version: 66.06
glider: 146
mission: 5
dive: 137
start: 9 4 110 9 46 44
data:
$ID,146
$MISSION,5
$DIVE,137
$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,-250048
$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,53
$R_STBD_OVSHOOT,30
$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
$GPS1,093606,2256.396,-15755.753,9,1.3,25,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-65.6
$GPS2,094549,2256.356,-15755.834,8,1.4,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.186,0.113
$KALMAN_X,-132414.0,51.1,-229.7,158024.0,-1655.6
$KALMAN_Y,-2361.5,-185.2,-237.0,143122.0,7.0
$MHEAD_RNG_PITCHd_Wd,48.5,3361,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-85.97,0.000,2,0.000,0.000,475,1730,3456,0,0,0,0,0,0
$GC,107,-1.15,-116.8,3.9,-5.2,11,125,11.57,2.60,-0.38,0.000,4,0.141,0.038,2743,3366,3478,0,0,0,0,0,0
$GC,189,-1.05,-116.8,25.6,-14.7,22,199,0.10,2.58,0.00,0.000,6,0.077,0.039,2770,1797,3480,0,0,0,0,0,0
$GC,469,-0.93,-116.8,66.0,-16.0,49,474,0.12,2.78,0.00,0.000,4,0.109,0.064,2797,193,3480,0,0,0,0,0,0
$GC,505,-0.87,-116.8,71.3,-14.7,51,509,0.00,2.47,0.00,0.000,6,0.000,0.021,2797,1831,3480,0,0,0,0,0,0
$GC,769,-0.87,-116.8,99.9,-9.3,75,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1833,3481,0,0,0,0,0,0
$GC,1032,-0.87,-116.8,123.0,-7.9,100,1036,0.00,2.80,0.00,0.000,4,0.000,0.060,2797,192,3481,0,0,0,0,0,0
$GC,1125,-0.94,-116.8,130.6,-8.0,107,1131,0.00,2.45,0.00,0.000,6,0.000,0.022,2798,1817,3480,0,0,0,0,0,0
$GC,1390,-0.99,-116.8,147.8,-6.2,132,1394,0.00,2.80,0.00,0.000,4,0.000,0.067,2797,191,3481,0,0,0,0,0,0
$GC,1411,-1.04,-116.8,149.2,-6.2,133,1416,0.10,2.35,0.00,0.000,6,0.084,0.015,2759,1761,3481,0,0,0,0,0,0
$GC,1676,-1.04,-116.8,170.3,-8.5,157,1681,0.00,2.42,0.00,0.000,4,0.000,0.024,2760,3310,3481,0,0,0,0,0,0
$GC,1709,-1.04,-116.8,173.7,-8.8,159,1718,0.00,2.50,0.00,0.000,6,0.000,0.035,2759,1767,3481,0,0,0,0,0,0
$GC,1974,-1.04,-116.8,196.8,-9.3,184,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1766,3481,0,0,0,0,0,0
$GC,2257,-1.04,-116.8,222.6,-9.2,194,2261,0.00,2.45,0.00,0.000,4,0.000,0.026,2759,3317,3481,0,0,0,0,0,0
$GC,2278,-1.04,-116.8,224.8,-9.2,194,2282,0.00,2.47,0.00,0.000,6,0.000,0.036,2759,1761,3481,0,0,0,0,0,0
$GC,2534,-1.04,-116.8,248.1,-9.1,201,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1761,3481,0,0,0,0,0,0
$GC,2777,-1.04,-116.8,269.4,-8.6,207,2782,0.00,2.45,0.00,0.000,4,0.000,0.035,2759,3308,3480,0,0,0,0,0,0
$GC,2800,-1.04,-116.8,271.4,-8.6,207,2804,0.00,2.47,0.00,0.000,6,0.000,0.031,2759,1757,3481,0,0,0,0,0,0
$GC,3055,-1.04,-116.8,292.4,-8.2,214,3059,0.00,2.72,0.00,0.000,4,0.000,0.084,2759,189,3480,0,0,0,0,0,0
$GC,3094,-1.04,-116.8,295.6,-8.4,215,3098,0.00,2.35,0.00,0.000,6,0.000,0.019,2759,1717,3480,0,0,0,0,0,0
$GC,3378,-1.04,-116.8,317.9,-7.7,222,3383,0.00,2.55,0.00,0.000,4,0.000,0.041,2759,3307,3479,0,0,0,0,0,0
$GC,3423,-1.10,-116.8,321.7,-8.3,223,3427,0.00,2.53,0.00,0.000,6,0.000,0.037,2759,1763,3479,0,0,0,0,0,0
