version: 66.06
glider: 146
mission: 5
dive: 147
start: 9 5 110 20 27 3
data:
$ID,146
$MISSION,5
$DIVE,147
$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,-250289.12
$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,52
$R_STBD_OVSHOOT,63
$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
$GPS1,201701,2254.764,-15751.817,40,1.1,40,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.0
$GPS2,202608,2254.758,-15751.886,11,1.2,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,0.005
$KALMAN_X,-151580.3,-292.6,45.8,184046.1,-1683.9
$KALMAN_Y,-4645.3,-172.9,208.1,141988.4,-713.5
$MHEAD_RNG_PITCHd_Wd,78.6,19963,-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,-86.00,0.000,6,0.000,0.000,473,1740,3478,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.5,-6.4,11,124,11.55,2.53,0.00,0.000,4,0.140,0.024,2743,3345,3481,0,0,0,0,0,0
$GC,137,0.33,-116.8,17.4,-30.9,14,147,1.42,2.53,0.00,0.000,6,0.074,0.029,3069,1795,3481,0,0,0,0,0,0
$GC,442,-0.27,-116.8,42.4,-8.2,50,448,0.52,2.70,0.00,0.000,4,0.060,0.057,2937,190,3482,0,0,0,0,0,0
$GC,527,-0.78,-116.8,49.6,-9.6,56,532,0.45,2.58,0.00,0.000,6,0.100,0.016,2826,1922,3482,0,0,0,0,0,0
$GC,794,-0.78,-116.8,76.7,-11.3,80,799,0.00,2.92,0.00,0.000,4,0.000,0.056,2825,195,3481,0,0,0,0,0,0
$GC,828,-0.78,-116.8,80.5,-10.6,82,832,0.00,2.55,0.00,0.000,6,0.000,0.018,2825,1901,3481,0,0,0,0,0,0
$GC,1091,-0.85,-116.8,102.6,-7.5,106,1096,0.00,2.90,0.00,0.000,4,0.000,0.058,2825,195,3482,0,0,0,0,0,0
$GC,1125,-0.93,-116.8,105.4,-8.0,108,1135,0.08,2.60,0.00,0.000,6,0.045,0.020,2786,1895,3482,0,0,0,0,0,0
$GC,1392,-0.93,-116.8,128.1,-8.1,133,1397,0.00,2.88,0.00,0.000,4,0.000,0.065,2786,196,3483,0,0,0,0,0,0
$GC,1425,-0.93,-116.8,131.2,-8.9,135,1429,0.00,2.55,0.00,0.000,6,0.000,0.017,2786,1878,3482,0,0,0,0,0,0
$GC,1689,-0.93,-116.8,152.8,-8.7,159,1693,0.00,2.85,0.00,0.000,4,0.000,0.060,2786,197,3483,0,0,0,0,0,0
$GC,1733,-0.97,-116.8,157.2,-9.3,162,1742,0.00,2.55,0.00,0.000,6,0.000,0.022,2786,1865,3483,0,0,0,0,0,0
$GC,2001,-1.01,-116.8,180.1,-8.3,187,2006,0.00,2.85,0.00,0.000,4,0.000,0.063,2786,194,3483,0,0,0,0,0,0
$GC,2053,-1.05,-116.8,185.5,-9.3,191,2057,0.00,2.53,0.00,0.000,6,0.000,0.021,2786,1862,3483,0,0,0,0,0,0
$GC,2311,-1.10,-116.8,206.3,-7.8,209,2313,0.12,0.00,0.00,0.000,6,0.225,0.000,2741,1864,3482,0,0,0,0,0,0
$GC,2556,-1.05,-116.8,228.2,-9.0,215,2561,0.12,2.88,0.00,0.000,4,0.110,0.074,2769,197,3482,0,0,0,0,0,0
$GC,2617,-1.05,-116.8,234.0,-9.1,216,2621,0.00,2.50,0.00,0.000,6,0.000,0.022,2769,1831,3482,0,0,0,0,0,0
$GC,2879,-1.05,-116.8,256.1,-8.6,223,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1833,3482,0,0,0,0,0,0
$GC,3121,-1.05,-116.8,276.0,-8.0,229,3126,0.00,2.83,0.00,0.000,4,0.000,0.073,2769,197,3482,0,0,0,0,0,0
$GC,3165,-1.09,-116.8,279.8,-8.5,230,3169,0.00,2.50,0.00,0.000,6,0.000,0.018,2769,1814,3481,0,0,0,0,0,0
$GC,3444,-1.14,-116.8,299.0,-6.9,237,3449,0.00,2.80,0.00,0.000,4,0.000,0.074,2769,189,3481,0,0,0,0,0,0
$GC,3477,-1.19,-116.8,301.6,-7.6,237,3483,0.12,2.50,0.00,0.000,6,0.074,0.026,2725,1808,3481,0,0,0,0,0,0
