version: 66.06
glider: 146
mission: 5
dive: 139
start: 9 4 110 16 44 17
data:
$ID,146
$MISSION,5
$DIVE,139
$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,-250094.73
$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,51
$R_STBD_OVSHOOT,60
$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
$GPS1,163707,2257.845,-15755.356,30,1.3,30,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.7
$GPS2,164320,2257.852,-15755.391,14,1.5,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.054
$KALMAN_X,-136449.0,-428.8,111.4,162957.0,-1863.2
$KALMAN_Y,-2180.1,-308.7,273.4,145320.4,125.6
$MHEAD_RNG_PITCHd_Wd,94.3,28129,-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,-116.8,0.0,0.0,0,103,0.00,0.00,-85.70,0.000,6,0.000,0.000,476,1741,3478,0,0,0,0,0,0
$GC,106,-1.15,-116.8,4.3,-5.9,11,124,11.62,2.58,0.00,0.000,4,0.143,0.049,2743,216,3480,0,0,0,0,0,0
$GC,155,-0.33,-116.8,22.2,-36.9,17,164,0.77,2.40,0.00,0.000,6,0.078,0.017,2920,1771,3481,0,0,0,0,0,0
$GC,440,-0.57,-116.8,40.8,-4.4,48,449,0.20,0.00,0.00,0.000,6,0.051,0.000,2853,1773,3481,0,0,0,0,0,0
$GC,705,-0.64,-116.8,63.2,-10.1,73,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1773,3481,0,0,0,0,0,0
$GC,968,-0.74,-116.8,85.8,-7.4,98,972,0.00,2.65,0.00,0.000,4,0.000,0.057,2853,217,3482,0,0,0,0,0,0
$GC,1014,-0.89,-116.8,89.1,-7.7,101,1019,0.20,2.38,0.00,0.000,6,0.054,0.016,2788,1790,3481,0,0,0,0,0,0
$GC,1279,-0.89,-116.8,112.1,-9.9,125,1284,0.00,2.38,0.00,0.000,4,0.000,0.025,2787,3328,3483,0,0,0,0,0,0
$GC,1320,-0.96,-116.8,116.7,-9.7,128,1325,0.00,2.45,0.00,0.000,6,0.000,0.034,2787,1785,3483,0,0,0,0,0,0
$GC,1583,-1.00,-116.8,144.5,-10.3,152,1588,0.00,2.70,0.00,0.000,4,0.000,0.063,2787,197,3483,0,0,0,0,0,0
$GC,1652,-1.05,-116.8,151.6,-10.6,157,1656,0.00,2.38,0.00,0.000,6,0.000,0.022,2787,1780,3483,0,0,0,0,0,0
$GC,1919,-1.09,-116.8,174.5,-6.3,181,1924,0.12,2.40,0.00,0.000,4,0.070,0.027,2741,3314,3483,0,0,0,0,0,0
$GC,1950,-1.09,-116.8,177.0,-7.9,183,1955,0.00,2.47,0.00,0.000,6,0.000,0.035,2741,1768,3483,0,0,0,0,0,0
$GC,2213,-1.04,-116.8,199.3,-9.0,207,2215,0.15,0.00,0.00,0.000,6,0.101,0.000,2773,1768,3484,0,0,0,0,0,0
$GC,2466,-1.04,-116.8,222.5,-9.6,214,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1768,3483,0,0,0,0,0,0
$GC,2708,-1.04,-116.8,246.2,-9.5,220,2713,0.00,2.70,0.00,0.000,4,0.000,0.073,2773,199,3483,0,0,0,0,0,0
$GC,2735,-1.04,-116.8,248.9,-10.1,220,2739,0.00,2.35,0.00,0.000,6,0.000,0.022,2773,1756,3483,0,0,0,0,0,0
$GC,2991,-1.07,-116.8,267.3,-6.9,227,2996,0.00,2.47,0.00,0.000,4,0.000,0.035,2773,3331,3483,0,0,0,0,0,0
$GC,3010,-1.12,-116.8,268.5,-6.8,227,3014,0.00,2.50,0.00,0.000,6,0.000,0.030,2773,1758,3483,0,0,0,0,0,0
$GC,3271,-1.16,-116.8,287.3,-7.3,234,3276,0.12,2.72,0.00,0.000,4,0.074,0.074,2732,189,3482,0,0,0,0,0,0
$GC,3316,-1.16,-116.8,291.9,-10.4,235,3320,0.00,2.38,0.00,0.000,6,0.000,0.022,2732,1745,3482,0,0,0,0,0,0
$GC,3593,-1.16,-116.8,322.1,-11.0,242,3598,0.00,2.55,0.00,0.000,4,0.000,0.037,2732,3345,3482,0,0,0,0,0,0
