version: 66.06
glider: 146
mission: 5
dive: 133
start: 9 3 110 20 4 20
data:
$ID,146
$MISSION,5
$DIVE,133
$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,-249981.52
$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,38
$R_STBD_OVSHOOT,27
$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
$GPS1,195731,2251.364,-15755.763,34,1.3,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-69.1
$GPS2,200325,2251.344,-15755.812,8,1.3,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.109,0.189
$KALMAN_X,-126504.5,-241.4,-56.7,152269.3,-1101.6
$KALMAN_Y,-2936.7,83.3,-11.4,133911.2,-64.3
$MHEAD_RNG_PITCHd_Wd,19.9,12404,-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,-86.15,0.000,6,0.000,0.000,473,1745,3478,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.1,-5.3,11,126,11.60,2.58,0.00,0.000,4,0.143,0.026,2742,3380,3481,0,0,0,0,0,0
$GC,177,-0.97,-116.8,25.1,-19.2,20,187,0.15,2.62,0.00,0.000,6,0.075,0.039,2781,1782,3481,0,0,0,0,0,0
$GC,453,-0.91,-116.8,61.6,-12.0,47,458,0.10,2.72,0.00,0.000,4,0.121,0.061,2802,189,3482,0,0,0,0,0,0
$GC,489,-0.85,-116.8,65.9,-12.2,49,493,0.00,2.47,0.00,0.000,6,0.000,0.015,2802,1830,3482,0,0,0,0,0,0
$GC,753,-0.85,-116.8,92.6,-10.5,73,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1831,3482,0,0,0,0,0,0
$GC,1016,-0.89,-116.8,117.5,-8.8,98,1021,0.00,2.80,0.00,0.000,4,0.000,0.060,2802,186,3483,0,0,0,0,0,0
$GC,1045,-0.89,-116.8,120.3,-9.6,100,1049,0.00,2.47,0.00,0.000,6,0.000,0.022,2802,1828,3482,0,0,0,0,0,0
$GC,1309,-0.94,-116.8,143.7,-9.1,124,1313,0.00,2.80,0.00,0.000,4,0.000,0.065,2802,184,3483,0,0,0,0,0,0
$GC,1338,-1.00,-116.8,146.7,-9.8,126,1342,0.00,2.45,0.00,0.000,6,0.000,0.023,2802,1815,3483,0,0,0,0,0,0
$GC,1600,-1.07,-116.8,168.5,-8.1,150,1602,0.15,0.00,0.00,0.000,6,0.065,0.000,2753,1816,3483,0,0,0,0,0,0
$GC,1854,-1.07,-116.8,192.7,-9.0,174,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1816,3483,0,0,0,0,0,0
$GC,2111,-1.07,-116.8,213.3,-7.6,187,2116,0.00,2.80,0.00,0.000,4,0.000,0.068,2752,190,3483,0,0,0,0,0,0
$GC,2167,-1.07,-116.8,218.3,-8.6,188,2171,0.00,2.38,0.00,0.000,6,0.000,0.017,2752,1761,3483,0,0,0,0,0,0
$GC,2433,-1.07,-116.8,242.3,-9.2,195,2437,0.00,2.45,0.00,0.000,4,0.000,0.031,2753,3326,3483,0,0,0,0,0,0
$GC,2454,-1.07,-116.8,244.5,-10.1,195,2458,0.00,2.53,0.00,0.000,6,0.000,0.035,2752,1746,3483,0,0,0,0,0,0
$GC,2717,-1.07,-116.8,268.8,-9.2,202,2721,0.00,2.45,0.00,0.000,4,0.000,0.031,2752,3320,3482,0,0,0,0,0,0
$GC,2732,-1.07,-116.8,270.4,-8.9,202,2736,0.00,2.47,0.00,0.000,6,0.000,0.031,2753,1756,3483,0,0,0,0,0,0
$GC,2994,-1.07,-116.8,292.3,-8.0,209,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1755,3482,0,0,0,0,0,0
$GC,3237,-1.07,-116.8,309.4,-7.0,215,3242,0.00,2.50,0.00,0.000,4,0.000,0.031,2753,3326,3481,0,0,0,0,0,0
$GC,3289,-1.13,-116.8,313.0,-6.6,216,3293,0.00,2.53,0.00,0.000,6,0.000,0.035,2752,1763,3481,0,0,0,0,0,0
$GC,3561,-1.13,-116.8,332.1,-7.4,223,3565,0.00,2.78,0.00,0.000,4,0.000,0.086,2752,189,3481,0,0,0,0,0,0
