version: 66.06
glider: 146
mission: 5
dive: 128
start: 9 3 110 2 56 13
data:
$ID,146
$MISSION,5
$DIVE,128
$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,-249913.67
$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,47
$R_STBD_OVSHOOT,61
$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
$GPS1,024937,2253.938,-15747.327,40,1.2,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.8
$GPS2,025519,2253.936,-15747.387,8,1.2,8,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.191,-0.105
$KALMAN_X,-121057.6,249.7,-34.9,160804.0,-1156.3
$KALMAN_Y,-2191.9,295.9,285.5,137466.2,-918.3
$MHEAD_RNG_PITCHd_Wd,231.3,15375,-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,-116.8,0.0,0.0,0,105,0.00,0.00,-85.25,0.000,6,0.000,0.000,476,1746,3478,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.8,-6.9,11,126,11.45,2.55,0.00,0.000,4,0.137,0.028,2740,3336,3481,0,0,0,0,0,0
$GC,260,-1.05,-116.8,38.7,-14.2,29,270,0.08,2.53,0.00,0.000,6,0.081,0.032,2762,1795,3481,0,0,0,0,0,0
$GC,528,-0.95,-116.8,75.9,-13.3,54,533,0.15,2.75,0.00,0.000,4,0.103,0.062,2794,192,3481,0,0,0,0,0,0
$GC,587,-0.95,-116.8,84.4,-11.1,58,596,0.00,2.40,0.00,0.000,6,0.000,0.015,2794,1771,3481,0,0,0,0,0,0
$GC,855,-0.95,-116.8,107.4,-7.7,83,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1773,3482,0,0,0,0,0,0
$GC,1116,-0.95,-116.8,130.7,-8.9,108,1120,0.00,2.72,0.00,0.000,4,0.000,0.061,2794,189,3482,0,0,0,0,0,0
$GC,1137,-0.95,-116.8,132.3,-9.2,109,1142,0.00,2.35,0.00,0.000,6,0.000,0.021,2794,1763,3483,0,0,0,0,0,0
$GC,1405,-0.99,-116.8,152.8,-8.3,133,1409,0.00,2.40,0.00,0.000,4,0.000,0.025,2794,3303,3483,0,0,0,0,0,0
$GC,1451,-1.08,-116.8,157.2,-7.9,136,1458,0.12,2.50,0.00,0.000,6,0.068,0.031,2748,1747,3483,0,0,0,0,0,0
$GC,1715,-1.03,-116.8,182.9,-9.1,161,1720,0.12,2.67,0.00,0.000,4,0.106,0.065,2776,198,3483,0,0,0,0,0,0
$GC,1737,-1.03,-116.8,185.2,-9.1,162,1746,0.00,2.35,0.00,0.000,6,0.000,0.015,2776,1769,3483,0,0,0,0,0,0
$GC,2005,-1.03,-116.8,207.7,-9.0,182,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1769,3482,0,0,0,0,0,0
$GC,2248,-1.03,-116.8,227.8,-7.9,188,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1769,3483,0,0,0,0,0,0
$GC,2492,-1.03,-116.8,244.5,-6.8,194,2496,0.00,2.40,0.00,0.000,4,0.000,0.033,2776,3295,3482,0,0,0,0,0,0
$GC,2521,-1.09,-116.8,246.5,-7.0,194,2525,0.00,2.47,0.00,0.000,6,0.000,0.035,2776,1760,3482,0,0,0,0,0,0
$GC,2772,-1.14,-116.8,268.4,-9.0,200,2778,0.10,2.72,0.00,0.000,4,0.084,0.075,2738,195,3482,0,0,0,0,0,0
$GC,2788,-1.14,-116.8,270.4,-9.5,200,2792,0.00,2.33,0.00,0.000,6,0.000,0.021,2738,1722,3482,0,0,0,0,0,0
$GC,3055,-1.14,-116.8,297.7,-10.0,207,3059,0.00,2.55,0.00,0.000,4,0.000,0.031,2738,3334,3481,0,0,0,0,0,0
$GC,3100,-1.14,-116.8,302.1,-9.3,208,3105,0.00,2.53,0.00,0.000,6,0.000,0.035,2738,1764,3481,0,0,0,0,0,0
$GC,3378,-1.14,-116.8,323.1,-6.9,215,3382,0.00,2.50,0.00,0.000,4,0.000,0.031,2738,3334,3481,0,0,0,0,0,0
$GC,3399,-1.14,-116.8,324.8,-7.2,215,3404,0.00,2.55,0.00,0.000,6,0.000,0.038,2738,1777,3481,0,0,0,0,0,0
