version: 66.06
glider: 146
mission: 5
dive: 149
start: 9 6 110 3 18 23
data:
$ID,146
$MISSION,5
$DIVE,149
$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,-250319.58
$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,45
$R_STBD_OVSHOOT,44
$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
$GPS1,031125,2254.225,-15750.942,38,1.6,38,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-69.5
$GPS2,031726,2254.255,-15750.993,12,1.6,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.049
$KALMAN_X,-155607.4,72.0,-84.9,189376.0,-1594.1
$KALMAN_Y,-5308.1,506.1,-35.7,141281.5,-58.1
$MHEAD_RNG_PITCHd_Wd,92.8,18177,-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,-85.10,0.000,6,0.000,0.000,478,1741,3479,0,0,0,0,0,0
$GC,106,-1.15,-116.8,4.7,-7.3,11,123,11.43,0.00,0.00,0.000,6,0.137,0.000,2743,1741,3481,0,0,0,0,0,0
$GC,399,-0.99,-116.8,59.7,-15.7,43,409,0.17,0.00,0.00,0.000,6,0.104,0.000,2781,1741,3481,0,0,0,0,0,0
$GC,661,-0.99,-116.8,92.8,-11.5,68,666,0.00,2.50,0.00,0.000,4,0.000,0.028,2781,3352,3482,0,0,0,0,0,0
$GC,691,-0.99,-116.8,95.9,-10.1,70,695,0.00,2.50,0.00,0.000,6,0.000,0.027,2782,1780,3482,0,0,0,0,0,0
$GC,953,-0.99,-116.8,117.2,-7.0,94,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1780,3482,0,0,0,0,0,0
$GC,1208,-0.99,-116.8,136.5,-8.3,118,1212,0.00,2.67,0.00,0.000,4,0.000,0.065,2781,196,3483,0,0,0,0,0,0
$GC,1228,-0.99,-116.8,138.2,-9.2,119,1232,0.00,2.42,0.00,0.000,6,0.000,0.016,2780,1831,3483,0,0,0,0,0,0
$GC,1492,-0.99,-116.8,162.5,-8.9,143,1496,0.00,2.80,0.00,0.000,4,0.000,0.066,2781,189,3483,0,0,0,0,0,0
$GC,1523,-0.99,-116.8,165.5,-9.9,145,1528,0.00,2.42,0.00,0.000,6,0.000,0.020,2781,1812,3483,0,0,0,0,0,0
$GC,1792,-1.03,-116.8,187.8,-7.9,169,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1812,3483,0,0,0,0,0,0
$GC,2058,-1.07,-116.8,210.9,-8.9,186,2062,0.00,2.78,0.00,0.000,4,0.000,0.072,2781,189,3483,0,0,0,0,0,0
$GC,2102,-1.12,-116.8,215.3,-10.1,187,2107,0.12,2.35,0.00,0.000,6,0.074,0.020,2738,1763,3482,0,0,0,0,0,0
$GC,2381,-1.08,-116.8,244.3,-10.1,194,2386,0.12,2.42,0.00,0.000,4,0.108,0.031,2765,3324,3483,0,0,0,0,0,0
$GC,2402,-1.08,-116.8,246.5,-9.2,194,2406,0.00,2.50,0.00,0.000,6,0.000,0.029,2765,1760,3482,0,0,0,0,0,0
$GC,2658,-1.08,-116.8,267.2,-8.0,201,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1760,3482,0,0,0,0,0,0
$GC,2903,-1.08,-116.8,288.4,-8.7,207,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1760,3482,0,0,0,0,0,0
$GC,3145,-1.12,-116.8,310.3,-9.0,213,3150,0.00,2.72,0.00,0.000,4,0.000,0.080,2765,198,3482,0,0,0,0,0,0
$GC,3167,-1.16,-116.8,312.5,-10.3,213,3171,0.00,2.38,0.00,0.000,6,0.000,0.021,2765,1747,3481,0,0,0,0,0,0
$GC,3422,-1.21,-116.8,334.2,-7.9,220,3424,0.12,0.00,0.00,0.000,6,0.074,0.000,2725,1748,3481,0,0,0,0,0,0
$GC,3667,-1.21,-116.8,354.0,-7.9,226,3671,0.00,2.58,0.00,0.000,4,0.000,0.043,2725,3346,3480,0,0,0,0,0,0
