version: 66.06
glider: 146
mission: 5
dive: 130
start: 9 3 110 9 46 3
data:
$ID,146
$MISSION,5
$DIVE,130
$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,-249939.77
$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,45
$R_STBD_OVSHOOT,41
$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
$GPS1,093436,2251.827,-15751.338,11,1.0,27,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.1
$GPS2,094508,2251.767,-15751.438,10,1.1,10,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.157,-0.151
$KALMAN_X,-123136.9,139.8,74.4,155912.9,-1575.0
$KALMAN_Y,-3121.2,120.2,-244.7,135078.0,-534.8
$MHEAD_RNG_PITCHd_Wd,216.1,7390,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,97,0.00,0.00,-79.07,0.000,2,0.000,0.000,480,1738,3253,0,0,0,0,0,0
$GC,100,-1.15,-116.8,3.1,-3.7,10,126,11.43,2.60,-4.38,0.000,4,0.137,0.038,2741,3350,3481,0,0,0,0,0,0
$GC,293,-1.06,-116.8,38.6,-12.8,34,298,0.12,2.53,0.00,0.000,6,0.112,0.032,2767,1790,3482,0,0,0,0,0,0
$GC,560,-0.97,-116.8,75.0,-12.7,58,565,0.10,2.75,0.00,0.000,4,0.133,0.063,2786,193,3481,0,0,0,0,0,0
$GC,596,-0.91,-116.8,79.9,-12.9,60,600,0.00,2.40,0.00,0.000,6,0.000,0.015,2786,1806,3482,0,0,0,0,0,0
$GC,858,-0.91,-116.8,104.5,-8.1,84,862,0.00,2.38,0.00,0.000,4,0.000,0.031,2786,3311,3482,0,0,0,0,0,0
$GC,888,-0.91,-116.8,107.0,-7.8,86,893,0.00,2.50,0.00,0.000,6,0.000,0.034,2786,1746,3482,0,0,0,0,0,0
$GC,1151,-0.91,-116.8,130.7,-9.4,110,1155,0.00,2.62,0.00,0.000,4,0.000,0.068,2786,196,3483,0,0,0,0,0,0
$GC,1171,-0.91,-116.8,132.5,-9.5,111,1175,0.00,2.33,0.00,0.000,6,0.000,0.023,2786,1782,3483,0,0,0,0,0,0
$GC,1434,-0.91,-116.8,156.0,-8.3,135,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1783,3483,0,0,0,0,0,0
$GC,1686,-0.96,-116.8,177.0,-8.4,159,1690,0.00,2.38,0.00,0.000,4,0.000,0.025,2786,3303,3483,0,0,0,0,0,0
$GC,1709,-1.01,-116.8,178.5,-8.5,160,1713,0.00,2.45,0.00,0.000,6,0.000,0.028,2786,1762,3483,0,0,0,0,0,0
$GC,2002,-1.06,-116.8,203.5,-7.8,184,2006,0.00,2.67,0.00,0.000,4,0.000,0.074,2786,196,3483,0,0,0,0,0,0
$GC,2052,-1.13,-116.8,207.9,-8.2,185,2058,0.15,2.33,0.00,0.000,6,0.064,0.015,2734,1749,3483,0,0,0,0,0,0
$GC,2325,-1.07,-116.8,234.6,-9.8,192,2330,0.15,2.45,0.00,0.000,4,0.100,0.026,2766,3308,3482,0,0,0,0,0,0
$GC,2365,-1.14,-116.8,238.2,-8.4,193,2369,0.00,2.47,0.00,0.000,6,0.000,0.031,2766,1764,3482,0,0,0,0,0,0
$GC,2649,-1.14,-116.8,262.6,-8.7,200,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1762,3482,0,0,0,0,0,0
$GC,2891,-1.14,-116.8,280.7,-7.3,206,2896,0.00,2.72,0.00,0.000,4,0.000,0.074,2766,194,3482,0,0,0,0,0,0
$GC,2912,-1.14,-116.8,282.6,-8.6,206,2916,0.00,2.35,0.00,0.000,6,0.000,0.019,2766,1739,3482,0,0,0,0,0,0
$GC,3175,-1.18,-116.8,304.5,-8.3,213,3180,0.10,2.55,0.00,0.000,4,0.086,0.035,2732,3332,3482,0,0,0,0,0,0
$GC,3236,-1.18,-116.8,310.2,-8.7,214,3240,0.00,2.53,0.00,0.000,6,0.000,0.043,2732,1781,3481,0,0,0,0,0,0
$GC,3499,-1.18,-116.8,331.3,-7.9,221,3504,0.00,2.83,0.00,0.000,4,0.000,0.092,2731,185,3481,0,0,0,0,0,0
$GC,3538,-1.18,-116.8,335.2,-9.9,222,3542,0.00,2.45,0.00,0.000,6,0.000,0.030,2731,1747,3481,0,0,0,0,0,0