$GC,3656,-1.14,-116.8,345.5,-9.0,222,3661,0.00,2.83,0.00,0.000,4,0.000,0.088,2738,187,3480,0,0,0,0,0,0
$GC,3727,-1.14,-116.8,353.0,-10.2,223,3732,0.00,2.45,0.00,0.000,6,0.000,0.031,2738,1742,3480,0,0,0,0,0,0
$GC,3978,-1.14,-116.8,374.1,-8.1,229,3982,0.00,2.65,0.00,0.000,4,0.000,0.052,2738,3354,3479,0,0,0,0,0,0
$GC,4034,-1.19,-116.8,378.6,-7.8,230,4039,0.00,2.65,0.00,0.000,6,0.000,0.051,2738,1785,3479,0,0,0,0,0,0
$GC,4301,-1.19,-116.8,398.8,-7.6,237,4305,0.00,2.92,0.00,0.000,4,0.000,0.100,2738,182,3477,0,0,0,0,0,0
$GC,4321,-1.19,-116.8,400.7,-8.2,237,4326,0.00,2.55,0.00,0.000,6,0.000,0.034,2738,1782,3477,0,0,0,0,0,0
$GC,4584,-1.19,-116.8,423.1,-8.9,244,4588,0.00,2.62,0.00,0.000,4,0.000,0.056,2738,3363,3475,0,0,0,0,0,0
$GC,4616,-1.22,-116.8,426.4,-9.8,244,4622,0.00,2.67,0.00,0.000,6,0.000,0.058,2738,1780,3475,0,0,0,0,0,0
$GC,4866,-1.22,-116.8,450.0,-9.4,251,4871,0.00,2.95,0.00,0.000,4,0.000,0.110,2738,185,3473,0,0,0,0,0,0
$GC,4888,-1.22,-116.8,452.2,-10.4,251,4893,0.00,2.58,0.00,0.000,6,0.000,0.036,2738,1779,3473,0,0,0,0,0,0
$GC,5143,-1.22,-116.8,471.5,-7.1,258,5148,0.00,2.65,0.00,0.000,4,0.000,0.064,2738,3360,3472,0,0,0,0,0,0
$GC,5184,-1.29,-116.8,474.3,-6.7,259,5188,0.00,2.67,0.00,0.000,6,0.000,0.059,2738,1791,3472,0,0,0,0,0,0
$GC,5468,-1.29,-116.8,492.3,-6.3,266,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1791,3470,0,0,0,0,0,0
$STATE,5586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5586,begin apogee
$GC,5591,-0.31,0.0,500.2,6.6,269,5691,0.85,0.00,96.22,0.918,6,0.075,0.000,2931,1791,3001,0,0,0,0,0,0
$STATE,5692,end apogee,CONTROL_FINISHED_OK
$STATE,5692,begin climb
$GC,5694,1.15,116.8,501.5,0.0,271,5799,1.35,0.00,101.38,0.891,6,0.054,0.000,3254,1791,2524,0,0,0,0,0,0
$GC,6034,1.01,116.8,480.5,8.6,280,6039,0.17,2.72,0.00,0.000,4,0.206,0.046,3219,3407,2514,0,0,0,0,0,0
$GC,6119,0.96,116.8,473.8,8.1,282,6123,0.00,2.72,0.00,0.000,6,0.000,0.054,3219,1819,2512,0,0,0,0,0,0
$GC,6404,0.97,179.4,457.6,5.1,289,6463,0.00,2.70,53.72,0.874,4,0.000,0.044,3219,3405,2268,0,0,0,0,0,0
$GC,6504,1.00,200.0,451.7,7.1,291,6530,0.00,2.75,19.05,0.824,6,0.000,0.053,3219,1808,2184,0,0,0,0,0,0
$GC,6775,1.00,200.0,428.6,9.1,298,6780,0.00,2.65,0.00,0.000,4,0.000,0.044,3219,3408,2177,0,0,0,0,0,0
$GC,6818,1.00,200.0,423.9,10.5,299,6823,0.00,2.72,0.00,0.000,6,0.000,0.054,3219,1815,2176,0,0,0,0,0,0
$GC,7097,1.00,200.0,396.2,9.7,306,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1815,2174,0,0,0,0,0,0
$GC,7342,1.01,210.4,377.2,7.5,312,7357,0.00,2.67,8.45,0.742,4,0.000,0.038,3219,3410,2142,0,0,0,0,0,0
$GC,7391,1.03,229.0,373.5,7.2,313,7415,0.00,2.65,18.27,0.804,6,0.000,0.047,3219,1827,2066,0,0,0,0,0,0
$GC,7672,1.03,229.0,348.5,9.3,320,7676,0.00,2.58,0.00,0.000,4,0.000,0.033,3219,3421,2061,0,0,0,0,0,0
$GC,7734,1.03,229.0,342.7,9.6,321,7738,0.00,2.60,0.00,0.000,6,0.000,0.039,3219,1859,2059,0,0,0,0,0,0
$GC,7994,1.04,230.5,321.6,7.9,328,7999,0.00,2.85,0.00,0.000,4,0.000,0.078,3218,232,2059,0,0,0,0,0,0
$GC,8073,0.99,230.5,314.1,10.3,329,8079,0.00,2.60,0.00,0.000,6,0.000,0.025,3219,1868,2058,0,0,0,0,0,0
