version: 66.06
glider: 146
mission: 5
dive: 141
start: 9 4 110 23 38 5
data:
$ID,146
$MISSION,5
$DIVE,141
$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,-250137.58
$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,39
$R_STBD_OVSHOOT,64
$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
$GPS1,233124,2256.868,-15754.512,24,1.9,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-69.0
$GPS2,233711,2256.856,-15754.574,14,2.0,23,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,-0.092
$KALMAN_X,-140437.9,-36.7,-166.3,168232.7,-1407.8
$KALMAN_Y,-2603.6,238.5,-356.6,143985.7,441.3
$MHEAD_RNG_PITCHd_Wd,105.0,25932,-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,-86.62,0.000,6,0.000,0.000,475,1748,3478,0,0,0,0,0,0
$GC,109,-1.15,-116.8,4.3,-5.9,11,126,11.50,2.58,0.00,0.000,4,0.139,0.048,2741,196,3480,0,0,0,0,0,0
$GC,184,-0.94,-116.8,26.9,-18.8,21,194,0.20,2.42,0.00,0.000,6,0.080,0.018,2790,1776,3481,0,0,0,0,0,0
$GC,461,-0.86,-116.8,61.7,-12.3,47,470,0.10,0.00,0.00,0.000,6,0.120,0.000,2812,1778,3481,0,0,0,0,0,0
$GC,725,-0.90,-116.8,91.2,-10.0,72,730,0.00,2.67,0.00,0.000,4,0.000,0.065,2812,205,3481,0,0,0,0,0,0
$GC,769,-0.96,-116.8,95.7,-10.0,75,773,0.00,2.35,0.00,0.000,6,0.000,0.015,2812,1764,3481,0,0,0,0,0,0
$GC,1037,-1.03,-116.8,115.5,-5.9,99,1042,0.15,2.45,0.00,0.000,4,0.064,0.030,2761,3314,3482,0,0,0,0,0,0
$GC,1093,-1.03,-116.8,120.1,-8.5,103,1098,0.00,2.47,0.00,0.000,6,0.000,0.036,2761,1775,3482,0,0,0,0,0,0
$GC,1360,-1.03,-116.8,147.1,-10.4,127,1365,0.00,2.67,0.00,0.000,4,0.000,0.069,2760,198,3482,0,0,0,0,0,0
$GC,1441,-1.03,-116.8,157.2,-12.4,133,1447,0.00,2.33,0.00,0.000,6,0.000,0.023,2761,1769,3482,0,0,0,0,0,0
$GC,1705,-1.03,-116.8,185.5,-10.2,158,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1770,3483,0,0,0,0,0,0
$GC,1972,-1.03,-116.8,212.1,-9.7,175,1976,0.00,2.72,0.00,0.000,4,0.000,0.071,2760,190,3482,0,0,0,0,0,0
$GC,1999,-1.03,-116.8,214.8,-9.8,175,2003,0.00,2.33,0.00,0.000,6,0.000,0.017,2761,1762,3483,0,0,0,0,0,0
$GC,2255,-1.03,-116.8,236.4,-8.1,182,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1766,3483,0,0,0,0,0,0
$GC,2498,-1.03,-116.8,257.0,-8.8,188,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1767,3482,0,0,0,0,0,0
$GC,2741,-1.03,-116.8,279.4,-9.1,194,2746,0.00,2.42,0.00,0.000,4,0.000,0.035,2761,3315,3482,0,0,0,0,0,0
$GC,2786,-1.09,-116.8,283.1,-8.4,195,2790,0.00,2.45,0.00,0.000,6,0.000,0.030,2761,1774,3482,0,0,0,0,0,0
$GC,3065,-1.09,-116.8,304.0,-7.2,202,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1774,3481,0,0,0,0,0,0
$GC,3307,-1.09,-116.8,321.1,-7.0,208,3312,0.00,2.78,0.00,0.000,4,0.000,0.082,2761,192,3481,0,0,0,0,0,0
$GC,3335,-1.09,-116.8,323.3,-7.9,208,3339,0.00,2.40,0.00,0.000,6,0.000,0.021,2761,1736,3481,0,0,0,0,0,0
$GC,3586,-1.13,-116.8,342.5,-8.0,214,3591,0.00,2.60,0.00,0.000,4,0.000,0.048,2760,3354,3480,0,0,0,0,0,0
$GC,3608,-1.18,-116.8,344.6,-8.5,214,3613,0.00,2.60,0.00,0.000,6,0.000,0.045,2761,1772,3480,0,0,0,0,0,0
