version: 66.06
glider: 146
mission: 5
dive: 153
start: 9 6 110 16 48 0
data:
$ID,146
$MISSION,5
$DIVE,153
$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,-250409.19
$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,51
$R_STBD_OVSHOOT,59
$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
$GPS1,164030,2253.127,-15748.733,40,1.9,45,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-66.0
$GPS2,164706,2253.138,-15748.818,11,1.3,27,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.044
$KALMAN_X,-162221.5,-68.6,-43.7,199828.9,-1731.8
$KALMAN_Y,-7240.2,-549.0,112.8,142054.4,-64.3
$MHEAD_RNG_PITCHd_Wd,91.5,13936,-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,13,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-85.57,0.000,6,0.000,0.000,471,1742,3478,0,0,0,0,0,0
$GC,106,-1.15,-116.8,4.6,-6.6,11,124,11.50,2.55,0.00,0.000,4,0.138,0.055,2740,217,3481,0,0,0,0,0,0
$GC,232,-0.99,-116.8,35.5,-16.5,27,237,0.20,2.38,0.00,0.000,6,0.095,0.015,2784,1790,3480,0,0,0,0,0,0
$GC,499,-0.91,-116.8,70.6,-12.0,51,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1791,3481,0,0,0,0,0,0
$GC,760,-0.91,-116.8,98.9,-9.8,76,764,0.00,2.65,0.00,0.000,4,0.000,0.064,2784,218,3481,0,0,0,0,0,0
$GC,788,-0.91,-116.8,101.6,-9.5,78,793,0.00,2.35,0.00,0.000,6,0.000,0.019,2784,1791,3482,0,0,0,0,0,0
$GC,1052,-0.91,-116.8,124.3,-8.6,102,1056,0.00,2.38,0.00,0.000,4,0.000,0.027,2784,3309,3482,0,0,0,0,0,0
$GC,1072,-0.91,-116.8,126.0,-8.7,103,1076,0.00,2.40,0.00,0.000,6,0.000,0.034,2784,1792,3482,0,0,0,0,0,0
$GC,1339,-0.91,-116.8,149.3,-9.4,127,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1792,3482,0,0,0,0,0,0
$GC,1600,-0.95,-116.8,174.0,-8.6,152,1605,0.00,2.72,0.00,0.000,4,0.000,0.062,2784,197,3482,0,0,0,0,0,0
$GC,1644,-0.99,-116.8,177.8,-9.5,155,1648,0.00,2.33,0.00,0.000,6,0.000,0.021,2784,1769,3482,0,0,0,0,0,0
$GC,1907,-1.04,-116.8,199.1,-7.5,179,1911,0.00,2.42,0.00,0.000,4,0.000,0.028,2785,3304,3483,0,0,0,0,0,0
$GC,1953,-1.12,-116.8,202.7,-7.6,181,1958,0.12,2.45,0.00,0.000,6,0.070,0.031,2740,1766,3483,0,0,0,0,0,0
$GC,2230,-1.07,-116.8,230.1,-10.1,188,2236,0.12,2.67,0.00,0.000,4,0.175,0.066,2768,199,3482,0,0,0,0,0,0
$GC,2247,-1.03,-116.8,232.1,-10.9,188,2251,0.00,2.33,0.00,0.000,6,0.000,0.018,2768,1762,3482,0,0,0,0,0,0
$GC,2509,-1.03,-116.8,258.6,-10.5,195,2513,0.00,2.42,0.00,0.000,4,0.000,0.031,2768,3310,3482,0,0,0,0,0,0
$GC,2524,-1.03,-116.8,260.5,-10.5,195,2528,0.00,2.45,0.00,0.000,6,0.000,0.028,2768,1772,3482,0,0,0,0,0,0
$GC,2791,-1.03,-116.8,286.2,-9.3,202,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1772,3482,0,0,0,0,0,0
$GC,3035,-1.07,-116.8,305.0,-7.3,208,3039,0.00,2.42,0.00,0.000,4,0.000,0.035,2768,3314,3481,0,0,0,0,0,0
$GC,3066,-1.13,-116.8,306.9,-6.9,208,3071,0.00,2.47,0.00,0.000,6,0.000,0.035,2768,1772,3482,0,0,0,0,0,0
$GC,3317,-1.18,-116.8,324.8,-7.1,214,3322,0.12,2.78,0.00,0.000,4,0.071,0.081,2722,189,3481,0,0,0,0,0,0
