version: 66.06
glider: 146
mission: 5
dive: 10
start: 8 14 110 5 15 21
data:
$ID,146
$MISSION,5
$DIVE,10
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,350
$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,150
$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,-247327.34
$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,3010
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,49
$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
$GPS1,050836,2141.504,-15814.112,29,0.8,39,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-67.8
$GPS2,051426,2141.469,-15814.186,13,1.0,13,9.9
$SPEED_LIMITS,0.115,0.241
$TGT_NAME,NDD
$TGT_LATLONG,2143.350,-15815.100
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.095,0.221
$KALMAN_X,2047.2,44.4,-85.5,-8160.0,-1636.2
$KALMAN_Y,-411.5,-46.4,-133.2,2238.9,-676.6
$MHEAD_RNG_PITCHd_Wd,13.3,3824,-14.1,-8.032
$D_GRID,400
$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,14,begin dive
$GC,17,-1.06,-146.0,0.0,0.0,0,106,0.00,0.00,-86.65,0.000,2,0.000,0.000,479,2147,3486,0,0,0,0,0,0
$GC,109,-1.06,-146.0,4.5,-6.3,11,135,11.75,2.42,-1.83,0.000,4,0.146,0.048,2770,3622,3600,0,0,0,0,0,0
$GC,186,-1.01,-146.0,27.2,-14.4,21,195,0.00,2.55,0.00,0.000,6,0.000,0.038,2770,2043,3601,0,0,0,0,0,0
$GC,458,-0.93,-146.0,61.1,-12.3,47,463,0.17,2.67,0.00,0.000,4,0.104,0.058,2808,466,3601,0,0,0,0,0,0
$GC,529,-0.93,-146.0,68.7,-9.8,52,533,0.00,2.42,0.00,0.000,6,0.000,0.019,2808,2069,3601,0,0,0,0,0,0
$GC,791,-0.93,-146.0,91.9,-9.5,76,796,0.00,2.70,0.00,0.000,4,0.000,0.064,2807,471,3601,0,0,0,0,0,0
$GC,946,-0.96,-146.0,106.5,-9.1,88,955,0.00,2.38,0.00,0.000,6,0.000,0.025,2807,2020,3602,0,0,0,0,0,0
$GC,1212,-1.00,-146.0,126.9,-7.5,113,1217,0.00,2.62,0.00,0.000,4,0.000,0.063,2808,464,3602,0,0,0,0,0,0
$GC,1301,-1.07,-146.0,135.3,-9.4,120,1306,0.12,2.33,0.00,0.000,6,0.080,0.018,2768,2002,3602,0,0,0,0,0,0
$GC,1563,-1.07,-146.0,163.1,-10.4,144,1568,0.00,2.58,0.00,0.000,4,0.000,0.065,2768,463,3602,0,0,0,0,0,0
$GC,1598,-1.03,-146.0,166.9,-9.9,146,1604,0.00,2.33,0.00,0.000,6,0.000,0.021,2768,1999,3602,0,0,0,0,0,0
$GC,1861,-1.03,-146.0,190.8,-9.2,171,1865,0.00,2.58,0.00,0.000,4,0.000,0.061,2768,467,3602,0,0,0,0,0,0
$GC,1916,-1.03,-146.0,196.0,-9.8,175,1920,0.00,2.33,0.00,0.000,6,0.000,0.025,2768,1991,3602,0,0,0,0,0,0
$GC,2168,-1.03,-146.0,219.9,-9.4,184,2172,0.00,2.58,0.00,0.000,4,0.000,0.063,2768,471,3601,0,0,0,0,0,0
$GC,2234,-1.03,-146.0,226.9,-10.2,185,2238,0.00,2.30,0.00,0.000,6,0.000,0.028,2768,1959,3601,0,0,0,0,0,0
$GC,2496,-1.03,-146.0,251.2,-9.2,192,2500,0.00,2.53,0.00,0.000,4,0.000,0.065,2767,467,3601,0,0,0,0,0,0
