version: 66.06
glider: 146
mission: 5
dive: 138
start: 9 4 110 13 11 8
data:
$ID,146
$MISSION,5
$DIVE,138
$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,-250077.89
$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,29
$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
$GPS1,130401,2257.129,-15755.648,37,1.8,37,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.2
$GPS2,131013,2257.134,-15755.722,10,1.5,27,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,0.063
$KALMAN_X,-134359.2,-221.9,-147.3,160349.1,-1621.0
$KALMAN_Y,-2287.7,-389.3,-85.6,144538.2,494.5
$MHEAD_RNG_PITCHd_Wd,63.2,2022,-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,16,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-86.47,0.000,6,0.000,0.000,474,1755,3478,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.1,-5.4,11,124,11.55,2.50,0.00,0.000,4,0.141,0.021,2742,3343,3480,0,0,0,0,0,0
$GC,149,-0.15,-116.8,20.7,-38.4,16,159,0.93,2.60,0.00,0.000,6,0.065,0.042,2960,1780,3481,0,0,0,0,0,0
$GC,454,-0.48,-116.8,34.3,-4.1,53,460,0.25,2.70,0.00,0.000,4,0.044,0.065,2878,182,3481,0,0,0,0,0,0
$GC,477,-0.74,-116.8,35.7,-4.8,54,482,0.17,2.40,0.00,0.000,6,0.053,0.016,2818,1787,3481,0,0,0,0,0,0
$GC,746,-0.74,-116.8,64.6,-11.2,78,750,0.00,2.38,0.00,0.000,4,0.000,0.022,2818,3320,3481,0,0,0,0,0,0
$GC,767,-0.74,-116.8,67.4,-10.9,79,772,0.00,2.53,0.00,0.000,6,0.000,0.029,2818,1753,3482,0,0,0,0,0,0
$GC,1034,-0.79,-116.8,93.9,-9.9,103,1038,0.00,2.65,0.00,0.000,4,0.000,0.061,2818,197,3482,0,0,0,0,0,0
$GC,1068,-0.83,-116.8,97.3,-10.5,105,1073,0.00,2.35,0.00,0.000,6,0.000,0.017,2818,1777,3483,0,0,0,0,0,0
$GC,1335,-0.91,-116.8,117.5,-7.0,129,1339,0.00,2.70,0.00,0.000,4,0.000,0.063,2818,196,3483,0,0,0,0,0,0
$GC,1369,-0.98,-116.8,119.9,-6.9,131,1374,0.12,2.33,0.00,0.000,6,0.072,0.015,2771,1766,3483,0,0,0,0,0,0
$GC,1633,-0.98,-116.8,143.6,-9.4,155,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1767,3483,0,0,0,0,0,0
$GC,1895,-0.98,-116.8,167.8,-9.2,180,1899,0.00,2.40,0.00,0.000,4,0.000,0.025,2770,3309,3484,0,0,0,0,0,0
$GC,1936,-1.01,-116.8,171.8,-9.3,183,1940,0.00,2.50,0.00,0.000,6,0.000,0.031,2770,1755,3483,0,0,0,0,0,0
$GC,2198,-1.01,-116.8,195.9,-10.0,207,2203,0.00,2.67,0.00,0.000,4,0.000,0.070,2770,197,3483,0,0,0,0,0,0
$GC,2222,-1.01,-116.8,198.5,-10.0,208,2228,0.00,2.33,0.00,0.000,6,0.000,0.022,2770,1763,3483,0,0,0,0,0,0
$GC,2483,-1.01,-116.8,220.8,-8.4,216,2487,0.00,2.42,0.00,0.000,4,0.000,0.029,2770,3311,3484,0,0,0,0,0,0
$GC,2504,-1.01,-116.8,222.7,-8.6,216,2508,0.00,2.47,0.00,0.000,6,0.000,0.033,2770,1765,3484,0,0,0,0,0,0
$GC,2760,-1.01,-116.8,246.5,-9.8,223,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1765,3483,0,0,0,0,0,0
$GC,3002,-1.01,-116.8,270.7,-9.9,229,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1762,3483,0,0,0,0,0,0
$GC,3247,-1.05,-116.8,291.3,-8.0,235,3251,0.00,2.72,0.00,0.000,4,0.000,0.077,2770,197,3483,0,0,0,0,0,0
$GC,3288,-1.05,-116.8,294.1,-7.5,236,3292,0.00,2.35,0.00,0.000,6,0.000,0.019,2771,1729,3483,0,0,0,0,0,0