$GC,3821,-1.18,-116.8,359.8,-8.7,229,3825,0.00,2.62,0.00,0.000,4,0.000,0.044,2731,3356,3479,0,0,0,0,0,0
$GC,3848,-1.18,-116.8,362.2,-8.7,229,3853,0.00,2.65,0.00,0.000,6,0.000,0.048,2731,1775,3479,0,0,0,0,0,0
$GC,4098,-1.18,-116.8,382.7,-8.5,235,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1775,3477,0,0,0,0,0,0
$GC,4342,-1.18,-116.8,403.4,-8.4,241,4346,0.00,2.92,0.00,0.000,4,0.000,0.107,2731,181,3477,0,0,0,0,0,0
$GC,4374,-1.18,-116.8,406.6,-9.7,241,4380,0.00,2.53,0.00,0.000,6,0.000,0.035,2731,1765,3477,0,0,0,0,0,0
$GC,4625,-1.18,-116.8,429.9,-9.3,248,4630,0.00,2.65,0.00,0.000,4,0.000,0.055,2731,3354,3474,0,0,0,0,0,0
$GC,4648,-1.18,-116.8,431.9,-8.6,248,4652,0.00,2.67,0.00,0.000,6,0.000,0.060,2731,1778,3475,0,0,0,0,0,0
$GC,4902,-1.18,-116.8,453.4,-8.2,255,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1778,3472,0,0,0,0,0,0
$GC,5148,-1.18,-116.8,472.5,-7.6,261,5152,0.00,2.62,0.00,0.000,4,0.000,0.048,2731,3357,3471,0,0,0,0,0,0
$GC,5169,-1.18,-116.8,474.3,-7.5,261,5174,0.00,2.70,0.00,0.000,6,0.000,0.062,2731,1782,3471,0,0,0,0,0,0
$GC,5425,-1.18,-116.8,495.2,-8.5,268,5429,0.00,2.62,0.00,0.000,4,0.000,0.050,2731,3356,3469,0,0,0,0,0,0
$GC,5457,-1.22,-116.8,498.3,-9.3,268,5463,0.00,2.70,0.00,0.000,6,0.000,0.067,2731,1790,3469,0,0,0,0,0,0
$STATE,5501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5501,begin apogee
$GC,5508,-0.31,0.0,502.4,9.0,270,5607,0.90,0.00,95.80,0.925,6,0.081,0.000,2933,1790,3001,0,0,0,0,0,0
$STATE,5608,end apogee,CONTROL_FINISHED_OK
$STATE,5608,begin climb
$GC,5611,1.15,116.8,505.1,0.0,272,5716,1.35,0.00,101.30,0.900,6,0.053,0.000,3260,1790,2523,0,0,0,0,0,0
$GC,5950,1.04,156.7,493.0,6.2,281,5992,0.15,2.78,34.15,0.872,4,0.198,0.052,3231,3400,2361,0,0,0,0,0,0
$GC,6060,1.01,180.0,485.8,6.9,283,6089,0.00,2.72,21.70,0.844,6,0.000,0.058,3231,1825,2266,0,0,0,0,0,0
$GC,6371,0.94,180.0,460.1,8.7,291,6376,0.12,2.62,0.00,0.000,4,0.123,0.041,3207,3413,2259,0,0,0,0,0,0
$GC,6437,0.94,180.0,454.0,8.3,292,6442,0.00,2.70,0.00,0.000,6,0.000,0.055,3207,1829,2257,0,0,0,0,0,0
$GC,6693,0.94,180.0,432.8,8.4,299,6697,0.00,2.58,0.00,0.000,4,0.000,0.044,3207,3408,2255,0,0,0,0,0,0
$GC,6715,0.94,180.0,431.0,8.3,299,6719,0.00,2.65,0.00,0.000,6,0.000,0.054,3207,1841,2255,0,0,0,0,0,0
$GC,6971,0.97,203.3,412.4,6.9,306,6996,0.00,2.97,19.75,0.828,4,0.000,0.094,3207,234,2171,0,0,0,0,0,0
$GC,7013,0.93,208.1,409.2,7.8,307,7024,0.00,2.60,5.97,0.669,6,0.000,0.027,3207,1847,2152,0,0,0,0,0,0
$GC,7293,0.93,208.1,386.6,8.2,314,7297,0.00,2.55,0.00,0.000,4,0.000,0.044,3207,3408,2147,0,0,0,0,0,0
$GC,7319,0.93,208.1,384.2,8.2,314,7324,0.00,2.62,0.00,0.000,6,0.000,0.047,3207,1840,2146,0,0,0,0,0,0
$GC,7570,0.95,227.4,365.8,7.1,320,7589,0.00,0.00,17.77,0.807,6,0.000,0.000,3207,1840,2073,0,0,0,0,0,0
$GC,7813,0.97,239.4,347.9,7.5,326,7827,0.00,0.00,11.80,0.761,6,0.000,0.000,3207,1840,2024,0,0,0,0,0,0
$GC,8057,0.98,252.7,329.7,7.4,332,8076,0.00,2.92,13.15,0.761,4,0.000,0.083,3207,240,1969,0,0,0,0,0,0
$GC,8104,0.98,252.7,325.4,9.7,333,8109,0.00,2.58,0.00,0.000,6,0.000,0.021,3207,1865,1968,0,0,0,0,0,0
