version: 66.06
glider: 146
mission: 5
dive: 121
start: 9 2 110 3 32 32
data:
$ID,146
$MISSION,5
$DIVE,121
$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,-249773.39
$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,48
$R_STBD_OVSHOOT,23
$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
$GPS1,032158,2253.565,-15742.060,8,99.0,27,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-66.4
$GPS2,033137,2253.592,-15742.101,36,1.0,36,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.084,0.211
$KALMAN_X,-113412.0,130.2,120.1,162223.4,-1019.2
$KALMAN_Y,966.2,374.7,385.4,133487.5,-951.2
$MHEAD_RNG_PITCHd_Wd,11.7,8165,-15.2,-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,-1.10,-116.8,0.0,0.0,0,104,0.00,0.00,-85.30,0.000,6,0.000,0.000,475,1744,3478,0,0,0,0,0,0
$GC,107,-1.10,-116.8,4.7,-6.8,11,124,11.62,2.58,0.00,0.000,4,0.142,0.030,2751,3371,3481,0,0,0,0,0,0
$GC,233,-1.00,-116.8,33.8,-13.2,28,243,0.10,2.60,0.00,0.000,6,0.080,0.033,2778,1788,3482,0,0,0,0,0,0
$GC,499,-0.87,-116.8,67.0,-12.7,53,504,0.15,2.75,0.00,0.000,4,0.104,0.067,2811,189,3481,0,0,0,0,0,0
$GC,524,-0.77,-116.8,71.1,-13.6,54,533,0.00,2.50,0.00,0.000,6,0.000,0.015,2811,1843,3481,0,0,0,0,0,0
$GC,790,-0.77,-116.8,98.5,-9.7,79,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1845,3481,0,0,0,0,0,0
$GC,1053,-0.81,-116.8,123.0,-8.2,104,1057,0.00,2.80,0.00,0.000,4,0.000,0.060,2811,193,3482,0,0,0,0,0,0
$GC,1110,-0.89,-116.8,128.3,-8.8,108,1119,0.00,2.47,0.00,0.000,6,0.000,0.023,2811,1816,3482,0,0,0,0,0,0
$GC,1376,-0.94,-116.8,147.5,-6.4,133,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1817,3482,0,0,0,0,0,0
$GC,1641,-1.00,-116.8,165.1,-7.2,158,1646,0.12,2.80,0.00,0.000,4,0.072,0.064,2769,185,3482,0,0,0,0,0,0
$GC,1709,-1.00,-116.8,171.9,-9.8,163,1715,0.00,2.35,0.00,0.000,6,0.000,0.015,2769,1771,3482,0,0,0,0,0,0
$GC,1973,-1.00,-116.8,196.5,-10.3,188,1978,0.00,2.72,0.00,0.000,4,0.000,0.065,2769,186,3481,0,0,0,0,0,0
$GC,2005,-1.00,-116.8,200.1,-11.4,190,2009,0.00,2.33,0.00,0.000,6,0.000,0.023,2769,1746,3482,0,0,0,0,0,0
$GC,2256,-1.00,-116.8,227.2,-10.4,196,2260,0.00,2.42,0.00,0.000,4,0.000,0.026,2769,3312,3482,0,0,0,0,0,0
$GC,2305,-1.04,-116.8,232.2,-9.3,197,2310,0.00,2.47,0.00,0.000,6,0.000,0.032,2769,1753,3482,0,0,0,0,0,0
$GC,2577,-1.04,-116.8,255.5,-8.2,204,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1753,3481,0,0,0,0,0,0
$GC,2821,-1.04,-116.8,274.6,-7.9,210,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1753,3481,0,0,0,0,0,0
$GC,3066,-1.04,-116.8,292.8,-7.3,216,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1753,3480,0,0,0,0,0,0
$GC,3309,-1.04,-116.8,311.8,-7.8,222,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1753,3480,0,0,0,0,0,0
$GC,3552,-1.04,-116.8,329.5,-7.3,228,3557,0.00,2.47,0.00,0.000,4,0.000,0.035,2769,3303,3479,0,0,0,0,0,0
$GC,3587,-1.09,-116.8,332.0,-7.2,228,3593,0.00,2.55,0.00,0.000,6,0.000,0.044,2769,1765,3479,0,0,0,0,0,0
$GC,3838,-1.13,-116.8,350.3,-7.3,235,3842,0.00,2.83,0.00,0.000,4,0.000,0.093,2769,183,3478,0,0,0,0,0,0
