version: 66.06
glider: 146
mission: 5
dive: 119
start: 9 1 110 20 36 45
data:
$ID,146
$MISSION,5
$DIVE,119
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,1040
$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,-249706.78
$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,46
$R_STBD_OVSHOOT,63
$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
$GPS1,203006,2250.223,-15741.682,26,1.2,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.8
$GPS2,203550,2250.239,-15741.722,13,1.2,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.034,0.215
$KALMAN_X,-111542.6,-21.7,-145.6,161420.2,-530.7
$KALMAN_Y,1029.9,122.5,-379.6,128233.9,656.9
$MHEAD_RNG_PITCHd_Wd,358.8,14382,-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,14,begin dive
$GC,17,-1.15,-116.6,0.0,0.0,0,105,0.00,0.00,-85.57,0.000,6,0.000,0.000,474,1744,3478,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.4,-6.4,11,126,11.52,2.53,0.00,0.000,4,0.140,0.024,2740,3335,3479,0,0,0,0,0,0
$GC,235,-1.06,-116.8,34.6,-14.5,28,244,0.10,2.53,0.00,0.000,6,0.081,0.033,2767,1796,3481,0,0,0,0,0,0
$GC,504,-0.97,-116.8,70.8,-13.1,53,510,0.10,2.78,0.00,0.000,4,0.127,0.064,2788,192,3480,0,0,0,0,0,0
$GC,539,-0.90,-116.8,76.1,-13.3,55,543,0.00,2.38,0.00,0.000,6,0.000,0.016,2788,1786,3481,0,0,0,0,0,0
$GC,805,-0.90,-116.8,104.1,-10.5,79,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1788,3481,0,0,0,0,0,0
$GC,1067,-0.90,-116.8,126.7,-6.8,104,1072,0.00,2.70,0.00,0.000,4,0.000,0.063,2788,193,3481,0,0,0,0,0,0
$GC,1096,-0.90,-116.8,128.9,-7.4,106,1100,0.00,2.35,0.00,0.000,6,0.000,0.018,2788,1767,3482,0,0,0,0,0,0
$GC,1370,-0.90,-116.8,148.6,-7.9,131,1374,0.00,2.38,0.00,0.000,4,0.000,0.031,2788,3316,3482,0,0,0,0,0,0
$GC,1404,-0.98,-116.8,152.0,-7.8,133,1410,0.00,2.47,0.00,0.000,6,0.000,0.031,2788,1765,3482,0,0,0,0,0,0
$GC,1668,-1.02,-116.8,175.0,-9.5,158,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1763,3482,0,0,0,0,0,0
$GC,1959,-1.07,-116.8,203.8,-9.1,183,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1763,3482,0,0,0,0,0,0
$GC,2203,-1.12,-116.8,221.7,-7.1,189,2205,0.15,0.00,0.00,0.000,6,0.067,0.000,2741,1762,3482,0,0,0,0,0,0
$GC,2448,-1.08,-116.8,246.5,-10.4,195,2453,0.10,2.75,0.00,0.000,4,0.117,0.071,2763,188,3482,0,0,0,0,0,0
$GC,2470,-1.08,-116.8,249.0,-10.2,195,2474,0.00,2.40,0.00,0.000,6,0.000,0.022,2763,1787,3482,0,0,0,0,0,0
$GC,2731,-1.08,-116.8,268.4,-7.1,202,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1788,3482,0,0,0,0,0,0
$GC,2975,-1.08,-116.8,287.6,-8.0,208,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1788,3482,0,0,0,0,0,0
$GC,3218,-1.08,-116.8,307.4,-8.3,214,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1788,3481,0,0,0,0,0,0
$GC,3462,-1.12,-116.8,324.9,-7.0,220,3467,0.00,2.78,0.00,0.000,4,0.000,0.077,2763,196,3480,0,0,0,0,0,0
$GC,3511,-1.12,-116.8,329.0,-8.1,221,3515,0.00,2.40,0.00,0.000,6,0.000,0.028,2762,1743,3480,0,0,0,0,0,0
$GC,3792,-1.17,-116.8,349.2,-7.2,228,3796,0.00,2.58,0.00,0.000,4,0.000,0.047,2762,3353,3480,0,0,0,0,0,0
