version: 66.06
glider: 146
mission: 5
dive: 134
start: 9 3 110 23 29 34
data:
$ID,146
$MISSION,5
$DIVE,134
$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,-249997.2
$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,41
$R_STBD_OVSHOOT,20
$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
$GPS1,232231,2252.822,-15755.526,35,1.6,35,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.2
$GPS2,232837,2252.825,-15755.577,8,1.1,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.096,0.196
$KALMAN_X,-127628.8,-103.0,-33.2,153629.9,-900.7
$KALMAN_Y,-2616.6,289.6,-150.4,136269.2,471.2
$MHEAD_RNG_PITCHd_Wd,16.1,9635,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-85.38,0.000,6,0.000,0.000,470,1752,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.7,-6.5,11,124,11.60,2.58,0.00,0.000,4,0.142,0.023,2742,3385,3481,0,0,0,0,0,0
$GC,233,-1.06,-116.8,33.2,-13.5,28,238,0.12,2.60,0.00,0.000,6,0.106,0.032,2769,1786,3482,0,0,0,0,0,0
$GC,501,-0.94,-116.8,70.1,-14.7,52,506,0.12,2.75,0.00,0.000,4,0.111,0.062,2795,186,3482,0,0,0,0,0,0
$GC,536,-0.94,-116.8,75.8,-11.9,54,546,0.00,2.50,0.00,0.000,6,0.000,0.015,2796,1818,3481,0,0,0,0,0,0
$GC,802,-0.94,-116.8,104.6,-11.3,79,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1819,3482,0,0,0,0,0,0
$GC,1063,-0.94,-116.8,131.5,-9.0,104,1067,0.00,2.80,0.00,0.000,4,0.000,0.062,2796,191,3483,0,0,0,0,0,0
$GC,1132,-0.98,-116.8,137.7,-8.1,109,1138,0.00,2.35,0.00,0.000,6,0.000,0.020,2796,1772,3483,0,0,0,0,0,0
$GC,1397,-1.02,-116.8,153.6,-6.0,134,1401,0.00,2.67,0.00,0.000,4,0.000,0.067,2795,193,3483,0,0,0,0,0,0
$GC,1419,-1.06,-116.8,155.2,-6.1,135,1429,0.08,2.35,0.00,0.000,6,0.040,0.022,2757,1752,3483,0,0,0,0,0,0
$GC,1686,-1.06,-116.8,177.8,-9.0,160,1690,0.00,2.42,0.00,0.000,4,0.000,0.026,2757,3304,3484,0,0,0,0,0,0
$GC,1718,-1.06,-116.8,181.6,-9.7,162,1728,0.00,2.53,0.00,0.000,6,0.000,0.036,2757,1747,3484,0,0,0,0,0,0
$GC,1998,-1.06,-116.8,208.1,-9.4,183,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1745,3484,0,0,0,0,0,0
$GC,2241,-1.06,-116.8,230.1,-9.1,189,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1745,3483,0,0,0,0,0,0
$GC,2484,-1.06,-116.8,251.5,-8.6,195,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1744,3483,0,0,0,0,0,0
$GC,2728,-1.06,-116.8,272.3,-8.6,201,2732,0.00,2.45,0.00,0.000,4,0.000,0.034,2757,3308,3483,0,0,0,0,0,0
$GC,2751,-1.06,-116.8,274.0,-7.8,201,2755,0.00,2.50,0.00,0.000,6,0.000,0.034,2757,1750,3483,0,0,0,0,0,0
$GC,3006,-1.06,-116.8,295.5,-8.4,208,3010,0.00,2.70,0.00,0.000,4,0.000,0.077,2757,190,3483,0,0,0,0,0,0
$GC,3032,-1.06,-116.8,298.1,-9.1,208,3036,0.00,2.33,0.00,0.000,6,0.000,0.024,2757,1721,3482,0,0,0,0,0,0
$GC,3288,-1.06,-116.8,319.3,-8.4,215,3292,0.00,2.60,0.00,0.000,4,0.000,0.041,2757,3339,3481,0,0,0,0,0,0
$GC,3345,-1.13,-116.8,323.6,-7.7,216,3350,0.00,2.53,0.00,0.000,6,0.000,0.044,2757,1782,3482,0,0,0,0,0,0
