version: 66.06
glider: 146
mission: 5
dive: 644
start: 11 14 110 10 12 3
data:
$ID,146
$MISSION,5
$DIVE,644
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$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,619.13721
$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,-263438.88
$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,12
$R_STBD_OVSHOOT,47
$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
$GPS1,095524,2249.841,-15742.256,34,1.7,34,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-60.1
$GPS2,101107,2249.956,-15742.305,34,1.3,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.098,-0.214
$KALMAN_X,-296101.8,-121.9,41.9,344893.0,-666.5
$KALMAN_Y,-328705.0,1.2,-54.9,457232.8,1085.2
$MHEAD_RNG_PITCHd_Wd,145.3,1845,-19.8,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,132,0.00,0.00,-113.45,0.000,2,0.000,0.000,470,1748,3357,0,0,0,0,0,0
$GC,135,-1.38,-116.8,4.0,-9.2,18,155,11.98,2.67,-2.38,0.000,4,0.164,0.066,2692,176,3478,0,0,0,0,0,0
$GC,166,-0.26,-116.8,13.8,-30.7,22,173,1.08,2.50,0.00,0.000,6,0.084,0.022,2940,1804,3479,0,0,0,0,0,0
$GC,428,-0.90,-116.8,30.9,-7.1,70,433,0.55,2.35,0.00,0.000,4,0.052,0.026,2797,3316,3479,0,0,0,0,0,0
$GC,460,-1.33,-116.8,33.0,-5.9,72,466,0.35,2.50,0.00,0.000,6,0.037,0.024,2696,1750,3479,0,0,0,0,0,0
$GC,726,-1.20,-116.8,57.2,-8.7,96,733,0.20,0.00,0.00,0.000,6,0.096,0.000,2739,1750,3479,0,0,0,0,0,0
$GC,990,-1.20,-116.8,86.5,-11.1,121,994,0.00,2.45,0.00,0.000,4,0.000,0.030,2739,3320,3479,0,0,0,0,0,0
$GC,1044,-1.26,-116.8,92.8,-11.0,125,1048,0.00,2.45,0.00,0.000,6,0.000,0.025,2739,1780,3479,0,0,0,0,0,0
$GC,1311,-1.26,-116.8,118.2,-8.6,149,1315,0.00,2.65,0.00,0.000,4,0.000,0.059,2739,201,3480,0,0,0,0,0,0
$GC,1328,-1.30,-116.8,120.2,-8.9,150,1333,0.10,2.40,0.00,0.000,6,0.083,0.021,2702,1798,3479,0,0,0,0,0,0
$GC,1589,-1.30,-116.8,143.6,-8.0,174,1593,0.00,2.38,0.00,0.000,4,0.000,0.026,2702,3324,3480,0,0,0,0,0,0
$GC,1676,-1.34,-116.8,150.9,-8.9,181,1682,0.00,2.42,0.00,0.000,6,0.000,0.030,2702,1798,3480,0,0,0,0,0,0
$GC,1942,-1.34,-116.8,175.0,-8.7,206,1947,0.00,2.70,0.00,0.000,4,0.000,0.063,2702,195,3479,0,0,0,0,0,0
$GC,1986,-1.34,-116.8,179.9,-10.4,209,1992,0.00,2.38,0.00,0.000,6,0.000,0.020,2702,1790,3479,0,0,0,0,0,0
$GC,2251,-1.34,-116.8,200.8,-7.7,234,2255,0.00,2.35,0.00,0.000,4,0.000,0.025,2702,3313,3480,0,0,0,0,0,0
