version: 66.06
glider: 146
mission: 5
dive: 162
start: 9 8 110 0 16 26
data:
$ID,146
$MISSION,5
$DIVE,162
$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,-250592.94
$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,59
$R_STBD_OVSHOOT,41
$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
$GPS1,000855,2248.492,-15743.050,38,1.6,38,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-67.6
$GPS2,001531,2248.451,-15743.133,12,1.3,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.193,0.101
$KALMAN_X,-176210.5,-121.3,10.3,223603.6,-1657.6
$KALMAN_Y,-16193.2,-196.6,-362.7,142455.0,-868.7
$MHEAD_RNG_PITCHd_Wd,52.3,2185,-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,-86.10,0.000,6,0.000,0.000,474,1729,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.2,-5.8,11,124,11.50,0.00,0.00,0.000,6,0.138,0.000,2742,1729,3481,0,0,0,0,0,0
$GC,400,-0.97,-116.8,60.3,-15.9,43,406,0.20,2.55,0.00,0.000,4,0.097,0.021,2786,3357,3481,0,0,0,0,0,0
$GC,435,-0.90,-116.8,65.6,-13.8,45,440,0.00,2.50,0.00,0.000,6,0.000,0.029,2786,1802,3482,0,0,0,0,0,0
$GC,700,-0.90,-116.8,94.6,-9.4,69,704,0.00,2.72,0.00,0.000,4,0.000,0.066,2786,197,3482,0,0,0,0,0,0
$GC,744,-0.90,-116.8,99.3,-9.2,72,754,0.00,2.45,0.00,0.000,6,0.000,0.022,2786,1809,3482,0,0,0,0,0,0
$GC,1010,-0.90,-116.8,120.9,-8.8,97,1015,0.00,2.78,0.00,0.000,4,0.000,0.061,2786,196,3483,0,0,0,0,0,0
$GC,1031,-0.90,-116.8,123.7,-10.0,98,1041,0.00,2.40,0.00,0.000,6,0.000,0.022,2786,1783,3483,0,0,0,0,0,0
$GC,1299,-0.90,-116.8,148.8,-10.0,123,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1784,3483,0,0,0,0,0,0
$GC,1564,-0.90,-116.8,175.0,-9.3,148,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1784,3483,0,0,0,0,0,0
$GC,1827,-0.94,-116.8,199.4,-8.9,173,1831,0.00,2.75,0.00,0.000,4,0.000,0.073,2786,189,3483,0,0,0,0,0,0
$GC,1866,-0.99,-116.8,203.4,-9.8,174,1870,0.00,2.35,0.00,0.000,6,0.000,0.018,2786,1753,3483,0,0,0,0,0,0
$GC,2149,-1.04,-116.8,227.7,-8.3,181,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1754,3483,0,0,0,0,0,0
$GC,2394,-1.09,-116.8,245.8,-7.1,187,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1755,3483,0,0,0,0,0,0
$GC,2637,-1.15,-116.8,261.8,-6.6,193,2642,0.15,2.70,0.00,0.000,4,0.064,0.075,2735,197,3482,0,0,0,0,0,0
$GC,2670,-1.08,-116.8,264.8,-9.6,193,2676,0.12,2.35,0.00,0.000,6,0.106,0.016,2762,1741,3482,0,0,0,0,0,0
$GC,2921,-1.08,-116.8,282.7,-7.1,200,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1743,3482,0,0,0,0,0,0
$GC,3164,-1.08,-116.8,300.7,-7.7,206,3168,0.00,2.50,0.00,0.000,4,0.000,0.039,2762,3332,3481,0,0,0,0,0,0
$GC,3225,-1.17,-116.8,305.5,-7.9,207,3229,0.00,2.53,0.00,0.000,6,0.000,0.040,2762,1780,3481,0,0,0,0,0,0
$GC,3487,-1.22,-116.8,324.4,-7.3,214,3492,0.12,2.85,0.00,0.000,4,0.077,0.086,2722,185,3481,0,0,0,0,0,0
$GC,3509,-1.22,-116.8,326.5,-8.7,214,3513,0.00,2.45,0.00,0.000,6,0.000,0.025,2722,1764,3480,0,0,0,0,0,0
$GC,3764,-1.22,-116.8,348.4,-8.5,221,3768,0.00,2.53,0.00,0.000,4,0.000,0.041,2722,3345,3480,0,0,0,0,0,0