$GC,3620,-1.16,-116.8,325.1,-11.2,242,3625,0.00,2.58,0.00,0.000,6,0.000,0.043,2732,1771,3482,0,0,0,0,0,0
$GC,3872,-1.16,-116.8,349.0,-9.5,248,3876,0.00,2.53,0.00,0.000,4,0.000,0.039,2732,3343,3481,0,0,0,0,0,0
$GC,3911,-1.16,-116.8,352.3,-8.1,249,3915,0.00,2.58,0.00,0.000,6,0.000,0.045,2732,1775,3481,0,0,0,0,0,0
$GC,4194,-1.16,-116.8,374.4,-7.7,256,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1775,3480,0,0,0,0,0,0
$GC,4437,-1.16,-116.8,395.3,-8.7,262,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1775,3478,0,0,0,0,0,0
$GC,4682,-1.16,-116.8,416.2,-8.4,268,4686,0.00,2.55,0.00,0.000,4,0.000,0.048,2732,3333,3477,0,0,0,0,0,0
$GC,4721,-1.16,-116.8,419.5,-8.2,269,4726,0.00,2.65,0.00,0.000,6,0.000,0.062,2732,1780,3477,0,0,0,0,0,0
$GC,5004,-1.16,-116.8,441.2,-7.8,276,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1780,3475,0,0,0,0,0,0
$GC,5249,-1.16,-116.8,461.0,-8.2,282,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1780,3473,0,0,0,0,0,0
$GC,5491,-1.16,-116.8,481.7,-8.5,288,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1780,3471,0,0,0,0,0,0
$STATE,5733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5733,begin apogee
$GC,5738,-0.31,0.0,500.9,7.7,294,5837,0.88,0.00,95.85,0.917,6,0.077,0.000,2930,1780,3001,0,0,0,0,0,0
$STATE,5838,end apogee,CONTROL_FINISHED_OK
$STATE,5838,begin climb
$GC,5842,1.15,116.8,502.4,0.0,296,5954,1.33,2.85,100.00,0.890,4,0.057,0.061,3253,3376,2522,0,0,0,0,0,0
$GC,5960,1.06,160.0,500.8,6.0,298,6006,0.00,2.75,37.67,0.860,6,0.000,0.064,3252,1815,2347,0,0,0,0,0,0
$GC,6253,0.95,160.0,472.1,10.3,306,6258,0.22,2.62,0.00,0.000,4,0.126,0.041,3207,3381,2339,0,0,0,0,0,0
$GC,6269,0.87,160.0,470.3,9.6,306,6274,0.00,2.70,0.00,0.000,6,0.000,0.057,3207,1811,2339,0,0,0,0,0,0
$GC,6531,0.89,178.0,450.6,7.2,313,6548,0.00,0.00,15.52,0.822,6,0.000,0.000,3207,1811,2275,0,0,0,0,0,0
$GC,6775,0.91,196.5,433.3,7.2,319,6800,0.00,2.70,17.10,0.821,4,0.000,0.044,3207,3389,2199,0,0,0,0,0,0
$GC,6806,0.93,211.7,430.8,7.3,319,6826,0.00,2.67,15.20,0.803,6,0.000,0.052,3207,1814,2137,0,0,0,0,0,0
$GC,7100,0.93,211.7,406.0,8.7,327,7105,0.00,2.58,0.00,0.000,4,0.000,0.035,3207,3389,2130,0,0,0,0,0,0
$GC,7155,0.93,211.7,400.9,9.5,328,7160,0.00,2.62,0.00,0.000,6,0.000,0.048,3207,1827,2129,0,0,0,0,0,0
$GC,7422,0.93,211.7,378.0,8.6,335,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1827,2128,0,0,0,0,0,0
$GC,7667,0.95,228.5,359.8,7.2,341,7687,0.00,2.58,14.50,0.792,4,0.000,0.037,3207,3391,2069,0,0,0,0,0,0
$GC,7720,1.01,238.2,355.6,7.6,342,7736,0.00,2.62,9.93,0.744,6,0.000,0.044,3207,1827,2030,0,0,0,0,0,0
$GC,7986,1.02,245.7,335.6,7.7,349,7996,0.00,0.00,7.97,0.709,6,0.000,0.000,3207,1827,1999,0,0,0,0,0,0
$GC,8231,1.07,253.4,317.1,7.7,355,8246,0.10,2.60,8.15,0.701,4,0.091,0.034,3235,3389,1967,0,0,0,0,0,0
$GC,8309,1.07,253.4,309.8,10.0,356,8314,0.00,2.55,0.00,0.000,6,0.000,0.036,3235,1833,1966,0,0,0,0,0,0
$GC,8559,1.07,253.4,284.7,10.5,362,8563,0.00,2.78,0.00,0.000,4,0.000,0.075,3235,240,1964,0,0,0,0,0,0
$GC,8574,1.03,253.4,282.6,11.0,362,8579,0.00,2.53,0.00,0.000,6,0.000,0.025,3235,1848,1963,0,0,0,0,0,0
