version: 66.06
glider: 146
mission: 5
dive: 160
start: 9 7 110 17 13 16
data:
$ID,146
$MISSION,5
$DIVE,160
$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,-250560.88
$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,43
$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
$GPS1,170434,2249.326,-15744.557,41,1.8,41,10.1
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,3
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.7
$GPS2,171222,2249.320,-15744.627,10,2.7,29,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,-0.001
$KALMAN_X,-173759.7,28.6,-93.0,218533.0,-1168.0
$KALMAN_Y,-13185.5,-564.9,-35.8,141094.2,-195.4
$MHEAD_RNG_PITCHd_Wd,80.1,4524,-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,-86.47,0.000,6,0.000,0.000,473,1750,3478,0,0,0,0,0,0
$GC,109,-1.15,-116.8,4.0,-5.4,11,125,11.62,0.00,0.00,0.000,6,0.143,0.000,2741,1749,3480,0,0,0,0,0,0
$GC,408,-0.96,-116.8,61.8,-17.0,44,417,0.22,0.00,0.00,0.000,6,0.097,0.000,2789,1750,3481,0,0,0,0,0,0
$GC,672,-0.96,-116.8,93.6,-10.9,69,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1750,3481,0,0,0,0,0,0
$GC,932,-0.96,-116.8,120.7,-9.4,94,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1750,3482,0,0,0,0,0,0
$GC,1189,-0.96,-116.8,140.7,-7.4,118,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1750,3482,0,0,0,0,0,0
$GC,1447,-1.01,-116.8,160.3,-8.0,142,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1750,3482,0,0,0,0,0,0
$GC,1710,-1.05,-116.8,182.2,-8.8,167,1714,0.00,2.65,0.00,0.000,4,0.000,0.074,2788,203,3482,0,0,0,0,0,0
$GC,1731,-1.05,-116.8,184.4,-9.2,168,1740,0.00,2.42,0.00,0.000,6,0.000,0.017,2789,1801,3482,0,0,0,0,0,0
$GC,2000,-1.11,-116.8,207.6,-8.4,188,2005,0.12,2.40,0.00,0.000,4,0.077,0.030,2744,3328,3482,0,0,0,0,0,0
$GC,2021,-1.11,-116.8,209.9,-9.6,188,2025,0.00,2.45,0.00,0.000,6,0.000,0.031,2744,1782,3482,0,0,0,0,0,0
$GC,2277,-1.07,-116.8,234.1,-9.3,195,2283,0.10,2.72,0.00,0.000,4,0.288,0.068,2765,196,3481,0,0,0,0,0,0
$GC,2313,-1.07,-116.8,237.3,-9.4,195,2319,0.00,2.35,0.00,0.000,6,0.000,0.016,2766,1759,3482,0,0,0,0,0,0
$GC,2563,-1.07,-116.8,255.3,-7.0,202,2567,0.00,2.47,0.00,0.000,4,0.000,0.033,2766,3333,3481,0,0,0,0,0,0
$GC,2603,-1.13,-116.8,258.1,-7.1,203,2607,0.00,2.47,0.00,0.000,6,0.000,0.033,2765,1775,3481,0,0,0,0,0,0
$GC,2887,-1.13,-116.8,280.0,-8.1,210,2891,0.00,2.75,0.00,0.000,4,0.000,0.077,2765,196,3481,0,0,0,0,0,0
$GC,2942,-1.18,-116.8,285.5,-10.0,211,2947,0.10,2.40,0.00,0.000,6,0.084,0.018,2729,1756,3480,0,0,0,0,0,0
$GC,3210,-1.14,-116.8,313.4,-10.5,218,3215,0.10,2.72,0.00,0.000,4,0.120,0.072,2750,197,3480,0,0,0,0,0,0
$GC,3220,-1.14,-116.8,314.7,-10.5,218,3225,0.00,2.40,0.00,0.000,6,0.000,0.021,2750,1773,3480,0,0,0,0,0,0
$GC,3487,-1.14,-116.8,337.9,-8.4,225,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1773,3479,0,0,0,0,0,0
$GC,3731,-1.14,-116.8,356.9,-7.7,231,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1773,3479,0,0,0,0,0,0