$GC,3611,-1.13,-116.8,342.2,-6.8,223,3616,0.00,2.83,0.00,0.000,4,0.000,0.084,2757,189,3481,0,0,0,0,0,0
$GC,3638,-1.13,-116.8,344.2,-7.3,223,3643,0.00,2.47,0.00,0.000,6,0.000,0.022,2756,1765,3480,0,0,0,0,0,0
$GC,3890,-1.18,-116.8,360.9,-6.8,229,3895,0.00,2.55,0.00,0.000,4,0.000,0.047,2757,3351,3480,0,0,0,0,0,0
$GC,3957,-1.26,-116.8,365.8,-7.2,230,3963,0.12,2.60,0.00,0.000,6,0.073,0.051,2714,1777,3480,0,0,0,0,0,0
$GC,4214,-1.26,-116.8,389.2,-9.3,237,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1777,3478,0,0,0,0,0,0
$GC,4456,-1.26,-116.8,411.7,-9.2,243,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1777,3476,0,0,0,0,0,0
$GC,4700,-1.26,-116.8,434.5,-9.6,249,4705,0.00,2.95,0.00,0.000,4,0.000,0.107,2714,181,3476,0,0,0,0,0,0
$GC,4749,-1.26,-116.8,440.2,-11.5,250,4754,0.00,2.53,0.00,0.000,6,0.000,0.035,2714,1758,3476,0,0,0,0,0,0
$GC,5023,-1.26,-116.8,466.1,-8.9,257,5028,0.00,2.72,0.00,0.000,4,0.000,0.063,2714,3364,3473,0,0,0,0,0,0
$GC,5062,-1.26,-116.8,469.4,-8.3,258,5067,0.00,2.70,0.00,0.000,6,0.000,0.065,2714,1783,3473,0,0,0,0,0,0
$GC,5346,-1.26,-116.8,491.1,-7.6,265,5351,0.00,2.60,0.00,0.000,4,0.000,0.053,2714,3358,3471,0,0,0,0,0,0
$GC,5374,-1.26,-116.8,493.4,-7.8,265,5378,0.00,2.72,0.00,0.000,6,0.000,0.067,2714,1772,3471,0,0,0,0,0,0
$STATE,5458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5458,begin apogee
$GC,5465,-0.31,0.0,500.2,7.7,267,5565,0.95,0.00,96.62,0.917,6,0.074,0.000,2929,1852,3001,0,0,0,0,0,0
$STATE,5565,end apogee,CONTROL_FINISHED_OK
$STATE,5565,begin climb
$GC,5569,1.15,116.8,501.9,0.0,269,5679,1.35,2.67,101.07,0.894,4,0.047,0.052,3254,3379,2523,0,0,0,0,0,0
$GC,5691,1.10,194.0,501.0,4.4,272,5765,0.00,2.70,66.93,0.877,6,0.000,0.057,3254,1813,2209,0,0,0,0,0,0
$GC,6029,0.98,194.0,473.1,8.8,281,6034,0.20,2.62,0.00,0.000,4,0.111,0.049,3215,3386,2200,0,0,0,0,0,0
$GC,6084,0.98,194.0,468.2,8.4,282,6089,0.00,2.70,0.00,0.000,6,0.000,0.057,3214,1823,2198,0,0,0,0,0,0
$GC,6351,0.98,194.0,445.4,8.8,289,6355,0.00,2.60,0.00,0.000,4,0.000,0.040,3215,3393,2196,0,0,0,0,0,0
$GC,6413,0.98,194.0,439.7,9.2,290,6417,0.00,2.65,0.00,0.000,6,0.000,0.054,3215,1838,2195,0,0,0,0,0,0
$GC,6673,0.98,194.0,418.2,8.1,297,6678,0.00,2.92,0.00,0.000,4,0.000,0.100,3214,233,2194,0,0,0,0,0,0
$GC,6706,0.90,194.0,415.1,9.7,297,6711,0.00,2.53,0.00,0.000,6,0.000,0.023,3214,1814,2192,0,0,0,0,0,0
$GC,6957,0.90,194.3,394.9,8.0,304,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1814,2192,0,0,0,0,0,0
$GC,7199,0.94,231.8,379.1,6.3,310,7240,0.00,2.72,31.58,0.840,4,0.000,0.044,3214,3411,2053,0,0,0,0,0,0
$GC,7256,0.97,258.5,375.5,6.8,311,7287,0.00,2.65,24.70,0.811,6,0.000,0.041,3215,1827,1947,0,0,0,0,0,0
$GC,7566,0.97,258.5,349.9,9.0,319,7571,0.00,2.58,0.00,0.000,4,0.000,0.034,3215,3407,1941,0,0,0,0,0,0
$GC,7610,1.04,258.5,345.5,9.7,320,7615,0.00,2.58,0.00,0.000,6,0.000,0.041,3214,1845,1939,0,0,0,0,0,0
$GC,7889,1.04,258.5,319.8,9.0,327,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1845,1938,0,0,0,0,0,0
