version: 66.06
glider: 146
mission: 5
dive: 144
start: 9 5 110 9 57 0
data:
$ID,146
$MISSION,5
$DIVE,144
$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,-250204.83
$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,66
$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
$GPS1,094852,2256.070,-15752.991,10,2.2,29,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.1
$GPS2,095606,2255.984,-15753.059,16,1.3,32,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,0.007
$KALMAN_X,-146153.3,268.0,64.7,176018.1,-2408.0
$KALMAN_Y,-2881.7,-152.9,-345.5,143030.7,-293.9
$MHEAD_RNG_PITCHd_Wd,78.2,22884,-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,-85.70,0.000,6,0.000,0.000,474,1699,3479,0,0,0,0,0,0
$GC,106,-1.15,-116.8,4.3,-5.6,11,124,11.62,2.60,0.00,0.000,4,0.143,0.022,2740,3336,3481,0,0,0,0,0,0
$GC,195,-1.06,-116.8,28.3,-14.2,23,205,0.08,2.58,0.00,0.000,6,0.084,0.033,2762,1775,3482,0,0,0,0,0,0
$GC,473,-0.94,-116.8,67.0,-12.6,49,478,0.15,2.75,0.00,0.000,4,0.104,0.067,2794,187,3482,0,0,0,0,0,0
$GC,519,-0.94,-116.8,72.8,-11.0,52,523,0.00,2.40,0.00,0.000,6,0.000,0.015,2794,1784,3482,0,0,0,0,0,0
$GC,783,-0.94,-116.8,98.0,-9.8,76,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1785,3482,0,0,0,0,0,0
$GC,1034,-0.94,-116.8,123.6,-11.2,100,1039,0.00,2.72,0.00,0.000,4,0.000,0.067,2794,188,3483,0,0,0,0,0,0
$GC,1091,-0.97,-116.8,129.8,-9.9,104,1100,0.00,2.38,0.00,0.000,6,0.000,0.018,2794,1753,3483,0,0,0,0,0,0
$GC,1355,-1.02,-116.8,152.0,-7.4,129,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1755,3483,0,0,0,0,0,0
$GC,1623,-1.07,-116.8,169.1,-6.2,154,1628,0.12,2.45,0.00,0.000,4,0.071,0.027,2751,3318,3483,0,0,0,0,0,0
$GC,1651,-1.07,-116.8,171.8,-8.7,156,1656,0.00,2.47,0.00,0.000,6,0.000,0.035,2750,1763,3483,0,0,0,0,0,0
$GC,1914,-1.07,-116.8,195.5,-9.7,180,1918,0.00,2.67,0.00,0.000,4,0.000,0.067,2750,196,3483,0,0,0,0,0,0
$GC,1955,-1.03,-116.8,200.1,-11.5,183,1960,0.10,2.35,0.00,0.000,6,0.110,0.019,2774,1760,3483,0,0,0,0,0,0
$GC,2239,-1.03,-116.8,223.1,-7.8,190,2243,0.00,2.42,0.00,0.000,4,0.000,0.026,2774,3325,3483,0,0,0,0,0,0
$GC,2284,-1.11,-116.8,226.5,-7.3,191,2289,0.00,2.53,0.00,0.000,6,0.000,0.032,2774,1758,3483,0,0,0,0,0,0
$GC,2562,-1.11,-116.8,246.4,-7.4,198,2567,0.00,2.67,0.00,0.000,4,0.000,0.071,2774,195,3483,0,0,0,0,0,0
$GC,2606,-1.11,-116.8,250.2,-8.6,199,2610,0.00,2.38,0.00,0.000,6,0.000,0.017,2774,1754,3482,0,0,0,0,0,0
$GC,2892,-1.15,-116.8,272.8,-7.9,206,2897,0.10,2.47,0.00,0.000,4,0.087,0.028,2737,3332,3482,0,0,0,0,0,0
$GC,2913,-1.15,-116.8,274.9,-8.1,206,2917,0.00,2.50,0.00,0.000,6,0.000,0.035,2737,1763,3482,0,0,0,0,0,0
$GC,3169,-1.15,-116.8,296.4,-8.2,213,3173,0.00,2.72,0.00,0.000,4,0.000,0.078,2737,189,3482,0,0,0,0,0,0
$GC,3186,-1.11,-116.8,297.9,-8.4,213,3190,0.00,2.38,0.00,0.000,6,0.000,0.018,2737,1744,3481,0,0,0,0,0,0
$GC,3446,-1.11,-116.8,319.7,-8.1,220,3450,0.00,2.58,0.00,0.000,4,0.000,0.044,2737,3350,3481,0,0,0,0,0,0
