version: 66.06
glider: 146
mission: 5
dive: 143
start: 9 5 110 6 30 5
data:
$ID,146
$MISSION,5
$DIVE,143
$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,-250170.39
$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,43
$R_STBD_OVSHOOT,49
$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
$GPS1,062306,2256.359,-15753.416,56,1.1,56,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.1
$GPS2,062908,2256.350,-15753.453,13,1.5,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,0.053
$KALMAN_X,-144433.4,399.7,173.1,173379.2,-2340.2
$KALMAN_Y,-2527.3,144.7,336.5,142368.8,-867.8
$MHEAD_RNG_PITCHd_Wd,65.8,23823,-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,-85.80,0.000,6,0.000,0.000,476,1747,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.5,-6.3,11,124,11.50,2.53,0.00,0.000,4,0.140,0.028,2741,3354,3481,0,0,0,0,0,0
$GC,149,-0.16,-116.8,21.4,-38.2,16,159,0.95,2.58,0.00,0.000,6,0.072,0.032,2962,1786,3482,0,0,0,0,0,0
$GC,452,-0.74,-116.8,41.7,-8.4,51,458,0.47,2.67,0.00,0.000,4,0.044,0.057,2832,192,3482,0,0,0,0,0,0
$GC,501,-0.88,-116.8,46.9,-9.5,54,511,0.08,2.40,0.00,0.000,6,0.043,0.016,2793,1799,3482,0,0,0,0,0,0
$GC,768,-0.88,-116.8,77.5,-11.0,79,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1799,3482,0,0,0,0,0,0
$GC,1028,-0.88,-116.8,104.4,-10.0,104,1033,0.00,2.72,0.00,0.000,4,0.000,0.060,2793,192,3483,0,0,0,0,0,0
$GC,1057,-0.88,-116.8,107.3,-10.7,106,1061,0.00,2.25,0.00,0.000,6,0.000,0.015,2793,1720,3483,0,0,0,0,0,0
$GC,1320,-0.88,-116.8,133.0,-9.1,130,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1721,3483,0,0,0,0,0,0
$GC,1577,-0.92,-116.8,156.2,-8.6,154,1582,0.00,2.45,0.00,0.000,4,0.000,0.031,2793,3304,3484,0,0,0,0,0,0
$GC,1612,-1.00,-116.8,159.8,-9.2,156,1621,0.00,2.55,0.00,0.000,6,0.000,0.033,2793,1730,3484,0,0,0,0,0,0
$GC,1878,-1.05,-116.8,181.7,-7.9,181,1884,0.10,0.00,0.00,0.000,6,0.085,0.000,2759,1730,3484,0,0,0,0,0,0
$GC,2147,-1.05,-116.8,208.4,-10.2,201,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1728,3484,0,0,0,0,0,0
$GC,2389,-1.05,-116.8,232.6,-9.7,207,2394,0.00,2.50,0.00,0.000,4,0.000,0.028,2759,3307,3484,0,0,0,0,0,0
$GC,2429,-1.05,-116.8,236.3,-9.3,208,2433,0.00,2.53,0.00,0.000,6,0.000,0.037,2759,1735,3484,0,0,0,0,0,0
$GC,2713,-1.05,-116.8,259.2,-7.6,215,2718,0.00,2.65,0.00,0.000,4,0.000,0.077,2758,188,3484,0,0,0,0,0,0
$GC,2735,-1.05,-116.8,261.0,-7.9,215,2739,0.00,2.28,0.00,0.000,6,0.000,0.018,2758,1711,3484,0,0,0,0,0,0
$GC,2990,-1.05,-116.8,281.7,-8.2,222,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1712,3484,0,0,0,0,0,0
$GC,3234,-1.05,-116.8,302.8,-8.8,228,3238,0.00,2.53,0.00,0.000,4,0.000,0.038,2759,3308,3483,0,0,0,0,0,0
$GC,3262,-1.10,-116.8,305.4,-9.6,228,3266,0.00,2.53,0.00,0.000,6,0.000,0.033,2758,1732,3483,0,0,0,0,0,0
$GC,3511,-1.10,-116.8,327.7,-8.8,234,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1732,3483,0,0,0,0,0,0