$GC,8132,1.08,288.9,302.9,6.6,333,8161,0.00,0.00,26.45,0.772,6,0.000,0.000,3214,1845,1822,0,0,0,0,0,0
$GC,8418,1.12,288.9,279.5,8.7,340,8420,0.12,0.00,0.00,0.000,6,0.182,0.000,3249,1845,1818,0,0,0,0,0,0
$GC,8663,1.12,288.9,251.8,11.7,346,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1845,1817,0,0,0,0,0,0
$GC,8905,1.12,288.9,224.3,11.2,352,8910,0.00,2.53,0.00,0.000,4,0.000,0.034,3249,3419,1816,0,0,0,0,0,0
$GC,8938,1.12,288.9,220.6,11.8,352,8944,0.00,2.55,0.00,0.000,6,0.000,0.035,3249,1848,1815,0,0,0,0,0,0
$GC,9190,1.12,288.9,191.8,11.8,362,9195,0.00,2.78,0.00,0.000,4,0.000,0.069,3249,236,1815,0,0,0,0,0,0
$GC,9208,1.08,288.9,189.7,11.8,363,9213,0.00,2.55,0.00,0.000,6,0.000,0.018,3249,1879,1814,0,0,0,0,0,0
$GC,9471,1.08,288.9,160.6,10.3,387,9475,0.00,2.42,0.00,0.000,4,0.000,0.029,3249,3414,1814,0,0,0,0,0,0
$GC,9501,1.08,288.9,157.3,11.1,389,9505,0.00,2.53,0.00,0.000,6,0.000,0.033,3249,1842,1813,0,0,0,0,0,0
$GC,9767,1.08,288.9,130.0,10.7,413,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1842,1813,0,0,0,0,0,0
$GC,10029,1.08,288.9,103.7,10.0,438,10030,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1842,1813,0,0,0,0,0,0
$GC,10283,1.12,288.9,81.9,8.4,462,10287,0.00,2.72,0.00,0.000,4,0.000,0.065,3249,243,1813,0,0,0,0,0,0
$GC,10316,1.12,288.9,78.7,9.9,464,10325,0.00,2.55,0.00,0.000,6,0.000,0.025,3249,1879,1813,0,0,0,0,0,0
$GC,10586,1.23,316.7,58.6,6.7,489,10617,0.00,2.50,24.20,0.551,4,0.000,0.028,3249,3414,1708,0,0,0,0,0,0
$GC,10678,1.37,316.7,51.7,8.1,496,10683,0.20,2.53,0.00,0.000,6,0.061,0.033,3306,1865,1707,0,0,0,0,0,0
$GC,10958,1.33,316.7,22.7,10.8,524,10967,0.00,2.80,0.00,0.000,4,0.000,0.065,3306,240,1706,0,0,0,0,0,0
$GC,10991,1.25,316.7,18.6,11.9,528,11001,0.12,2.58,0.00,0.000,6,0.087,0.018,3275,1894,1706,0,0,0,0,0,0
$STATE,11139,end climb,SURFACE_DEPTH_REACHED
$STATE,11139,begin surface coast
$FINISH,0.3,1.017851
$STATE,11198,end surface coast,CONTROL_FINISHED_OK
$STATE,11198,begin surface
$SM_CCo,11219,90.38,0.458,1,0,1288,420.20
$SM_GC,0.99,0.00,0.00,90.38,0.000,0.000,0.458,474,1737,1288,-11.62,-0.93,420.20
$IRIDIUM_FIX,2244.02,-15759.32,281199,202027
$TT8_MAMPS,0.026078
$HUMID,43.34
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.50
$XPDR_PINGS,50
$24V_AH,23.6,21.205
$10V_AH,10.4,20.831
$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,26.275,130.575,371.550,90.375,0.000,31.058,28.460,170.035,12.500,0.000,15.055,1099.441,7477.616,557.839,2021.888,526.462,33.377,1299.203,0.000,2034.941,0.000,0.535,0.000
$DEVICE_MAMPS,181.779,106.613,917.332,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,376.430,330.615,425.643,802.192,1213.293,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,44607,557
$CAP_FILE_SIZE,110563,0
$CFSIZE,260165632,174751744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040910,023937,2254.397,-15755.471,47,1.0,47,10.1