version: 66.06
glider: 146
mission: 5
dive: 150
start: 9 6 110 6 38 29
data:
$ID,146
$MISSION,5
$DIVE,150
$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,-250332.56
$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,30
$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
$GPS1,063107,2253.925,-15749.982,28,1.0,28,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-68.2
$GPS2,063732,2253.929,-15750.039,10,1.4,10,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.206,0.072
$KALMAN_X,-157126.0,297.1,192.2,192029.2,-1923.9
$KALMAN_Y,-5651.5,373.5,444.5,140674.3,-1321.8
$MHEAD_RNG_PITCHd_Wd,60.7,16483,-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,-85.85,0.000,6,0.000,0.000,476,1733,3478,0,0,0,0,0,0
$GC,106,-1.15,-116.8,4.4,-6.3,11,123,11.57,0.00,0.00,0.000,6,0.142,0.000,2742,1733,3480,0,0,0,0,0,0
$GC,399,-0.98,-116.8,60.1,-15.1,43,405,0.20,2.55,0.00,0.000,4,0.099,0.023,2784,3362,3481,0,0,0,0,0,0
$GC,446,-0.98,-116.8,66.3,-11.2,46,451,0.00,2.53,0.00,0.000,6,0.000,0.030,2784,1783,3481,0,0,0,0,0,0
$GC,707,-0.98,-116.8,92.4,-9.9,70,711,0.00,2.70,0.00,0.000,4,0.000,0.060,2784,185,3482,0,0,0,0,0,0
$GC,752,-0.98,-116.8,96.6,-10.7,73,756,0.00,2.45,0.00,0.000,6,0.000,0.015,2784,1826,3482,0,0,0,0,0,0
$GC,1018,-0.98,-116.8,121.3,-9.0,97,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1827,3482,0,0,0,0,0,0
$GC,1279,-1.02,-116.8,144.9,-8.9,122,1284,0.00,2.78,0.00,0.000,4,0.000,0.066,2784,193,3483,0,0,0,0,0,0
$GC,1313,-1.02,-116.8,148.2,-9.6,124,1322,0.00,2.47,0.00,0.000,6,0.000,0.015,2784,1820,3484,0,0,0,0,0,0
$GC,1576,-1.06,-116.8,171.9,-9.2,149,1581,0.00,2.78,0.00,0.000,4,0.000,0.063,2784,193,3483,0,0,0,0,0,0
$GC,1609,-1.06,-116.8,174.7,-9.9,151,1613,0.00,2.35,0.00,0.000,6,0.000,0.018,2784,1781,3483,0,0,0,0,0,0
$GC,1877,-1.10,-116.8,196.0,-7.4,175,1882,0.12,2.38,0.00,0.000,4,0.071,0.025,2742,3306,3483,0,0,0,0,0,0
$GC,1898,-1.10,-116.8,198.5,-8.0,176,1904,0.00,2.45,0.00,0.000,6,0.000,0.031,2742,1757,3483,0,0,0,0,0,0
$GC,2172,-1.07,-116.8,224.1,-9.7,185,2177,0.12,2.67,0.00,0.000,4,0.102,0.066,2769,194,3483,0,0,0,0,0,0
$GC,2193,-1.07,-116.8,226.7,-10.4,185,2197,0.00,2.33,0.00,0.000,6,0.000,0.023,2769,1753,3482,0,0,0,0,0,0
$GC,2454,-1.07,-116.8,251.9,-9.8,192,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1756,3482,0,0,0,0,0,0
$GC,2699,-1.07,-116.8,274.9,-9.1,198,2704,0.00,2.45,0.00,0.000,4,0.000,0.033,2769,3330,3482,0,0,0,0,0,0
$GC,2721,-1.12,-116.8,277.0,-9.0,198,2726,0.00,2.50,0.00,0.000,6,0.000,0.035,2769,1761,3482,0,0,0,0,0,0
$GC,2977,-1.16,-116.8,297.3,-7.8,205,2979,0.10,0.00,0.00,0.000,6,0.086,0.000,2732,1761,3482,0,0,0,0,0,0
$GC,3220,-1.16,-116.8,320.2,-9.5,211,3224,0.00,2.47,0.00,0.000,4,0.000,0.031,2732,3322,3481,0,0,0,0,0,0
$GC,3260,-1.16,-116.8,323.7,-8.8,212,3265,0.00,2.53,0.00,0.000,6,0.000,0.041,2732,1763,3481,0,0,0,0,0,0
$GC,3543,-1.16,-116.8,347.1,-8.3,219,3548,0.00,2.78,0.00,0.000,4,0.000,0.085,2731,186,3480,0,0,0,0,0,0