$GC,8323,1.00,241.5,294.2,7.5,336,8339,0.00,2.50,11.30,0.730,4,0.000,0.038,3219,3405,2015,0,0,0,0,0,0
$GC,8401,1.07,241.5,288.0,8.1,337,8407,0.00,2.58,0.00,0.000,6,0.000,0.035,3218,1843,2013,0,0,0,0,0,0
$GC,8652,1.08,254.9,269.3,7.4,344,8667,0.00,0.00,13.07,0.716,6,0.000,0.000,3218,1843,1961,0,0,0,0,0,0
$GC,8895,1.10,265.4,251.2,7.5,350,8910,0.00,2.55,10.40,0.676,4,0.000,0.036,3219,3400,1918,0,0,0,0,0,0
$GC,8944,1.16,265.4,246.9,8.9,351,8949,0.15,2.53,0.00,0.000,6,0.074,0.038,3260,1860,1917,0,0,0,0,0,0
$GC,9216,1.12,265.4,214.3,12.6,358,9221,0.00,2.45,0.00,0.000,4,0.000,0.035,3259,3399,1916,0,0,0,0,0,0
$GC,9256,1.12,265.4,209.3,12.3,359,9260,0.00,2.50,0.00,0.000,6,0.000,0.034,3259,1865,1915,0,0,0,0,0,0
$GC,9515,1.12,265.4,183.1,9.4,375,9520,0.00,2.80,0.00,0.000,4,0.000,0.069,3260,242,1915,0,0,0,0,0,0
$GC,9549,1.02,265.4,179.3,10.9,377,9555,0.17,2.55,0.00,0.000,6,0.106,0.019,3223,1880,1914,0,0,0,0,0,0
$GC,9813,1.07,265.4,155.5,8.2,402,9817,0.00,2.42,0.00,0.000,4,0.000,0.030,3224,3409,1914,0,0,0,0,0,0
$GC,9835,1.13,265.4,153.8,8.5,403,9839,0.00,2.50,0.00,0.000,6,0.000,0.037,3224,1864,1914,0,0,0,0,0,0
$GC,10102,1.21,277.3,133.3,7.5,427,10127,0.17,2.53,11.45,0.586,4,0.064,0.029,3272,3399,1869,0,0,0,0,0,0
$GC,10144,1.21,277.3,129.2,8.9,430,10155,0.00,2.50,0.00,0.000,6,0.000,0.032,3272,1883,1869,0,0,0,0,0,0
$GC,10411,1.21,277.3,103.1,9.7,455,10416,0.00,2.40,0.00,0.000,4,0.000,0.034,3272,3405,1868,0,0,0,0,0,0
$GC,10453,1.21,277.3,98.5,10.3,458,10457,0.00,2.42,0.00,0.000,6,0.000,0.032,3272,1892,1868,0,0,0,0,0,0
$GC,10720,1.22,287.3,76.1,7.5,482,10739,0.00,0.00,10.38,0.530,6,0.000,0.000,3272,1891,1827,0,0,0,0,0,0
$GC,10998,1.22,287.3,54.1,8.5,508,11002,0.00,2.83,0.00,0.000,4,0.000,0.065,3272,234,1827,0,0,0,0,0,0
$GC,11030,1.22,287.3,50.7,9.4,510,11034,0.00,2.62,0.00,0.000,6,0.000,0.018,3272,1927,1826,0,0,0,0,0,0
$GC,11299,1.22,287.7,29.4,8.0,534,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1930,1826,0,0,0,0,0,0
$STATE,11596,end climb,SURFACE_DEPTH_REACHED
$STATE,11596,begin surface coast
$FINISH,0.3,1.023439
$STATE,11659,end surface coast,CONTROL_FINISHED_OK
$STATE,11659,begin surface
$SM_CCo,11682,113.95,0.467,1,0,1288,420.20
$SM_GC,1.02,0.00,0.00,113.95,0.000,0.000,0.467,474,1748,1288,-11.62,-0.62,420.20
$IRIDIUM_FIX,2246.36,-15748.01,271199,232302
$TT8_MAMPS,0.026078
$HUMID,42.00
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.90
$XPDR_PINGS,57
$24V_AH,23.6,20.501
$10V_AH,10.3,20.076
$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,26.100,150.650,353.700,113.950,0.000,24.695,27.747,157.970,14.250,0.000,9.928,1183.634,7660.859,590.299,2185.448,522.462,33.369,1384.819,0.000,2197.636,0.000,0.536,0.000
$DEVICE_MAMPS,206.323,109.681,918.099,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.331,354.621,450.887,853.247,1290.474,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,44627,586
$CAP_FILE_SIZE,120882,0
$CFSIZE,260165632,175104000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030910,061407,2252.839,-15749.219,31,1.2,31,10.1