$GC,2267,-1.34,-116.8,202.5,-8.3,234,2271,0.00,2.45,0.00,0.000,6,0.000,0.033,2702,1775,3480,0,0,0,0,0,0
$GC,2528,-1.34,-116.8,223.6,-8.2,241,2532,0.00,2.40,0.00,0.000,4,0.000,0.031,2702,3314,3480,0,0,0,0,0,0
$GC,2557,-1.34,-116.8,225.9,-8.0,241,2561,0.00,2.45,0.00,0.000,6,0.000,0.031,2702,1787,3479,0,0,0,0,0,0
$GC,2807,-1.34,-116.8,245.5,-7.7,247,2811,0.00,2.38,0.00,0.000,4,0.000,0.027,2702,3310,3479,0,0,0,0,0,0
$GC,2828,-1.34,-116.8,247.0,-7.1,247,2833,0.00,2.42,0.00,0.000,6,0.000,0.031,2702,1799,3479,0,0,0,0,0,0
$GC,3086,-1.34,-116.8,267.1,-8.1,254,3090,0.00,2.75,0.00,0.000,4,0.000,0.067,2702,191,3479,0,0,0,0,0,0
$GC,3152,-1.34,-116.8,273.4,-9.0,255,3156,0.00,2.38,0.00,0.000,6,0.000,0.018,2702,1753,3478,0,0,0,0,0,0
$GC,3407,-1.34,-116.8,295.8,-9.0,262,3411,0.00,2.50,0.00,0.000,4,0.000,0.029,2702,3339,3478,0,0,0,0,0,0
$GC,3471,-1.40,-116.8,301.4,-8.9,263,3476,0.00,2.50,0.00,0.000,6,0.000,0.038,2702,1798,3478,0,0,0,0,0,0
$GC,3732,-1.44,-116.8,324.6,-8.9,270,3736,0.00,2.45,0.00,0.000,4,0.000,0.035,2702,3343,3477,0,0,0,0,0,0
$GC,3766,-1.53,-116.8,327.7,-9.0,270,3772,0.15,2.50,0.00,0.000,6,0.064,0.035,2653,1815,3476,0,0,0,0,0,0
$GC,4018,-1.47,-116.8,351.9,-9.5,277,4023,0.12,2.42,0.00,0.000,4,0.112,0.038,2679,3335,3475,0,0,0,0,0,0
$GC,4034,-1.47,-116.8,353.4,-8.9,277,4038,0.00,2.47,0.00,0.000,6,0.000,0.040,2679,1837,3475,0,0,0,0,0,0
$GC,4297,-1.47,-116.8,374.9,-8.3,284,4302,0.00,2.92,0.00,0.000,4,0.000,0.085,2679,189,3474,0,0,0,0,0,0
$GC,4330,-1.47,-116.8,378.1,-9.7,284,4338,0.00,2.53,0.00,0.000,6,0.000,0.024,2679,1812,3474,0,0,0,0,0,0
$GC,4580,-1.47,-116.8,398.8,-8.5,291,4584,0.00,2.50,0.00,0.000,4,0.000,0.047,2679,3357,3472,0,0,0,0,0,0
$GC,4609,-1.52,-116.8,401.2,-8.8,291,4613,0.00,2.55,0.00,0.000,6,0.000,0.053,2679,1836,3472,0,0,0,0,0,0
$GC,4859,-1.52,-116.8,422.1,-8.4,297,4864,0.00,3.00,0.00,0.000,4,0.000,0.097,2679,183,3471,0,0,0,0,0,0
$GC,4881,-1.52,-116.8,424.3,-9.2,297,4885,0.00,2.62,0.00,0.000,6,0.000,0.031,2679,1829,3470,0,0,0,0,0,0
$GC,5136,-1.52,-116.8,444.9,-8.1,304,5140,0.00,2.50,0.00,0.000,4,0.000,0.051,2679,3360,3469,0,0,0,0,0,0
$GC,5159,-1.57,-116.8,446.8,-8.8,304,5164,0.00,2.60,0.00,0.000,6,0.000,0.060,2679,1829,3469,0,0,0,0,0,0
$GC,5415,-1.57,-116.8,468.7,-8.5,311,5420,0.00,3.03,0.00,0.000,4,0.000,0.103,2679,190,3467,0,0,0,0,0,0
$GC,5448,-1.57,-116.8,471.9,-9.6,311,5454,0.00,2.62,0.00,0.000,6,0.000,0.037,2680,1815,3467,0,0,0,0,0,0