$GC,3727,-1.19,-116.8,323.8,-9.0,244,3731,0.00,2.45,0.00,0.000,4,0.000,0.044,2725,3353,3480,0,0,0,0,0,0
$GC,3777,-1.19,-116.8,328.0,-8.3,245,3781,0.00,2.47,0.00,0.000,6,0.000,0.039,2725,1825,3480,0,0,0,0,0,0
$GC,4048,-1.19,-116.8,350.8,-8.5,252,4053,0.00,2.90,0.00,0.000,4,0.000,0.089,2724,199,3480,0,0,0,0,0,0
$GC,4069,-1.19,-116.8,352.8,-9.2,252,4074,0.00,2.53,0.00,0.000,6,0.000,0.029,2725,1820,3479,0,0,0,0,0,0
$GC,4324,-1.19,-116.8,375.6,-9.0,259,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1821,3478,0,0,0,0,0,0
$GC,4569,-1.19,-116.8,397.0,-8.7,265,4574,0.00,2.88,0.00,0.000,4,0.000,0.082,2725,192,3477,0,0,0,0,0,0
$GC,4598,-1.15,-116.8,399.8,-9.4,265,4603,0.10,2.60,0.00,0.000,6,0.118,0.030,2747,1821,3476,0,0,0,0,0,0
$GC,4848,-1.19,-116.8,421.1,-8.3,271,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1821,3475,0,0,0,0,0,0
$GC,5092,-1.24,-116.8,439.8,-7.6,277,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1822,3473,0,0,0,0,0,0
$GC,5336,-1.28,-116.8,456.2,-6.6,283,5337,0.12,0.00,0.00,0.000,6,0.075,0.000,2708,1821,3472,0,0,0,0,0,0
$GC,5579,-1.28,-116.8,475.4,-8.1,289,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1821,3470,0,0,0,0,0,0
$GC,5824,-1.28,-116.8,497.0,-9.0,295,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1822,3469,0,0,0,0,0,0
$STATE,5861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5861,begin apogee
$GC,5866,-0.31,0.0,500.4,8.8,296,5965,1.00,0.00,95.57,0.919,6,0.085,0.000,2933,1821,3001,0,0,0,0,0,0
$STATE,5966,end apogee,CONTROL_FINISHED_OK
$STATE,5966,begin climb
$GC,5968,1.15,116.8,502.6,0.0,298,6081,1.35,2.83,100.18,0.894,4,0.054,0.067,3258,3395,2523,0,0,0,0,0,0
$GC,6098,1.09,184.6,501.4,4.9,301,6163,0.10,2.70,58.50,0.874,6,0.137,0.055,3240,1829,2248,0,0,0,0,0,0
$GC,6437,1.00,184.6,473.8,8.4,310,6442,0.10,2.62,0.00,0.000,4,0.134,0.044,3220,3405,2239,0,0,0,0,0,0
$GC,6465,0.96,189.7,471.4,7.8,310,6476,0.00,2.72,4.15,0.562,6,0.000,0.055,3220,1821,2227,0,0,0,0,0,0
$GC,6722,0.95,208.4,452.7,7.1,317,6746,0.00,2.70,17.90,0.834,4,0.000,0.043,3220,3402,2150,0,0,0,0,0,0
$GC,6766,0.97,228.1,449.5,7.1,318,6790,0.00,2.67,18.75,0.827,6,0.000,0.056,3220,1833,2070,0,0,0,0,0,0
$GC,7052,0.97,228.1,425.5,8.5,325,7056,0.00,2.58,0.00,0.000,4,0.000,0.037,3220,3402,2063,0,0,0,0,0,0
$GC,7092,0.97,228.1,421.7,9.5,326,7096,0.00,2.62,0.00,0.000,6,0.000,0.050,3220,1838,2062,0,0,0,0,0,0
$GC,7376,0.97,228.1,395.2,9.3,333,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1838,2061,0,0,0,0,0,0
$GC,7618,0.97,228.1,372.6,9.2,339,7622,0.00,2.53,0.00,0.000,4,0.000,0.036,3220,3403,2059,0,0,0,0,0,0
$GC,7644,0.97,228.1,370.2,9.0,339,7649,0.00,2.60,0.00,0.000,6,0.000,0.042,3220,1835,2059,0,0,0,0,0,0
$GC,7896,0.97,228.1,349.1,8.3,345,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1836,2058,0,0,0,0,0,0
$GC,8138,0.97,228.1,329.1,8.3,351,8142,0.00,2.53,0.00,0.000,4,0.000,0.038,3220,3402,2058,0,0,0,0,0,0
$GC,8187,0.98,236.5,325.2,7.6,352,8199,0.00,2.55,6.20,0.662,6,0.000,0.036,3220,1840,2037,0,0,0,0,0,0