$GC,3755,-1.10,-116.8,347.2,-7.7,240,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1732,3482,0,0,0,0,0,0
$GC,4001,-1.15,-116.8,365.0,-7.4,246,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1732,3481,0,0,0,0,0,0
$GC,4243,-1.20,-116.8,382.5,-7.3,252,4248,0.00,2.55,0.00,0.000,4,0.000,0.045,2758,3295,3480,0,0,0,0,0,0
$GC,4285,-1.27,-116.8,385.7,-7.9,253,4290,0.15,2.60,0.00,0.000,6,0.064,0.050,2708,1746,3480,0,0,0,0,0,0
$GC,4570,-1.22,-116.8,412.5,-9.4,260,4575,0.10,2.55,0.00,0.000,4,0.120,0.045,2730,3293,3478,0,0,0,0,0,0
$GC,4610,-1.22,-116.8,416.2,-8.6,261,4614,0.00,2.62,0.00,0.000,6,0.000,0.056,2731,1745,3478,0,0,0,0,0,0
$GC,4892,-1.22,-116.8,439.8,-8.1,268,4897,0.00,2.88,0.00,0.000,4,0.000,0.106,2731,182,3477,0,0,0,0,0,0
$GC,4926,-1.22,-116.8,442.7,-8.9,268,4931,0.00,2.38,0.00,0.000,6,0.000,0.031,2731,1679,3476,0,0,0,0,0,0
$GC,5176,-1.22,-116.8,462.2,-7.7,275,5180,0.00,2.75,0.00,0.000,4,0.000,0.066,2731,3296,3474,0,0,0,0,0,0
$GC,5237,-1.26,-116.8,466.6,-7.3,276,5241,0.00,2.62,0.00,0.000,6,0.000,0.058,2731,1756,3474,0,0,0,0,0,0
$GC,5499,-1.26,-116.8,485.1,-7.3,283,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1755,3472,0,0,0,0,0,0
$STATE,5698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5698,begin apogee
$GC,5703,-0.31,0.0,500.0,7.3,288,5803,0.88,0.00,96.25,0.917,6,0.076,0.000,2929,1755,3001,0,0,0,0,0,0
$STATE,5804,end apogee,CONTROL_FINISHED_OK
$STATE,5804,begin climb
$GC,5806,1.15,116.8,501.5,0.0,290,5920,1.35,2.97,100.45,0.893,4,0.054,0.107,3255,229,2522,0,0,0,0,0,0
$GC,5932,1.02,169.5,498.9,5.6,293,5987,0.17,2.53,46.08,0.870,6,0.122,0.036,3222,1759,2310,0,0,0,0,0,0
$GC,6260,0.97,178.7,473.8,7.6,301,6274,0.00,2.78,8.27,0.751,4,0.000,0.061,3222,3339,2272,0,0,0,0,0,0
$GC,6353,0.99,193.7,466.7,7.3,303,6372,0.00,2.60,14.38,0.818,6,0.000,0.054,3222,1824,2211,0,0,0,0,0,0
$GC,6636,0.98,225.7,447.7,6.5,310,6670,0.00,2.58,29.02,0.858,4,0.000,0.042,3221,3351,2080,0,0,0,0,0,0
$GC,6710,0.98,225.7,441.9,8.2,311,6715,0.00,2.60,0.00,0.000,6,0.000,0.051,3222,1832,2076,0,0,0,0,0,0
$GC,6960,0.98,225.7,419.7,9.1,317,6965,0.00,2.92,0.00,0.000,4,0.000,0.095,3221,229,2073,0,0,0,0,0,0
$GC,6983,0.91,225.7,417.4,10.6,317,6988,0.10,2.47,0.00,0.000,6,0.134,0.024,3201,1785,2072,0,0,0,0,0,0
$GC,7238,0.91,225.7,394.3,8.9,324,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1785,2071,0,0,0,0,0,0
$GC,7482,0.93,240.0,375.9,7.4,330,7501,0.00,2.67,12.38,0.786,4,0.000,0.037,3201,3390,2021,0,0,0,0,0,0
$GC,7543,1.00,244.4,371.5,7.8,331,7554,0.00,2.62,5.53,0.645,6,0.000,0.046,3201,1823,2004,0,0,0,0,0,0
$GC,7810,1.02,261.9,351.9,7.2,338,7829,0.00,0.00,17.12,0.796,6,0.000,0.000,3201,1823,1932,0,0,0,0,0,0
$GC,8055,1.07,261.9,332.5,8.2,344,8057,0.15,0.00,0.00,0.000,6,0.100,0.000,3240,1823,1929,0,0,0,0,0,0
$GC,8297,1.07,261.9,306.5,10.9,350,8301,0.00,2.53,0.00,0.000,4,0.000,0.032,3240,3404,1928,0,0,0,0,0,0
$GC,8329,1.07,261.9,302.7,12.1,350,8335,0.00,2.58,0.00,0.000,6,0.000,0.037,3240,1834,1926,0,0,0,0,0,0
