version: 66.06
glider: 146
mission: 5
dive: 151
start: 9 6 110 10 2 2
data:
$ID,146
$MISSION,5
$DIVE,151
$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,-250361.89
$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,42
$R_STBD_OVSHOOT,36
$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
$GPS1,095421,2253.795,-15749.457,7,99.0,26,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.0
$GPS2,100107,2253.756,-15749.521,27,1.5,27,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,0.076
$KALMAN_X,-158807.0,335.4,159.8,194597.3,-2348.6
$KALMAN_Y,-5964.8,-11.6,-74.1,141570.2,-1081.8
$MHEAD_RNG_PITCHd_Wd,59.6,15571,-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,-85.97,0.000,6,0.000,0.000,471,1742,3478,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.8,-6.8,11,124,11.50,0.00,0.00,0.000,6,0.138,0.000,2741,1743,3480,0,0,0,0,0,0
$GC,405,-0.99,-116.8,60.0,-14.5,43,414,0.20,0.00,0.00,0.000,6,0.096,0.000,2785,1742,3481,0,0,0,0,0,0
$GC,667,-0.99,-116.8,90.4,-11.0,68,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1742,3481,0,0,0,0,0,0
$GC,920,-0.99,-116.8,119.2,-11.3,92,924,0.00,2.60,0.00,0.000,4,0.000,0.061,2785,204,3482,0,0,0,0,0,0
$GC,953,-0.99,-116.8,123.3,-12.3,94,962,0.00,2.45,0.00,0.000,6,0.000,0.018,2785,1815,3482,0,0,0,0,0,0
$GC,1220,-0.99,-116.8,147.0,-8.5,119,1225,0.00,2.72,0.00,0.000,4,0.000,0.060,2785,204,3482,0,0,0,0,0,0
$GC,1260,-0.99,-116.8,151.3,-9.8,122,1264,0.00,2.33,0.00,0.000,6,0.000,0.021,2785,1760,3482,0,0,0,0,0,0
$GC,1524,-1.03,-116.8,172.4,-7.6,146,1528,0.00,2.40,0.00,0.000,4,0.000,0.025,2785,3313,3482,0,0,0,0,0,0
$GC,1547,-1.07,-116.8,174.3,-7.6,147,1556,0.00,2.50,0.00,0.000,6,0.000,0.028,2784,1764,3483,0,0,0,0,0,0
$GC,1815,-1.11,-116.8,193.9,-7.3,172,1820,0.12,0.00,0.00,0.000,6,0.071,0.000,2742,1764,3483,0,0,0,0,0,0
$GC,2088,-1.07,-116.8,219.8,-9.6,184,2093,0.10,2.70,0.00,0.000,4,0.111,0.065,2765,197,3483,0,0,0,0,0,0
$GC,2104,-1.03,-116.8,221.7,-10.4,184,2108,0.00,2.33,0.00,0.000,6,0.000,0.016,2765,1765,3482,0,0,0,0,0,0
$GC,2366,-1.03,-116.8,248.5,-10.4,191,2370,0.00,2.40,0.00,0.000,4,0.000,0.026,2765,3310,3482,0,0,0,0,0,0
$GC,2410,-1.09,-116.8,252.8,-9.1,192,2414,0.00,2.47,0.00,0.000,6,0.000,0.031,2765,1765,3482,0,0,0,0,0,0
$GC,2687,-1.09,-116.8,275.2,-7.6,199,2692,0.00,2.72,0.00,0.000,4,0.000,0.074,2765,189,3482,0,0,0,0,0,0
$GC,2733,-1.09,-116.8,278.7,-8.0,200,2737,0.00,2.33,0.00,0.000,6,0.000,0.018,2765,1723,3481,0,0,0,0,0,0
$GC,3010,-1.09,-116.8,300.6,-8.2,207,3015,0.00,2.58,0.00,0.000,4,0.000,0.038,2765,3339,3482,0,0,0,0,0,0
$GC,3062,-1.18,-116.8,305.1,-8.7,208,3066,0.00,2.53,0.00,0.000,6,0.000,0.040,2765,1766,3481,0,0,0,0,0,0
$GC,3334,-1.23,-116.8,328.9,-8.9,215,3339,0.15,2.78,0.00,0.000,4,0.065,0.080,2716,189,3481,0,0,0,0,0,0
$GC,3378,-1.17,-116.8,333.9,-11.7,216,3383,0.12,2.42,0.00,0.000,6,0.106,0.021,2743,1745,3481,0,0,0,0,0,0
$GC,3657,-1.17,-116.8,358.8,-8.6,223,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1745,3479,0,0,0,0,0,0