$GC,3700,-1.14,-116.8,345.3,-8.9,230,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1763,3478,0,0,0,0,0,0
$GC,3946,-1.19,-116.8,364.7,-7.7,236,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1763,3477,0,0,0,0,0,0
$GC,4188,-1.25,-116.8,382.4,-7.2,242,4193,0.12,2.53,0.00,0.000,4,0.069,0.044,2714,3302,3476,0,0,0,0,0,0
$GC,4221,-1.25,-116.8,385.3,-9.3,242,4227,0.00,2.58,0.00,0.000,6,0.000,0.060,2714,1768,3476,0,0,0,0,0,0
$GC,4472,-1.25,-116.8,407.2,-8.7,249,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1768,3474,0,0,0,0,0,0
$GC,4714,-1.25,-116.8,427.1,-8.2,255,4719,0.00,2.92,0.00,0.000,4,0.000,0.104,2714,178,3473,0,0,0,0,0,0
$GC,4730,-1.21,-116.8,428.5,-8.4,255,4735,0.10,2.42,0.00,0.000,6,0.123,0.028,2734,1702,3473,0,0,0,0,0,0
$GC,4992,-1.21,-116.8,447.5,-7.1,262,4997,0.00,2.65,0.00,0.000,4,0.000,0.058,2734,3293,3471,0,0,0,0,0,0
$GC,5037,-1.25,-116.8,451.0,-7.6,263,5041,0.00,2.60,0.00,0.000,6,0.000,0.061,2734,1767,3471,0,0,0,0,0,0
$GC,5314,-1.25,-116.8,473.8,-8.6,270,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1767,3469,0,0,0,0,0,0
$GC,5559,-1.25,-116.8,496.0,-9.2,276,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1767,3467,0,0,0,0,0,0
$STATE,5637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5637,begin apogee
$GC,5642,-0.31,0.0,502.9,8.8,278,5741,0.88,0.00,95.25,0.926,6,0.074,0.000,2934,1766,3001,0,0,0,0,0,0
$STATE,5742,end apogee,CONTROL_FINISHED_OK
$STATE,5742,begin climb
$GC,5744,1.15,116.8,505.4,0.0,280,5849,1.35,0.00,100.62,0.901,6,0.051,0.000,3260,1767,2524,0,0,0,0,0,0
$GC,6085,1.00,126.5,488.7,7.6,289,6096,0.20,0.00,8.10,0.750,6,0.196,0.000,3220,1767,2485,0,0,0,0,0,0
$GC,6327,0.98,161.3,473.1,6.4,295,6368,0.00,2.75,31.45,0.874,4,0.000,0.045,3219,3347,2342,0,0,0,0,0,0
$GC,6391,0.96,177.4,468.8,7.3,296,6412,0.00,2.65,15.50,0.822,6,0.000,0.054,3220,1818,2277,0,0,0,0,0,0
$GC,6657,0.92,177.4,446.5,8.5,303,6661,0.00,2.53,0.00,0.000,4,0.000,0.041,3220,3355,2271,0,0,0,0,0,0
$GC,6684,0.93,186.2,444.2,7.6,303,6698,0.00,2.60,8.35,0.757,6,0.000,0.055,3220,1829,2240,0,0,0,0,0,0
$GC,6984,0.93,188.4,420.7,7.9,311,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1829,2237,0,0,0,0,0,0
$GC,7226,0.93,188.4,400.2,8.3,317,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1829,2234,0,0,0,0,0,0
$GC,7470,0.93,188.4,380.0,8.3,323,7474,0.00,2.47,0.00,0.000,4,0.000,0.040,3220,3355,2233,0,0,0,0,0,0
$GC,7554,0.93,188.4,372.9,8.1,325,7559,0.00,2.58,0.00,0.000,6,0.000,0.048,3220,1815,2232,0,0,0,0,0,0
$GC,7839,0.96,210.5,351.9,7.0,332,7867,0.00,2.55,21.35,0.808,4,0.000,0.032,3220,3355,2141,0,0,0,0,0,0
$GC,7901,0.96,212.4,347.2,7.9,333,7905,0.00,2.55,0.00,0.000,6,0.000,0.040,3220,1829,2139,0,0,0,0,0,0
$GC,8164,0.99,235.2,329.0,7.0,340,8188,0.00,0.00,22.58,0.791,6,0.000,0.000,3220,1829,2042,0,0,0,0,0,0
$GC,8406,1.02,257.9,312.1,7.0,346,8434,0.00,2.53,21.23,0.773,4,0.000,0.033,3220,3361,1947,0,0,0,0,0,0