$GC,3346,-1.14,-116.8,327.5,-10.0,214,3351,0.15,2.38,0.00,0.000,6,0.100,0.023,2754,1735,3481,0,0,0,0,0,0
$GC,3595,-1.14,-116.8,348.2,-8.1,220,3600,0.00,2.60,0.00,0.000,4,0.000,0.039,2753,3349,3480,0,0,0,0,0,0
$GC,3623,-1.19,-116.8,350.4,-8.4,220,3627,0.00,2.58,0.00,0.000,6,0.000,0.045,2754,1782,3480,0,0,0,0,0,0
$GC,3875,-1.23,-116.8,367.8,-6.7,226,3879,0.00,2.83,0.00,0.000,4,0.000,0.088,2754,188,3479,0,0,0,0,0,0
$GC,3907,-1.23,-116.8,370.3,-7.4,226,3913,0.00,2.45,0.00,0.000,6,0.000,0.023,2754,1763,3479,0,0,0,0,0,0
$GC,4158,-1.28,-116.8,386.4,-6.4,233,4163,0.15,2.60,0.00,0.000,4,0.068,0.046,2708,3351,3477,0,0,0,0,0,0
$GC,4181,-1.28,-116.8,388.1,-7.9,233,4185,0.00,2.65,0.00,0.000,6,0.000,0.054,2708,1770,3477,0,0,0,0,0,0
$GC,4436,-1.24,-116.8,413.1,-10.1,240,4438,0.10,0.00,0.00,0.000,6,0.116,0.000,2729,1770,3476,0,0,0,0,0,0
$GC,4679,-1.24,-116.8,436.8,-9.7,246,4683,0.00,2.65,0.00,0.000,4,0.000,0.048,2730,3354,3475,0,0,0,0,0,0
$GC,4719,-1.24,-116.8,440.6,-9.3,247,4724,0.00,2.67,0.00,0.000,6,0.000,0.055,2729,1768,3475,0,0,0,0,0,0
$GC,5003,-1.24,-116.8,464.7,-8.2,254,5007,0.00,2.92,0.00,0.000,4,0.000,0.112,2729,181,3473,0,0,0,0,0,0
$GC,5029,-1.24,-116.8,467.1,-9.0,254,5034,0.00,2.53,0.00,0.000,6,0.000,0.034,2729,1751,3472,0,0,0,0,0,0
$GC,5281,-1.24,-116.8,485.8,-7.3,260,5286,0.00,2.72,0.00,0.000,4,0.000,0.064,2729,3363,3471,0,0,0,0,0,0
$GC,5314,-1.24,-116.8,488.3,-7.6,260,5319,0.00,2.72,0.00,0.000,6,0.000,0.064,2729,1771,3471,0,0,0,0,0,0
$STATE,5480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5480,begin apogee
$GC,5486,-0.31,0.0,501.2,7.8,265,5585,0.88,0.00,96.07,0.913,6,0.073,0.000,2930,1858,3001,0,0,0,0,0,0
$STATE,5586,end apogee,CONTROL_FINISHED_OK
$STATE,5586,begin climb
$GC,5590,1.15,116.8,503.5,0.0,267,5694,1.35,0.00,100.43,0.894,6,0.054,0.000,3252,1857,2524,0,0,0,0,0,0
$GC,5927,1.05,145.5,489.2,6.7,276,5957,0.12,2.60,24.67,0.853,4,0.127,0.048,3229,3375,2407,0,0,0,0,0,0
$GC,6028,1.00,145.5,481.5,8.7,278,6032,0.00,2.67,0.00,0.000,6,0.000,0.054,3229,1827,2402,0,0,0,0,0,0
$GC,6295,0.94,156.0,460.3,7.5,285,6307,0.12,0.00,9.45,0.772,6,0.172,0.000,3205,1827,2365,0,0,0,0,0,0
$GC,6538,1.00,204.2,445.5,5.8,291,6583,0.00,0.00,43.67,0.864,6,0.000,0.000,3205,1827,2168,0,0,0,0,0,0
$GC,6823,1.03,232.5,427.3,6.7,298,6853,0.00,2.60,25.20,0.842,4,0.000,0.043,3205,3386,2052,0,0,0,0,0,0
$GC,6887,1.08,232.5,422.0,8.5,299,6892,0.12,2.67,0.00,0.000,6,0.088,0.049,3238,1821,2050,0,0,0,0,0,0
$GC,7145,1.03,232.5,397.2,10.0,306,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1821,2046,0,0,0,0,0,0
$GC,7388,0.99,232.5,372.2,10.3,312,7393,0.12,2.55,0.00,0.000,4,0.210,0.032,3214,3384,2045,0,0,0,0,0,0
$GC,7432,1.03,232.5,368.0,9.2,313,7436,0.00,2.62,0.00,0.000,6,0.000,0.042,3214,1815,2043,0,0,0,0,0,0
$GC,7711,1.03,232.5,343.2,9.1,320,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1815,2043,0,0,0,0,0,0
$GC,7953,1.03,232.5,321.5,8.6,326,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1815,2042,0,0,0,0,0,0