$GC,3900,-1.17,-116.8,375.8,-6.7,229,3904,0.00,2.65,0.00,0.000,4,0.000,0.054,2743,3357,3479,0,0,0,0,0,0
$GC,3927,-1.17,-116.8,377.6,-6.1,229,3931,0.00,2.67,0.00,0.000,6,0.000,0.048,2743,1756,3479,0,0,0,0,0,0
$GC,4178,-1.17,-116.8,393.9,-6.7,235,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1756,3478,0,0,0,0,0,0
$GC,4421,-1.21,-116.8,411.5,-7.4,241,4425,0.00,2.62,0.00,0.000,4,0.000,0.048,2743,3353,3476,0,0,0,0,0,0
$GC,4442,-1.26,-116.8,413.4,-8.2,241,4447,0.00,2.67,0.00,0.000,6,0.000,0.054,2743,1763,3476,0,0,0,0,0,0
$GC,4699,-1.30,-116.8,433.5,-8.0,248,4701,0.12,0.00,0.00,0.000,6,0.079,0.000,2705,1763,3475,0,0,0,0,0,0
$GC,4941,-1.30,-116.8,457.9,-10.2,254,4945,0.00,2.60,0.00,0.000,4,0.000,0.048,2705,3346,3472,0,0,0,0,0,0
$GC,4967,-1.30,-116.8,460.7,-10.0,254,4972,0.00,2.72,0.00,0.000,6,0.000,0.066,2705,1760,3472,0,0,0,0,0,0
$GC,5218,-1.30,-116.8,486.5,-10.4,260,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1760,3471,0,0,0,0,0,0
$STATE,5377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5377,begin apogee
$GC,5383,-0.31,0.0,502.8,10.0,264,5483,1.00,0.00,95.93,0.919,6,0.072,0.000,2933,1836,3001,0,0,0,0,0,0
$STATE,5484,end apogee,CONTROL_FINISHED_OK
$STATE,5484,begin climb
$GC,5486,1.15,116.8,505.9,0.0,266,5599,1.30,3.17,100.07,0.895,4,0.049,0.109,3254,232,2522,0,0,0,0,0,0
$GC,5616,0.99,160.6,505.4,6.0,269,5661,0.20,2.60,38.50,0.870,6,0.116,0.034,3215,1803,2345,0,0,0,0,0,0
$GC,5941,0.94,160.6,477.7,9.3,277,5946,0.00,2.75,0.00,0.000,4,0.000,0.067,3215,3409,2335,0,0,0,0,0,0
$GC,5996,0.94,160.6,472.1,10.3,278,6001,0.00,2.75,0.00,0.000,6,0.000,0.054,3215,1811,2333,0,0,0,0,0,0
$GC,6263,0.95,167.5,450.6,7.7,285,6273,0.00,2.67,5.03,0.641,4,0.000,0.047,3215,3411,2318,0,0,0,0,0,0
$GC,6297,0.98,190.7,448.2,6.9,285,6326,0.00,2.70,22.42,0.848,6,0.000,0.051,3215,1820,2222,0,0,0,0,0,0
$GC,6588,1.00,210.9,427.7,7.1,293,6608,0.00,0.00,18.38,0.832,6,0.000,0.000,3215,1820,2141,0,0,0,0,0,0
$GC,6831,1.00,210.9,405.7,9.3,299,6836,0.00,2.65,0.00,0.000,4,0.000,0.038,3215,3419,2137,0,0,0,0,0,0
$GC,6876,1.00,210.9,401.0,11.0,300,6881,0.00,2.67,0.00,0.000,6,0.000,0.048,3215,1833,2135,0,0,0,0,0,0
$GC,7154,1.00,210.9,376.3,8.1,307,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1833,2133,0,0,0,0,0,0
$GC,7398,1.05,246.0,360.5,6.4,313,7438,0.00,2.62,31.15,0.823,4,0.000,0.033,3215,3415,1996,0,0,0,0,0,0
$GC,7498,1.09,246.0,352.4,9.1,315,7503,0.00,2.65,0.00,0.000,6,0.000,0.048,3215,1828,1993,0,0,0,0,0,0
$GC,7769,1.09,246.0,327.9,8.8,322,7774,0.00,2.80,0.00,0.000,4,0.000,0.082,3215,236,1991,0,0,0,0,0,0
$GC,7803,1.09,246.0,324.7,10.4,322,7809,0.00,2.58,0.00,0.000,6,0.000,0.026,3215,1858,1990,0,0,0,0,0,0
$GC,8053,1.09,247.5,304.3,7.9,329,8055,0.10,0.00,0.00,0.000,6,0.090,0.000,3243,1860,1989,0,0,0,0,0,0
$GC,8296,1.09,247.5,283.1,9.0,335,8297,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1860,1989,0,0,0,0,0,0
$GC,8540,1.09,247.5,260.3,9.5,341,8544,0.00,2.47,0.00,0.000,4,0.000,0.032,3243,3404,1988,0,0,0,0,0,0