$GC,3864,-1.23,-116.8,367.2,-9.1,221,3866,0.12,0.00,0.00,0.000,6,0.074,0.000,2717,1772,3480,0,0,0,0,0,0
$GC,4109,-1.23,-116.8,392.2,-10.0,227,4113,0.00,2.88,0.00,0.000,4,0.000,0.097,2717,189,3478,0,0,0,0,0,0
$GC,4124,-1.18,-116.8,393.9,-9.4,227,4130,0.12,2.45,0.00,0.000,6,0.108,0.028,2742,1750,3478,0,0,0,0,0,0
$GC,4386,-1.18,-116.8,413.0,-6.9,234,4390,0.00,2.67,0.00,0.000,4,0.000,0.052,2742,3360,3477,0,0,0,0,0,0
$GC,4408,-1.18,-116.8,414.6,-6.8,234,4413,0.00,2.65,0.00,0.000,6,0.000,0.054,2742,1774,3477,0,0,0,0,0,0
$GC,4663,-1.18,-116.8,431.7,-6.9,241,4668,0.00,2.58,0.00,0.000,4,0.000,0.044,2742,3356,3475,0,0,0,0,0,0
$GC,4708,-1.25,-116.8,435.3,-8.0,242,4713,0.00,2.67,0.00,0.000,6,0.000,0.059,2742,1785,3475,0,0,0,0,0,0
$GC,4987,-1.25,-116.8,458.1,-8.2,249,4991,0.00,2.58,0.00,0.000,4,0.000,0.045,2742,3357,3473,0,0,0,0,0,0
$GC,5019,-1.30,-116.8,461.0,-8.2,249,5026,0.12,2.67,0.00,0.000,6,0.074,0.064,2701,1794,3473,0,0,0,0,0,0
$GC,5269,-1.26,-116.8,483.6,-9.0,256,5271,0.10,0.00,0.00,0.000,6,0.123,0.000,2723,1794,3471,0,0,0,0,0,0
$STATE,5510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5510,begin apogee
$GC,5517,-0.31,0.0,501.5,7.1,262,5617,0.93,0.00,95.93,0.918,6,0.087,0.000,2934,1794,3001,0,0,0,0,0,0
$STATE,5617,end apogee,CONTROL_FINISHED_OK
$STATE,5617,begin climb
$GC,5620,1.15,116.8,502.5,0.0,264,5733,1.33,2.85,100.22,0.893,4,0.054,0.057,3259,3404,2522,0,0,0,0,0,0
$GC,5750,1.01,131.3,499.2,7.3,267,5770,0.17,2.78,13.23,0.799,6,0.114,0.061,3224,1820,2466,0,0,0,0,0,0
$GC,6033,0.94,134.8,477.1,7.9,274,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1820,2457,0,0,0,0,0,0
$GC,6275,0.95,191.9,463.1,5.4,280,6335,0.00,2.72,52.42,0.874,4,0.000,0.048,3224,3401,2217,0,0,0,0,0,0
$GC,6360,0.99,227.4,458.8,6.4,282,6401,0.00,2.72,31.88,0.849,6,0.000,0.060,3224,1816,2073,0,0,0,0,0,0
$GC,6647,0.99,228.5,437.1,8.0,289,6651,0.00,2.62,0.00,0.000,4,0.000,0.041,3224,3404,2066,0,0,0,0,0,0
$GC,6707,0.99,228.5,431.5,9.3,290,6712,0.00,2.70,0.00,0.000,6,0.000,0.050,3224,1819,2064,0,0,0,0,0,0
$GC,6968,0.99,228.5,407.6,9.2,297,6973,0.00,2.60,0.00,0.000,4,0.000,0.037,3224,3407,2062,0,0,0,0,0,0
$GC,7019,0.99,228.5,403.0,9.1,298,7024,0.00,2.67,0.00,0.000,6,0.000,0.051,3224,1824,2061,0,0,0,0,0,0
$GC,7292,1.00,233.8,381.1,7.8,305,7299,0.00,0.00,4.95,0.622,6,0.000,0.000,3224,1823,2047,0,0,0,0,0,0
$GC,7535,1.02,250.6,363.2,7.2,311,7559,0.00,2.67,16.50,0.798,4,0.000,0.036,3224,3408,1979,0,0,0,0,0,0
$GC,7578,1.02,250.6,359.7,8.2,312,7583,0.00,2.65,0.00,0.000,6,0.000,0.040,3224,1830,1977,0,0,0,0,0,0
$GC,7863,1.02,250.6,334.8,8.7,319,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1830,1975,0,0,0,0,0,0
$GC,8105,1.02,250.6,313.7,8.6,325,8109,0.00,2.55,0.00,0.000,4,0.000,0.038,3224,3408,1973,0,0,0,0,0,0
$GC,8138,1.02,250.6,310.9,8.8,325,8144,0.00,2.58,0.00,0.000,6,0.000,0.036,3224,1847,1972,0,0,0,0,0,0