$GC,8499,1.08,257.9,305.2,8.0,348,8504,0.00,2.55,0.00,0.000,6,0.000,0.036,3220,1825,1945,0,0,0,0,0,0
$GC,8777,1.08,257.9,280.5,9.1,355,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1825,1943,0,0,0,0,0,0
$GC,9021,1.09,269.2,261.4,7.5,361,9037,0.00,2.80,10.60,0.690,4,0.000,0.071,3220,239,1901,0,0,0,0,0,0
$GC,9072,1.09,270.8,257.7,7.9,362,9076,0.00,2.45,0.00,0.000,6,0.000,0.025,3220,1801,1899,0,0,0,0,0,0
$GC,9344,1.14,307.6,240.4,6.3,369,9385,0.12,2.62,34.22,0.722,4,0.092,0.038,3252,3390,1745,0,0,0,0,0,0
$GC,9443,1.14,307.6,231.9,9.9,371,9447,0.00,2.58,0.00,0.000,6,0.000,0.040,3252,1834,1742,0,0,0,0,0,0
$GC,9716,1.14,307.6,203.4,10.8,378,9720,0.00,2.78,0.00,0.000,4,0.000,0.071,3252,241,1740,0,0,0,0,0,0
$GC,9748,1.07,307.6,199.1,12.9,378,9754,0.00,2.47,0.00,0.000,6,0.000,0.025,3252,1840,1739,0,0,0,0,0,0
$GC,10016,1.07,307.6,169.1,12.0,403,10020,0.00,2.45,0.00,0.000,4,0.000,0.034,3252,3387,1739,0,0,0,0,0,0
$GC,10032,1.07,307.6,166.3,12.0,404,10037,0.00,2.53,0.00,0.000,6,0.000,0.035,3252,1830,1738,0,0,0,0,0,0
$GC,10295,1.07,307.6,135.2,11.7,428,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1830,1738,0,0,0,0,0,0
$GC,10549,1.07,307.6,106.1,11.0,452,10554,0.00,2.72,0.00,0.000,4,0.000,0.065,3252,243,1738,0,0,0,0,0,0
$GC,10578,1.07,307.6,102.8,12.1,454,10582,0.00,2.47,0.00,0.000,6,0.000,0.020,3252,1854,1738,0,0,0,0,0,0
$GC,10842,1.09,328.1,80.3,7.1,478,10862,0.00,0.00,17.95,0.565,6,0.000,0.000,3252,1857,1662,0,0,0,0,0,0
$GC,11120,1.16,328.1,58.3,8.1,504,11125,0.00,2.75,0.00,0.000,4,0.000,0.058,3252,242,1660,0,0,0,0,0,0
$GC,11155,1.21,328.1,55.1,9.8,506,11159,0.00,2.42,0.00,0.000,6,0.000,0.018,3252,1831,1659,0,0,0,0,0,0
$GC,11422,1.36,404.7,34.4,4.5,530,11493,0.17,2.50,65.07,0.539,4,0.062,0.028,3304,3387,1351,0,0,0,0,0,0
$GC,11508,1.36,404.7,24.7,12.2,537,11517,0.00,2.60,0.00,0.000,6,0.000,0.038,3304,1827,1349,0,0,0,0,0,0
$STATE,11667,end climb,SURFACE_DEPTH_REACHED
$STATE,11668,begin surface coast
$FINISH,0.5,1.018779
$STATE,11712,end surface coast,CONTROL_FINISHED_OK
$STATE,11712,begin surface
$SM_CCo,11735,19.00,0.223,1,0,1287,420.20
$SM_GC,0.91,0.00,0.00,19.00,0.000,0.000,0.223,474,1756,1287,-11.62,-0.37,420.20
$IRIDIUM_FIX,2246.36,-15756.28,291199,090907
$TT8_MAMPS,0.026078
$HUMID,45.55
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.20
$XPDR_PINGS,50
$24V_AH,23.6,21.569
$10V_AH,10.4,21.214
$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,26.300,123.450,452.275,19.000,0.000,59.442,61.374,250.566,12.500,0.000,15.256,1117.804,7996.609,532.395,2016.344,678.101,33.369,1298.184,0.000,2024.442,0.000,0.535,0.000
$DEVICE_MAMPS,196.352,108.147,925.769,223.197,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.342,325.800,422.563,775.803,1174.317,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,44731,566
$CAP_FILE_SIZE,116092,0
$CFSIZE,260165632,174563328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040910,130401,2257.129,-15755.648,37,1.8,37,10.1