$GC,3570,-1.16,-116.8,349.7,-9.5,219,3574,0.00,2.40,0.00,0.000,6,0.000,0.025,2731,1728,3480,0,0,0,0,0,0
$GC,3827,-1.16,-116.8,371.5,-8.6,226,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1729,3480,0,0,0,0,0,0
$GC,4069,-1.16,-116.8,391.7,-8.3,232,4073,0.00,2.65,0.00,0.000,4,0.000,0.052,2731,3346,3479,0,0,0,0,0,0
$GC,4096,-1.16,-116.8,394.1,-9.1,232,4100,0.00,2.62,0.00,0.000,6,0.000,0.054,2731,1778,3479,0,0,0,0,0,0
$GC,4347,-1.16,-116.8,413.7,-7.6,238,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1778,3477,0,0,0,0,0,0
$GC,4590,-1.16,-116.8,430.7,-6.9,244,4594,0.00,2.60,0.00,0.000,4,0.000,0.048,2732,3355,3476,0,0,0,0,0,0
$GC,4611,-1.16,-116.8,432.3,-7.2,244,4615,0.00,2.70,0.00,0.000,6,0.000,0.061,2731,1770,3476,0,0,0,0,0,0
$GC,4867,-1.16,-116.8,451.0,-7.5,251,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1770,3474,0,0,0,0,0,0
$GC,5110,-1.16,-116.8,470.1,-7.9,257,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1770,3472,0,0,0,0,0,0
$GC,5353,-1.16,-116.8,489.3,-7.9,263,5358,0.00,2.67,0.00,0.000,4,0.000,0.061,2731,3343,3471,0,0,0,0,0,0
$GC,5381,-1.21,-116.8,491.7,-8.5,263,5386,0.00,2.70,0.00,0.000,6,0.000,0.067,2731,1780,3471,0,0,0,0,0,0
$STATE,5507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5507,begin apogee
$GC,5514,-0.31,0.0,502.5,8.5,266,5613,0.88,0.00,95.75,0.920,6,0.076,0.000,2930,1779,3001,0,0,0,0,0,0
$STATE,5613,end apogee,CONTROL_FINISHED_OK
$STATE,5613,begin climb
$GC,5616,1.15,116.8,505.1,0.0,268,5724,1.33,0.00,100.00,0.896,6,0.044,0.000,3253,1779,2524,0,0,0,0,0,0
$GC,5986,1.05,149.2,489.4,6.5,277,6020,0.12,2.83,27.58,0.866,4,0.127,0.052,3229,3395,2392,0,0,0,0,0,0
$GC,6093,0.99,149.2,481.0,8.7,279,6098,0.00,2.72,0.00,0.000,6,0.000,0.059,3229,1824,2388,0,0,0,0,0,0
$GC,6355,0.92,149.2,458.7,8.5,286,6360,0.15,2.60,0.00,0.000,4,0.120,0.046,3199,3404,2384,0,0,0,0,0,0
$GC,6388,0.92,149.2,455.8,8.1,286,6394,0.00,2.67,0.00,0.000,6,0.000,0.051,3199,1835,2384,0,0,0,0,0,0
$GC,6638,0.96,184.0,439.1,6.4,293,6674,0.00,2.62,30.88,0.864,4,0.000,0.042,3199,3405,2248,0,0,0,0,0,0
$GC,6692,1.00,215.5,435.8,6.6,293,6727,0.00,2.65,28.70,0.846,6,0.000,0.048,3199,1843,2121,0,0,0,0,0,0
$GC,7007,1.00,215.5,410.1,8.7,301,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1843,2114,0,0,0,0,0,0
$GC,7251,1.00,215.5,389.8,8.2,307,7255,0.00,2.55,0.00,0.000,4,0.000,0.035,3199,3405,2112,0,0,0,0,0,0
$GC,7291,1.06,215.5,386.3,8.3,308,7296,0.12,2.62,0.00,0.000,6,0.083,0.043,3232,1841,2110,0,0,0,0,0,0
$GC,7575,1.06,215.5,360.7,8.8,315,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1841,2109,0,0,0,0,0,0
$GC,7820,1.06,215.5,339.1,9.0,321,7824,0.00,2.53,0.00,0.000,4,0.000,0.034,3232,3401,2108,0,0,0,0,0,0
$GC,7835,1.06,215.5,337.3,9.8,321,7839,0.00,2.53,0.00,0.000,6,0.000,0.039,3232,1856,2107,0,0,0,0,0,0
$GC,8102,1.06,215.5,313.0,8.9,328,8106,0.00,2.50,0.00,0.000,4,0.000,0.032,3232,3404,2106,0,0,0,0,0,0