$GC,3853,-1.25,-116.8,353.8,-7.2,229,3858,0.15,2.55,0.00,0.000,6,0.066,0.048,2716,1790,3479,0,0,0,0,0,0
$GC,4114,-1.25,-116.8,377.4,-9.0,236,4118,0.00,2.90,0.00,0.000,4,0.000,0.097,2716,187,3478,0,0,0,0,0,0
$GC,4146,-1.19,-116.8,380.5,-10.1,236,4152,0.12,2.50,0.00,0.000,6,0.107,0.028,2742,1779,3478,0,0,0,0,0,0
$GC,4396,-1.19,-116.8,399.5,-7.4,243,4400,0.00,2.60,0.00,0.000,4,0.000,0.052,2743,3360,3477,0,0,0,0,0,0
$GC,4419,-1.19,-116.8,401.1,-7.1,243,4423,0.00,2.62,0.00,0.000,6,0.000,0.055,2743,1788,3477,0,0,0,0,0,0
$GC,4673,-1.19,-116.8,421.7,-8.3,250,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1788,3476,0,0,0,0,0,0
$GC,4917,-1.22,-116.8,443.6,-8.9,256,4922,0.00,2.97,0.00,0.000,4,0.000,0.108,2743,182,3474,0,0,0,0,0,0
$GC,4938,-1.22,-116.8,445.6,-9.0,256,4943,0.00,2.55,0.00,0.000,6,0.000,0.031,2742,1783,3473,0,0,0,0,0,0
$GC,5196,-1.26,-116.8,465.2,-7.4,263,5200,0.00,2.62,0.00,0.000,4,0.000,0.064,2743,3353,3472,0,0,0,0,0,0
$GC,5251,-1.34,-116.8,469.4,-7.1,264,5257,0.15,2.65,0.00,0.000,6,0.069,0.061,2698,1793,3472,0,0,0,0,0,0
$GC,5520,-1.30,-116.8,492.4,-8.7,271,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1793,3470,0,0,0,0,0,0
$STATE,5637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5637,begin apogee
$GC,5643,-0.31,0.0,503.0,8.7,274,5743,1.02,0.00,96.30,0.920,6,0.077,0.000,2930,1793,3001,0,0,0,0,0,0
$STATE,5743,end apogee,CONTROL_FINISHED_OK
$STATE,5744,begin climb
$GC,5746,1.15,116.8,504.9,0.0,276,5851,1.35,0.00,101.25,0.897,6,0.044,0.000,3253,1793,2524,0,0,0,0,0,0
$GC,6086,1.03,132.4,486.8,7.3,285,6105,0.15,2.80,13.25,0.818,4,0.218,0.049,3224,3399,2460,0,0,0,0,0,0
$GC,6122,0.98,146.1,484.1,7.4,285,6142,0.00,2.72,13.75,0.814,6,0.000,0.057,3224,1821,2404,0,0,0,0,0,0
$GC,6418,0.94,169.5,463.1,6.9,293,6446,0.00,2.70,21.10,0.851,4,0.000,0.046,3224,3408,2308,0,0,0,0,0,0
$GC,6481,0.95,179.3,458.2,7.6,294,6497,0.00,2.75,10.20,0.779,6,0.000,0.056,3224,1809,2268,0,0,0,0,0,0
$GC,6743,0.92,194.2,439.1,7.3,300,6763,0.12,2.70,13.73,0.814,4,0.248,0.042,3200,3415,2208,0,0,0,0,0,0
$GC,6808,0.98,200.5,434.2,7.7,301,6822,0.00,2.70,7.15,0.715,6,0.000,0.050,3199,1827,2183,0,0,0,0,0,0
$GC,7073,1.01,225.6,415.8,6.8,308,7098,0.00,0.00,23.23,0.838,6,0.000,0.000,3199,1827,2081,0,0,0,0,0,0
$GC,7318,1.01,225.6,395.1,8.9,314,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1828,2076,0,0,0,0,0,0
$GC,7560,1.01,225.6,373.3,8.9,320,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1827,2074,0,0,0,0,0,0
$GC,7804,1.01,225.6,352.8,8.2,326,7808,0.00,2.55,0.00,0.000,4,0.000,0.034,3199,3408,2072,0,0,0,0,0,0
$GC,7820,1.06,236.2,351.6,7.5,326,7835,0.12,2.62,9.48,0.742,6,0.082,0.040,3233,1829,2038,0,0,0,0,0,0
$GC,8081,1.08,254.5,332.2,7.2,332,8106,0.00,2.65,17.75,0.782,4,0.000,0.033,3233,3405,1962,0,0,0,0,0,0
$GC,8178,1.08,254.5,324.1,9.0,334,8183,0.00,2.55,0.00,0.000,6,0.000,0.041,3233,1854,1960,0,0,0,0,0,0
$GC,8452,1.08,254.5,298.6,9.8,341,8457,0.00,2.83,0.00,0.000,4,0.000,0.077,3233,241,1958,0,0,0,0,0,0
