version: 66.06
glider: 146
mission: 5
dive: 123
start: 9 2 110 10 21 20
data:
$ID,146
$MISSION,5
$DIVE,123
$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,-249808.48
$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,64
$R_STBD_OVSHOOT,60
$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
$GPS1,101425,2255.740,-15742.048,36,1.7,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.6
$GPS2,102025,2255.719,-15742.082,10,1.3,15,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.077,0.203
$KALMAN_X,-115035.4,-89.3,-153.1,164370.9,-868.7
$KALMAN_Y,1029.1,-184.7,-318.2,138632.6,305.3
$MHEAD_RNG_PITCHd_Wd,10.7,4227,-16.2,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.15,-115.2,0.0,0.0,0,105,0.00,0.00,-85.50,0.000,6,0.000,0.000,474,1729,3472,0,0,0,0,0,0
$GC,108,-1.16,-116.8,4.4,-6.2,11,126,11.65,2.55,0.00,0.000,4,0.146,0.025,2738,3342,3474,0,0,0,0,0,0
$GC,210,-1.06,-116.8,31.2,-13.4,25,218,0.10,2.53,0.00,0.000,6,0.081,0.034,2765,1803,3475,0,0,0,0,0,0
$GC,478,-0.94,-116.8,69.2,-14.5,50,487,0.12,0.00,0.00,0.000,6,0.116,0.000,2793,1802,3475,0,0,0,0,0,0
$GC,744,-0.94,-116.8,97.4,-9.0,75,749,0.00,2.75,0.00,0.000,4,0.000,0.067,2793,186,3475,0,0,0,0,0,0
$GC,777,-0.94,-116.8,100.2,-8.7,77,781,0.00,2.40,0.00,0.000,6,0.000,0.023,2793,1802,3475,0,0,0,0,0,0
$GC,1045,-0.98,-116.8,125.2,-9.7,101,1049,0.00,2.75,0.00,0.000,4,0.000,0.066,2793,183,3476,0,0,0,0,0,0
$GC,1076,-0.98,-116.8,128.5,-9.5,103,1081,0.00,2.35,0.00,0.000,6,0.000,0.016,2793,1769,3476,0,0,0,0,0,0
$GC,1344,-1.03,-116.8,151.6,-8.6,127,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1770,3476,0,0,0,0,0,0
$GC,1605,-1.09,-116.8,174.6,-8.7,152,1611,0.12,2.70,0.00,0.000,4,0.074,0.068,2751,189,3476,0,0,0,0,0,0
$GC,1640,-1.09,-116.8,177.4,-10.4,154,1645,0.00,2.33,0.00,0.000,6,0.000,0.017,2751,1750,3476,0,0,0,0,0,0
$GC,1913,-1.09,-116.8,204.6,-10.0,176,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1751,3477,0,0,0,0,0,0
$GC,2154,-1.09,-116.8,230.8,-10.8,182,2158,0.00,2.42,0.00,0.000,4,0.000,0.027,2751,3311,3477,0,0,0,0,0,0
$GC,2192,-1.09,-116.8,235.0,-10.6,183,2197,0.00,2.53,0.00,0.000,6,0.000,0.031,2751,1741,3477,0,0,0,0,0,0
$GC,2477,-1.09,-116.8,262.6,-9.7,190,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1739,3476,0,0,0,0,0,0
$GC,2719,-1.09,-116.8,286.3,-9.4,196,2724,0.00,2.47,0.00,0.000,4,0.000,0.028,2751,3313,3476,0,0,0,0,0,0
$GC,2759,-1.13,-116.8,290.1,-8.7,197,2764,0.00,2.53,0.00,0.000,6,0.000,0.034,2751,1755,3476,0,0,0,0,0,0
$GC,3044,-1.13,-116.8,312.7,-7.6,204,3049,0.00,2.75,0.00,0.000,4,0.000,0.086,2751,193,3475,0,0,0,0,0,0
$GC,3083,-1.13,-116.8,315.8,-7.6,205,3088,0.00,2.38,0.00,0.000,6,0.000,0.024,2751,1724,3475,0,0,0,0,0,0
$GC,3368,-1.13,-116.8,332.9,-6.1,212,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1724,3475,0,0,0,0,0,0
$GC,3610,-1.13,-116.8,350.4,-7.5,218,3615,0.00,2.62,0.00,0.000,4,0.000,0.042,2752,3350,3473,0,0,0,0,0,0
$GC,3643,-1.18,-116.8,353.5,-8.8,218,3649,0.00,2.62,0.00,0.000,6,0.000,0.049,2751,1756,3473,0,0,0,0,0,0
