version: 66.06
glider: 146
mission: 5
dive: 420
start: 10 15 110 16 59 8
data:
$ID,146
$MISSION,5
$DIVE,420
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$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,166
$T_MISSION,360
$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,-257502.59
$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,54
$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
$GPS1,164936,2249.033,-15755.004,26,1.2,26,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.8
$GPS2,165813,2249.003,-15754.973,27,1.5,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.018,0.313
$KALMAN_X,-261724.9,-87.0,218.1,288501.9,-186.5
$KALMAN_Y,-580063.9,-420.4,-122.5,707329.2,-1217.1
$MHEAD_RNG_PITCHd_Wd,353.2,16663,-13.8,-10.040
$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,-1.00,-116.8,0.0,0.0,0,96,0.00,0.00,-78.28,0.000,2,0.000,0.000,474,1742,3205,0,0,0,0,0,0
$GC,100,-1.00,-116.8,3.0,-5.1,10,126,12.02,2.58,-5.32,0.000,4,0.151,0.036,2773,3339,3479,0,0,0,0,0,0
$GC,203,-0.90,-116.8,23.5,-11.5,24,213,0.10,2.53,0.00,0.000,6,0.094,0.028,2798,1787,3481,0,0,0,0,0,0
$GC,480,-0.80,-116.8,56.1,-11.0,52,485,0.12,2.70,0.00,0.000,4,0.112,0.058,2824,195,3482,0,0,0,0,0,0
$GC,515,-0.80,-116.8,59.6,-9.4,54,519,0.00,2.42,0.00,0.000,6,0.000,0.016,2825,1800,3482,0,0,0,0,0,0
$GC,784,-0.80,-116.8,80.3,-6.6,78,788,0.00,2.35,0.00,0.000,4,0.000,0.025,2824,3317,3483,0,0,0,0,0,0
$GC,831,-0.87,-116.8,83.1,-4.4,81,836,0.00,2.50,0.00,0.000,6,0.000,0.028,2824,1760,3483,0,0,0,0,0,0
$GC,1095,-0.92,-116.8,96.4,-4.7,106,1101,0.10,2.65,0.00,0.000,4,0.082,0.057,2783,189,3483,0,0,0,0,0,0
$GC,1119,-0.92,-116.8,97.9,-5.4,107,1124,0.00,2.40,0.00,0.000,6,0.000,0.015,2784,1789,3483,0,0,0,0,0,0
$GC,1383,-0.92,-116.8,112.6,-6.1,132,1387,0.00,2.38,0.00,0.000,4,0.000,0.024,2784,3318,3484,0,0,0,0,0,0
$GC,1428,-0.92,-116.8,115.1,-6.0,135,1433,0.00,2.45,0.00,0.000,6,0.000,0.031,2784,1782,3485,0,0,0,0,0,0
$GC,1695,-0.92,-116.8,133.0,-7.3,159,1699,0.00,2.67,0.00,0.000,4,0.000,0.059,2784,189,3485,0,0,0,0,0,0
$GC,1742,-0.92,-116.8,137.2,-8.2,162,1751,0.00,2.42,0.00,0.000,6,0.000,0.022,2783,1769,3485,0,0,0,0,0,0
$GC,2008,-0.92,-116.8,154.9,-6.1,187,2012,0.00,2.45,0.00,0.000,4,0.000,0.032,2784,3327,3485,0,0,0,0,0,0
$GC,2055,-0.96,-116.8,157.7,-5.9,190,2060,0.00,2.47,0.00,0.000,6,0.000,0.028,2784,1776,3486,0,0,0,0,0,0
$GC,2322,-0.96,-116.8,174.6,-6.3,214,2327,0.00,2.67,0.00,0.000,4,0.000,0.067,2783,200,3485,0,0,0,0,0,0