$GC,3576,-1.13,-116.8,333.3,-7.5,223,3581,0.00,2.38,0.00,0.000,6,0.000,0.027,2752,1732,3481,0,0,0,0,0,0
$GC,3839,-1.13,-116.8,351.0,-6.5,230,3843,0.00,2.62,0.00,0.000,4,0.000,0.043,2753,3347,3480,0,0,0,0,0,0
$GC,3862,-1.17,-116.8,352.5,-6.6,230,3867,0.00,2.60,0.00,0.000,6,0.000,0.050,2752,1769,3480,0,0,0,0,0,0
$GC,4118,-1.21,-116.8,370.7,-7.4,237,4122,0.00,2.55,0.00,0.000,4,0.000,0.043,2752,3343,3478,0,0,0,0,0,0
$GC,4145,-1.27,-116.8,373.0,-8.3,237,4150,0.12,2.62,0.00,0.000,6,0.074,0.051,2711,1775,3478,0,0,0,0,0,0
$GC,4395,-1.23,-116.8,397.1,-9.7,243,4400,0.00,2.88,0.00,0.000,4,0.000,0.101,2710,188,3476,0,0,0,0,0,0
$GC,4412,-1.18,-116.8,398.7,-9.3,243,4417,0.15,2.50,0.00,0.000,6,0.107,0.032,2742,1757,3476,0,0,0,0,0,0
$GC,4673,-1.18,-116.8,420.8,-8.2,250,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1757,3475,0,0,0,0,0,0
$GC,4917,-1.18,-116.8,439.3,-7.5,256,4921,0.00,2.67,0.00,0.000,4,0.000,0.059,2742,3359,3473,0,0,0,0,0,0
$GC,4939,-1.23,-116.8,441.1,-7.8,256,4943,0.00,2.67,0.00,0.000,6,0.000,0.060,2742,1773,3473,0,0,0,0,0,0
$GC,5196,-1.26,-116.8,460.2,-7.5,263,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1773,3471,0,0,0,0,0,0
$GC,5438,-1.30,-116.8,475.3,-5.9,269,5443,0.12,2.65,0.00,0.000,4,0.079,0.048,2705,3353,3470,0,0,0,0,0,0
$GC,5479,-1.30,-116.8,478.2,-7.7,270,5483,0.00,2.67,0.00,0.000,6,0.000,0.061,2705,1781,3470,0,0,0,0,0,0
$GC,5762,-1.30,-116.8,499.8,-7.6,277,5766,0.00,2.08,0.00,0.000,3,0.000,0.047,2705,3048,3467,0,0,0,0,0,0
$STATE,5767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5767,begin apogee
$GC,5775,-0.31,0.0,500.2,7.5,277,5874,0.98,0.00,95.78,0.924,6,0.081,0.000,2926,1816,3001,0,0,0,0,0,0
$STATE,5875,end apogee,CONTROL_FINISHED_OK
$STATE,5875,begin climb
$GC,5877,1.15,116.8,501.7,0.0,279,5989,1.35,3.10,100.93,0.897,4,0.057,0.114,3251,240,2522,0,0,0,0,0,0
$GC,6002,1.02,166.2,498.0,5.7,282,6052,0.15,2.60,43.42,0.871,6,0.123,0.032,3223,1812,2322,0,0,0,0,0,0
$GC,6331,0.98,181.2,473.0,7.3,290,6350,0.00,2.80,13.10,0.810,4,0.000,0.064,3223,3400,2261,0,0,0,0,0,0
$GC,6424,0.98,181.2,465.7,8.6,292,6429,0.00,2.67,0.00,0.000,6,0.000,0.054,3223,1832,2258,0,0,0,0,0,0
$GC,6702,0.92,181.2,442.6,8.6,299,6706,0.00,2.62,0.00,0.000,4,0.000,0.041,3223,3418,2255,0,0,0,0,0,0
$GC,6751,0.92,181.2,437.8,9.3,300,6756,0.10,2.67,0.00,0.000,6,0.130,0.054,3203,1844,2255,0,0,0,0,0,0
$GC,7026,0.92,181.2,415.2,8.2,307,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1844,2253,0,0,0,0,0,0
$GC,7268,0.95,199.3,397.3,7.2,313,7286,0.00,0.00,15.93,0.818,6,0.000,0.000,3203,1844,2188,0,0,0,0,0,0
$GC,7514,1.00,238.8,381.8,6.2,319,7555,0.00,2.97,35.58,0.840,4,0.000,0.087,3203,231,2028,0,0,0,0,0,0
$GC,7567,1.02,259.9,378.2,7.0,320,7593,0.00,2.62,20.62,0.804,6,0.000,0.019,3203,1886,1940,0,0,0,0,0,0
$GC,7838,1.02,262.3,357.1,7.9,326,7842,0.00,2.50,0.00,0.000,4,0.000,0.041,3203,3421,1934,0,0,0,0,0,0
$GC,7870,1.08,262.3,354.1,8.1,326,7876,0.15,2.60,0.00,0.000,6,0.074,0.042,3242,1859,1933,0,0,0,0,0,0