$GC,3573,-1.10,-116.8,311.6,-5.8,243,3577,0.00,2.55,0.00,0.000,4,0.000,0.039,2770,3338,3482,0,0,0,0,0,0
$GC,3612,-1.20,-116.8,314.1,-6.2,244,3618,0.15,2.53,0.00,0.000,6,0.066,0.035,2722,1770,3482,0,0,0,0,0,0
$GC,3898,-1.16,-116.8,338.9,-9.2,251,3903,0.12,2.53,0.00,0.000,4,0.111,0.036,2749,3335,3481,0,0,0,0,0,0
$GC,3937,-1.21,-116.8,342.8,-9.2,252,3942,0.00,2.58,0.00,0.000,6,0.000,0.043,2750,1771,3481,0,0,0,0,0,0
$GC,4221,-1.21,-116.8,367.7,-8.9,259,4225,0.00,2.83,0.00,0.000,4,0.000,0.097,2749,189,3481,0,0,0,0,0,0
$GC,4254,-1.21,-116.8,370.8,-9.2,259,4260,0.00,2.45,0.00,0.000,6,0.000,0.031,2749,1756,3481,0,0,0,0,0,0
$GC,4505,-1.25,-116.8,390.6,-7.5,266,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1756,3479,0,0,0,0,0,0
$GC,4748,-1.29,-116.8,407.3,-6.6,272,4754,0.12,2.65,0.00,0.000,4,0.074,0.055,2708,3351,3478,0,0,0,0,0,0
$GC,4782,-1.29,-116.8,410.0,-8.0,272,4788,0.00,2.67,0.00,0.000,6,0.000,0.054,2708,1776,3478,0,0,0,0,0,0
$GC,5033,-1.25,-116.8,430.1,-8.0,279,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1776,3476,0,0,0,0,0,0
$GC,5276,-1.22,-116.8,451.7,-9.0,285,5278,0.12,0.00,0.00,0.000,6,0.111,0.000,2734,1776,3475,0,0,0,0,0,0
$GC,5521,-1.22,-116.8,471.4,-7.9,291,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1776,3473,0,0,0,0,0,0
$GC,5764,-1.22,-116.8,490.1,-7.5,297,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1776,3471,0,0,0,0,0,0
$STATE,5923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5923,begin apogee
$GC,5930,-0.31,0.0,501.8,7.2,301,6029,0.88,0.00,95.85,0.921,6,0.074,0.000,2933,1840,3001,0,0,0,0,0,0
$STATE,6030,end apogee,CONTROL_FINISHED_OK
$STATE,6030,begin climb
$GC,6033,1.15,116.8,503.9,0.0,303,6138,1.35,0.00,100.78,0.894,6,0.053,0.000,3261,1840,2523,0,0,0,0,0,0
$GC,6370,1.06,167.1,492.0,5.7,312,6420,0.15,2.70,43.12,0.879,4,0.117,0.054,3230,3375,2318,0,0,0,0,0,0
$GC,6446,1.04,199.1,487.7,6.5,313,6480,0.00,2.70,28.62,0.855,6,0.000,0.060,3231,1821,2190,0,0,0,0,0,0
$GC,6744,0.97,199.1,463.4,8.4,321,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1821,2182,0,0,0,0,0,0
$GC,6986,0.91,199.1,439.7,9.9,327,6991,0.15,2.60,0.00,0.000,4,0.116,0.044,3200,3396,2179,0,0,0,0,0,0
$GC,7032,0.95,199.1,435.5,9.1,328,7036,0.00,2.65,0.00,0.000,6,0.000,0.053,3200,1828,2179,0,0,0,0,0,0
$GC,7309,0.96,206.0,413.7,7.7,335,7320,0.00,2.60,5.57,0.666,4,0.000,0.036,3200,3398,2161,0,0,0,0,0,0
$GC,7332,0.98,218.5,411.9,7.4,335,7352,0.00,2.65,12.85,0.800,6,0.000,0.046,3200,1827,2109,0,0,0,0,0,0
$GC,7639,0.99,231.3,390.0,7.4,343,7659,0.00,2.65,12.15,0.793,4,0.000,0.039,3200,3393,2058,0,0,0,0,0,0
$GC,7722,1.06,238.6,383.3,7.7,344,7736,0.15,2.62,7.88,0.729,6,0.076,0.044,3239,1835,2029,0,0,0,0,0,0
$GC,8018,1.02,238.6,356.7,8.9,352,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1835,2025,0,0,0,0,0,0
$GC,8258,1.02,238.6,336.2,8.3,358,8263,0.00,2.55,0.00,0.000,4,0.000,0.038,3238,3394,2024,0,0,0,0,0,0
$GC,8304,1.02,238.6,332.4,8.3,359,8308,0.00,2.58,0.00,0.000,6,0.000,0.043,3239,1838,2023,0,0,0,0,0,0
$GC,8581,1.04,248.5,310.5,7.6,366,8596,0.00,2.55,9.43,0.723,4,0.000,0.032,3238,3394,1988,0,0,0,0,0,0
