version: 66.06
glider: 146
mission: 5
dive: 156
start: 9 7 110 3 13 27
data:
$ID,146
$MISSION,5
$DIVE,156
$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,-250450.67
$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,52
$R_STBD_OVSHOOT,24
$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
$GPS1,030638,2251.900,-15747.358,28,1.1,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-66.9
$GPS2,031232,2251.914,-15747.435,11,1.1,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.059
$KALMAN_X,-167636.7,-42.1,-351.2,207909.6,-1074.7
$KALMAN_Y,-9853.6,398.3,-231.4,141796.4,-161.7
$MHEAD_RNG_PITCHd_Wd,95.5,10733,-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,-85.78,0.000,6,0.000,0.000,476,1732,3479,0,0,0,0,0,0
$GC,109,-1.15,-116.8,4.5,-6.2,11,125,11.43,0.00,0.00,0.000,6,0.137,0.000,2740,1732,3480,0,0,0,0,0,0
$GC,402,-0.97,-116.8,59.8,-15.5,43,411,0.22,0.00,0.00,0.000,6,0.100,0.000,2788,1733,3481,0,0,0,0,0,0
$GC,664,-0.97,-116.8,92.3,-11.5,68,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1732,3482,0,0,0,0,0,0
$GC,917,-0.97,-116.8,119.3,-10.1,92,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1732,3482,0,0,0,0,0,0
$GC,1174,-0.97,-116.8,141.2,-7.8,116,1178,0.00,2.58,0.00,0.000,4,0.000,0.025,2788,3377,3482,0,0,0,0,0,0
$GC,1195,-0.97,-116.8,142.8,-7.9,117,1200,0.00,2.53,0.00,0.000,6,0.000,0.032,2788,1794,3483,0,0,0,0,0,0
$GC,1458,-0.97,-116.8,161.7,-6.8,141,1462,0.00,2.72,0.00,0.000,4,0.000,0.064,2788,197,3483,0,0,0,0,0,0
$GC,1482,-0.97,-116.8,163.6,-7.2,142,1487,0.00,2.45,0.00,0.000,6,0.000,0.023,2788,1833,3482,0,0,0,0,0,0
$GC,1745,-1.01,-116.8,182.4,-8.1,167,1749,0.00,2.80,0.00,0.000,4,0.000,0.063,2788,198,3482,0,0,0,0,0,0
$GC,1766,-1.05,-116.8,184.4,-8.2,168,1776,0.00,2.45,0.00,0.000,6,0.000,0.022,2788,1808,3483,0,0,0,0,0,0
$GC,2059,-1.10,-116.8,206.8,-7.9,190,2064,0.12,2.78,0.00,0.000,4,0.106,0.065,2743,198,3482,0,0,0,0,0,0
$GC,2099,-1.05,-116.8,211.3,-11.1,191,2104,0.12,2.30,0.00,0.000,6,0.103,0.017,2770,1740,3482,0,0,0,0,0,0
$GC,2384,-1.05,-116.8,237.2,-9.1,198,2388,0.00,2.50,0.00,0.000,4,0.000,0.032,2770,3329,3482,0,0,0,0,0,0
$GC,2410,-1.09,-116.8,240.0,-9.3,198,2415,0.00,2.50,0.00,0.000,6,0.000,0.032,2770,1754,3482,0,0,0,0,0,0
$GC,2660,-1.09,-116.8,262.6,-9.1,204,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1754,3482,0,0,0,0,0,0
$GC,2905,-1.09,-116.8,283.9,-8.7,210,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1754,3481,0,0,0,0,0,0
$GC,3148,-1.13,-116.8,302.8,-7.4,216,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1754,3481,0,0,0,0,0,0
$GC,3392,-1.19,-116.8,321.6,-7.8,222,3397,0.12,2.50,0.00,0.000,4,0.077,0.035,2726,3317,3480,0,0,0,0,0,0
$GC,3415,-1.19,-116.8,323.5,-8.8,222,3419,0.00,2.55,0.00,0.000,6,0.000,0.041,2725,1754,3480,0,0,0,0,0,0
$GC,3669,-1.19,-116.8,346.4,-8.9,229,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1754,3480,0,0,0,0,0,0
$GC,3913,-1.19,-116.8,367.2,-8.5,235,3917,0.00,2.53,0.00,0.000,4,0.000,0.041,2725,3321,3479,0,0,0,0,0,0