$GC,8122,1.05,262.3,328.2,10.8,333,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1859,1932,0,0,0,0,0,0
$GC,8363,1.05,262.3,301.1,11.3,339,8368,0.00,2.85,0.00,0.000,4,0.000,0.080,3242,239,1930,0,0,0,0,0,0
$GC,8379,1.00,262.3,299.2,10.8,339,8384,0.12,2.62,0.00,0.000,6,0.120,0.021,3217,1894,1929,0,0,0,0,0,0
$GC,8642,1.01,273.3,278.3,7.5,346,8655,0.00,0.00,11.43,0.719,6,0.000,0.000,3217,1895,1885,0,0,0,0,0,0
$GC,8884,1.05,273.3,258.2,8.6,352,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1895,1883,0,0,0,0,0,0
$GC,9128,1.09,273.3,235.6,9.3,358,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1895,1882,0,0,0,0,0,0
$GC,9373,1.14,273.3,215.5,8.1,364,9375,0.12,0.00,0.00,0.000,6,0.078,0.000,3252,1895,1882,0,0,0,0,0,0
$GC,9620,1.14,273.3,192.5,9.1,373,9625,0.00,2.88,0.00,0.000,4,0.000,0.067,3252,230,1882,0,0,0,0,0,0
$GC,9649,1.06,273.3,189.4,10.8,375,9653,0.00,2.58,0.00,0.000,6,0.000,0.019,3252,1899,1881,0,0,0,0,0,0
$GC,9912,1.06,273.3,167.3,8.3,399,9916,0.00,2.40,0.00,0.000,4,0.000,0.035,3252,3430,1881,0,0,0,0,0,0
$GC,9941,1.06,273.3,164.5,8.3,401,9946,0.00,2.55,0.00,0.000,6,0.000,0.033,3252,1858,1880,0,0,0,0,0,0
$GC,10209,1.06,273.3,142.2,9.1,425,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1858,1880,0,0,0,0,0,0
$GC,10469,1.06,273.3,113.1,10.4,450,10471,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1858,1880,0,0,0,0,0,0
$GC,10724,1.06,273.3,89.6,8.0,474,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1858,1880,0,0,0,0,0,0
$GC,10985,1.17,315.5,71.2,6.1,498,11028,0.00,2.58,37.05,0.568,4,0.000,0.028,3252,3418,1714,0,0,0,0,0,0
$GC,11041,1.29,354.8,67.2,6.2,503,11081,0.08,2.58,34.03,0.557,6,0.048,0.031,3284,1859,1554,0,0,0,0,0,0
$GC,11341,1.29,354.8,39.4,9.9,530,11346,0.00,2.75,0.00,0.000,4,0.000,0.061,3285,243,1550,0,0,0,0,0,0
$GC,11374,1.29,354.8,35.6,11.7,532,11378,0.00,2.55,0.00,0.000,6,0.000,0.018,3284,1903,1548,0,0,0,0,0,0
$STATE,11675,end climb,SURFACE_DEPTH_REACHED
$STATE,11676,begin surface coast
$FINISH,0.4,1.023303
$STATE,11725,end surface coast,CONTROL_FINISHED_OK
$STATE,11725,begin surface
$SM_CCo,11746,62.47,0.430,1,0,1287,420.20
$SM_GC,1.04,0.00,0.00,62.47,0.000,0.000,0.430,470,1752,1287,-11.64,-0.51,420.20
$IRIDIUM_FIX,2241.69,-15757.16,281199,161635
$TT8_MAMPS,0.026078
$HUMID,43.85
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.70
$XPDR_PINGS,47
$24V_AH,23.5,21.089
$10V_AH,10.4,20.710
$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,26.750,130.525,407.850,62.475,0.000,30.362,28.589,158.778,11.750,0.000,15.198,1144.516,7925.936,506.606,2077.983,515.763,33.370,1278.561,0.000,2088.744,0.000,0.535,0.000
$DEVICE_MAMPS,142.662,114.283,924.235,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.029,342.455,440.138,821.277,1242.207,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,44629,579
$CAP_FILE_SIZE,115864,0
$CFSIZE,260165632,174804992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030910,232231,2252.822,-15755.526,35,1.6,35,10.1