$GC,3474,-1.11,-116.8,322.0,-8.1,220,3479,0.00,2.58,0.00,0.000,6,0.000,0.038,2737,1763,3481,0,0,0,0,0,0
$GC,3725,-1.11,-116.8,342.4,-8.3,226,3730,0.00,2.78,0.00,0.000,4,0.000,0.093,2737,189,3480,0,0,0,0,0,0
$GC,3752,-1.11,-116.8,345.0,-9.0,226,3756,0.00,2.42,0.00,0.000,6,0.000,0.022,2737,1754,3480,0,0,0,0,0,0
$GC,4002,-1.11,-116.8,365.9,-8.3,232,4006,0.00,2.58,0.00,0.000,4,0.000,0.048,2737,3354,3479,0,0,0,0,0,0
$GC,4028,-1.11,-116.8,368.3,-8.7,232,4033,0.00,2.62,0.00,0.000,6,0.000,0.047,2737,1760,3479,0,0,0,0,0,0
$GC,4280,-1.11,-116.8,390.2,-8.8,238,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1761,3477,0,0,0,0,0,0
$GC,4522,-1.11,-116.8,408.7,-7.1,244,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1761,3476,0,0,0,0,0,0
$GC,4766,-1.11,-116.8,422.1,-5.2,250,4768,0.10,0.00,0.00,0.000,6,0.121,0.000,2759,1760,3474,0,0,0,0,0,0
$GC,5011,-1.18,-116.8,434.2,-5.2,256,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1761,3473,0,0,0,0,0,0
$GC,5254,-1.25,-116.8,449.0,-6.2,262,5256,0.12,0.00,0.00,0.000,6,0.074,0.000,2717,1760,3471,0,0,0,0,0,0
$GC,5497,-1.25,-116.8,470.2,-8.8,268,5501,0.00,2.65,0.00,0.000,4,0.000,0.055,2717,3346,3470,0,0,0,0,0,0
$GC,5536,-1.25,-116.8,473.7,-8.8,269,5540,0.00,2.72,0.00,0.000,6,0.000,0.066,2716,1763,3470,0,0,0,0,0,0
$GC,5820,-1.25,-116.8,499.0,-9.0,276,5824,0.00,2.62,0.00,0.000,4,0.000,0.051,2716,3345,3468,0,0,0,0,0,0
$STATE,5828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5828,begin apogee
$GC,5836,-0.31,0.0,500.1,9.1,276,5935,0.93,0.00,95.93,0.926,6,0.074,0.000,2930,1817,3000,0,0,0,0,0,0
$STATE,5936,end apogee,CONTROL_FINISHED_OK
$STATE,5936,begin climb
$GC,5940,1.15,116.8,502.8,0.0,278,6052,1.33,3.08,100.70,0.900,4,0.044,0.114,3250,233,2521,0,0,0,0,0,0
$GC,6058,1.10,212.6,503.0,3.6,280,6148,0.00,2.60,82.90,0.886,6,0.000,0.032,3250,1803,2133,0,0,0,0,0,0
$GC,6435,1.00,212.6,472.2,8.7,290,6441,0.15,2.75,0.00,0.000,4,0.116,0.061,3219,3409,2124,0,0,0,0,0,0
$GC,6505,1.00,215.6,466.8,7.9,291,6510,0.00,2.72,0.00,0.000,6,0.000,0.054,3219,1825,2122,0,0,0,0,0,0
$GC,6760,0.96,215.6,443.1,9.7,298,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1824,2121,0,0,0,0,0,0
$GC,7004,0.96,215.6,419.3,9.7,304,7008,0.00,2.90,0.00,0.000,4,0.000,0.094,3219,232,2119,0,0,0,0,0,0
$GC,7025,0.89,215.6,417.1,10.0,304,7030,0.12,2.58,0.00,0.000,6,0.128,0.024,3195,1843,2118,0,0,0,0,0,0
$GC,7283,0.93,247.1,399.1,6.5,311,7318,0.00,2.92,29.12,0.847,4,0.000,0.081,3195,230,1992,0,0,0,0,0,0
$GC,7335,0.98,286.1,395.9,6.2,311,7376,0.00,2.58,35.95,0.836,6,0.000,0.027,3195,1824,1834,0,0,0,0,0,0
$GC,7647,1.06,316.3,375.5,6.6,319,7676,0.15,0.00,27.20,0.820,6,0.077,0.000,3233,1824,1711,0,0,0,0,0,0
$GC,7887,1.06,316.3,351.5,10.2,325,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1824,1706,0,0,0,0,0,0
$GC,8131,1.06,316.3,323.5,11.7,331,8135,0.00,2.78,0.00,0.000,4,0.000,0.077,3233,233,1704,0,0,0,0,0,0