$GC,2368,-0.96,-116.8,177.8,-7.1,217,2372,0.00,2.40,0.00,0.000,6,0.000,0.023,2784,1785,3486,0,0,0,0,0,0
$GC,2635,-0.96,-116.8,196.1,-7.6,241,2639,0.00,2.40,0.00,0.000,4,0.000,0.027,2784,3325,3486,0,0,0,0,0,0
$GC,2691,-1.00,-116.8,200.7,-7.5,245,2695,0.00,2.45,0.00,0.000,6,0.000,0.028,2784,1792,3486,0,0,0,0,0,0
$GC,2959,-1.00,-116.8,219.3,-6.7,252,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1791,3485,0,0,0,0,0,0
$GC,3201,-1.00,-116.8,235.5,-6.8,258,3205,0.00,2.70,0.00,0.000,4,0.000,0.068,2784,197,3484,0,0,0,0,0,0
$GC,3222,-1.00,-116.8,237.1,-7.0,258,3227,0.00,2.40,0.00,0.000,6,0.000,0.016,2784,1787,3484,0,0,0,0,0,0
$GC,3480,-1.00,-116.8,254.1,-6.6,265,3484,0.00,2.72,0.00,0.000,4,0.000,0.063,2783,196,3484,0,0,0,0,0,0
$GC,3495,-1.00,-116.8,255.3,-6.5,265,3499,0.00,2.42,0.00,0.000,6,0.000,0.018,2783,1788,3484,0,0,0,0,0,0
$GC,3757,-1.00,-116.8,272.4,-6.4,272,3761,0.00,2.42,0.00,0.000,4,0.000,0.028,2784,3327,3483,0,0,0,0,0,0
$GC,3814,-1.06,-116.8,276.0,-6.2,273,3818,0.00,2.47,0.00,0.000,6,0.000,0.030,2784,1783,3483,0,0,0,0,0,0
$GC,4080,-1.06,-116.8,292.1,-6.1,280,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1782,3482,0,0,0,0,0,0
$GC,4324,-1.10,-116.8,306.0,-5.6,286,4329,0.10,2.45,0.00,0.000,4,0.084,0.035,2749,3321,3481,0,0,0,0,0,0
$GC,4359,-1.10,-116.8,308.2,-6.5,286,4364,0.00,2.47,0.00,0.000,6,0.000,0.036,2749,1796,3481,0,0,0,0,0,0
$GC,4609,-1.10,-116.8,324.2,-6.4,293,4613,0.00,2.80,0.00,0.000,4,0.000,0.079,2748,189,3479,0,0,0,0,0,0
$GC,4624,-1.10,-116.8,325.4,-6.6,293,4629,0.00,2.47,0.00,0.000,6,0.000,0.021,2748,1770,3479,0,0,0,0,0,0
$GC,4887,-1.10,-116.8,344.4,-7.6,300,4891,0.00,2.78,0.00,0.000,4,0.000,0.071,2748,192,3478,0,0,0,0,0,0
$GC,4903,-1.10,-116.8,346.1,-8.3,300,4907,0.00,2.53,0.00,0.000,6,0.000,0.021,2748,1797,3478,0,0,0,0,0,0
$GC,5163,-1.10,-116.8,369.3,-9.0,307,5168,0.00,2.53,0.00,0.000,4,0.000,0.041,2748,3359,3477,0,0,0,0,0,0
$GC,5207,-1.10,-116.8,373.0,-8.7,308,5211,0.00,2.55,0.00,0.000,6,0.000,0.041,2748,1800,3477,0,0,0,0,0,0
$GC,5490,-1.10,-116.8,396.6,-7.9,315,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1800,3475,0,0,0,0,0,0
$GC,5734,-1.10,-116.8,412.7,-6.4,321,5738,0.00,2.53,0.00,0.000,4,0.000,0.037,2748,3348,3474,0,0,0,0,0,0
$GC,5768,-1.10,-116.8,414.6,-5.4,321,5773,0.00,2.58,0.00,0.000,6,0.000,0.047,2748,1803,3474,0,0,0,0,0,0
$GC,6018,-1.10,-116.8,428.4,-5.6,328,6023,0.00,2.97,0.00,0.000,4,0.000,0.104,2748,181,3472,0,0,0,0,0,0