$GC,3693,-1.21,-116.8,356.3,-8.3,226,3698,0.00,2.60,0.00,0.000,6,0.000,0.046,2725,1772,3480,0,0,0,0,0,0
$GC,3943,-1.21,-116.8,378.1,-9.1,232,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1772,3479,0,0,0,0,0,0
$GC,4188,-1.21,-116.8,401.5,-9.7,238,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1772,3478,0,0,0,0,0,0
$GC,4431,-1.21,-116.8,421.4,-7.8,244,4435,0.00,2.58,0.00,0.000,4,0.000,0.046,2726,3338,3477,0,0,0,0,0,0
$GC,4474,-1.21,-116.8,424.9,-8.1,245,4479,0.00,2.62,0.00,0.000,6,0.000,0.061,2725,1778,3476,0,0,0,0,0,0
$GC,4754,-1.21,-116.8,445.8,-7.6,252,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1778,3475,0,0,0,0,0,0
$GC,4996,-1.21,-116.8,465.0,-7.9,258,5001,0.00,2.60,0.00,0.000,4,0.000,0.050,2725,3344,3473,0,0,0,0,0,0
$GC,5046,-1.25,-116.8,469.4,-8.8,259,5050,0.00,2.67,0.00,0.000,6,0.000,0.064,2725,1784,3473,0,0,0,0,0,0
$GC,5318,-1.25,-116.8,492.2,-8.3,266,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1784,3471,0,0,0,0,0,0
$STATE,5437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5437,begin apogee
$GC,5442,-0.31,0.0,502.5,8.4,269,5542,0.90,0.00,96.28,0.910,6,0.071,0.000,2931,1783,3001,0,0,0,0,0,0
$STATE,5543,end apogee,CONTROL_FINISHED_OK
$STATE,5543,begin climb
$GC,5545,1.15,116.8,504.5,0.0,271,5658,1.33,2.83,100.12,0.887,4,0.054,0.056,3254,3387,2523,0,0,0,0,0,0
$GC,5664,1.09,177.5,503.0,5.2,273,5724,0.00,2.72,52.65,0.867,6,0.000,0.056,3254,1820,2276,0,0,0,0,0,0
$GC,5998,0.98,177.5,473.4,9.3,282,6000,0.20,0.00,0.00,0.000,6,0.119,0.000,3214,1820,2266,0,0,0,0,0,0
$GC,6241,0.99,185.7,454.9,7.6,288,6254,0.00,2.60,6.38,0.696,4,0.000,0.044,3214,3386,2244,0,0,0,0,0,0
$GC,6310,0.99,185.7,448.7,9.0,289,6314,0.00,2.65,0.00,0.000,6,0.000,0.057,3214,1824,2242,0,0,0,0,0,0
$GC,6573,0.99,185.7,425.0,9.3,296,6577,0.00,2.92,0.00,0.000,4,0.000,0.100,3214,232,2239,0,0,0,0,0,0
$GC,6588,0.93,185.7,423.1,9.8,296,6593,0.00,2.50,0.00,0.000,6,0.000,0.021,3214,1813,2239,0,0,0,0,0,0
$GC,6849,0.93,185.7,398.9,9.2,303,6853,0.00,2.62,0.00,0.000,4,0.000,0.048,3214,3408,2237,0,0,0,0,0,0
$GC,6950,0.93,185.7,390.0,8.1,305,6954,0.00,2.62,0.00,0.000,6,0.000,0.043,3214,1836,2236,0,0,0,0,0,0
$GC,7216,0.98,224.1,372.6,6.2,312,7256,0.00,0.00,33.92,0.828,6,0.000,0.000,3214,1835,2086,0,0,0,0,0,0
$GC,7500,1.02,260.0,354.9,6.3,319,7541,0.00,2.65,32.28,0.812,4,0.000,0.031,3214,3406,1939,0,0,0,0,0,0
$GC,7565,1.07,260.0,350.1,8.0,320,7570,0.00,2.60,0.00,0.000,6,0.000,0.041,3214,1848,1938,0,0,0,0,0,0
$GC,7827,1.07,260.0,326.2,9.5,327,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1848,1934,0,0,0,0,0,0
$GC,8070,1.07,260.0,302.0,9.7,333,8075,0.00,2.53,0.00,0.000,4,0.000,0.030,3214,3411,1933,0,0,0,0,0,0
$GC,8088,1.07,260.0,300.3,9.4,333,8092,0.00,2.55,0.00,0.000,6,0.000,0.036,3214,1853,1931,0,0,0,0,0,0
$GC,8349,1.11,260.0,277.5,8.4,340,8354,0.12,2.80,0.00,0.000,4,0.089,0.075,3248,242,1932,0,0,0,0,0,0