$GC,8388,1.05,274.3,292.8,6.9,332,8417,0.00,2.88,21.85,0.760,4,0.000,0.077,3223,240,1880,0,0,0,0,0,0
$GC,8445,1.05,274.3,288.1,9.2,333,8450,0.00,2.58,0.00,0.000,6,0.000,0.025,3223,1870,1879,0,0,0,0,0,0
$GC,8714,1.05,274.3,266.2,8.4,340,8718,0.00,2.42,0.00,0.000,4,0.000,0.031,3224,3397,1877,0,0,0,0,0,0
$GC,8758,1.11,274.3,262.0,8.4,341,8762,0.00,2.50,0.00,0.000,6,0.000,0.036,3224,1847,1875,0,0,0,0,0,0
$GC,9037,1.11,274.3,236.4,9.5,348,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1847,1875,0,0,0,0,0,0
$GC,9279,1.11,274.3,213.3,9.4,354,9283,0.00,2.75,0.00,0.000,4,0.000,0.066,3224,243,1875,0,0,0,0,0,0
$GC,9311,1.11,274.3,210.1,10.2,354,9317,0.00,2.53,0.00,0.000,6,0.000,0.024,3223,1871,1874,0,0,0,0,0,0
$GC,9571,1.12,279.9,189.9,7.8,370,9578,0.00,0.00,5.18,0.520,6,0.000,0.000,3224,1872,1859,0,0,0,0,0,0
$GC,9835,1.16,279.9,169.4,8.5,395,9840,0.12,0.00,0.00,0.000,6,0.123,0.000,3260,1873,1859,0,0,0,0,0,0
$GC,10099,1.16,279.9,141.7,10.8,420,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1873,1859,0,0,0,0,0,0
$GC,10350,1.16,279.9,116.9,8.8,444,10355,0.00,2.78,0.00,0.000,4,0.000,0.061,3260,242,1858,0,0,0,0,0,0
$GC,10371,1.10,279.9,115.5,8.2,445,10375,0.00,2.47,0.00,0.000,6,0.000,0.020,3260,1870,1859,0,0,0,0,0,0
$GC,10639,1.15,318.9,97.1,6.2,469,10679,0.00,2.40,34.97,0.590,4,0.000,0.028,3260,3382,1699,0,0,0,0,0,0
$GC,10746,1.23,321.9,88.8,7.9,477,10755,0.00,2.50,4.03,0.387,6,0.000,0.033,3260,1848,1688,0,0,0,0,0,0
$GC,11021,1.23,321.9,64.9,9.3,503,11025,0.00,2.72,0.00,0.000,4,0.000,0.067,3260,236,1685,0,0,0,0,0,0
$GC,11091,1.23,321.9,57.1,11.3,508,11095,0.00,2.47,0.00,0.000,6,0.000,0.018,3260,1853,1685,0,0,0,0,0,0
$GC,11360,1.28,321.9,33.0,9.0,532,11364,0.00,2.40,0.00,0.000,4,0.000,0.027,3260,3387,1684,0,0,0,0,0,0
$GC,11383,1.35,321.9,30.4,8.5,533,11393,0.10,2.50,0.00,0.000,6,0.142,0.033,3300,1853,1684,0,0,0,0,0,0
$STATE,11642,end climb,SURFACE_DEPTH_REACHED
$STATE,11642,begin surface coast
$FINISH,0.2,1.023574
$STATE,11692,end surface coast,CONTROL_FINISHED_OK
$STATE,11692,begin surface
$SM_CCo,11713,85.97,0.453,1,0,1288,420.20
$SM_GC,0.98,0.00,0.00,85.97,0.000,0.000,0.453,471,1748,1288,-11.63,-0.59,420.20
$IRIDIUM_FIX,2246.36,-15756.28,291199,202016
$TT8_MAMPS,0.026078
$HUMID,43.38
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.50
$XPDR_PINGS,52
$24V_AH,23.6,22.027
$10V_AH,10.4,21.742
$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,26.425,129.550,381.150,85.975,0.000,22.726,23.803,155.735,13.000,0.000,24.535,1140.118,7855.750,538.119,2103.720,514.998,33.375,1307.332,0.000,2109.672,0.000,0.537,0.000
$DEVICE_MAMPS,141.895,96.642,918.099,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.450,337.381,439.058,814.923,1232.528,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,44710,577
$CAP_FILE_SIZE,115537,0
$CFSIZE,260165632,174317568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050910,025607,2256.537,-15754.048,36,1.2,36,10.1