$GC,5700,-1.61,-116.8,492.0,-7.9,318,5705,0.12,2.58,0.00,0.000,4,0.216,0.054,2641,3357,3465,0,0,0,0,0,0
$GC,5727,-1.61,-116.8,494.8,-9.5,318,5732,0.00,2.60,0.00,0.000,6,0.000,0.059,2641,1827,3464,0,0,0,0,0,0
$STATE,5812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5812,begin apogee
$GC,5819,-0.31,0.0,503.1,9.6,320,5920,1.30,0.00,96.90,0.911,6,0.082,0.000,2929,1827,3000,0,0,0,0,0,0
$STATE,5921,end apogee,CONTROL_FINISHED_OK
$STATE,5921,begin climb
$GC,5923,1.38,116.8,505.7,0.0,322,6037,1.58,2.70,103.55,0.900,4,0.047,0.051,3312,3407,2523,0,0,0,0,0,0
$GC,6050,1.34,200.9,505.9,5.2,325,6132,0.00,2.72,74.95,0.888,6,0.000,0.055,3312,1817,2181,0,0,0,0,0,0
$GC,6386,1.24,200.9,472.6,10.5,334,6391,0.20,2.65,0.00,0.000,4,0.116,0.038,3272,3407,2172,0,0,0,0,0,0
$GC,6427,1.26,217.9,468.8,9.1,335,6448,0.00,2.72,14.93,0.810,6,0.000,0.058,3272,1826,2112,0,0,0,0,0,0
$GC,6709,1.26,217.9,440.8,10.1,342,6714,0.00,3.00,0.00,0.000,4,0.000,0.106,3271,228,2106,0,0,0,0,0,0
$GC,6742,1.18,217.9,437.1,11.2,342,6747,0.00,2.60,0.00,0.000,6,0.000,0.025,3271,1829,2104,0,0,0,0,0,0
$GC,6993,1.20,235.5,413.9,9.0,349,7011,0.00,0.00,16.33,0.811,6,0.000,0.000,3271,1829,2040,0,0,0,0,0,0
$GC,7235,1.24,268.4,393.8,8.1,355,7276,0.00,2.90,30.88,0.829,4,0.000,0.074,3271,232,1903,0,0,0,0,0,0
$GC,7311,1.21,268.4,387.0,10.5,356,7315,0.00,2.58,0.00,0.000,6,0.000,0.028,3271,1815,1901,0,0,0,0,0,0
$GC,7561,1.22,279.7,363.5,9.4,362,7577,0.00,2.85,10.30,0.747,4,0.000,0.075,3271,233,1860,0,0,0,0,0,0
$GC,7604,1.22,279.7,358.7,11.3,363,7609,0.00,2.53,0.00,0.000,6,0.000,0.026,3271,1800,1857,0,0,0,0,0,0
$GC,7885,1.28,290.0,332.0,9.4,370,7899,0.00,0.00,10.50,0.736,6,0.000,0.000,3271,1801,1817,0,0,0,0,0,0
$GC,8173,1.35,298.1,304.6,9.6,377,8187,0.00,2.83,8.02,0.687,4,0.000,0.071,3271,241,1784,0,0,0,0,0,0
$GC,8245,1.35,298.1,296.2,11.9,378,8249,0.00,2.47,0.00,0.000,6,0.000,0.021,3271,1799,1782,0,0,0,0,0,0
$GC,8500,1.42,298.1,270.2,10.1,385,8505,0.15,2.75,0.00,0.000,4,0.150,0.067,3313,229,1781,0,0,0,0,0,0
$GC,8528,1.36,298.1,267.0,11.9,385,8532,0.00,2.45,0.00,0.000,6,0.000,0.027,3312,1784,1780,0,0,0,0,0,0
$GC,8780,1.38,307.7,242.6,9.5,391,8795,0.00,2.78,9.62,0.671,4,0.000,0.071,3313,226,1745,0,0,0,0,0,0
$GC,8828,1.32,307.7,237.4,10.5,392,8833,0.12,2.42,0.00,0.000,6,0.126,0.025,3289,1763,1743,0,0,0,0,0,0
