version: 66.06
glider: 146
mission: 5
dive: 163
start: 9 8 110 3 45 30
data:
$ID,146
$MISSION,5
$DIVE,163
$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,-250620.19
$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,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
$GPS1,033836,2248.691,-15742.689,9,1.3,25,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-68.0
$GPS2,034436,2248.689,-15742.766,15,1.6,25,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.060,0.209
$KALMAN_X,-177576.9,-45.9,-475.6,226015.2,-557.3
$KALMAN_Y,-17421.4,238.8,-395.9,143714.4,-117.9
$MHEAD_RNG_PITCHd_Wd,5.9,17293,-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,-116.2,0.0,0.0,0,105,0.00,0.00,-84.97,0.000,6,0.000,0.000,473,1753,3475,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.7,-6.8,11,126,11.52,2.53,0.00,0.000,4,0.140,0.028,2740,3356,3477,0,0,0,0,0,0
$GC,216,-1.06,-116.8,30.1,-13.7,26,226,0.10,2.58,0.00,0.000,6,0.077,0.040,2768,1789,3478,0,0,0,0,0,0
$GC,485,-0.94,-116.8,66.4,-13.5,51,490,0.12,2.75,0.00,0.000,4,0.108,0.066,2795,189,3478,0,0,0,0,0,0
$GC,520,-0.85,-116.8,71.7,-13.7,53,524,0.00,2.42,0.00,0.000,6,0.000,0.022,2795,1808,3478,0,0,0,0,0,0
$GC,786,-0.85,-116.8,98.7,-8.9,77,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1809,3479,0,0,0,0,0,0
$GC,1048,-0.85,-116.8,121.9,-8.7,102,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1809,3480,0,0,0,0,0,0
$GC,1302,-0.89,-116.8,145.6,-9.5,126,1306,0.00,2.78,0.00,0.000,4,0.000,0.071,2795,189,3479,0,0,0,0,0,0
$GC,1337,-0.93,-116.8,148.9,-9.8,128,1346,0.00,2.38,0.00,0.000,6,0.000,0.017,2796,1751,3479,0,0,0,0,0,0
$GC,1599,-0.99,-116.8,171.9,-8.3,153,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1752,3480,0,0,0,0,0,0
$GC,1854,-1.05,-116.8,191.0,-7.1,177,1856,0.10,0.00,0.00,0.000,6,0.081,0.000,2759,1752,3480,0,0,0,0,0,0
$GC,2120,-1.05,-116.8,214.4,-8.7,191,2125,0.00,2.45,0.00,0.000,4,0.000,0.028,2759,3324,3480,0,0,0,0,0,0
$GC,2165,-1.09,-116.8,218.4,-8.5,192,2169,0.00,2.53,0.00,0.000,6,0.000,0.038,2759,1742,3480,0,0,0,0,0,0
$GC,2443,-1.09,-116.8,242.1,-8.8,199,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1740,3479,0,0,0,0,0,0
$GC,2686,-1.09,-116.8,264.2,-8.9,205,2690,0.00,2.67,0.00,0.000,4,0.000,0.074,2759,193,3479,0,0,0,0,0,0
$GC,2735,-1.09,-116.8,269.0,-9.8,206,2739,0.00,2.33,0.00,0.000,6,0.000,0.017,2759,1736,3479,0,0,0,0,0,0
$GC,3008,-1.09,-116.8,294.8,-9.8,213,3012,0.00,2.53,0.00,0.000,4,0.000,0.037,2759,3342,3479,0,0,0,0,0,0
$GC,3069,-1.15,-116.8,300.8,-9.4,214,3073,0.00,2.58,0.00,0.000,6,0.000,0.038,2759,1752,3479,0,0,0,0,0,0
$GC,3329,-1.15,-116.8,322.4,-8.0,221,3334,0.00,2.72,0.00,0.000,4,0.000,0.084,2759,190,3478,0,0,0,0,0,0
$GC,3363,-1.15,-116.8,324.8,-7.8,221,3369,0.00,2.38,0.00,0.000,6,0.000,0.024,2759,1723,3478,0,0,0,0,0,0
$GC,3614,-1.19,-116.8,341.7,-6.8,228,3618,0.00,2.62,0.00,0.000,4,0.000,0.042,2759,3345,3477,0,0,0,0,0,0
$GC,3671,-1.27,-116.8,345.5,-6.8,229,3676,0.15,2.65,0.00,0.000,6,0.061,0.041,2706,1746,3477,0,0,0,0,0,0