$GC,3792,-1.22,-116.8,350.5,-8.2,221,3796,0.00,2.60,0.00,0.000,6,0.000,0.051,2722,1781,3479,0,0,0,0,0,0
$GC,4041,-1.22,-116.8,370.9,-8.3,227,4046,0.00,2.88,0.00,0.000,4,0.000,0.099,2722,185,3478,0,0,0,0,0,0
$GC,4063,-1.18,-116.8,372.8,-8.6,227,4068,0.10,2.50,0.00,0.000,6,0.120,0.025,2743,1774,3478,0,0,0,0,0,0
$GC,4319,-1.18,-116.8,393.5,-8.3,234,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1774,3477,0,0,0,0,0,0
$GC,4561,-1.18,-116.8,413.3,-8.0,240,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1774,3476,0,0,0,0,0,0
$GC,4806,-1.22,-116.8,432.4,-7.8,246,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1774,3474,0,0,0,0,0,0
$GC,5050,-1.26,-116.8,450.7,-7.6,252,5054,0.00,2.60,0.00,0.000,4,0.000,0.060,2744,3343,3472,0,0,0,0,0,0
$GC,5073,-1.31,-116.8,452.5,-7.7,252,5078,0.12,2.67,0.00,0.000,6,0.077,0.055,2705,1774,3472,0,0,0,0,0,0
$GC,5328,-1.31,-116.8,475.0,-8.8,259,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1774,3471,0,0,0,0,0,0
$GC,5571,-1.31,-116.8,496.7,-8.9,265,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1774,3469,0,0,0,0,0,0
$STATE,5610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5610,begin apogee
$GC,5617,-0.31,0.0,500.5,9.0,266,5717,1.00,0.00,95.80,0.914,6,0.087,0.000,2932,1842,3001,0,0,0,0,0,0
$STATE,5717,end apogee,CONTROL_FINISHED_OK
$STATE,5717,begin climb
$GC,5720,1.15,116.8,503.1,0.0,268,5824,1.35,0.00,100.65,0.892,6,0.041,0.000,3261,1842,2523,0,0,0,0,0,0
$GC,6057,1.04,151.3,490.0,6.4,277,6089,0.15,0.00,29.62,0.868,6,0.115,0.000,3229,1842,2384,0,0,0,0,0,0
$GC,6302,1.01,178.3,473.8,6.8,283,6331,0.00,2.65,24.27,0.855,4,0.000,0.051,3229,3384,2273,0,0,0,0,0,0
$GC,6371,1.03,196.6,468.9,7.2,284,6395,0.00,2.72,17.20,0.825,6,0.000,0.060,3229,1813,2199,0,0,0,0,0,0
$GC,6672,0.99,210.0,446.8,7.4,292,6691,0.00,2.67,12.43,0.808,4,0.000,0.041,3229,3380,2143,0,0,0,0,0,0
$GC,6703,0.96,221.4,444.0,7.5,292,6721,0.00,2.67,11.62,0.788,6,0.000,0.049,3229,1823,2097,0,0,0,0,0,0
$GC,7002,0.92,221.4,419.7,8.1,300,7008,0.15,2.55,0.00,0.000,4,0.117,0.036,3199,3384,2092,0,0,0,0,0,0
$GC,7024,0.93,231.7,417.9,7.5,300,7040,0.00,2.65,9.70,0.778,6,0.000,0.046,3199,1817,2056,0,0,0,0,0,0
$GC,7284,0.96,255.2,399.6,6.9,307,7308,0.00,0.00,22.35,0.840,6,0.000,0.000,3198,1817,1960,0,0,0,0,0,0
$GC,7529,0.96,257.9,381.0,7.9,313,7534,0.00,2.55,0.00,0.000,4,0.000,0.036,3199,3386,1955,0,0,0,0,0,0
$GC,7569,1.05,257.9,377.3,8.9,314,7575,0.12,2.62,0.00,0.000,6,0.081,0.047,3233,1823,1953,0,0,0,0,0,0
$GC,7854,1.05,257.9,350.0,9.6,321,7859,0.00,2.80,0.00,0.000,4,0.000,0.081,3233,235,1952,0,0,0,0,0,0
$GC,7872,0.99,257.9,348.3,9.5,321,7876,0.00,2.47,0.00,0.000,6,0.000,0.025,3233,1817,1951,0,0,0,0,0,0
$GC,8132,0.99,257.9,323.3,9.5,328,8136,0.00,2.55,0.00,0.000,4,0.000,0.035,3233,3396,1950,0,0,0,0,0,0
$GC,8171,0.99,257.9,319.5,9.7,329,8176,0.00,2.60,0.00,0.000,6,0.000,0.038,3233,1817,1949,0,0,0,0,0,0
$GC,8455,0.99,257.9,294.7,8.3,336,8460,0.00,2.55,0.00,0.000,4,0.000,0.032,3233,3401,1949,0,0,0,0,0,0