$GC,8371,1.06,260.0,275.3,9.7,340,8375,0.00,2.55,0.00,0.000,6,0.000,0.020,3248,1875,1931,0,0,0,0,0,0
$GC,8627,1.06,260.0,252.8,8.7,347,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1876,1931,0,0,0,0,0,0
$GC,8869,1.07,268.1,234.0,7.6,353,8883,0.00,2.53,6.68,0.603,4,0.000,0.036,3248,3417,1908,0,0,0,0,0,0
$GC,8916,1.07,268.1,230.1,8.2,354,8921,0.00,2.55,0.00,0.000,6,0.000,0.033,3249,1846,1907,0,0,0,0,0,0
$GC,9195,1.07,268.1,206.5,8.7,361,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1846,1907,0,0,0,0,0,0
$GC,9450,1.07,268.1,181.4,10.6,379,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1846,1907,0,0,0,0,0,0
$GC,9712,1.07,268.1,155.0,9.7,404,9716,0.00,2.47,0.00,0.000,4,0.000,0.029,3248,3419,1907,0,0,0,0,0,0
$GC,9745,1.07,268.1,152.2,9.3,406,9749,0.00,2.50,0.00,0.000,6,0.000,0.036,3249,1860,1906,0,0,0,0,0,0
$GC,10007,1.07,268.1,127.1,9.6,430,10008,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1861,1906,0,0,0,0,0,0
$GC,10262,1.07,268.1,103.5,9.6,454,10266,0.00,2.72,0.00,0.000,4,0.000,0.060,3248,243,1906,0,0,0,0,0,0
$GC,10282,1.07,268.1,101.8,9.7,455,10286,0.00,2.55,0.00,0.000,6,0.000,0.018,3248,1913,1906,0,0,0,0,0,0
$GC,10550,1.14,286.6,78.9,7.2,479,10578,0.00,2.42,17.77,0.562,4,0.000,0.028,3248,3404,1831,0,0,0,0,0,0
$GC,10621,1.29,338.4,74.2,5.6,484,10672,0.08,2.50,44.78,0.571,6,0.052,0.032,3280,1883,1621,0,0,0,0,0,0
$GC,10927,1.29,338.4,48.4,9.5,512,10932,0.00,2.78,0.00,0.000,4,0.000,0.060,3280,243,1616,0,0,0,0,0,0
$GC,10985,1.29,338.4,42.3,10.6,516,10990,0.00,2.55,0.00,0.000,6,0.000,0.018,3280,1909,1614,0,0,0,0,0,0
$GC,11295,1.29,338.4,9.5,9.0,554,11305,0.00,2.38,0.00,0.000,4,0.000,0.027,3281,3407,1614,0,0,0,0,0,0
$GC,11328,1.29,338.4,5.9,10.9,558,11338,0.00,2.53,0.00,0.000,6,0.000,0.034,3280,1870,1613,0,0,0,0,0,0
$STATE,11345,end climb,SURFACE_DEPTH_REACHED
$STATE,11345,begin surface coast
$FINISH,0.2,1.011991
$STATE,11395,end surface coast,CONTROL_FINISHED_OK
$STATE,11395,begin surface
$SM_CCo,11418,71.95,0.441,1,0,1287,420.20
$SM_GC,0.91,0.00,0.00,71.95,0.000,0.000,0.441,476,1735,1287,-11.61,-0.99,420.20
$IRIDIUM_FIX,2244.02,-15754.11,301199,232314
$TT8_MAMPS,0.026078
$HUMID,43.58
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.20
$XPDR_PINGS,43
$24V_AH,23.6,22.963
$10V_AH,10.4,22.783
$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,25.925,113.925,390.850,71.950,0.000,29.078,30.731,166.422,10.750,0.000,14.469,1103.466,7691.872,511.185,2032.704,519.978,33.373,1272.489,0.000,2044.728,0.000,0.536,0.000
$DEVICE_MAMPS,136.526,100.477,910.429,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.558,336.495,434.120,802.095,1213.115,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,44722,567
$CAP_FILE_SIZE,108842,0
$CFSIZE,260165632,173842432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060910,063107,2253.925,-15749.982,28,1.0,28,10.1