$GC,3934,-1.19,-116.8,369.1,-8.6,235,3938,0.00,2.58,0.00,0.000,6,0.000,0.051,2725,1765,3479,0,0,0,0,0,0
$GC,4191,-1.19,-116.8,391.1,-8.7,242,4195,0.00,2.50,0.00,0.000,4,0.000,0.044,2725,3323,3478,0,0,0,0,0,0
$GC,4213,-1.19,-116.8,393.2,-8.8,242,4218,0.00,2.60,0.00,0.000,6,0.000,0.050,2725,1765,3478,0,0,0,0,0,0
$GC,4469,-1.19,-116.8,415.6,-8.9,249,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1765,3477,0,0,0,0,0,0
$GC,4714,-1.19,-116.8,437.0,-8.8,255,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1765,3475,0,0,0,0,0,0
$GC,4956,-1.19,-116.8,458.3,-8.6,261,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1765,3474,0,0,0,0,0,0
$GC,5200,-1.19,-116.8,477.7,-7.9,267,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1765,3472,0,0,0,0,0,0
$GC,5444,-1.19,-116.8,496.3,-7.6,273,5448,0.00,2.60,0.00,0.000,4,0.000,0.056,2725,3303,3471,0,0,0,0,0,0
$GC,5485,-1.23,-116.8,499.3,-7.8,274,5489,0.00,2.65,0.00,0.000,6,0.000,0.068,2725,1767,3470,0,0,0,0,0,0
$STATE,5494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5494,begin apogee
$GC,5500,-0.31,0.0,500.2,7.3,274,5599,0.88,0.00,95.65,0.907,6,0.077,0.000,2927,1766,3001,0,0,0,0,0,0
$STATE,5599,end apogee,CONTROL_FINISHED_OK
$STATE,5600,begin climb
$GC,5602,1.15,116.8,501.8,0.0,276,5710,1.35,2.75,100.00,0.882,4,0.048,0.049,3253,3358,2522,0,0,0,0,0,0
$GC,5724,1.10,185.1,499.7,4.8,279,5788,0.00,2.67,58.97,0.867,6,0.000,0.058,3253,1819,2246,0,0,0,0,0,0
$GC,6058,0.99,185.1,469.7,9.5,288,6063,0.17,2.60,0.00,0.000,4,0.162,0.043,3218,3367,2236,0,0,0,0,0,0
$GC,6098,0.99,185.1,466.0,9.1,289,6102,0.00,2.67,0.00,0.000,6,0.000,0.061,3218,1819,2235,0,0,0,0,0,0
$GC,6380,0.99,185.1,442.5,8.0,296,6385,0.00,2.55,0.00,0.000,4,0.000,0.043,3218,3366,2233,0,0,0,0,0,0
$GC,6414,0.99,185.1,439.7,8.3,296,6420,0.00,2.62,0.00,0.000,6,0.000,0.056,3218,1816,2232,0,0,0,0,0,0
$GC,6664,1.01,198.2,420.9,7.4,303,6677,0.00,0.00,10.57,0.779,6,0.000,0.000,3218,1816,2191,0,0,0,0,0,0
$GC,6908,1.04,220.5,403.6,7.0,309,6934,0.00,2.58,20.75,0.826,4,0.000,0.035,3218,3367,2101,0,0,0,0,0,0
$GC,6980,1.05,230.7,398.4,7.5,310,6995,0.00,2.62,10.02,0.758,6,0.000,0.046,3218,1817,2060,0,0,0,0,0,0
$GC,7274,1.05,231.2,375.5,8.0,318,7278,0.00,2.53,0.00,0.000,4,0.000,0.034,3218,3368,2056,0,0,0,0,0,0
$GC,7347,1.09,231.2,369.2,9.4,319,7351,0.00,2.58,0.00,0.000,6,0.000,0.047,3218,1836,2055,0,0,0,0,0,0
$GC,7596,1.09,231.2,346.8,9.0,325,7600,0.00,2.47,0.00,0.000,4,0.000,0.038,3218,3365,2054,0,0,0,0,0,0
$GC,7635,1.09,231.2,343.3,8.5,326,7639,0.00,2.50,0.00,0.000,6,0.000,0.041,3218,1853,2053,0,0,0,0,0,0
$GC,7919,1.11,245.6,321.7,7.3,333,7939,0.10,2.50,13.60,0.758,4,0.092,0.036,3245,3358,1999,0,0,0,0,0,0
$GC,7995,1.11,248.6,315.7,7.9,334,8006,0.00,2.45,4.25,0.538,6,0.000,0.039,3245,1858,1986,0,0,0,0,0,0
$GC,8250,1.11,248.6,294.8,8.3,341,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1858,1984,0,0,0,0,0,0
$GC,8495,1.11,248.6,272.9,9.0,347,8499,0.00,2.45,0.00,0.000,4,0.000,0.035,3245,3372,1982,0,0,0,0,0,0