$GC,8835,1.03,253.4,255.6,10.2,369,8840,0.00,2.78,0.00,0.000,4,0.000,0.071,3235,237,1963,0,0,0,0,0,0
$GC,8851,1.03,253.4,253.9,9.7,369,8855,0.00,2.47,0.00,0.000,6,0.000,0.025,3235,1838,1962,0,0,0,0,0,0
$GC,9113,1.03,253.4,231.3,8.3,376,9117,0.00,2.45,0.00,0.000,4,0.000,0.037,3235,3390,1962,0,0,0,0,0,0
$GC,9174,1.08,253.4,225.9,8.4,377,9178,0.00,2.55,0.00,0.000,6,0.000,0.035,3235,1829,1962,0,0,0,0,0,0
$GC,9434,1.09,257.2,205.4,7.8,384,9444,0.00,2.78,4.05,0.470,4,0.000,0.071,3235,245,1952,0,0,0,0,0,0
$GC,9457,1.09,257.2,203.5,9.0,384,9461,0.00,2.47,0.00,0.000,6,0.000,0.019,3235,1842,1952,0,0,0,0,0,0
$GC,9717,1.09,257.2,179.8,9.2,405,9721,0.00,2.45,0.00,0.000,4,0.000,0.029,3235,3385,1952,0,0,0,0,0,0
$GC,9740,1.09,257.2,178.0,10.4,406,9744,0.00,2.50,0.00,0.000,6,0.000,0.036,3235,1826,1951,0,0,0,0,0,0
$GC,10006,1.09,257.2,153.0,8.8,430,10010,0.00,2.47,0.00,0.000,4,0.000,0.031,3235,3394,1951,0,0,0,0,0,0
$GC,10036,1.13,257.2,150.1,8.4,432,10040,0.00,2.50,0.00,0.000,6,0.000,0.037,3235,1835,1951,0,0,0,0,0,0
$GC,10300,1.16,282.7,130.4,6.8,456,10329,0.00,2.78,23.85,0.616,4,0.000,0.066,3235,236,1848,0,0,0,0,0,0
$GC,10353,1.16,282.7,125.6,9.3,460,10357,0.00,2.47,0.00,0.000,6,0.000,0.023,3235,1841,1846,0,0,0,0,0,0
$GC,10617,1.22,282.7,101.4,9.7,484,10627,0.12,0.00,0.00,0.000,6,0.075,0.000,3271,1842,1846,0,0,0,0,0,0
$GC,10882,1.22,282.7,74.5,8.5,509,10886,0.00,2.42,0.00,0.000,4,0.000,0.034,3271,3383,1846,0,0,0,0,0,0
$GC,10931,1.28,282.7,70.3,8.7,512,10935,0.00,2.53,0.00,0.000,6,0.000,0.033,3272,1831,1844,0,0,0,0,0,0
$GC,11197,1.28,282.7,49.1,8.0,536,11201,0.00,2.67,0.00,0.000,4,0.000,0.059,3271,241,1845,0,0,0,0,0,0
$GC,11218,1.29,296.8,47.4,7.4,537,11237,0.00,2.45,13.20,0.520,6,0.000,0.018,3271,1846,1791,0,0,0,0,0,0
$GC,11516,1.29,296.8,21.6,9.3,569,11525,0.00,2.42,0.00,0.000,4,0.000,0.027,3272,3370,1789,0,0,0,0,0,0
$GC,11550,1.29,296.8,18.6,8.7,573,11559,0.00,2.50,0.00,0.000,6,0.000,0.032,3271,1844,1788,0,0,0,0,0,0
$STATE,11726,end climb,SURFACE_DEPTH_REACHED
$STATE,11726,begin surface coast
$FINISH,0.4,1.022348
$STATE,11789,end surface coast,CONTROL_FINISHED_OK
$STATE,11789,begin surface
$SM_CCo,11811,110.18,0.466,1,0,1288,420.20
$SM_GC,0.88,0.00,0.00,110.18,0.000,0.000,0.466,473,1751,1288,-11.62,-0.54,420.20
$IRIDIUM_FIX,2248.70,-15758.45,291199,131303
$TT8_MAMPS,0.025311
$HUMID,42.99
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,51
$24V_AH,23.6,21.798
$10V_AH,10.4,21.489
$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,27.050,138.275,363.000,110.175,0.000,30.974,27.327,175.343,12.750,0.000,16.225,1205.764,7735.462,553.575,2261.817,544.744,33.373,1344.677,0.000,2269.566,0.000,0.536,0.000
$DEVICE_MAMPS,143.429,87.438,917.332,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.320,370.040,475.511,941.736,1424.568,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,47951,607
$CAP_FILE_SIZE,120176,0
$CFSIZE,260165632,174428160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040910,200425,2257.366,-15754.996,38,1.4,38,10.1