$GC,6062,-1.10,-116.8,431.3,-7.3,329,6067,0.00,2.58,0.00,0.000,6,0.000,0.031,2748,1796,3472,0,0,0,0,0,0
$GC,6341,-1.10,-116.8,449.8,-7.1,336,6346,0.00,2.55,0.00,0.000,4,0.000,0.047,2748,3351,3470,0,0,0,0,0,0
$GC,6375,-1.10,-116.8,452.7,-8.3,336,6380,0.00,2.62,0.00,0.000,6,0.000,0.051,2748,1796,3470,0,0,0,0,0,0
$GC,6625,-1.10,-116.8,473.8,-8.7,343,6630,0.00,2.97,0.00,0.000,4,0.000,0.107,2748,185,3469,0,0,0,0,0,0
$GC,6648,-1.10,-116.8,476.0,-9.8,343,6652,0.00,2.60,0.00,0.000,6,0.000,0.028,2748,1799,3468,0,0,0,0,0,0
$STATE,6902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6902,begin apogee
$GC,6908,-0.31,0.0,500.8,9.7,350,7008,0.80,0.00,96.90,0.933,6,0.072,0.000,2931,1799,3001,0,0,0,0,0,0
$STATE,7009,end apogee,CONTROL_FINISHED_OK
$STATE,7009,begin climb
$GC,7011,1.00,116.8,505.0,0.0,352,7121,1.17,0.00,101.68,0.915,6,0.044,0.000,3218,1799,2524,0,0,0,0,0,0
$GC,7377,1.08,286.1,498.0,4.9,361,7533,0.00,2.83,147.20,0.905,4,0.000,0.051,3218,3405,1833,0,0,0,0,0,0
$GC,7545,1.04,295.3,484.4,9.8,365,7559,0.00,2.75,9.35,0.762,6,0.000,0.054,3218,1821,1797,0,0,0,0,0,0
$GC,7823,0.97,295.3,453.3,11.5,372,7828,0.00,2.97,0.00,0.000,4,0.000,0.107,3217,234,1789,0,0,0,0,0,0
$GC,7889,0.87,295.3,444.1,13.7,373,7895,0.15,2.55,0.00,0.000,6,0.117,0.026,3188,1809,1787,0,0,0,0,0,0
$GC,8145,0.87,299.8,418.1,9.9,380,8150,0.00,2.83,0.00,0.000,4,0.000,0.079,3188,234,1786,0,0,0,0,0,0
$GC,8186,0.83,299.8,413.9,10.9,381,8190,0.00,2.50,0.00,0.000,6,0.000,0.029,3188,1789,1785,0,0,0,0,0,0
$GC,8469,0.89,345.9,388.6,8.6,388,8520,0.00,2.85,44.80,0.848,4,0.000,0.077,3188,233,1589,0,0,0,0,0,0
$GC,8568,0.89,348.9,379.8,10.0,390,8572,0.00,2.50,0.00,0.000,6,0.000,0.022,3188,1782,1586,0,0,0,0,0,0
$GC,8834,0.98,422.3,358.3,7.8,397,8910,0.10,2.85,69.10,0.831,4,0.091,0.082,3216,229,1278,0,0,0,0,0,0
$GC,8959,0.94,422.3,345.4,11.0,399,8963,0.00,2.47,0.00,0.000,6,0.000,0.028,3216,1764,1275,0,0,0,0,0,0
$GC,9242,0.94,422.3,315.5,10.4,406,9246,0.00,2.70,0.00,0.000,4,0.000,0.074,3216,231,1273,0,0,0,0,0,0
$GC,9308,0.94,422.3,307.9,11.3,407,9312,0.00,2.38,0.00,0.000,6,0.000,0.028,3216,1738,1272,0,0,0,0,0,0
$GC,9571,0.94,422.3,281.7,10.2,414,9575,0.00,2.62,0.00,0.000,4,0.000,0.077,3216,233,1271,0,0,0,0,0,0
$GC,9637,0.94,422.3,273.7,11.3,415,9641,0.00,2.35,0.00,0.000,6,0.000,0.021,3216,1714,1271,0,0,0,0,0,0
$GC,9898,0.94,422.3,244.8,11.2,422,9902,0.00,2.58,0.00,0.000,4,0.000,0.076,3215,233,1270,0,0,0,0,0,0