$GC,3894,-1.22,-116.8,377.3,-9.7,225,3898,0.00,2.85,0.00,0.000,4,0.000,0.093,2752,181,3472,0,0,0,0,0,0
$GC,3956,-1.28,-116.8,383.7,-10.3,226,3961,0.12,2.47,0.00,0.000,6,0.075,0.033,2708,1750,3472,0,0,0,0,0,0
$GC,4217,-1.24,-116.8,410.9,-10.2,233,4222,0.10,2.67,0.00,0.000,4,0.120,0.051,2729,3356,3470,0,0,0,0,0,0
$GC,4263,-1.28,-116.8,415.1,-8.8,234,4267,0.00,2.70,0.00,0.000,6,0.000,0.054,2728,1755,3470,0,0,0,0,0,0
$GC,4540,-1.28,-116.8,438.0,-8.0,241,4544,0.00,2.62,0.00,0.000,4,0.000,0.046,2728,3357,3468,0,0,0,0,0,0
$GC,4567,-1.28,-116.8,440.0,-7.7,241,4571,0.00,2.75,0.00,0.000,6,0.000,0.057,2728,1749,3468,0,0,0,0,0,0
$GC,4818,-1.28,-116.8,458.2,-7.2,247,4822,0.00,2.65,0.00,0.000,4,0.000,0.048,2729,3356,3466,0,0,0,0,0,0
$GC,4851,-1.32,-116.8,460.9,-7.2,247,4856,0.00,2.75,0.00,0.000,6,0.000,0.063,2729,1757,3466,0,0,0,0,0,0
$GC,5100,-1.32,-116.8,480.7,-8.1,254,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1757,3465,0,0,0,0,0,0
$GC,5346,-1.32,-116.8,499.8,-7.8,260,5350,0.00,2.05,0.00,0.000,3,0.000,0.054,2728,2999,3463,0,0,0,0,0,0
$STATE,5351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5351,begin apogee
$GC,5359,-0.31,0.0,500.4,7.5,260,5457,0.88,0.00,94.70,0.918,6,0.084,0.000,2927,1817,3001,0,0,0,0,0,0
$STATE,5458,end apogee,CONTROL_FINISHED_OK
$STATE,5458,begin climb
$GC,5460,1.16,116.8,502.4,0.0,262,5565,1.35,0.00,100.65,0.894,6,0.055,0.000,3254,1817,2524,0,0,0,0,0,0
$GC,5786,1.03,123.6,484.8,7.7,270,5797,0.15,2.70,5.62,0.667,4,0.121,0.048,3224,3396,2496,0,0,0,0,0,0
$GC,5842,1.00,144.6,480.7,7.0,271,5869,0.00,2.72,19.80,0.844,6,0.000,0.062,3224,1822,2411,0,0,0,0,0,0
$GC,6114,0.96,164.6,462.0,7.1,278,6139,0.00,3.12,18.60,0.841,4,0.000,0.114,3224,232,2328,0,0,0,0,0,0
$GC,6151,0.88,170.1,458.9,7.8,278,6164,0.15,2.60,6.15,0.683,6,0.117,0.028,3194,1813,2307,0,0,0,0,0,0
$GC,6446,0.90,185.9,437.4,7.3,286,6466,0.00,2.72,14.75,0.826,4,0.000,0.056,3194,3407,2243,0,0,0,0,0,0
$GC,6552,0.94,188.5,429.3,7.9,288,6556,0.00,2.70,0.00,0.000,6,0.000,0.049,3194,1826,2240,0,0,0,0,0,0
$GC,6814,0.99,227.7,412.5,6.2,295,6857,0.00,2.67,37.90,0.860,4,0.000,0.040,3194,3419,2070,0,0,0,0,0,0
$GC,6879,1.08,251.4,408.2,6.9,296,6909,0.17,2.72,21.85,0.826,6,0.072,0.047,3239,1825,1975,0,0,0,0,0,0
$GC,7179,1.03,251.4,379.5,10.1,304,7184,0.00,2.58,0.00,0.000,4,0.000,0.036,3239,3415,1969,0,0,0,0,0,0
$GC,7196,1.03,251.4,377.2,10.6,304,7200,0.00,2.62,0.00,0.000,6,0.000,0.044,3238,1835,1968,0,0,0,0,0,0
$GC,7456,1.03,251.4,349.1,10.9,311,7461,0.00,2.85,0.00,0.000,4,0.000,0.084,3238,230,1966,0,0,0,0,0,0
$GC,7473,0.97,251.4,347.2,10.7,311,7479,0.12,2.58,0.00,0.000,6,0.124,0.024,3215,1854,1965,0,0,0,0,0,0
$GC,7736,0.97,251.4,322.9,9.1,318,7740,0.00,2.47,0.00,0.000,4,0.000,0.039,3215,3402,1964,0,0,0,0,0,0
$GC,7763,1.01,251.4,320.1,9.5,318,7768,0.00,2.60,0.00,0.000,6,0.000,0.041,3215,1823,1964,0,0,0,0,0,0
$GC,8014,1.01,251.4,296.3,9.7,324,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1823,1963,0,0,0,0,0,0