$GC,3976,-1.14,-116.8,375.8,-7.9,237,3981,0.00,2.53,0.00,0.000,4,0.000,0.051,2750,3336,3477,0,0,0,0,0,0
$GC,4017,-1.22,-116.8,378.8,-7.3,238,4021,0.00,2.60,0.00,0.000,6,0.000,0.054,2750,1781,3477,0,0,0,0,0,0
$GC,4300,-1.26,-116.8,399.9,-7.6,245,4306,0.10,2.92,0.00,0.000,4,0.084,0.104,2712,181,3476,0,0,0,0,0,0
$GC,4323,-1.26,-116.8,402.1,-9.0,245,4328,0.00,2.50,0.00,0.000,6,0.000,0.026,2712,1756,3475,0,0,0,0,0,0
$GC,4579,-1.26,-116.8,426.3,-9.3,252,4583,0.00,2.65,0.00,0.000,4,0.000,0.052,2712,3360,3474,0,0,0,0,0,0
$GC,4594,-1.26,-116.8,427.8,-9.3,252,4598,0.00,2.67,0.00,0.000,6,0.000,0.058,2712,1768,3474,0,0,0,0,0,0
$GC,4857,-1.26,-116.8,449.9,-8.2,259,4861,0.00,2.60,0.00,0.000,4,0.000,0.046,2712,3358,3472,0,0,0,0,0,0
$GC,4889,-1.26,-116.8,452.7,-7.6,259,4895,0.00,2.67,0.00,0.000,6,0.000,0.058,2712,1776,3472,0,0,0,0,0,0
$GC,5139,-1.26,-116.8,472.8,-8.1,266,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1776,3471,0,0,0,0,0,0
$GC,5384,-1.26,-116.8,492.2,-7.9,272,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1776,3469,0,0,0,0,0,0
$STATE,5502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5502,begin apogee
$GC,5508,-0.31,0.0,502.7,8.4,275,5607,0.98,0.00,95.62,0.912,6,0.079,0.000,2932,1842,3001,0,0,0,0,0,0
$STATE,5608,end apogee,CONTROL_FINISHED_OK
$STATE,5608,begin climb
$GC,5610,1.15,116.8,505.4,0.0,277,5721,1.33,3.10,99.45,0.890,4,0.053,0.113,3253,235,2522,0,0,0,0,0,0
$GC,5734,1.08,207.7,505.9,3.8,280,5819,0.00,2.60,77.85,0.874,6,0.000,0.034,3253,1799,2153,0,0,0,0,0,0
$GC,6106,0.98,207.7,475.8,8.7,289,6111,0.20,2.75,0.00,0.000,4,0.178,0.061,3214,3404,2144,0,0,0,0,0,0
$GC,6200,0.98,207.7,467.6,8.1,291,6205,0.00,2.70,0.00,0.000,6,0.000,0.055,3214,1818,2142,0,0,0,0,0,0
$GC,6474,0.98,207.7,442.3,9.8,298,6478,0.00,2.62,0.00,0.000,4,0.000,0.038,3214,3411,2140,0,0,0,0,0,0
$GC,6517,0.98,207.7,437.5,10.7,299,6522,0.00,2.65,0.00,0.000,6,0.000,0.049,3213,1832,2139,0,0,0,0,0,0
$GC,6795,0.98,207.7,410.7,9.6,306,6800,0.00,2.58,0.00,0.000,4,0.000,0.035,3213,3414,2139,0,0,0,0,0,0
$GC,6816,0.98,207.7,408.7,8.9,306,6821,0.00,2.65,0.00,0.000,6,0.000,0.043,3214,1828,2138,0,0,0,0,0,0
$GC,7079,0.98,207.7,384.9,9.0,313,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1827,2137,0,0,0,0,0,0
$GC,7323,0.98,207.7,364.7,8.1,319,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1828,2135,0,0,0,0,0,0
$GC,7565,1.00,223.1,347.0,7.3,325,7584,0.00,2.65,11.55,0.757,4,0.000,0.031,3214,3416,2090,0,0,0,0,0,0
$GC,7631,1.04,223.1,341.9,8.1,326,7636,0.00,2.62,0.00,0.000,6,0.000,0.038,3213,1825,2089,0,0,0,0,0,0
$GC,7891,1.04,223.1,320.6,8.3,333,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1825,2087,0,0,0,0,0,0
$GC,8135,1.04,223.1,300.4,8.4,339,8139,0.00,2.58,0.00,0.000,4,0.000,0.032,3214,3422,2087,0,0,0,0,0,0
$GC,8208,1.11,223.1,294.1,8.4,340,8214,0.12,2.55,0.00,0.000,6,0.085,0.037,3248,1858,2086,0,0,0,0,0,0