$GC,8646,1.05,260.1,305.5,7.5,367,8666,0.00,2.53,12.23,0.739,6,0.000,0.036,3238,1849,1939,0,0,0,0,0,0
$GC,8952,1.05,260.1,276.1,10.1,375,8956,0.00,2.80,0.00,0.000,4,0.000,0.073,3238,239,1936,0,0,0,0,0,0
$GC,8979,0.99,260.1,272.8,11.7,375,8984,0.12,2.55,0.00,0.000,6,0.120,0.023,3216,1860,1934,0,0,0,0,0,0
$GC,9230,1.03,260.1,248.2,9.9,381,9235,0.00,2.80,0.00,0.000,4,0.000,0.071,3214,241,1934,0,0,0,0,0,0
$GC,9257,1.03,260.1,245.2,10.8,381,9261,0.00,2.50,0.00,0.000,6,0.000,0.021,3214,1856,1933,0,0,0,0,0,0
$GC,9507,1.09,276.6,225.5,7.2,387,9527,0.10,0.00,15.20,0.689,6,0.097,0.000,3242,1857,1871,0,0,0,0,0,0
$GC,9796,1.09,276.6,200.3,9.2,394,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1857,1870,0,0,0,0,0,0
$GC,10051,1.09,276.6,176.8,8.9,415,10056,0.00,2.42,0.00,0.000,4,0.000,0.035,3242,3393,1869,0,0,0,0,0,0
$GC,10080,1.09,276.6,173.9,8.7,417,10084,0.00,2.55,0.00,0.000,6,0.000,0.034,3242,1814,1868,0,0,0,0,0,0
$GC,10343,1.09,276.6,151.7,8.0,441,10348,0.00,2.53,0.00,0.000,4,0.000,0.032,3242,3399,1868,0,0,0,0,0,0
$GC,10377,1.13,276.6,148.7,8.1,443,10383,0.00,2.55,0.00,0.000,6,0.000,0.038,3242,1826,1868,0,0,0,0,0,0
$GC,10641,1.13,276.6,128.0,8.3,468,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1826,1868,0,0,0,0,0,0
$GC,10893,1.17,276.6,106.3,8.7,492,10898,0.00,2.72,0.00,0.000,4,0.000,0.064,3242,235,1868,0,0,0,0,0,0
$GC,10926,1.17,276.6,103.0,10.0,494,10936,0.00,2.47,0.00,0.000,6,0.000,0.018,3242,1829,1867,0,0,0,0,0,0
$GC,11195,1.22,276.6,82.2,8.8,519,11200,0.10,2.45,0.00,0.000,4,0.087,0.034,3273,3386,1868,0,0,0,0,0,0
$GC,11228,1.26,276.6,78.8,10.4,521,11232,0.00,2.50,0.00,0.000,6,0.000,0.031,3273,1825,1868,0,0,0,0,0,0
$GC,11496,1.26,276.6,56.2,8.1,545,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1825,1868,0,0,0,0,0,0
$GC,11760,1.26,276.6,32.8,8.9,570,11765,0.00,2.47,0.00,0.000,4,0.000,0.025,3273,3390,1868,0,0,0,0,0,0
$GC,11795,1.30,276.6,29.4,10.4,572,11805,0.00,2.53,0.00,0.000,6,0.000,0.031,3273,1840,1869,0,0,0,0,0,0
$STATE,12060,end climb,SURFACE_DEPTH_REACHED
$STATE,12060,begin surface coast
$FINISH,0.3,1.010256
$STATE,12137,end surface coast,CONTROL_FINISHED_OK
$STATE,12137,begin surface
$SM_CCo,12159,122.38,0.471,1,0,1288,420.20
$SM_GC,1.02,0.00,0.00,122.38,0.000,0.000,0.471,477,1741,1288,-11.61,-0.82,420.20
$IRIDIUM_FIX,2248.70,-15757.57,291199,090928
$TT8_MAMPS,0.026078
$HUMID,42.83
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.60
$XPDR_PINGS,50
$24V_AH,23.6,21.683
$10V_AH,10.4,21.353
$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,27.775,133.175,343.675,122.375,0.000,30.169,27.411,157.015,12.500,0.000,29.261,1227.030,8004.135,576.998,2310.572,540.779,33.373,1349.010,0.000,2310.320,0.000,0.536,0.000
$DEVICE_MAMPS,141.128,121.186,921.167,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,420.674,370.168,484.731,949.102,1434.049,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,47855,621
$CAP_FILE_SIZE,121510,0
$CFSIZE,260165632,174489600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040910,163707,2257.845,-15755.356,30,1.3,30,10.1