$GC,9101,1.40,330.7,213.3,8.7,399,9129,0.00,2.67,21.48,0.701,4,0.000,0.034,3289,3396,1652,0,0,0,0,0,0
$GC,9149,1.52,342.2,208.9,9.4,400,9168,0.17,2.78,11.50,0.653,6,0.067,0.040,3334,1745,1604,0,0,0,0,0,0
$GC,9427,1.52,342.2,177.4,11.5,418,9431,0.00,2.65,0.00,0.000,4,0.000,0.032,3334,3390,1599,0,0,0,0,0,0
$GC,9546,1.59,342.2,164.1,10.4,428,9551,0.00,2.83,0.00,0.000,6,0.000,0.044,3334,1702,1598,0,0,0,0,0,0
$GC,9811,1.59,342.2,137.1,10.6,452,9815,0.00,2.55,0.00,0.000,4,0.000,0.072,3334,230,1597,0,0,0,0,0,0
$GC,9843,1.55,342.2,132.7,12.9,454,9850,0.00,2.35,0.00,0.000,6,0.000,0.020,3334,1725,1596,0,0,0,0,0,0
$GC,10107,1.55,342.2,105.5,10.5,479,10112,0.00,2.67,0.00,0.000,4,0.000,0.028,3334,3398,1596,0,0,0,0,0,0
$GC,10139,1.63,342.2,102.2,10.9,481,10144,0.00,2.75,0.00,0.000,6,0.000,0.037,3334,1732,1596,0,0,0,0,0,0
$GC,10404,1.72,367.2,76.8,8.6,505,10432,0.17,2.62,21.67,0.581,4,0.148,0.065,3381,226,1503,0,0,0,0,0,0
$GC,10475,1.64,367.2,69.4,11.8,511,10480,0.12,2.40,0.00,0.000,6,0.120,0.019,3357,1768,1501,0,0,0,0,0,0
$GC,10737,1.64,367.2,41.8,11.4,535,10742,0.00,2.58,0.00,0.000,4,0.000,0.027,3357,3387,1500,0,0,0,0,0,0
$GC,10769,1.71,367.2,38.9,10.1,537,10774,0.00,2.70,0.00,0.000,6,0.000,0.035,3357,1744,1499,0,0,0,0,0,0
$GC,11026,1.71,367.2,9.6,11.1,578,11034,0.00,2.60,0.00,0.000,4,0.000,0.067,3357,232,1499,0,0,0,0,0,0
$STATE,11070,end climb,SURFACE_DEPTH_REACHED
$STATE,11071,begin surface coast
$FINISH,3.2,1.023507
$STATE,11079,end surface coast,CONTROL_FINISHED_OK
$STATE,11079,begin surface
$SM_CCo,11105,204.50,0.524,0,0,476,619.14
$SM_GC,0.99,0.00,0.00,204.50,0.000,0.000,0.524,476,1791,476,-11.62,0.59,619.14
$IRIDIUM_FIX,2241.69,-15739.35,080200,101047
$TT8_MAMPS,0.026078
$HUMID,55.00
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,20.90
$XPDR_PINGS,134
$24V_AH,23.3,90.131
$10V_AH,9.9,83.284
$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,30.650,175.875,430.625,204.500,0.000,138.152,400.403,0.000,33.500,0.000,38.811,1189.819,7651.074,736.280,1796.608,879.801,33.370,1574.537,0.000,1760.254,0.000,0.535,0.000
$DEVICE_MAMPS,216.294,105.846,911.196,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.354,303.157,415.144,841.012,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,44539,587
$CAP_FILE_SIZE,130721,0
$CFSIZE,260165632,144490496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141110,132159,2249.766,-15742.301,41,1.3,43,10.1