$GC,8460,1.00,251.1,305.2,7.3,359,8480,0.00,2.55,14.88,0.762,4,0.000,0.032,3220,3404,1976,0,0,0,0,0,0
$GC,8509,1.05,256.2,301.5,7.8,360,8520,0.00,2.58,6.07,0.633,6,0.000,0.041,3221,1846,1956,0,0,0,0,0,0
$GC,8781,1.05,256.2,278.3,8.8,367,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1846,1953,0,0,0,0,0,0
$GC,9026,1.05,256.2,257.3,8.5,373,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1846,1952,0,0,0,0,0,0
$GC,9269,1.06,267.0,238.5,7.5,379,9284,0.00,2.55,10.55,0.676,4,0.000,0.032,3220,3411,1911,0,0,0,0,0,0
$GC,9301,1.12,273.9,236.0,7.7,379,9316,0.10,2.55,7.75,0.626,6,0.094,0.032,3250,1857,1883,0,0,0,0,0,0
$GC,9597,1.12,273.9,207.9,10.0,387,9602,0.00,2.47,0.00,0.000,4,0.000,0.031,3250,3405,1880,0,0,0,0,0,0
$GC,9630,1.12,273.9,203.9,10.9,387,9636,0.00,2.50,0.00,0.000,6,0.000,0.036,3250,1862,1879,0,0,0,0,0,0
$GC,9895,1.12,273.9,177.3,10.5,409,9899,0.00,2.78,0.00,0.000,4,0.000,0.069,3250,244,1879,0,0,0,0,0,0
$GC,9916,1.06,273.9,174.3,10.8,410,9922,0.00,2.55,0.00,0.000,6,0.000,0.018,3250,1896,1879,0,0,0,0,0,0
$GC,10182,1.06,273.9,147.0,11.4,435,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1898,1879,0,0,0,0,0,0
$GC,10445,1.06,273.9,117.8,10.5,460,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1898,1879,0,0,0,0,0,0
$GC,10698,1.06,273.9,92.8,9.5,484,10703,0.00,2.80,0.00,0.000,4,0.000,0.064,3250,240,1879,0,0,0,0,0,0
$GC,10719,1.06,273.9,91.2,9.6,485,10724,0.00,2.55,0.00,0.000,6,0.000,0.024,3250,1898,1878,0,0,0,0,0,0
$GC,10987,1.21,318.8,69.7,5.9,509,11036,0.00,2.92,38.85,0.571,4,0.000,0.058,3250,243,1699,0,0,0,0,0,0
$GC,11044,1.37,361.7,64.6,6.0,513,11094,0.15,2.58,36.60,0.558,6,0.041,0.018,3298,1901,1526,0,0,0,0,0,0
$GC,11350,1.29,361.7,34.2,16.5,541,11355,0.00,2.90,0.00,0.000,4,0.000,0.066,3298,239,1521,0,0,0,0,0,0
$GC,11416,1.29,361.7,24.6,14.1,548,11425,0.00,2.55,0.00,0.000,6,0.000,0.021,3299,1873,1520,0,0,0,0,0,0
$STATE,11576,end climb,SURFACE_DEPTH_REACHED
$STATE,11576,begin surface coast
$FINISH,0.3,1.010802
$STATE,11612,end surface coast,CONTROL_FINISHED_OK
$STATE,11612,begin surface
$SM_CCo,11635,53.70,0.416,1,0,1288,420.20
$SM_GC,0.88,0.00,0.00,53.70,0.000,0.000,0.416,478,1744,1288,-11.60,-0.74,420.20
$IRIDIUM_FIX,2244.02,-15751.06,301199,202053
$TT8_MAMPS,0.025311
$HUMID,45.07
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.00
$XPDR_PINGS,52
$24V_AH,23.6,22.737
$10V_AH,10.4,22.529
$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,28.800,137.975,415.950,53.700,0.000,56.457,61.019,225.224,13.000,0.000,12.764,1144.140,7814.007,525.810,2104.207,652.651,33.372,1322.284,0.000,2111.255,0.000,0.535,0.000
$DEVICE_MAMPS,225.498,88.972,918.866,416.481,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.794,339.225,440.770,839.632,1269.605,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,44765,577
$CAP_FILE_SIZE,120544,0
$CFSIZE,260165632,173953024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050910,234306,2254.552,-15751.400,27,1.5,27,10.1