version: 66.06
glider: 146
mission: 5
dive: 154
start: 9 6 110 20 9 57
data:
$ID,146
$MISSION,5
$DIVE,154
$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,-250423.7
$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,40
$R_STBD_OVSHOOT,62
$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
$GPS1,200300,2252.580,-15747.983,57,1.3,57,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-65.9
$GPS2,200902,2252.585,-15748.036,12,1.3,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,0.030
$KALMAN_X,-163742.5,-219.3,311.7,202491.4,-1979.7
$KALMAN_Y,-8116.8,-328.7,289.4,141511.9,-835.0
$MHEAD_RNG_PITCHd_Wd,71.9,12258,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,105,0.00,0.00,-85.95,0.000,6,0.000,0.000,473,1753,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.3,-6.0,11,125,11.45,2.50,0.00,0.000,4,0.137,0.027,2741,3350,3481,0,0,0,0,0,0
$GC,137,0.36,-116.8,16.9,-30.1,14,147,1.45,2.55,0.00,0.000,6,0.075,0.031,3071,1790,3481,0,0,0,0,0,0
$GC,446,-0.25,-116.8,41.0,-7.7,51,452,0.52,2.70,0.00,0.000,4,0.066,0.063,2940,192,3482,0,0,0,0,0,0
$GC,727,-0.81,-116.8,65.0,-8.7,73,737,0.45,2.62,0.00,0.000,6,0.050,0.016,2823,1935,3482,0,0,0,0,0,0
$GC,991,-0.87,-116.8,86.0,-9.0,98,995,0.00,2.97,0.00,0.000,4,0.000,0.058,2822,192,3482,0,0,0,0,0,0
$GC,1035,-0.93,-116.8,90.2,-9.8,101,1040,0.12,2.55,0.00,0.000,6,0.068,0.018,2777,1890,3483,0,0,0,0,0,0
$GC,1302,-0.93,-116.8,116.3,-10.1,125,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1891,3483,0,0,0,0,0,0
$GC,1563,-0.93,-116.8,143.4,-9.9,150,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1892,3483,0,0,0,0,0,0
$GC,1820,-0.93,-116.8,164.8,-8.0,174,1825,0.00,2.90,0.00,0.000,4,0.000,0.062,2776,192,3484,0,0,0,0,0,0
$GC,1865,-0.97,-116.8,168.8,-8.4,177,1873,0.00,2.58,0.00,0.000,6,0.000,0.017,2776,1871,3484,0,0,0,0,0,0
$GC,2132,-0.97,-116.8,189.7,-8.2,202,2137,0.00,2.88,0.00,0.000,4,0.000,0.064,2777,193,3484,0,0,0,0,0,0
$GC,2189,-1.01,-116.8,195.3,-9.2,206,2194,0.00,2.50,0.00,0.000,6,0.000,0.022,2776,1852,3484,0,0,0,0,0,0
$GC,2451,-1.01,-116.8,219.2,-9.2,217,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1854,3484,0,0,0,0,0,0
$GC,2696,-1.05,-116.8,239.7,-8.0,223,2701,0.00,2.85,0.00,0.000,4,0.000,0.071,2776,192,3484,0,0,0,0,0,0
$GC,2758,-1.11,-116.8,244.7,-7.9,224,2762,0.00,2.50,0.00,0.000,6,0.000,0.018,2776,1841,3484,0,0,0,0,0,0
$GC,3019,-1.15,-116.8,259.9,-5.6,231,3023,0.12,2.33,0.00,0.000,4,0.069,0.028,2729,3333,3483,0,0,0,0,0,0
$GC,3049,-1.15,-116.8,262.0,-7.8,231,3053,0.00,2.38,0.00,0.000,6,0.000,0.029,2728,1832,3483,0,0,0,0,0,0
$GC,3299,-1.11,-116.8,284.0,-9.1,237,3304,0.12,2.85,0.00,0.000,4,0.108,0.074,2756,189,3483,0,0,0,0,0,0
$GC,3355,-1.15,-116.8,289.7,-9.6,238,3359,0.00,2.50,0.00,0.000,6,0.000,0.018,2756,1803,3483,0,0,0,0,0,0
$GC,3622,-1.15,-116.8,314.2,-9.4,245,3626,0.00,2.80,0.00,0.000,4,0.000,0.074,2756,189,3482,0,0,0,0,0,0
$GC,3648,-1.15,-116.8,317.1,-10.1,245,3653,0.00,2.53,0.00,0.000,6,0.000,0.027,2756,1806,3482,0,0,0,0,0,0