$GC,9954,0.94,422.3,238.3,11.8,423,9958,0.00,2.28,0.00,0.000,6,0.000,0.021,3216,1691,1270,0,0,0,0,0,0
$GC,10220,0.98,453.2,212.5,9.1,430,10254,0.00,2.67,26.98,0.719,4,0.000,0.075,3216,228,1152,0,0,0,0,0,0
$GC,10314,1.04,505.0,204.7,8.5,432,10365,0.00,2.25,45.95,0.713,6,0.000,0.028,3216,1674,942,0,0,0,0,0,0
$GC,10623,1.12,531.1,179.0,9.2,456,10651,0.12,2.58,22.65,0.677,4,0.077,0.073,3251,233,834,0,0,0,0,0,0
$GC,10717,1.07,531.1,167.8,14.8,463,10721,0.00,2.22,0.00,0.000,6,0.000,0.025,3251,1664,832,0,0,0,0,0,0
$GC,10985,1.07,531.1,131.9,13.9,487,10989,0.00,2.50,0.00,0.000,4,0.000,0.073,3251,231,831,0,0,0,0,0,0
$GC,11040,1.02,531.1,123.4,14.8,491,11045,0.12,2.15,0.00,0.000,6,0.110,0.022,3224,1629,830,0,0,0,0,0,0
$GC,11307,1.12,567.2,95.8,8.9,515,11342,0.00,2.53,29.65,0.617,4,0.000,0.071,3224,230,688,0,0,0,0,0,0
$GC,11360,1.25,630.0,91.4,8.1,519,11408,0.20,2.15,43.00,0.607,6,0.059,0.021,3278,1636,477,0,0,0,0,0,0
$GC,11663,1.25,630.4,57.2,10.0,547,11667,0.00,2.42,0.00,0.000,4,0.000,0.063,3278,231,471,0,0,0,0,0,0
$GC,11732,1.31,630.4,48.8,11.4,552,11736,0.00,2.10,0.00,0.000,6,0.000,0.020,3278,1607,470,0,0,0,0,0,0
$GC,12024,1.31,630.4,13.9,13.4,585,12034,0.00,2.40,0.00,0.000,4,0.000,0.067,3278,227,470,0,0,0,0,0,0
$GC,12057,1.31,630.4,9.3,13.7,589,12067,0.00,2.08,0.00,0.000,6,0.000,0.020,3278,1590,470,0,0,0,0,0,0
$STATE,12108,end climb,SURFACE_DEPTH_REACHED
$STATE,12108,begin surface coast
$FINISH,0.4,1.010435
$STATE,12158,end surface coast,CONTROL_FINISHED_OK
$STATE,12158,begin surface
$SM_CCo,12241,0.00,0.000,0,0,469,621.34
$SM_GC,1.00,11.35,0.00,0.00,0.026,0.000,0.000,477,1827,469,-11.51,1.61,621.34
$IRIDIUM_FIX,2239.35,-15752.82,090100,141419
$TT8_MAMPS,0.025311
$HUMID,53.85
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,21.10
$XPDR_PINGS,74
$24V_AH,23.4,58.520
$10V_AH,10.0,56.003
$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,26.475,172.350,637.250,0.000,0.000,28.639,32.779,294.278,18.500,0.000,34.559,1231.492,7816.667,628.993,2353.319,726.670,33.395,1569.520,0.000,2336.501,0.000,0.534,0.000
$DEVICE_MAMPS,151.099,107.380,933.439,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.667,351.026,464.006,849.909,1285.531,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,47641,603
$CAP_FILE_SIZE,136473,0
$CFSIZE,260165632,157724672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151010,202430,2249.638,-15754.651,42,1.1,42,10.1