$GC,2580,-1.07,-146.0,259.4,-9.7,194,2584,0.00,2.25,0.00,0.000,6,0.000,0.023,2767,1936,3601,0,0,0,0,0,0
$GC,2863,-1.07,-146.0,282.1,-7.7,201,2867,0.00,2.50,0.00,0.000,4,0.000,0.077,2767,473,3601,0,0,0,0,0,0
$GC,2914,-1.07,-146.0,285.9,-7.2,202,2918,0.00,2.25,0.00,0.000,6,0.000,0.032,2768,1915,3600,0,0,0,0,0,0
$GC,3186,-1.07,-146.0,305.9,-7.6,209,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1916,3599,0,0,0,0,0,0
$GC,3430,-1.11,-146.0,324.6,-7.7,215,3434,0.00,2.50,0.00,0.000,4,0.000,0.081,2768,471,3598,0,0,0,0,0,0
$GC,3537,-1.16,-146.0,334.1,-9.1,217,3541,0.00,2.22,0.00,0.000,6,0.000,0.034,2768,1883,3597,0,0,0,0,0,0
$GC,3798,-1.21,-146.0,355.9,-8.1,224,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1884,3596,0,0,0,0,0,0
$GC,4043,-1.25,-146.0,374.4,-7.5,230,4048,0.12,2.50,0.00,0.000,4,0.075,0.082,2727,470,3594,0,0,0,0,0,0
$GC,4076,-1.21,-146.0,377.5,-9.4,230,4081,0.00,2.28,0.00,0.000,6,0.000,0.037,2727,1880,3594,0,0,0,0,0,0
$GC,4325,-1.21,-146.0,398.9,-8.5,237,4330,0.00,2.88,0.00,0.000,4,0.000,0.067,2727,3593,3592,0,0,0,0,0,0
$STATE,4338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4338,begin apogee
$GC,4348,-0.31,0.0,400.4,9.0,237,4468,0.93,0.00,116.95,0.848,6,0.085,0.000,2937,2051,3001,0,0,0,0,0,0
$STATE,4469,end apogee,CONTROL_FINISHED_OK
$STATE,4469,begin climb
$GC,4471,1.06,146.0,404.7,0.0,240,4600,1.25,0.00,121.10,0.825,6,0.058,0.000,3242,2051,2405,0,0,0,0,0,0
$GC,4837,0.94,183.2,391.4,6.6,249,4879,0.12,3.00,31.50,0.805,4,0.130,0.095,3217,464,2252,0,0,0,0,0,0
$GC,4931,0.79,183.3,384.5,8.0,251,4936,0.17,2.53,0.00,0.000,6,0.125,0.034,3184,2016,2249,0,0,0,0,0,0
$GC,5210,0.89,270.4,370.5,4.8,258,5292,0.00,2.88,74.65,0.818,4,0.000,0.083,3183,457,1897,0,0,0,0,0,0
$GC,5312,0.87,288.6,364.1,7.4,260,5336,0.00,2.60,16.70,0.758,6,0.000,0.035,3183,2050,1823,0,0,0,0,0,0
$GC,5622,0.87,288.6,339.0,8.6,268,5626,0.00,2.80,0.00,0.000,4,0.000,0.077,3183,459,1815,0,0,0,0,0,0
$GC,5654,0.87,288.6,335.5,10.4,268,5660,0.00,2.53,0.00,0.000,6,0.000,0.028,3184,2042,1814,0,0,0,0,0,0
$GC,5904,0.87,288.6,311.9,9.6,275,5908,0.00,2.75,0.00,0.000,4,0.000,0.073,3184,457,1812,0,0,0,0,0,0
$GC,5960,0.87,288.6,306.2,9.9,276,5964,0.00,2.50,0.00,0.000,6,0.000,0.028,3184,2025,1811,0,0,0,0,0,0
$GC,6226,0.92,288.6,283.3,8.4,283,6231,0.12,2.67,0.00,0.000,4,0.156,0.065,3213,460,1811,0,0,0,0,0,0
$GC,6322,0.86,288.6,274.1,9.5,285,6327,0.00,2.40,0.00,0.000,6,0.000,0.023,3213,1997,1809,0,0,0,0,0,0
$GC,6595,0.90,318.7,254.2,6.9,292,6625,0.00,2.67,24.73,0.747,4,0.000,0.064,3213,460,1700,0,0,0,0,0,0
$GC,6647,0.86,318.7,249.9,8.4,293,6652,0.00,2.42,0.00,0.000,6,0.000,0.028,3213,1998,1699,0,0,0,0,0,0