$GC,8164,1.00,316.3,319.4,12.3,331,8170,0.00,2.53,0.00,0.000,6,0.000,0.026,3233,1825,1702,0,0,0,0,0,0
$GC,8414,1.00,316.3,291.6,10.9,338,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1826,1702,0,0,0,0,0,0
$GC,8658,1.00,316.3,268.5,9.2,344,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1826,1702,0,0,0,0,0,0
$GC,8903,1.00,316.3,246.0,9.4,350,8907,0.00,2.75,0.00,0.000,4,0.000,0.066,3233,233,1701,0,0,0,0,0,0
$GC,8924,1.00,316.3,243.6,10.4,350,8928,0.00,2.45,0.00,0.000,6,0.000,0.023,3233,1825,1700,0,0,0,0,0,0
$GC,9184,1.00,316.3,216.8,10.4,357,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1827,1700,0,0,0,0,0,0
$GC,9432,1.00,316.3,187.9,11.7,369,9436,0.00,2.75,0.00,0.000,4,0.000,0.064,3233,229,1700,0,0,0,0,0,0
$GC,9455,1.00,316.3,185.0,12.5,370,9461,0.00,2.45,0.00,0.000,6,0.000,0.024,3233,1816,1700,0,0,0,0,0,0
$GC,9717,1.00,316.3,157.1,10.2,395,9721,0.00,2.45,0.00,0.000,4,0.000,0.031,3233,3381,1700,0,0,0,0,0,0
$GC,9751,1.06,316.3,154.2,10.3,397,9756,0.00,2.60,0.00,0.000,6,0.000,0.038,3233,1786,1699,0,0,0,0,0,0
$GC,10019,1.06,316.3,130.4,9.0,421,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1786,1699,0,0,0,0,0,0
$GC,10281,1.11,316.3,105.1,9.1,446,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1786,1699,0,0,0,0,0,0
$GC,10536,1.19,316.3,82.9,8.7,470,10542,0.10,2.62,0.00,0.000,4,0.088,0.070,3264,241,1699,0,0,0,0,0,0
$GC,10593,1.19,316.3,76.8,11.2,474,10597,0.00,2.38,0.00,0.000,6,0.000,0.025,3264,1810,1699,0,0,0,0,0,0
$GC,10861,1.23,316.3,50.7,9.6,498,10865,0.00,2.45,0.00,0.000,4,0.000,0.028,3264,3385,1699,0,0,0,0,0,0
$GC,10907,1.32,316.3,44.8,11.7,501,10917,0.05,2.58,0.00,0.000,6,0.059,0.031,3290,1799,1699,0,0,0,0,0,0
$GC,11194,1.32,316.3,16.6,12.6,534,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1799,1699,0,0,0,0,0,0
$STATE,11307,end climb,SURFACE_DEPTH_REACHED
$STATE,11307,begin surface coast
$FINISH,0.3,1.013371
$STATE,11357,end surface coast,CONTROL_FINISHED_OK
$STATE,11358,begin surface
$SM_CCo,11378,89.93,0.460,1,0,1287,420.20
$SM_GC,0.89,0.00,0.00,89.93,0.000,0.000,0.460,471,1796,1287,-11.63,0.74,420.20
$IRIDIUM_FIX,2248.70,-15751.06,301199,060659
$TT8_MAMPS,0.026078
$HUMID,43.81
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.20
$XPDR_PINGS,45
$24V_AH,23.6,22.386
$10V_AH,10.4,22.126
$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,26.500,124.550,371.800,89.925,0.000,24.622,30.747,221.282,11.250,0.000,33.817,1105.725,7678.451,532.945,2017.413,571.141,33.373,1275.647,0.000,2002.956,0.000,0.536,0.000
$DEVICE_MAMPS,143.429,114.283,925.769,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.973,321.384,425.546,782.101,1184.028,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,44678,558
$CAP_FILE_SIZE,112646,0
$CFSIZE,260165632,174137344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050910,130931,2255.472,-15752.551,37,1.5,37,10.1