$GC,3939,-1.20,-116.8,368.2,-8.4,236,3945,0.15,2.80,0.00,0.000,4,0.099,0.093,2738,186,3476,0,0,0,0,0,0
$GC,4000,-1.20,-116.8,373.8,-9.3,237,4005,0.00,2.40,0.00,0.000,6,0.000,0.023,2739,1730,3475,0,0,0,0,0,0
$GC,4263,-1.20,-116.8,394.6,-8.0,244,4267,0.00,2.65,0.00,0.000,4,0.000,0.049,2738,3358,3474,0,0,0,0,0,0
$GC,4318,-1.25,-116.8,399.5,-8.5,245,4323,0.00,2.70,0.00,0.000,6,0.000,0.053,2738,1749,3474,0,0,0,0,0,0
$GC,4585,-1.25,-116.8,421.0,-8.0,252,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1749,3472,0,0,0,0,0,0
$GC,4829,-1.25,-116.8,440.5,-8.1,258,4834,0.00,2.88,0.00,0.000,4,0.000,0.110,2738,182,3471,0,0,0,0,0,0
$GC,4872,-1.25,-116.8,444.6,-9.1,259,4877,0.00,2.47,0.00,0.000,6,0.000,0.038,2738,1738,3470,0,0,0,0,0,0
$GC,5150,-1.25,-116.8,469.3,-9.2,266,5155,0.00,2.72,0.00,0.000,4,0.000,0.066,2738,3363,3469,0,0,0,0,0,0
$GC,5179,-1.30,-116.8,472.1,-10.1,266,5183,0.00,2.75,0.00,0.000,6,0.000,0.062,2738,1752,3469,0,0,0,0,0,0
$GC,5428,-1.30,-116.8,494.4,-8.7,272,5433,0.00,2.67,0.00,0.000,4,0.000,0.055,2738,3357,3467,0,0,0,0,0,0
$GC,5468,-1.36,-116.8,497.7,-8.3,273,5474,0.15,2.75,0.00,0.000,6,0.065,0.061,2692,1757,3467,0,0,0,0,0,0
$STATE,5493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5493,begin apogee
$GC,5501,-0.31,0.0,500.3,9.1,273,5600,1.02,0.00,95.25,0.907,6,0.079,0.000,2925,1857,3001,0,0,0,0,0,0
$STATE,5600,end apogee,CONTROL_FINISHED_OK
$STATE,5601,begin climb
$GC,5603,1.15,116.8,502.7,0.0,276,5714,1.35,2.60,99.88,0.884,4,0.050,0.054,3252,3379,2522,0,0,0,0,0,0
$GC,5736,1.06,150.3,499.5,6.5,279,5771,0.00,2.70,29.33,0.848,6,0.000,0.056,3252,1811,2387,0,0,0,0,0,0
$GC,6051,0.95,150.3,470.7,9.0,287,6057,0.22,2.62,0.00,0.000,4,0.178,0.042,3207,3378,2379,0,0,0,0,0,0
$GC,6131,0.98,179.3,464.8,6.7,288,6162,0.00,2.65,25.17,0.844,6,0.000,0.061,3207,1829,2270,0,0,0,0,0,0
$GC,6418,1.01,204.2,445.2,6.9,296,6442,0.00,0.00,22.50,0.834,6,0.000,0.000,3207,1829,2168,0,0,0,0,0,0
$GC,6662,1.02,211.6,426.7,7.7,302,6677,0.00,3.03,7.30,0.716,4,0.000,0.102,3207,234,2138,0,0,0,0,0,0
$GC,6694,0.98,211.6,423.6,9.2,302,6699,0.00,2.55,0.00,0.000,6,0.000,0.024,3207,1820,2136,0,0,0,0,0,0
$GC,6944,0.98,211.6,401.1,9.0,308,6948,0.00,2.58,0.00,0.000,4,0.000,0.043,3207,3407,2134,0,0,0,0,0,0
$GC,6960,0.98,211.6,399.5,9.1,308,6965,0.00,2.62,0.00,0.000,6,0.000,0.044,3207,1829,2133,0,0,0,0,0,0
$GC,7222,0.98,211.6,377.3,8.2,315,7226,0.00,2.55,0.00,0.000,4,0.000,0.037,3207,3408,2132,0,0,0,0,0,0
$GC,7289,1.03,219.2,372.2,7.7,316,7304,0.00,2.60,7.35,0.709,6,0.000,0.045,3207,1838,2106,0,0,0,0,0,0
$GC,7550,1.03,224.8,352.5,7.8,323,7564,0.00,2.95,6.53,0.678,4,0.000,0.087,3207,232,2084,0,0,0,0,0,0
$GC,7575,1.03,224.8,350.1,8.3,323,7580,0.00,2.58,0.00,0.000,6,0.000,0.025,3207,1855,2082,0,0,0,0,0,0
$GC,7831,1.04,227.7,330.0,7.9,330,7837,0.00,0.00,3.88,0.515,6,0.000,0.000,3207,1856,2072,0,0,0,0,0,0
$GC,8076,1.04,227.7,310.2,8.2,336,8080,0.00,2.50,0.00,0.000,4,0.000,0.039,3207,3405,2070,0,0,0,0,0,0