$GC,8257,1.05,251.4,275.8,8.1,330,8261,0.00,2.53,0.00,0.000,4,0.000,0.036,3215,3397,1963,0,0,0,0,0,0
$GC,8312,1.14,251.4,271.1,8.4,331,8317,0.15,2.55,0.00,0.000,6,0.071,0.039,3257,1826,1962,0,0,0,0,0,0
$GC,8580,1.09,251.4,246.1,9.6,338,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1826,1962,0,0,0,0,0,0
$GC,8822,1.05,251.4,222.3,9.8,344,8828,0.12,2.50,0.00,0.000,4,0.129,0.030,3231,3396,1962,0,0,0,0,0,0
$GC,8867,1.11,251.4,218.0,9.7,345,8871,0.00,2.55,0.00,0.000,6,0.000,0.038,3231,1832,1961,0,0,0,0,0,0
$GC,9126,1.11,251.4,196.1,8.0,353,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1832,1961,0,0,0,0,0,0
$GC,9380,1.13,264.5,175.6,7.4,377,9395,0.00,2.50,10.45,0.614,4,0.000,0.034,3231,3399,1921,0,0,0,0,0,0
$GC,9413,1.15,278.1,173.4,7.4,379,9434,0.00,2.53,13.50,0.620,6,0.000,0.035,3231,1839,1866,0,0,0,0,0,0
$GC,9689,1.18,278.1,150.5,8.9,405,9694,0.12,2.75,0.00,0.000,4,0.218,0.064,3265,241,1863,0,0,0,0,0,0
$GC,9748,1.11,278.1,144.5,12.1,409,9753,0.12,2.53,0.00,0.000,6,0.121,0.025,3241,1868,1862,0,0,0,0,0,0
$GC,10014,1.11,278.1,121.5,8.7,433,10018,0.00,2.80,0.00,0.000,4,0.000,0.061,3240,234,1862,0,0,0,0,0,0
$GC,10045,1.11,278.1,118.2,10.0,435,10050,0.00,2.45,0.00,0.000,6,0.000,0.025,3240,1833,1862,0,0,0,0,0,0
$GC,10313,1.15,278.1,93.1,10.1,459,10317,0.00,2.45,0.00,0.000,4,0.000,0.035,3240,3385,1862,0,0,0,0,0,0
$GC,10416,1.25,278.1,82.8,10.0,467,10421,0.12,2.50,0.00,0.000,6,0.084,0.032,3278,1831,1862,0,0,0,0,0,0
$GC,10680,1.25,278.1,57.4,9.1,491,10685,0.00,2.70,0.00,0.000,4,0.000,0.062,3278,238,1862,0,0,0,0,0,0
$GC,10702,1.25,278.1,55.6,9.1,492,10707,0.00,2.45,0.00,0.000,6,0.000,0.018,3278,1847,1862,0,0,0,0,0,0
$GC,10970,1.26,282.5,33.5,7.8,516,10985,0.00,2.45,4.93,0.409,4,0.000,0.028,3278,3378,1849,0,0,0,0,0,0
$GC,11015,1.31,285.6,29.7,7.9,519,11025,0.00,2.50,4.75,0.399,6,0.000,0.032,3278,1847,1835,0,0,0,0,0,0
$STATE,11330,end climb,SURFACE_DEPTH_REACHED
$STATE,11330,begin surface coast
$FINISH,0.4,1.005005
$STATE,11386,end surface coast,CONTROL_FINISHED_OK
$STATE,11388,begin surface
$SM_CCo,11409,115.25,0.469,1,0,1288,420.20
$SM_GC,0.86,0.00,0.00,115.25,0.000,0.000,0.469,476,1730,1288,-11.61,-1.13,420.20
$IRIDIUM_FIX,2246.36,-15740.63,271199,070758
$TT8_MAMPS,0.025311
$HUMID,42.16
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,52
$24V_AH,23.6,19.932
$10V_AH,10.4,19.452
$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,26.975,144.750,353.650,115.250,0.000,28.729,27.682,164.191,13.000,0.000,17.019,1166.853,7502.577,559.296,2130.439,531.721,33.372,1330.041,0.000,2135.043,0.000,0.535,0.000
$DEVICE_MAMPS,217.828,113.516,918.099,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.631,354.017,443.698,846.076,1279.670,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,44715,574
$CAP_FILE_SIZE,119935,0
$CFSIZE,260165632,175403008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020910,133436,2256.943,-15742.214,25,1.5,25,10.1