$GC,8117,1.06,215.5,311.5,8.6,328,8121,0.00,2.55,0.00,0.000,6,0.000,0.035,3233,1846,2106,0,0,0,0,0,0
$GC,8380,1.09,242.8,292.8,6.7,335,8409,0.00,2.60,22.38,0.769,4,0.000,0.034,3233,3397,2010,0,0,0,0,0,0
$GC,8437,1.09,246.1,288.6,7.9,336,8447,0.00,2.53,4.50,0.546,6,0.000,0.035,3233,1864,1997,0,0,0,0,0,0
$GC,8710,1.09,246.1,267.0,8.4,343,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1863,1993,0,0,0,0,0,0
$GC,8953,1.09,246.1,242.7,10.3,349,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1863,1993,0,0,0,0,0,0
$GC,9196,1.09,246.1,216.3,10.7,355,9201,0.00,2.45,0.00,0.000,4,0.000,0.029,3232,3404,1992,0,0,0,0,0,0
$GC,9236,1.13,246.1,212.2,10.6,356,9241,0.00,2.50,0.00,0.000,6,0.000,0.033,3232,1864,1992,0,0,0,0,0,0
$GC,9495,1.13,246.1,188.8,8.2,369,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1864,1991,0,0,0,0,0,0
$GC,9749,1.16,271.7,170.0,6.8,393,9777,0.00,2.50,23.17,0.653,4,0.000,0.033,3232,3402,1891,0,0,0,0,0,0
$GC,9795,1.22,284.2,166.5,7.4,396,9814,0.10,2.53,12.23,0.608,6,0.048,0.038,3269,1876,1841,0,0,0,0,0,0
$GC,10069,1.17,284.2,138.5,10.6,422,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1876,1838,0,0,0,0,0,0
$GC,10325,1.17,284.2,110.5,11.0,446,10329,0.00,2.78,0.00,0.000,4,0.000,0.063,3269,242,1838,0,0,0,0,0,0
$GC,10358,1.10,284.2,106.8,10.9,448,10368,0.10,2.60,0.00,0.000,6,0.089,0.020,3243,1909,1836,0,0,0,0,0,0
$GC,10626,1.16,284.2,82.9,9.2,473,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1911,1836,0,0,0,0,0,0
$GC,10893,1.27,300.9,61.2,7.2,498,10921,0.15,2.92,15.07,0.540,4,0.110,0.058,3287,243,1773,0,0,0,0,0,0
$GC,10965,1.23,300.9,54.9,9.8,503,10969,0.00,2.58,0.00,0.000,6,0.000,0.018,3287,1908,1772,0,0,0,0,0,0
$GC,11231,1.23,300.9,31.5,9.9,527,11235,0.00,2.38,0.00,0.000,4,0.000,0.029,3287,3414,1771,0,0,0,0,0,0
$GC,11285,1.28,300.9,25.6,11.2,533,11294,0.00,2.53,0.00,0.000,6,0.000,0.034,3287,1874,1770,0,0,0,0,0,0
$STATE,11505,end climb,SURFACE_DEPTH_REACHED
$STATE,11505,begin surface coast
$FINISH,0.2,1.022116
$STATE,11553,end surface coast,CONTROL_FINISHED_OK
$STATE,11553,begin surface
$SM_CCo,11575,102.97,0.463,1,0,1287,420.20
$SM_GC,0.95,0.00,0.00,102.97,0.000,0.000,0.463,471,1743,1287,-11.63,-0.76,420.20
$IRIDIUM_FIX,2246.36,-15751.06,011299,030324
$TT8_MAMPS,0.025311
$HUMID,44.25
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.40
$XPDR_PINGS,46
$24V_AH,23.6,23.078
$10V_AH,10.4,22.906
$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,26.400,123.925,360.250,102.975,0.000,29.202,30.574,191.790,11.500,0.000,12.362,1127.803,7812.751,529.649,2053.320,548.424,33.373,1284.071,0.000,2063.996,0.000,0.535,0.000
$DEVICE_MAMPS,141.895,85.137,920.400,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.953,333.752,437.927,820.383,1240.840,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,44679,573
$CAP_FILE_SIZE,112697,0
$CFSIZE,260165632,173780992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060910,095421,2253.795,-15749.457,7,99.0,26,10.1