$GC,8131,1.13,238.0,306.0,7.5,337,8148,0.15,2.58,10.57,0.721,6,0.071,0.037,3249,1831,2031,0,0,0,0,0,0
$GC,8400,1.09,238.0,284.1,8.2,344,8404,0.00,2.53,0.00,0.000,4,0.000,0.038,3249,3404,2027,0,0,0,0,0,0
$GC,8432,1.09,238.0,281.1,8.3,344,8438,0.00,2.53,0.00,0.000,6,0.000,0.037,3249,1847,2027,0,0,0,0,0,0
$GC,8682,1.09,238.0,261.3,8.1,351,8686,0.00,2.47,0.00,0.000,4,0.000,0.031,3249,3400,2027,0,0,0,0,0,0
$GC,8697,1.09,238.0,259.8,8.4,351,8702,0.00,2.55,0.00,0.000,6,0.000,0.038,3249,1840,2026,0,0,0,0,0,0
$GC,8960,1.09,238.0,237.2,8.6,358,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1840,2026,0,0,0,0,0,0
$GC,9202,1.09,238.0,214.8,9.3,364,9207,0.00,2.50,0.00,0.000,4,0.000,0.033,3250,3401,2026,0,0,0,0,0,0
$GC,9252,1.09,238.0,209.5,11.0,365,9256,0.00,2.55,0.00,0.000,6,0.000,0.038,3249,1826,2025,0,0,0,0,0,0
$GC,9516,1.09,238.0,184.4,9.4,382,9520,0.00,2.53,0.00,0.000,4,0.000,0.031,3250,3410,2026,0,0,0,0,0,0
$GC,9593,1.09,238.0,177.0,9.7,388,9597,0.00,2.50,0.00,0.000,6,0.000,0.035,3250,1852,2025,0,0,0,0,0,0
$GC,9861,1.09,238.0,152.6,9.3,412,9865,0.00,2.72,0.00,0.000,4,0.000,0.066,3250,242,2025,0,0,0,0,0,0
$GC,9884,1.04,238.0,150.0,9.0,413,9890,0.12,2.53,0.00,0.000,6,0.117,0.025,3225,1885,2024,0,0,0,0,0,0
$GC,10148,1.09,242.7,128.6,7.8,438,10163,0.00,2.45,5.32,0.486,4,0.000,0.033,3225,3407,2010,0,0,0,0,0,0
$GC,10238,1.22,265.2,122.2,7.0,445,10265,0.17,2.50,21.25,0.601,6,0.061,0.035,3273,1866,1918,0,0,0,0,0,0
$GC,10526,1.24,283.5,100.3,7.2,472,10546,0.00,0.00,16.60,0.571,6,0.000,0.000,3273,1866,1845,0,0,0,0,0,0
$GC,10806,1.24,283.5,76.7,9.7,498,10811,0.00,2.47,0.00,0.000,4,0.000,0.027,3273,3412,1842,0,0,0,0,0,0
$GC,10841,1.28,283.5,73.7,8.3,500,10845,0.00,2.50,0.00,0.000,6,0.000,0.032,3273,1872,1841,0,0,0,0,0,0
$GC,11108,1.28,283.5,50.5,8.0,524,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1871,1841,0,0,0,0,0,0
$GC,11377,1.28,283.5,28.6,8.3,550,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1872,1841,0,0,0,0,0,0
$STATE,11689,end climb,SURFACE_DEPTH_REACHED
$STATE,11689,begin surface coast
$FINISH,0.2,1.023959
$STATE,11779,end surface coast,CONTROL_FINISHED_OK
$STATE,11779,begin surface
$SM_CCo,11801,116.72,0.463,1,0,1287,420.20
$SM_GC,0.94,0.00,0.00,116.72,0.000,0.000,0.463,475,1739,1287,-11.62,-0.88,420.20
$IRIDIUM_FIX,2239.35,-15744.57,031299,000047
$TT8_MAMPS,0.026078
$HUMID,43.26
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,23.90
$XPDR_PINGS,57
$24V_AH,23.6,24.566
$10V_AH,10.4,24.628
$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,26.575,140.400,350.925,116.725,0.000,27.635,34.038,151.168,14.250,0.000,26.621,1210.055,7698.856,555.470,2307.315,512.480,33.375,1373.406,0.000,2293.698,0.000,0.537,0.000
$DEVICE_MAMPS,177.944,213.993,906.594,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.312,366.087,473.769,905.920,1365.525,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,47772,608
$CAP_FILE_SIZE,121374,0
$CFSIZE,260165632,172978176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080910,070551,2249.936,-15743.021,35,3.1,54,10.1