$GC,3899,-1.19,-116.8,338.3,-8.0,251,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1806,3481,0,0,0,0,0,0
$GC,4144,-1.23,-116.8,355.2,-6.7,257,4146,0.10,0.00,0.00,0.000,6,0.088,0.000,2721,1806,3481,0,0,0,0,0,0
$GC,4386,-1.23,-116.8,373.4,-7.4,263,4391,0.00,2.85,0.00,0.000,4,0.000,0.084,2721,196,3479,0,0,0,0,0,0
$GC,4408,-1.18,-116.8,375.0,-7.2,263,4412,0.00,2.53,0.00,0.000,6,0.000,0.033,2721,1795,3479,0,0,0,0,0,0
$GC,4664,-1.18,-116.8,395.2,-8.0,270,4669,0.00,2.83,0.00,0.000,4,0.000,0.084,2721,197,3478,0,0,0,0,0,0
$GC,4696,-1.18,-116.8,398.6,-10.6,270,4702,0.00,2.58,0.00,0.000,6,0.000,0.037,2720,1799,3477,0,0,0,0,0,0
$GC,4946,-1.18,-116.8,421.1,-9.2,277,4948,0.10,0.00,0.00,0.000,6,0.123,0.000,2742,1799,3477,0,0,0,0,0,0
$GC,5192,-1.22,-116.8,440.6,-8.0,283,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1799,3475,0,0,0,0,0,0
$GC,5435,-1.27,-116.8,459.7,-7.9,289,5439,0.00,2.90,0.00,0.000,4,0.000,0.091,2742,197,3473,0,0,0,0,0,0
$GC,5461,-1.27,-116.8,462.1,-8.8,289,5466,0.00,2.60,0.00,0.000,6,0.000,0.041,2742,1801,3473,0,0,0,0,0,0
$GC,5713,-1.32,-116.8,480.0,-7.0,295,5718,0.12,2.70,0.00,0.000,4,0.075,0.073,2700,3365,3471,0,0,0,0,0,0
$GC,5735,-1.32,-116.8,481.9,-7.8,295,5740,0.00,2.67,0.00,0.000,6,0.000,0.058,2700,1804,3471,0,0,0,0,0,0
$STATE,5988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5988,begin apogee
$GC,5993,-0.31,0.0,502.6,8.0,302,6093,1.02,0.00,95.80,0.916,6,0.084,0.000,2929,1804,3000,0,0,0,0,0,0
$STATE,6093,end apogee,CONTROL_FINISHED_OK
$STATE,6094,begin climb
$GC,6097,1.15,116.8,504.0,0.0,304,6202,1.35,0.00,101.15,0.894,6,0.054,0.000,3254,1803,2524,0,0,0,0,0,0
$GC,6434,1.01,117.7,485.1,8.0,313,6440,0.17,2.72,0.00,0.000,4,0.210,0.045,3219,3408,2514,0,0,0,0,0,0
$GC,6533,0.99,154.7,478.5,6.3,315,6572,0.00,2.72,32.12,0.871,6,0.000,0.058,3219,1819,2369,0,0,0,0,0,0
$GC,6853,1.00,200.3,459.2,5.9,323,6899,0.00,2.67,40.53,0.873,4,0.000,0.045,3219,3410,2183,0,0,0,0,0,0
$GC,6946,1.00,200.3,452.5,8.1,325,6951,0.00,2.72,0.00,0.000,6,0.000,0.054,3219,1829,2179,0,0,0,0,0,0
$GC,7218,1.00,200.3,429.7,8.6,332,7223,0.00,2.92,0.00,0.000,4,0.000,0.099,3219,232,2176,0,0,0,0,0,0
$GC,7245,0.91,200.3,427.1,9.7,332,7249,0.00,2.58,0.00,0.000,6,0.000,0.026,3219,1835,2173,0,0,0,0,0,0
$GC,7496,0.91,200.3,406.5,8.1,338,7500,0.00,2.60,0.00,0.000,4,0.000,0.042,3219,3411,2172,0,0,0,0,0,0
$GC,7524,0.92,207.7,404.2,7.7,338,7535,0.00,2.67,5.97,0.685,6,0.000,0.048,3219,1822,2154,0,0,0,0,0,0
$GC,7779,0.96,239.1,386.9,6.6,345,7810,0.00,0.00,29.33,0.841,6,0.000,0.000,3219,1822,2026,0,0,0,0,0,0
$GC,8023,0.96,239.1,367.7,8.2,351,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1822,2021,0,0,0,0,0,0
$GC,8266,0.96,239.1,345.2,9.4,357,8270,0.00,2.58,0.00,0.000,4,0.000,0.033,3219,3410,2019,0,0,0,0,0,0
$GC,8307,1.00,239.1,341.1,10.5,358,8311,0.00,2.62,0.00,0.000,6,0.000,0.044,3219,1815,2018,0,0,0,0,0,0
$GC,8591,1.00,239.1,313.8,9.3,365,8595,0.00,2.58,0.00,0.000,4,0.000,0.038,3219,3409,2017,0,0,0,0,0,0
$GC,8635,1.04,239.1,309.7,9.0,366,8639,0.00,2.58,0.00,0.000,6,0.000,0.035,3219,1829,2016,0,0,0,0,0,0