$GC,8384,1.02,252.7,302.8,8.1,340,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1867,1966,0,0,0,0,0,0
$GC,8627,1.09,268.1,285.5,7.3,346,8646,0.12,0.00,14.52,0.733,6,0.079,0.000,3242,1867,1906,0,0,0,0,0,0
$GC,8915,1.09,268.1,255.2,10.5,353,8919,0.00,2.45,0.00,0.000,4,0.000,0.037,3242,3397,1903,0,0,0,0,0,0
$GC,8942,1.09,268.1,252.4,9.8,353,8946,0.00,2.53,0.00,0.000,6,0.000,0.036,3242,1854,1902,0,0,0,0,0,0
$GC,9193,1.09,268.1,230.9,8.7,359,9197,0.00,2.47,0.00,0.000,4,0.000,0.029,3242,3398,1902,0,0,0,0,0,0
$GC,9209,1.09,268.1,229.0,9.6,359,9213,0.00,2.45,0.00,0.000,6,0.000,0.033,3242,1873,1902,0,0,0,0,0,0
$GC,9477,1.09,268.1,202.7,9.8,366,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1873,1901,0,0,0,0,0,0
$GC,9729,1.09,268.1,180.0,9.2,387,9734,0.00,2.80,0.00,0.000,4,0.000,0.069,3242,244,1901,0,0,0,0,0,0
$GC,9771,1.04,268.1,176.0,10.1,390,9775,0.00,2.53,0.00,0.000,6,0.000,0.025,3242,1883,1900,0,0,0,0,0,0
$GC,10033,1.04,268.1,150.7,9.3,414,10037,0.00,2.40,0.00,0.000,4,0.000,0.033,3242,3405,1900,0,0,0,0,0,0
$GC,10101,1.08,268.1,144.5,9.1,419,10105,0.00,2.47,0.00,0.000,6,0.000,0.033,3242,1871,1900,0,0,0,0,0,0
$GC,10369,1.09,274.4,123.3,7.7,443,10380,0.00,2.80,6.32,0.512,4,0.000,0.066,3242,243,1881,0,0,0,0,0,0
$GC,10397,1.09,274.4,120.8,8.0,445,10401,0.00,2.53,0.00,0.000,6,0.000,0.025,3242,1885,1880,0,0,0,0,0,0
$GC,10665,1.14,274.4,99.0,8.7,469,10669,0.00,2.38,0.00,0.000,4,0.000,0.028,3242,3407,1880,0,0,0,0,0,0
$GC,10698,1.21,274.4,96.0,9.3,471,10702,0.00,2.50,0.00,0.000,6,0.000,0.032,3242,1861,1880,0,0,0,0,0,0
$GC,10966,1.31,313.2,76.7,6.2,495,11006,0.17,0.00,34.75,0.571,6,0.143,0.000,3290,1861,1722,0,0,0,0,0,0
$GC,11262,1.31,313.2,47.0,9.8,523,11266,0.00,2.75,0.00,0.000,4,0.000,0.058,3290,243,1719,0,0,0,0,0,0
$GC,11296,1.26,313.2,43.3,11.2,525,11300,0.00,2.55,0.00,0.000,6,0.000,0.018,3290,1890,1718,0,0,0,0,0,0
$GC,11601,1.26,313.2,11.8,10.0,562,11611,0.00,2.40,0.00,0.000,4,0.000,0.027,3290,3403,1718,0,0,0,0,0,0
$GC,11629,1.26,313.2,9.2,10.1,565,11638,0.00,2.53,0.00,0.000,6,0.000,0.034,3290,1865,1717,0,0,0,0,0,0
$STATE,11680,end climb,SURFACE_DEPTH_REACHED
$STATE,11680,begin surface coast
$FINISH,0.3,1.000208
$STATE,11729,end surface coast,CONTROL_FINISHED_OK
$STATE,11729,begin surface
$SM_CCo,11751,98.80,0.462,1,0,1288,420.20
$SM_GC,0.94,0.00,0.00,98.80,0.000,0.000,0.462,475,1741,1288,-11.62,-0.79,420.20
$IRIDIUM_FIX,2241.69,-15751.94,281199,090934
$TT8_MAMPS,0.026078
$HUMID,43.42
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.20
$XPDR_PINGS,59
$24V_AH,23.6,20.742
$10V_AH,10.4,20.328
$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,26.250,149.950,377.000,98.800,0.000,61.808,71.899,284.369,14.750,0.000,11.682,1174.786,7897.105,579.031,2086.943,749.807,33.372,1337.284,0.000,2094.712,0.000,0.536,0.000
$DEVICE_MAMPS,197.886,106.613,925.002,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.331,343.689,441.698,814.860,1232.412,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,44739,579
$CAP_FILE_SIZE,123523,0
$CFSIZE,260165632,174977024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030910,130501,2250.770,-15753.171,40,1.3,40,10.1