$GC,3865,-1.13,-116.8,352.4,-7.8,235,3869,0.00,2.38,0.00,0.000,6,0.000,0.022,2769,1710,3478,0,0,0,0,0,0
$GC,4117,-1.17,-116.8,368.8,-6.3,241,4122,0.12,2.62,0.00,0.000,4,0.077,0.044,2728,3310,3477,0,0,0,0,0,0
$GC,4161,-1.17,-116.8,372.6,-8.4,242,4165,0.00,2.58,0.00,0.000,6,0.000,0.048,2729,1751,3477,0,0,0,0,0,0
$GC,4438,-1.17,-116.8,396.3,-8.5,249,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1751,3475,0,0,0,0,0,0
$GC,4683,-1.17,-116.8,415.8,-8.2,255,4687,0.00,2.53,0.00,0.000,4,0.000,0.049,2729,3301,3474,0,0,0,0,0,0
$GC,4738,-1.17,-116.8,421.0,-8.9,256,4742,0.00,2.58,0.00,0.000,6,0.000,0.053,2728,1762,3473,0,0,0,0,0,0
$GC,5004,-1.17,-116.8,445.7,-9.3,263,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1762,3472,0,0,0,0,0,0
$GC,5248,-1.17,-116.8,466.2,-8.3,269,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1762,3470,0,0,0,0,0,0
$GC,5493,-1.17,-116.8,485.6,-7.9,275,5498,0.00,2.97,0.00,0.000,4,0.000,0.119,2728,181,3468,0,0,0,0,0,0
$GC,5514,-1.17,-116.8,487.5,-8.0,275,5519,0.00,2.42,0.00,0.000,6,0.000,0.033,2728,1700,3468,0,0,0,0,0,0
$STATE,5686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5686,begin apogee
$GC,5692,-0.31,0.0,500.6,7.5,280,5791,0.90,0.00,95.38,0.916,6,0.077,0.000,2932,1770,3000,0,0,0,0,0,0
$STATE,5792,end apogee,CONTROL_FINISHED_OK
$STATE,5792,begin climb
$GC,5796,1.10,116.8,502.0,0.0,282,5907,1.27,2.90,99.97,0.893,4,0.044,0.091,3242,234,2522,0,0,0,0,0,0
$GC,5921,0.96,166.0,499.5,5.9,285,5971,0.15,2.58,42.95,0.866,6,0.121,0.031,3213,1809,2324,0,0,0,0,0,0
$GC,6250,0.91,169.5,473.6,7.9,293,6254,0.00,2.75,0.00,0.000,4,0.000,0.064,3213,3407,2314,0,0,0,0,0,0
$GC,6273,0.86,179.0,471.9,7.6,293,6292,0.12,2.70,11.18,0.792,6,0.123,0.056,3189,1819,2271,0,0,0,0,0,0
$GC,6577,0.91,213.4,451.6,6.6,301,6618,0.00,3.00,31.10,0.858,4,0.000,0.100,3189,229,2129,0,0,0,0,0,0
$GC,6623,0.93,230.8,448.2,7.3,302,6647,0.00,2.60,16.58,0.808,6,0.000,0.031,3188,1823,2059,0,0,0,0,0,0
$GC,6905,0.95,251.1,427.9,7.2,309,6925,0.00,0.00,18.75,0.823,6,0.000,0.000,3189,1823,1977,0,0,0,0,0,0
$GC,7147,0.95,251.1,407.1,8.7,315,7151,0.00,2.62,0.00,0.000,4,0.000,0.047,3189,3411,1972,0,0,0,0,0,0
$GC,7175,0.99,251.1,404.6,9.6,315,7180,0.12,2.67,0.00,0.000,6,0.079,0.051,3223,1827,1971,0,0,0,0,0,0
$GC,7425,0.95,251.1,378.8,10.2,321,7430,0.00,2.58,0.00,0.000,4,0.000,0.035,3223,3411,1970,0,0,0,0,0,0
$GC,7447,0.95,251.1,376.4,10.1,321,7452,0.00,2.62,0.00,0.000,6,0.000,0.044,3223,1831,1969,0,0,0,0,0,0
$GC,7705,0.91,251.1,351.3,9.8,328,7710,0.12,2.53,0.00,0.000,4,0.117,0.038,3198,3409,1968,0,0,0,0,0,0
$GC,7738,0.96,251.1,347.8,9.9,328,7743,0.00,2.58,0.00,0.000,6,0.000,0.044,3198,1839,1967,0,0,0,0,0,0
$GC,7987,0.96,251.1,325.9,8.5,335,7992,0.00,2.80,0.00,0.000,4,0.000,0.077,3198,240,1966,0,0,0,0,0,0
$GC,8008,0.96,251.1,324.0,8.5,335,8013,0.00,2.58,0.00,0.000,6,0.000,0.025,3198,1865,1966,0,0,0,0,0,0
$GC,8266,1.04,309.6,308.8,5.5,342,8323,0.12,2.92,50.85,0.791,4,0.081,0.074,3233,230,1738,0,0,0,0,0,0
$GC,8334,0.98,309.6,303.3,9.2,343,8339,0.00,2.58,0.00,0.000,6,0.000,0.025,3233,1847,1737,0,0,0,0,0,0