$GC,8579,1.07,261.9,275.2,10.7,357,8584,0.00,2.53,0.00,0.000,4,0.000,0.036,3240,3406,1926,0,0,0,0,0,0
$GC,8608,1.07,261.9,272.2,10.4,357,8612,0.00,2.55,0.00,0.000,6,0.000,0.036,3240,1843,1925,0,0,0,0,0,0
$GC,8857,1.07,261.9,248.5,9.2,363,8862,0.00,2.75,0.00,0.000,4,0.000,0.071,3240,242,1925,0,0,0,0,0,0
$GC,8879,1.02,261.9,246.3,9.7,363,8883,0.00,2.53,0.00,0.000,6,0.000,0.025,3240,1861,1924,0,0,0,0,0,0
$GC,9135,1.02,261.9,223.0,9.1,370,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1863,1924,0,0,0,0,0,0
$GC,9377,1.02,261.9,200.1,9.5,376,9381,0.00,2.42,0.00,0.000,4,0.000,0.031,3240,3396,1924,0,0,0,0,0,0
$GC,9428,1.07,261.9,195.1,10.3,378,9432,0.00,2.53,0.00,0.000,6,0.000,0.037,3240,1827,1924,0,0,0,0,0,0
$GC,9691,1.07,261.9,169.5,9.6,402,9696,0.00,2.47,0.00,0.000,4,0.000,0.035,3240,3391,1923,0,0,0,0,0,0
$GC,9714,1.07,261.9,167.0,9.4,403,9720,0.00,2.50,0.00,0.000,6,0.000,0.033,3240,1832,1923,0,0,0,0,0,0
$GC,9978,1.07,261.9,143.7,8.3,428,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1832,1923,0,0,0,0,0,0
$GC,10229,1.07,261.9,122.6,9.0,452,10234,0.00,2.47,0.00,0.000,4,0.000,0.028,3240,3398,1924,0,0,0,0,0,0
$GC,10250,1.11,261.9,121.0,9.5,453,10255,0.00,2.50,0.00,0.000,6,0.000,0.038,3240,1833,1923,0,0,0,0,0,0
$GC,10519,1.16,267.7,101.0,7.7,477,10526,0.00,0.00,5.43,0.473,6,0.000,0.000,3240,1833,1908,0,0,0,0,0,0
$GC,10785,1.21,267.7,77.4,9.1,502,10795,0.10,0.00,0.00,0.000,6,0.095,0.000,3270,1833,1908,0,0,0,0,0,0
$GC,11053,1.21,268.9,53.0,8.0,527,11058,0.00,2.70,0.00,0.000,4,0.000,0.059,3270,242,1908,0,0,0,0,0,0
$GC,11085,1.21,268.9,50.0,9.0,529,11090,0.00,2.47,0.00,0.000,6,0.000,0.018,3270,1862,1908,0,0,0,0,0,0
$GC,11359,1.21,269.2,28.1,8.0,555,11369,0.00,2.40,0.00,0.000,4,0.000,0.033,3270,3380,1908,0,0,0,0,0,0
$GC,11393,1.25,299.1,25.6,6.6,559,11428,0.00,2.50,28.70,0.525,6,0.000,0.031,3270,1843,1780,0,0,0,0,0,0
$STATE,11662,end climb,SURFACE_DEPTH_REACHED
$STATE,11663,begin surface coast
$FINISH,0.2,1.010375
$STATE,11725,end surface coast,CONTROL_FINISHED_OK
$STATE,11725,begin surface
$SM_CCo,11746,103.97,0.463,1,0,1288,420.20
$SM_GC,0.86,0.00,0.00,103.97,0.000,0.000,0.463,474,1700,1288,-11.62,-1.98,420.20
$IRIDIUM_FIX,2246.36,-15756.28,301199,030300
$TT8_MAMPS,0.026078
$HUMID,43.03
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.60
$XPDR_PINGS,48
$24V_AH,23.6,22.264
$10V_AH,10.4,22.006
$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,27.475,123.375,363.600,103.975,0.000,25.575,29.467,167.273,12.000,0.000,15.215,1183.865,7730.035,535.842,2230.423,539.562,33.400,1322.781,0.000,2246.300,0.000,0.536,0.000
$DEVICE_MAMPS,139.594,107.380,916.565,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,410.892,372.536,476.742,937.859,1413.649,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,47885,607
$CAP_FILE_SIZE,115096,0
$CFSIZE,260165632,174190592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050910,094852,2256.070,-15752.991,10,2.2,29,10.1