$GC,8491,1.02,254.5,294.1,10.9,342,8496,0.00,2.58,0.00,0.000,6,0.000,0.025,3233,1875,1957,0,0,0,0,0,0
$GC,8776,1.02,254.5,268.5,9.0,349,8780,0.00,2.47,0.00,0.000,4,0.000,0.035,3233,3415,1957,0,0,0,0,0,0
$GC,8854,1.06,254.5,261.4,9.0,350,8859,0.00,2.53,0.00,0.000,6,0.000,0.034,3233,1872,1955,0,0,0,0,0,0
$GC,9105,1.06,254.5,239.8,8.6,357,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1872,1955,0,0,0,0,0,0
$GC,9347,1.06,254.5,217.8,9.0,363,9351,0.00,2.80,0.00,0.000,4,0.000,0.066,3233,237,1954,0,0,0,0,0,0
$GC,9369,1.06,254.5,215.5,10.2,363,9373,0.00,2.60,0.00,0.000,6,0.000,0.022,3233,1904,1954,0,0,0,0,0,0
$GC,9631,1.06,254.5,189.7,9.7,376,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1905,1953,0,0,0,0,0,0
$GC,9894,1.07,261.4,167.8,7.7,401,9905,0.00,2.85,6.35,0.546,4,0.000,0.064,3233,239,1934,0,0,0,0,0,0
$GC,9922,1.07,261.4,165.8,8.2,403,9927,0.00,2.60,0.00,0.000,6,0.000,0.019,3233,1915,1933,0,0,0,0,0,0
$GC,10189,1.08,265.1,145.1,7.8,427,10200,0.00,2.88,4.85,0.476,4,0.000,0.063,3233,240,1920,0,0,0,0,0,0
$GC,10225,1.08,265.1,141.7,8.2,430,10230,0.00,2.60,0.00,0.000,6,0.000,0.020,3233,1916,1919,0,0,0,0,0,0
$GC,10488,1.18,307.2,124.8,6.1,454,10537,0.10,3.00,37.67,0.614,4,0.088,0.060,3263,240,1747,0,0,0,0,0,0
$GC,10557,1.14,307.2,119.4,9.8,459,10563,0.00,2.60,0.00,0.000,6,0.000,0.024,3263,1899,1745,0,0,0,0,0,0
$GC,10820,1.14,307.2,96.3,9.2,484,10821,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1901,1744,0,0,0,0,0,0
$GC,11078,1.14,307.2,74.8,8.8,508,11083,0.00,2.83,0.00,0.000,4,0.000,0.058,3263,236,1743,0,0,0,0,0,0
$GC,11098,1.14,307.2,72.9,8.8,509,11103,0.00,2.55,0.00,0.000,6,0.000,0.018,3263,1887,1742,0,0,0,0,0,0
$GC,11368,1.18,307.2,49.7,8.5,533,11376,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1888,1742,0,0,0,0,0,0
$GC,11643,1.21,307.2,25.9,8.7,561,11653,0.00,2.85,0.00,0.000,4,0.000,0.064,3263,239,1742,0,0,0,0,0,0
$GC,11663,1.21,307.2,23.9,8.7,563,11672,0.00,2.55,0.00,0.000,6,0.000,0.018,3263,1883,1742,0,0,0,0,0,0
$STATE,11894,end climb,SURFACE_DEPTH_REACHED
$STATE,11895,begin surface coast
$FINISH,0.3,1.020361
$STATE,11958,end surface coast,CONTROL_FINISHED_OK
$STATE,11958,begin surface
$SM_CCo,11979,97.62,0.456,1,0,1288,420.20
$SM_GC,0.80,0.00,0.00,97.62,0.000,0.000,0.456,471,1737,1288,-11.63,-0.90,420.20
$IRIDIUM_FIX,2241.69,-15739.35,261199,171754
$TT8_MAMPS,0.026078
$HUMID,42.55
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.00
$XPDR_PINGS,50
$24V_AH,23.6,19.468
$10V_AH,10.4,18.943
$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,26.500,127.025,376.050,97.625,0.000,22.991,26.945,159.704,12.500,0.000,15.321,1181.051,8016.705,579.145,2138.091,514.751,33.374,1328.173,0.000,2149.211,0.000,0.536,0.000
$DEVICE_MAMPS,247.741,108.147,919.633,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,409.090,368.843,466.372,871.652,1318.401,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,47830,605
$CAP_FILE_SIZE,115803,0
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$GPS,010910,235925,2251.985,-15741.907,36,1.6,36,10.1