$GC,8488,0.99,257.9,291.6,9.1,336,8494,0.00,2.53,0.00,0.000,6,0.000,0.040,3233,1837,1949,0,0,0,0,0,0
$GC,8738,0.99,257.9,270.0,8.5,343,8742,0.00,2.50,0.00,0.000,4,0.000,0.031,3233,3394,1949,0,0,0,0,0,0
$GC,8783,1.04,257.9,266.0,8.8,344,8788,0.00,2.53,0.00,0.000,6,0.000,0.036,3233,1851,1948,0,0,0,0,0,0
$GC,9061,1.04,257.9,241.1,9.1,351,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1851,1948,0,0,0,0,0,0
$GC,9305,1.04,257.9,218.9,9.2,357,9309,0.00,2.47,0.00,0.000,4,0.000,0.030,3233,3395,1948,0,0,0,0,0,0
$GC,9339,1.09,257.9,215.6,9.6,357,9345,0.00,2.53,0.00,0.000,6,0.000,0.034,3233,1845,1948,0,0,0,0,0,0
$GC,9594,1.09,257.9,194.7,8.2,367,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1846,1948,0,0,0,0,0,0
$GC,9855,1.09,257.9,172.8,8.7,392,9860,0.00,2.47,0.00,0.000,4,0.000,0.029,3233,3404,1948,0,0,0,0,0,0
$GC,9879,1.12,257.9,171.0,8.5,393,9887,0.00,2.53,0.00,0.000,6,0.000,0.033,3233,1860,1948,0,0,0,0,0,0
$GC,10146,1.19,280.2,151.0,7.0,418,10175,0.12,0.00,21.12,0.628,6,0.078,0.000,3270,1860,1857,0,0,0,0,0,0
$GC,10429,1.19,280.2,126.3,8.9,445,10433,0.00,2.45,0.00,0.000,4,0.000,0.028,3269,3403,1855,0,0,0,0,0,0
$GC,10450,1.19,280.2,123.8,9.7,446,10459,0.00,2.55,0.00,0.000,6,0.000,0.035,3269,1854,1854,0,0,0,0,0,0
$GC,10718,1.19,280.2,100.5,8.4,471,10722,0.00,2.45,0.00,0.000,4,0.000,0.027,3269,3408,1854,0,0,0,0,0,0
$GC,10735,1.19,280.2,98.3,9.1,472,10739,0.00,2.50,0.00,0.000,6,0.000,0.031,3269,1862,1854,0,0,0,0,0,0
$GC,11002,1.23,280.2,75.6,8.0,496,11007,0.00,2.72,0.00,0.000,4,0.000,0.061,3269,242,1854,0,0,0,0,0,0
$GC,11035,1.23,280.2,72.4,9.6,498,11040,0.00,2.50,0.00,0.000,6,0.000,0.018,3269,1889,1854,0,0,0,0,0,0
$GC,11303,1.23,280.2,50.0,8.4,522,11312,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1890,1854,0,0,0,0,0,0
$GC,11575,1.23,280.2,27.1,8.7,549,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1891,1854,0,0,0,0,0,0
$STATE,11852,end climb,SURFACE_DEPTH_REACHED
$STATE,11852,begin surface coast
$FINISH,0.3,1.023225
$STATE,11917,end surface coast,CONTROL_FINISHED_OK
$STATE,11917,begin surface
$SM_CCo,11939,119.55,0.464,1,0,1288,420.20
$SM_GC,0.84,0.00,0.00,119.55,0.000,0.000,0.464,473,1753,1288,-11.62,-0.48,420.20
$IRIDIUM_FIX,2241.69,-15744.57,021299,202029
$TT8_MAMPS,0.026078
$HUMID,42.99
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.00
$XPDR_PINGS,47
$24V_AH,23.6,24.455
$10V_AH,10.3,24.494
$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,26.500,118.725,344.775,119.550,0.000,23.491,31.904,203.429,11.750,0.000,15.447,1158.228,8048.017,596.915,2093.745,562.902,33.372,1321.218,0.000,2112.231,0.000,0.536,0.000
$DEVICE_MAMPS,138.060,115.817,914.264,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,404.404,352.726,457.566,856.324,1295.339,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,47976,598
$CAP_FILE_SIZE,113313,0
$CFSIZE,260165632,173043712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080910,033836,2248.691,-15742.689,9,1.3,25,10.1