$GC,8459,1.08,228.1,274.0,7.8,346,8466,0.00,0.00,5.07,0.575,6,0.000,0.000,3248,1858,2071,0,0,0,0,0,0
$GC,8702,1.08,228.1,254.6,8.0,352,8706,0.00,2.53,0.00,0.000,4,0.000,0.031,3248,3426,2070,0,0,0,0,0,0
$GC,8730,1.08,228.1,252.1,9.2,352,8734,0.00,2.55,0.00,0.000,6,0.000,0.038,3248,1866,2069,0,0,0,0,0,0
$GC,8979,1.08,228.1,228.5,9.7,358,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1866,2069,0,0,0,0,0,0
$GC,9223,1.08,228.1,205.1,9.4,364,9227,0.00,2.47,0.00,0.000,4,0.000,0.035,3248,3418,2069,0,0,0,0,0,0
$GC,9255,1.08,228.1,202.1,9.8,364,9261,0.00,2.50,0.00,0.000,6,0.000,0.036,3247,1865,2069,0,0,0,0,0,0
$GC,9516,1.09,232.4,181.5,7.8,386,9524,0.00,0.00,5.43,0.530,6,0.000,0.000,3248,1865,2053,0,0,0,0,0,0
$GC,9782,1.10,248.0,161.9,7.3,411,9806,0.00,2.55,15.38,0.628,4,0.000,0.029,3248,3413,1988,0,0,0,0,0,0
$GC,9833,1.10,248.0,158.0,8.2,415,9837,0.00,2.50,0.00,0.000,6,0.000,0.038,3248,1866,1987,0,0,0,0,0,0
$GC,10099,1.10,248.0,136.2,8.7,439,10104,0.00,2.47,0.00,0.000,4,0.000,0.031,3248,3420,1986,0,0,0,0,0,0
$GC,10122,1.10,248.0,133.7,8.9,440,10131,0.00,2.55,0.00,0.000,6,0.000,0.038,3248,1866,1987,0,0,0,0,0,0
$GC,10388,1.10,248.0,111.3,8.2,465,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1866,1987,0,0,0,0,0,0
$GC,10652,1.18,271.5,91.4,6.9,490,10682,0.00,0.00,21.58,0.573,6,0.000,0.000,3248,1866,1892,0,0,0,0,0,0
$GC,10940,1.29,310.5,73.2,6.2,517,10980,0.12,0.00,34.03,0.562,6,0.079,0.000,3285,1866,1734,0,0,0,0,0,0
$GC,11235,1.29,310.5,48.6,9.6,545,11239,0.00,2.47,0.00,0.000,4,0.000,0.027,3286,3427,1731,0,0,0,0,0,0
$GC,11267,1.29,310.5,45.4,9.8,547,11272,0.00,2.50,0.00,0.000,6,0.000,0.031,3286,1876,1729,0,0,0,0,0,0
$GC,11564,1.29,310.5,16.4,9.6,581,11574,0.00,2.83,0.00,0.000,4,0.000,0.065,3286,239,1729,0,0,0,0,0,0
$GC,11584,1.29,310.5,14.3,9.6,583,11593,0.00,2.62,0.00,0.000,6,0.000,0.018,3286,1924,1728,0,0,0,0,0,0
$STATE,11691,end climb,SURFACE_DEPTH_REACHED
$STATE,11691,begin surface coast
$FINISH,0.4,1.023376
$STATE,11750,end surface coast,CONTROL_FINISHED_OK
$STATE,11750,begin surface
$SM_CCo,11771,100.28,0.458,1,0,1288,420.20
$SM_GC,0.98,0.00,0.00,100.28,0.000,0.000,0.458,480,1742,1288,-11.59,-0.79,420.20
$IRIDIUM_FIX,2239.35,-15744.57,021299,131333
$TT8_MAMPS,0.026078
$HUMID,43.66
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.50
$XPDR_PINGS,46
$24V_AH,23.6,24.225
$10V_AH,10.4,24.223
$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,26.425,114.300,365.950,100.275,0.000,23.788,35.698,252.115,11.500,0.000,32.153,1158.085,7855.752,531.899,2191.242,607.716,33.380,1319.639,0.000,2180.368,0.000,0.535,0.000
$DEVICE_MAMPS,287.625,120.419,911.963,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,409.240,363.418,472.526,872.357,1319.395,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,47848,606
$CAP_FILE_SIZE,113326,0
$CFSIZE,260165632,173166592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070910,203231,2248.866,-15743.409,37,1.1,37,10.1