$GC,8585,0.98,309.6,280.0,9.5,349,8589,0.00,2.47,0.00,0.000,4,0.000,0.036,3233,3397,1733,0,0,0,0,0,0
$GC,8624,0.98,309.6,275.8,10.5,350,8628,0.00,2.55,0.00,0.000,6,0.000,0.041,3233,1834,1731,0,0,0,0,0,0
$GC,8908,0.98,309.6,244.6,11.3,357,8913,0.00,2.78,0.00,0.000,4,0.000,0.074,3233,243,1730,0,0,0,0,0,0
$GC,8932,0.92,309.6,241.5,12.4,357,8937,0.15,2.47,0.00,0.000,6,0.110,0.023,3202,1840,1730,0,0,0,0,0,0
$GC,9188,0.97,314.1,219.8,7.8,364,9193,0.00,0.00,4.00,0.472,6,0.000,0.000,3202,1841,1719,0,0,0,0,0,0
$GC,9431,1.03,316.9,201.0,7.9,370,9438,0.10,0.00,4.30,0.482,6,0.257,0.000,3231,1842,1708,0,0,0,0,0,0
$GC,9690,1.03,316.9,175.3,10.3,391,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1842,1707,0,0,0,0,0,0
$GC,9951,1.03,316.9,148.9,9.9,416,9956,0.00,2.75,0.00,0.000,4,0.000,0.062,3231,236,1707,0,0,0,0,0,0
$GC,9981,1.03,316.9,145.9,10.2,418,9985,0.00,2.45,0.00,0.000,6,0.000,0.024,3230,1838,1707,0,0,0,0,0,0
$GC,10243,1.03,316.9,121.0,9.5,442,10248,0.00,2.75,0.00,0.000,4,0.000,0.062,3231,238,1706,0,0,0,0,0,0
$GC,10265,1.03,316.9,118.4,11.1,443,10271,0.00,2.42,0.00,0.000,6,0.000,0.025,3231,1832,1706,0,0,0,0,0,0
$GC,10530,1.09,324.7,95.9,7.7,468,10545,0.00,2.72,8.30,0.527,4,0.000,0.059,3231,242,1678,0,0,0,0,0,0
$GC,10556,1.09,324.7,93.3,8.4,470,10561,0.00,2.45,0.00,0.000,6,0.000,0.024,3231,1834,1677,0,0,0,0,0,0
$GC,10824,1.15,324.7,71.3,8.1,494,10829,0.00,2.42,0.00,0.000,4,0.000,0.028,3230,3388,1677,0,0,0,0,0,0
$GC,10835,1.23,333.9,69.9,7.6,494,10858,0.12,2.53,9.75,0.519,6,0.044,0.035,3273,1836,1638,0,0,0,0,0,0
$GC,11113,1.23,333.9,44.6,9.3,520,11118,0.00,2.45,0.00,0.000,4,0.000,0.025,3273,3383,1637,0,0,0,0,0,0
$GC,11134,1.23,333.9,42.6,9.5,521,11138,0.00,2.50,0.00,0.000,6,0.000,0.033,3273,1831,1636,0,0,0,0,0,0
$GC,11438,1.23,333.9,14.9,8.9,557,11447,0.00,2.72,0.00,0.000,4,0.000,0.060,3273,243,1636,0,0,0,0,0,0
$GC,11457,1.23,333.9,13.2,8.7,559,11466,0.00,2.47,0.00,0.000,6,0.000,0.025,3273,1842,1636,0,0,0,0,0,0
$STATE,11548,end climb,SURFACE_DEPTH_REACHED
$STATE,11548,begin surface coast
$FINISH,0.3,1.012167
$STATE,11606,end surface coast,CONTROL_FINISHED_OK
$STATE,11606,begin surface
$SM_CCo,11629,76.32,0.446,1,0,1288,420.20
$SM_GC,0.89,0.00,0.00,76.32,0.000,0.000,0.446,480,1743,1288,-11.59,-0.74,420.20
$IRIDIUM_FIX,2246.36,-15743.68,271199,030353
$TT8_MAMPS,0.025311
$HUMID,43.26
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.50
$XPDR_PINGS,54
$24V_AH,23.6,19.703
$10V_AH,10.4,19.199
$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,26.675,140.875,393.100,76.325,0.000,54.591,59.300,226.030,13.500,0.000,38.405,1143.751,7791.820,567.351,2120.809,665.064,33.368,1334.389,0.000,2104.803,0.000,0.535,0.000
$DEVICE_MAMPS,256.945,279.955,915.798,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.057,345.484,446.005,839.819,1269.916,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,44609,580
$CAP_FILE_SIZE,120588,0
$CFSIZE,260165632,175525888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020910,064901,2254.763,-15741.883,37,1.4,37,10.1