$GC,8569,1.09,247.5,257.6,9.7,341,8574,0.00,2.58,0.00,0.000,6,0.000,0.039,3243,1824,1987,0,0,0,0,0,0
$GC,8819,1.09,247.5,234.4,9.3,347,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1824,1987,0,0,0,0,0,0
$GC,9063,1.09,247.5,210.1,10.1,353,9067,0.00,2.55,0.00,0.000,4,0.000,0.035,3243,3400,1987,0,0,0,0,0,0
$GC,9078,1.09,247.5,208.5,10.1,353,9082,0.00,2.55,0.00,0.000,6,0.000,0.033,3243,1824,1987,0,0,0,0,0,0
$GC,9337,1.09,247.5,183.0,9.6,371,9342,0.00,2.55,0.00,0.000,4,0.000,0.033,3243,3410,1986,0,0,0,0,0,0
$GC,9354,1.09,247.5,181.3,9.4,372,9359,0.00,2.53,0.00,0.000,6,0.000,0.036,3243,1839,1986,0,0,0,0,0,0
$GC,9618,1.09,247.5,159.3,8.4,396,9622,0.00,2.47,0.00,0.000,4,0.000,0.028,3243,3400,1987,0,0,0,0,0,0
$GC,9658,1.09,247.5,155.8,8.4,399,9662,0.00,2.50,0.00,0.000,6,0.000,0.038,3243,1840,1986,0,0,0,0,0,0
$GC,9924,1.09,247.5,134.1,8.9,423,9929,0.00,2.72,0.00,0.000,4,0.000,0.067,3243,235,1986,0,0,0,0,0,0
$GC,9959,1.05,247.5,130.9,10.5,425,9964,0.00,2.50,0.00,0.000,6,0.000,0.024,3243,1866,1987,0,0,0,0,0,0
$GC,10225,1.07,268.9,109.4,7.0,449,10251,0.00,2.42,19.90,0.590,4,0.000,0.027,3243,3381,1903,0,0,0,0,0,0
$GC,10280,1.15,283.1,105.6,7.4,453,10304,0.00,2.55,13.43,0.564,6,0.000,0.032,3243,1818,1845,0,0,0,0,0,0
$GC,10560,1.21,283.1,80.9,8.7,479,10564,0.00,2.45,0.00,0.000,4,0.000,0.026,3243,3377,1843,0,0,0,0,0,0
$GC,10617,1.31,283.1,76.4,8.2,483,10622,0.17,2.50,0.00,0.000,6,0.061,0.038,3295,1829,1842,0,0,0,0,0,0
$GC,10883,1.31,283.1,52.1,9.4,507,10888,0.00,2.67,0.00,0.000,4,0.000,0.058,3295,238,1842,0,0,0,0,0,0
$GC,10906,1.26,283.1,49.9,9.4,508,10910,0.00,2.47,0.00,0.000,6,0.000,0.018,3295,1853,1842,0,0,0,0,0,0
$GC,11191,1.26,283.1,21.6,11.4,538,11200,0.00,2.42,0.00,0.000,4,0.000,0.033,3295,3377,1842,0,0,0,0,0,0
$GC,11218,1.26,283.1,18.5,11.6,541,11228,0.00,2.50,0.00,0.000,6,0.000,0.039,3295,1849,1841,0,0,0,0,0,0
$STATE,11344,end climb,SURFACE_DEPTH_REACHED
$STATE,11344,begin surface coast
$FINISH,0.4,1.023420
$STATE,11395,end surface coast,CONTROL_FINISHED_OK
$STATE,11395,begin surface
$SM_CCo,11417,117.32,0.468,1,0,1288,420.20
$SM_GC,0.93,0.00,0.00,117.32,0.000,0.000,0.468,474,1739,1288,-11.62,-0.88,420.20
$IRIDIUM_FIX,2244.02,-15751.94,011299,060606
$TT8_MAMPS,0.026078
$HUMID,43.81
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.30
$XPDR_PINGS,52
$24V_AH,23.6,23.193
$10V_AH,10.4,23.028
$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,26.400,134.475,344.800,117.325,0.000,23.796,37.404,191.194,13.000,0.000,28.708,1127.865,7639.614,551.694,2061.363,566.518,33.373,1312.852,0.000,2059.580,0.000,0.536,0.000
$DEVICE_MAMPS,138.060,250.809,918.866,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.115,339.943,436.055,795.652,1203.390,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,44796,566
$CAP_FILE_SIZE,115428,0
$CFSIZE,260165632,173715456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060910,131534,2253.562,-15749.254,11,99.0,30,10.1