$GC,6915,0.86,318.7,228.7,8.2,300,6920,0.00,2.62,0.00,0.000,4,0.000,0.065,3213,454,1696,0,0,0,0,0,0
$GC,6992,0.86,318.7,220.9,10.5,301,6998,0.00,2.38,0.00,0.000,6,0.000,0.028,3213,1974,1694,0,0,0,0,0,0
$GC,7242,0.86,318.7,197.4,9.5,308,7247,0.00,2.58,0.00,0.000,4,0.000,0.061,3213,454,1694,0,0,0,0,0,0
$GC,7264,0.86,318.7,194.8,11.2,309,7273,0.00,2.35,0.00,0.000,6,0.000,0.028,3213,1956,1694,0,0,0,0,0,0
$GC,7529,0.86,318.7,168.9,10.1,334,7534,0.00,2.70,0.00,0.000,4,0.000,0.038,3213,3641,1694,0,0,0,0,0,0
$GC,7546,0.86,318.7,166.7,10.2,335,7551,0.00,2.75,0.00,0.000,6,0.000,0.031,3213,1915,1693,0,0,0,0,0,0
$GC,7814,0.86,318.7,142.3,8.5,359,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1915,1694,0,0,0,0,0,0
$GC,8075,0.87,332.8,120.9,7.5,384,8092,0.00,2.50,12.30,0.588,4,0.000,0.067,3213,452,1643,0,0,0,0,0,0
$GC,8152,0.87,332.8,114.4,8.6,390,8161,0.00,2.35,0.00,0.000,6,0.000,0.027,3213,1958,1642,0,0,0,0,0,0
$GC,8418,0.92,332.8,93.0,9.2,415,8422,0.00,2.50,0.00,0.000,4,0.000,0.060,3213,459,1641,0,0,0,0,0,0
$GC,8483,0.92,332.8,86.2,9.8,420,8487,0.00,2.28,0.00,0.000,6,0.000,0.020,3213,1960,1641,0,0,0,0,0,0
$GC,8749,0.98,332.8,65.3,8.1,444,8754,0.00,2.53,0.00,0.000,4,0.000,0.054,3213,456,1641,0,0,0,0,0,0
$GC,8809,1.03,332.8,59.8,9.4,448,8813,0.00,2.30,0.00,0.000,6,0.000,0.019,3213,1961,1641,0,0,0,0,0,0
$GC,9076,1.16,360.0,40.2,7.0,472,9108,0.20,2.75,24.20,0.540,4,0.068,0.038,3267,3636,1532,0,0,0,0,0,0
$GC,9145,1.21,360.0,33.7,10.5,477,9149,0.00,2.80,0.00,0.000,6,0.000,0.035,3267,1911,1531,0,0,0,0,0,0
$STATE,9446,end climb,SURFACE_DEPTH_REACHED
$STATE,9446,begin surface coast
$FINISH,0.3,1.023149
$STATE,9502,end surface coast,CONTROL_FINISHED_OK
$STATE,9502,begin surface
$SM_CCo,9524,55.17,0.423,1,0,1288,420.20
$SM_GC,0.70,0.00,0.00,55.17,0.000,0.000,0.423,482,2120,1288,-11.63,1.98,420.20
$IRIDIUM_FIX,2134.17,-15810.62,081199,020212
$TT8_MAMPS,0.026078
$HUMID,44.05
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.00
$XPDR_PINGS,50
$24V_AH,23.6,4.593
$10V_AH,10.4,4.269
$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,26.300,126.600,422.125,55.175,0.000,25.268,28.655,168.465,12.500,0.000,15.108,1046.485,5738.398,536.966,2128.485,488.305,33.349,1301.475,0.000,2136.256,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,95.108,847.535,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.296,354.484,432.396,846.911,1281.059,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356072
$DATA_FILE_SIZE,41528,526
$CAP_FILE_SIZE,104652,0
$CFSIZE,260165632,182906880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140810,075615,2142.779,-15814.178,10,2.0,29,9.9