$GC,8912,1.05,251.7,288.7,7.4,373,8925,0.00,0.00,11.27,0.726,6,0.000,0.000,3219,1829,1974,0,0,0,0,0,0
$GC,9157,1.06,259.5,270.6,7.7,379,9171,0.00,2.85,7.97,0.668,4,0.000,0.071,3219,241,1943,0,0,0,0,0,0
$GC,9194,1.06,259.5,267.0,9.3,379,9200,0.00,2.58,0.00,0.000,6,0.000,0.019,3219,1874,1943,0,0,0,0,0,0
$GC,9444,1.06,259.5,245.4,8.5,386,9448,0.00,2.45,0.00,0.000,4,0.000,0.031,3219,3412,1941,0,0,0,0,0,0
$GC,9485,1.13,259.5,241.9,9.3,387,9491,0.12,2.58,0.00,0.000,6,0.081,0.035,3252,1837,1940,0,0,0,0,0,0
$GC,9769,1.13,259.5,213.3,10.2,394,9773,0.00,2.75,0.00,0.000,4,0.000,0.068,3252,243,1940,0,0,0,0,0,0
$GC,9784,1.08,259.5,211.6,10.4,394,9789,0.00,2.55,0.00,0.000,6,0.000,0.020,3252,1886,1940,0,0,0,0,0,0
$GC,10046,1.08,259.5,187.2,8.8,409,10050,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1887,1939,0,0,0,0,0,0
$GC,10306,1.08,259.5,163.3,9.2,434,10311,0.00,2.83,0.00,0.000,4,0.000,0.062,3252,241,1940,0,0,0,0,0,0
$GC,10323,1.03,259.5,161.8,9.5,435,10328,0.12,2.50,0.00,0.000,6,0.117,0.019,3226,1876,1939,0,0,0,0,0,0
$GC,10589,1.10,274.7,141.8,7.3,459,10613,0.00,2.88,14.57,0.611,4,0.000,0.064,3226,246,1880,0,0,0,0,0,0
$GC,10625,1.10,277.6,138.8,7.9,462,10640,0.00,2.50,4.35,0.441,6,0.000,0.018,3226,1873,1868,0,0,0,0,0,0
$GC,10895,1.16,277.6,116.2,8.7,487,10900,0.12,2.47,0.00,0.000,4,0.076,0.035,3262,3425,1867,0,0,0,0,0,0
$GC,10905,1.22,277.6,114.7,8.9,487,10911,0.00,2.58,0.00,0.000,6,0.000,0.030,3262,1820,1866,0,0,0,0,0,0
$GC,11169,1.22,277.6,87.5,10.4,512,11173,0.00,2.53,0.00,0.000,4,0.000,0.031,3262,3415,1866,0,0,0,0,0,0
$GC,11214,1.28,277.6,83.2,9.9,515,11218,0.00,2.55,0.00,0.000,6,0.000,0.033,3262,1829,1866,0,0,0,0,0,0
$GC,11482,1.33,280.4,60.9,7.9,539,11487,0.10,2.53,0.00,0.000,4,0.087,0.028,3296,3423,1866,0,0,0,0,0,0
$GC,11528,1.33,280.4,56.5,9.4,542,11533,0.00,2.55,0.00,0.000,6,0.000,0.032,3296,1832,1866,0,0,0,0,0,0
$GC,11796,1.33,280.4,33.4,8.4,566,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1832,1866,0,0,0,0,0,0
$STATE,12124,end climb,SURFACE_DEPTH_REACHED
$STATE,12124,begin surface coast
$FINISH,0.4,1.023407
$STATE,12180,end surface coast,CONTROL_FINISHED_OK
$STATE,12180,begin surface
$SM_CCo,12203,128.25,0.472,1,0,1288,420.20
$SM_GC,0.86,0.00,0.00,128.25,0.000,0.000,0.472,474,1739,1288,-11.62,-0.88,420.20
$IRIDIUM_FIX,2244.02,-15751.06,011299,161626
$TT8_MAMPS,0.025311
$HUMID,43.14
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.70
$XPDR_PINGS,51
$24V_AH,23.6,23.538
$10V_AH,10.4,23.420
$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,28.900,142.850,343.075,128.250,0.000,27.308,30.184,166.642,12.750,0.000,13.890,1233.235,8017.514,606.228,2302.734,539.697,33.372,1380.994,0.000,2315.825,0.000,0.535,0.000
$DEVICE_MAMPS,210.158,98.943,915.798,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,419.776,360.600,482.028,945.999,1429.296,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,47890,620
$CAP_FILE_SIZE,121505,0
$CFSIZE,260165632,173522944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060910,233655,2252.193,-15747.820,39,1.4,39,10.1