1.08,-116.8,240.8,-11.5,263,3063,0.17,2.42,0.00,0.000,4,0.096,0.029,2763,3328,3483,0,0,0,0,0,0
$GC,3080,-1.08,-116.8,243.4,-10.9,263,3084,0.00,2.45,0.00,0.000,6,0.000,0.028,2763,1778,3482,0,0,0,0,0,0
$GC,3336,-1.08,-116.8,264.7,-8.1,270,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1778,3482,0,0,0,0,0,0
$GC,3579,-1.08,-116.8,281.0,-6.4,276,3583,0.00,2.42,0.00,0.000,4,0.000,0.032,2763,3320,3481,0,0,0,0,0,0
$GC,3612,-1.15,-116.8,283.1,-6.0,276,3619,0.00,2.42,0.00,0.000,6,0.000,0.038,2763,1793,3481,0,0,0,0,0,0
$GC,3862,-1.19,-116.8,296.9,-5.5,283,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1792,3481,0,0,0,0,0,0
$GC,4107,-1.24,-116.8,311.2,-6.2,289,4112,0.15,2.83,0.00,0.000,4,0.067,0.078,2716,185,3481,0,0,0,0,0,0
$GC,4135,-1.19,-116.8,313.9,-9.0,289,4140,0.10,2.45,0.00,0.000,6,0.117,0.018,2737,1780,3480,0,0,0,0,0,0
$GC,4384,-1.19,-116.8,334.4,-8.2,295,4388,0.00,2.47,0.00,0.000,4,0.000,0.036,2737,3341,3479,0,0,0,0,0,0
$GC,4407,-1.19,-116.8,336.1,-8.1,295,4411,0.00,2.50,0.00,0.000,6,0.000,0.037,2737,1799,3479,0,0,0,0,0,0
$GC,4662,-1.19,-116.8,357.6,-8.5,302,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1799,3478,0,0,0,0,0,0
$GC,4906,-1.27,-116.8,378.2,-8.8,308,4910,0.00,2.47,0.00,0.000,4,0.000,0.036,2738,3344,3477,0,0,0,0,0,0
$GC,4947,-1.32,-116.8,381.4,-8.0,309,4952,0.10,2.53,0.00,0.000,6,0.085,0.051,2701,1809,3476,0,0,0,0,0,0
$GC,5231,-1.26,-116.8,408.8,-9.6,316,5232,0.10,0.00,0.00,0.000,6,0.120,0.000,2722,1809,3474,0,0,0,0,0,0
$GC,5474,-1.26,-116.8,428.9,-8.0,322,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1809,3473,0,0,0,0,0,0
$GC,5719,-1.26,-116.8,447.6,-7.7,328,5724,0.00,2.97,0.00,0.000,4,0.000,0.102,2722,185,3472,0,0,0,0,0,0
$GC,5746,-1.26,-116.8,450.1,-8.8,328,5751,0.00,2.55,0.00,0.000,6,0.000,0.028,2722,1789,3472,0,0,0,0,0,0
$GC,5996,-1.26,-116.8,469.9,-8.0,334,6001,0.00,2.62,0.00,0.000,4,0.000,0.061,2722,3360,3470,0,0,0,0,0,0
$GC,6031,-1.26,-116.8,472.5,-7.4,334,6037,0.00,2.62,0.00,0.000,6,0.000,0.061,2723,1812,3470,0,0,0,0,0,0
$GC,6281,-1.26,-116.8,488.8,-6.4,341,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1812,3468,0,0,0,0,0,0
$STATE,6481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6481,begin apogee
$GC,6487,-0.31,0.0,500.7,5.8,346,6586,0.93,0.00,95.97,0.921,6,0.074,0.000,2933,1812,3001,0,0,0,0,0,0
$STATE,6587,end apogee,CONTROL_FINISHED_OK
$STATE,6587,begin climb
$GC,6591,1.15,116.8,501.0,0.0,348,6699,1.33,2.72,100.82,0.894,4,0.040,0.055,3256,3400,2522,0,0,0,0,0,0
$GC,6718,1.06,158.2,498.0,6.1,351,6764,0.12,2.75,36.33,0.864,6,0.126,0.054,3233,1818,2354,0,0,0,0,0,0
$GC,7011,0.98,163.5,475.1,7.8,359,7021,0.00,2.70,4.47,0.593,4,0.000,0.048,3233,3411,2334,0,0,0,0,0,0
$GC,7106,0.96,191.6,468.3,6.7,361,7140,0.12,2.70,26.10,0.854,6,0.121,0.058,3208,1846,2218,0,0,0,0,0,0
$GC,7426,1.00,221.4,448.1,6.6,369,7460,0.00,2.62,26.27,0.851,4,0.000,0.041,3208,3407,2098,0,0,0,0,0,0
$GC,7482,1.00,221.4,443.7,8.3,370,7486,0.00,2.67,0.00,0.000,6,0.000,0.053,3208,1854,2096,0,0,0,0,0,0
$GC,7750,1.00,221.4,420.4,8.9,377,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1854,2092,0,0,0,0,0,0
$GC,7992,1.00,221.4,399.9,8.3,383,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1854,2091,0,0,0,0,0,0
$GC,8236,1.00,229.2,380.7,7.7,389,8250,0.00,2.62,7.07,0.713,4,0.000,0.037,3208,3416,2065,0,0,0,0,0,0
$GC,8273,1.00,229.2,377.7,8.1,389,8279,0.00,2.65,0.00,0.000,6,0.000,0.048,3208,1849,2064,0,0,0,0,0,0