$GC,8197,1.07,258.1,304.3,6.8,332,8226,0.00,2.65,22.10,0.771,4,0.000,0.030,3214,3391,1947,0,0,0,0,0,0
$GC,8249,1.14,278.5,300.8,7.1,333,8274,0.15,2.58,19.38,0.749,6,0.077,0.040,3253,1826,1865,0,0,0,0,0,0
$GC,8522,1.11,278.5,276.2,9.3,339,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1826,1859,0,0,0,0,0,0
$GC,8762,1.11,278.5,250.2,10.8,345,8766,0.00,2.53,0.00,0.000,4,0.000,0.034,3253,3391,1858,0,0,0,0,0,0
$GC,8784,1.11,278.5,247.8,11.0,345,8788,0.00,2.53,0.00,0.000,6,0.000,0.038,3253,1835,1857,0,0,0,0,0,0
$GC,9040,1.11,278.5,222.1,9.8,352,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1835,1857,0,0,0,0,0,0
$GC,9282,1.11,278.5,198.5,9.5,358,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1835,1856,0,0,0,0,0,0
$GC,9543,1.11,278.5,174.7,9.6,382,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1835,1857,0,0,0,0,0,0
$GC,9807,1.11,278.5,146.9,10.3,407,9812,0.00,2.70,0.00,0.000,4,0.000,0.068,3253,243,1856,0,0,0,0,0,0
$GC,9823,1.11,278.5,144.8,10.7,408,9828,0.00,2.47,0.00,0.000,6,0.000,0.024,3252,1850,1855,0,0,0,0,0,0
$GC,10087,1.11,278.5,118.7,9.6,432,10091,0.00,2.42,0.00,0.000,4,0.000,0.034,3253,3386,1855,0,0,0,0,0,0
$GC,10159,1.16,278.5,111.4,9.3,437,10164,0.00,2.47,0.00,0.000,6,0.000,0.032,3252,1842,1855,0,0,0,0,0,0
$GC,10423,1.16,278.5,89.2,8.2,462,10427,0.00,2.45,0.00,0.000,4,0.000,0.032,3253,3388,1855,0,0,0,0,0,0
$GC,10456,1.23,278.5,86.2,8.2,464,10466,0.00,2.50,0.00,0.000,6,0.000,0.032,3253,1858,1855,0,0,0,0,0,0
$GC,10725,1.32,306.0,69.5,6.7,489,10762,0.15,2.53,23.48,0.558,4,0.069,0.033,3297,3388,1752,0,0,0,0,0,0
$GC,10779,1.32,306.0,65.2,8.6,493,10783,0.00,2.47,0.00,0.000,6,0.000,0.031,3297,1855,1752,0,0,0,0,0,0
$GC,11047,1.32,306.0,41.0,9.3,517,11055,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1855,1751,0,0,0,0,0,0
$GC,11355,1.32,306.0,10.7,10.3,556,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1855,1751,0,0,0,0,0,0
$STATE,11419,end climb,SURFACE_DEPTH_REACHED
$STATE,11419,begin surface coast
$FINISH,0.2,1.013151
$STATE,11469,end surface coast,CONTROL_FINISHED_OK
$STATE,11469,begin surface
$SM_CCo,11491,105.20,0.462,1,0,1287,420.20
$SM_GC,0.97,0.00,0.00,105.20,0.000,0.000,0.462,474,1754,1287,-11.62,-0.45,420.20
$IRIDIUM_FIX,2244.02,-15637.64,011299,131349
$TT8_MAMPS,0.026078
$HUMID,43.58
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.60
$XPDR_PINGS,50
$24V_AH,23.6,23.423
$10V_AH,10.3,23.282
$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,26.875,122.725,364.450,105.200,0.000,29.481,26.046,186.435,12.500,0.000,28.836,1128.946,7695.297,580.120,2048.745,545.122,33.373,1295.724,0.000,2051.627,0.000,0.537,0.000
$DEVICE_MAMPS,210.158,111.982,913.497,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.105,331.474,440.445,827.579,1251.778,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,44885,572
$CAP_FILE_SIZE,113200,0
$CFSIZE,260165632,173596672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060910,200300,2252.580,-15747.983,57,1.3,57,10.1