$GC,8538,1.11,248.6,268.8,9.6,348,8542,0.00,2.45,0.00,0.000,6,0.000,0.038,3245,1865,1982,0,0,0,0,0,0
$GC,8816,1.11,248.6,243.9,9.1,355,8821,0.00,2.40,0.00,0.000,4,0.000,0.030,3245,3365,1982,0,0,0,0,0,0
$GC,8845,1.11,248.6,241.2,9.4,355,8849,0.00,2.42,0.00,0.000,6,0.000,0.035,3245,1868,1982,0,0,0,0,0,0
$GC,9094,1.11,248.6,217.5,9.6,361,9099,0.00,2.40,0.00,0.000,4,0.000,0.031,3245,3378,1981,0,0,0,0,0,0
$GC,9116,1.11,248.6,215.1,10.5,361,9120,0.00,2.42,0.00,0.000,6,0.000,0.038,3245,1873,1981,0,0,0,0,0,0
$GC,9376,1.11,248.6,190.3,9.6,373,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1873,1981,0,0,0,0,0,0
$GC,9637,1.11,249.5,166.8,8.0,398,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1872,1981,0,0,0,0,0,0
$GC,9893,1.14,270.5,147.7,7.0,422,9917,0.00,2.47,19.85,0.621,4,0.000,0.034,3245,3368,1897,0,0,0,0,0,0
$GC,9959,1.19,270.5,142.4,8.1,427,9964,0.00,2.42,0.00,0.000,6,0.000,0.036,3245,1883,1895,0,0,0,0,0,0
$GC,10221,1.19,270.5,118.2,9.5,452,10225,0.00,2.35,0.00,0.000,4,0.000,0.030,3245,3374,1894,0,0,0,0,0,0
$GC,10237,1.19,270.5,117.0,10.0,453,10241,0.00,2.40,0.00,0.000,6,0.000,0.031,3245,1889,1894,0,0,0,0,0,0
$GC,10504,1.25,279.6,95.2,7.6,477,10519,0.10,2.85,9.07,0.530,4,0.089,0.063,3278,234,1860,0,0,0,0,0,0
$GC,10560,1.18,279.6,89.9,9.9,481,10564,0.00,2.53,0.00,0.000,6,0.000,0.018,3278,1870,1859,0,0,0,0,0,0
$GC,10826,1.18,279.6,65.6,8.3,505,10830,0.00,2.38,0.00,0.000,4,0.000,0.026,3277,3382,1859,0,0,0,0,0,0
$GC,10875,1.24,279.6,61.7,8.8,508,10879,0.00,2.42,0.00,0.000,6,0.000,0.031,3278,1866,1858,0,0,0,0,0,0
$GC,11141,1.24,279.6,39.3,8.3,532,11145,0.00,2.72,0.00,0.000,4,0.000,0.058,3278,241,1858,0,0,0,0,0,0
$GC,11161,1.24,281.3,37.4,7.9,533,11165,0.00,2.53,0.00,0.000,6,0.000,0.018,3278,1888,1858,0,0,0,0,0,0
$GC,11469,1.24,281.3,11.5,9.7,573,11478,0.00,2.38,0.00,0.000,4,0.000,0.028,3278,3383,1858,0,0,0,0,0,0
$GC,11508,1.24,281.3,8.2,8.5,578,11518,0.00,2.47,0.00,0.000,6,0.000,0.032,3277,1869,1858,0,0,0,0,0,0
$STATE,11559,end climb,SURFACE_DEPTH_REACHED
$STATE,11559,begin surface coast
$FINISH,0.4,1.023404
$STATE,11617,end surface coast,CONTROL_FINISHED_OK
$STATE,11617,begin surface
$SM_CCo,11640,119.80,0.466,1,0,1288,420.20
$SM_GC,0.96,0.00,0.00,119.80,0.000,0.000,0.466,478,1758,1288,-11.60,-0.34,420.20
$IRIDIUM_FIX,2241.69,-15751.94,011299,232303
$TT8_MAMPS,0.026078
$HUMID,43.38
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.60
$XPDR_PINGS,47
$24V_AH,23.6,23.764
$10V_AH,10.4,23.683
$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,25.950,126.825,342.750,119.800,0.000,25.877,32.006,160.285,11.750,0.000,12.855,1163.033,7760.647,545.299,2129.322,519.824,33.375,1302.363,0.000,2135.527,0.000,0.536,0.000
$DEVICE_MAMPS,161.837,80.535,906.594,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.177,361.909,461.498,859.623,1300.185,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,47867,593
$CAP_FILE_SIZE,114463,0
$CFSIZE,260165632,173412352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070910,063054,2251.600,-15746.305,23,1.3,40,10.1