$GC,8525,1.03,248.7,359.6,7.1,396,8550,0.00,2.97,18.98,0.805,4,0.000,0.084,3208,230,1985,0,0,0,0,0,0
$GC,8572,1.04,260.8,356.1,7.5,397,8592,0.00,2.62,12.40,0.763,6,0.000,0.024,3208,1877,1936,0,0,0,0,0,0
$GC,8849,1.06,272.6,335.9,7.5,404,8869,0.10,2.58,11.40,0.752,4,0.091,0.034,3235,3411,1888,0,0,0,0,0,0
$GC,8885,1.06,272.6,332.5,9.2,404,8891,0.00,2.62,0.00,0.000,6,0.000,0.044,3235,1848,1887,0,0,0,0,0,0
$GC,9135,1.06,272.6,310.1,8.9,411,9140,0.00,2.85,0.00,0.000,4,0.000,0.075,3234,233,1884,0,0,0,0,0,0
$GC,9164,0.99,272.6,307.3,10.6,411,9168,0.00,2.60,0.00,0.000,6,0.000,0.019,3235,1880,1884,0,0,0,0,0,0
$GC,9413,0.99,272.6,284.2,9.1,417,9418,0.00,2.47,0.00,0.000,4,0.000,0.037,3234,3418,1883,0,0,0,0,0,0
$GC,9446,0.99,272.6,281.1,9.1,417,9452,0.00,2.55,0.00,0.000,6,0.000,0.041,3235,1854,1882,0,0,0,0,0,0
$GC,9698,0.99,272.6,260.3,8.4,424,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1854,1882,0,0,0,0,0,0
$GC,9940,0.99,272.6,238.3,9.1,430,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1853,1881,0,0,0,0,0,0
$GC,10183,0.99,272.6,216.7,8.8,436,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1854,1882,0,0,0,0,0,0
$GC,10433,0.99,272.6,196.4,8.1,445,10438,0.00,2.80,0.00,0.000,4,0.000,0.068,3235,234,1881,0,0,0,0,0,0
$GC,10478,0.95,272.6,192.4,9.7,448,10483,0.12,2.58,0.00,0.000,6,0.114,0.025,3208,1887,1880,0,0,0,0,0,0
$GC,10743,1.04,286.1,172.1,7.4,472,10764,0.00,2.53,11.80,0.631,4,0.000,0.030,3208,3422,1833,0,0,0,0,0,0
$GC,10790,1.15,286.1,168.2,8.4,476,10795,0.17,2.53,0.00,0.000,6,0.063,0.032,3257,1857,1833,0,0,0,0,0,0
$GC,11050,1.15,286.1,142.3,9.9,500,11055,0.00,2.78,0.00,0.000,4,0.000,0.064,3257,240,1832,0,0,0,0,0,0
$GC,11072,1.11,286.1,140.6,10.3,501,11077,0.00,2.55,0.00,0.000,6,0.000,0.024,3257,1897,1832,0,0,0,0,0,0
$GC,11338,1.11,286.1,114.0,9.5,525,11343,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1899,1832,0,0,0,0,0,0
$GC,11601,1.11,286.1,90.5,8.3,550,11602,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1899,1832,0,0,0,0,0,0
$GC,11860,1.20,321.2,72.6,6.4,574,11898,0.00,0.00,31.60,0.576,6,0.000,0.000,3257,1899,1689,0,0,0,0,0,0
$GC,12155,1.32,360.1,52.8,6.2,601,12193,0.12,0.00,33.50,0.553,6,0.077,0.000,3294,1899,1532,0,0,0,0,0,0
$GC,12460,1.32,360.1,24.3,9.9,632,12469,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1900,1529,0,0,0,0,0,0
$STATE,12653,end climb,SURFACE_DEPTH_REACHED
$STATE,12653,begin surface coast
$FINISH,0.4,1.022369
$STATE,12705,end surface coast,CONTROL_FINISHED_OK
$STATE,12705,begin surface
$SM_CCo,12727,55.22,0.422,1,0,1288,420.20
$SM_GC,0.88,0.00,0.00,55.22,0.000,0.000,0.422,473,1737,1288,-11.62,-0.93,420.20
$IRIDIUM_FIX,2237.01,-15742.40,131299,141437
$TT8_MAMPS,0.025311
$HUMID,47.32
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.10
$XPDR_PINGS,48
$24V_AH,23.5,33.218
$10V_AH,10.3,34.195
$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,28.025,129.375,416.725,55.225,0.000,28.716,29.011,351.427,12.000,0.000,13.323,1278.520,8311.610,549.799,2442.568,755.336,33.379,1390.789,0.000,2464.131,0.000,0.536,0.000
$DEVICE_MAMPS,135.759,102.011,921.167,421.850,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,451.058,403.953,532.868,1051.277,1589.974,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,51117,667
$CAP_FILE_SIZE,127101,0
$CFSIZE,260165632,168448000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180910,215034,2245.034,-15744.533,13,99.0,32,10.1