version: 66.06
glider: 146
mission: 5
dive: 164
start: 9 8 110 7 12 45
data:
$ID,146
$MISSION,5
$DIVE,164
$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,-250634.64
$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,39
$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
$GPS1,070551,2249.936,-15743.021,35,3.1,54,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-66.3
$GPS2,071150,2249.942,-15743.063,12,1.2,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,0.193
$KALMAN_X,-179373.0,-17.2,36.8,226761.1,-1187.6
$KALMAN_Y,-18775.4,426.8,482.9,146323.8,-1716.1
$MHEAD_RNG_PITCHd_Wd,17.8,15034,-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,-116.7,0.0,0.0,0,105,0.00,0.00,-85.55,0.000,6,0.000,0.000,475,1740,3477,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.5,-6.3,11,125,11.48,2.55,0.00,0.000,4,0.138,0.028,2740,3362,3480,0,0,0,0,0,0
$GC,221,-1.05,-116.8,30.7,-12.8,27,227,0.12,2.58,0.00,0.000,6,0.109,0.031,2769,1780,3480,0,0,0,0,0,0
$GC,489,-0.93,-116.8,68.1,-13.7,51,495,0.12,2.75,0.00,0.000,4,0.110,0.067,2795,190,3480,0,0,0,0,0,0
$GC,526,-0.87,-116.8,74.0,-12.4,53,535,0.00,2.47,0.00,0.000,6,0.000,0.015,2796,1812,3480,0,0,0,0,0,0
$GC,787,-0.87,-116.8,103.1,-10.7,78,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1813,3481,0,0,0,0,0,0
$GC,1043,-0.87,-116.8,129.8,-10.4,102,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1813,3481,0,0,0,0,0,0
$GC,1297,-0.91,-116.8,152.3,-7.8,126,1302,0.00,2.80,0.00,0.000,4,0.000,0.071,2795,188,3482,0,0,0,0,0,0
$GC,1327,-0.95,-116.8,154.6,-8.3,128,1332,0.00,2.35,0.00,0.000,6,0.000,0.016,2796,1770,3482,0,0,0,0,0,0
$GC,1591,-1.00,-116.8,172.6,-6.6,152,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1771,3481,0,0,0,0,0,0
$GC,1845,-1.06,-116.8,191.0,-8.1,176,1847,0.12,0.00,0.00,0.000,6,0.070,0.000,2751,1771,3482,0,0,0,0,0,0
$GC,2102,-1.03,-116.8,217.8,-10.5,189,2106,0.12,2.42,0.00,0.000,4,0.117,0.025,2778,3309,3482,0,0,0,0,0,0
$GC,2147,-1.11,-116.8,222.2,-9.4,190,2152,0.00,2.47,0.00,0.000,6,0.000,0.031,2779,1750,3481,0,0,0,0,0,0
$GC,2425,-1.11,-116.8,244.9,-7.9,197,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1750,3481,0,0,0,0,0,0
$GC,2670,-1.15,-116.8,262.6,-7.1,203,2671,0.12,0.00,0.00,0.000,6,0.073,0.000,2734,1750,3481,0,0,0,0,0,0
$GC,2914,-1.11,-116.8,283.9,-8.9,209,2916,0.10,0.00,0.00,0.000,6,0.114,0.000,2757,1750,3480,0,0,0,0,0,0
$GC,3156,-1.11,-116.8,304.3,-8.3,215,3161,0.00,2.70,0.00,0.000,4,0.000,0.079,2757,197,3480,0,0,0,0,0,0
$GC,3183,-1.11,-116.8,307.2,-9.9,215,3188,0.00,2.38,0.00,0.000,6,0.000,0.024,2757,1746,3480,0,0,0,0,0,0
$GC,3439,-1.15,-116.8,331.3,-9.2,222,3443,0.00,2.58,0.00,0.000,4,0.000,0.038,2757,3350,3480,0,0,0,0,0,0
$GC,3462,-1.19,-116.8,333.3,-8.7,222,3466,0.00,2.58,0.00,0.000,6,0.000,0.044,2757,1769,3479,0,0,0,0,0,0
$GC,3717,-1.24,-116.8,353.1,-7.4,229,3722,0.12,2.83,0.00,0.000,4,0.074,0.089,2716,188,3479,0,0,0,0,0,0
$GC,3768,-1.19,-116.8,357.9,-9.6,230,3773,0.12,2.42,0.00,0.000,6,0.107,0.024,2743,1752,3478,0,0,0,0,0,0
$GC,4042,-1.19,-116.8,379.4,-7.8,237,4046,0.00,2.58,0.00,0.000,4,0.000,0.048,2743,3346,3477,0,0,0,0,0,0
$GC,4081,-1.24,-116.8,382.7,-7.9,238,4086,0.00,2.65,0.00,0.000,6,0.000,0.051,2743,1762,3477,0,0,0,0,0,0
$GC,4366,-1.24,-116.8,404.3,-7.6,245,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1762,3475,0,0,0,0,0,0
$GC,4608,-1.24,-116.8,422.2,-7.3,251,4613,0.00,2.90,0.00,0.000,4,0.000,0.109,2743,181,3474,0,0,0,0,0,0
$GC,4635,-1.24,-116.8,424.4,-8.2,251,4639,0.00,2.47,0.00,0.000,6,0.000,0.028,2743,1747,3474,0,0,0,0,0,0
$GC,4887,-1.28,-116.8,442.8,-7.4,257,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1747,3472,0,0,0,0,0,0
$GC,5129,-1.32,-116.8,461.6,-7.8,263,5131,0.15,0.00,0.00,0.000,6,0.186,0.000,2700,1747,3471,0,0,0,0,0,0
$GC,5373,-1.28,-116.8,483.9,-9.0,269,5378,0.10,2.75,0.00,0.000,4,0.120,0.067,2720,3349,3469,0,0,0,0,0,0
$GC,5418,-1.28,-116.8,487.4,-7.9,270,5423,0.00,2.72,0.00,0.000,6,0.000,0.060,2721,1760,3469,0,0,0,0,0,0
$STATE,5612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5612,begin apogee
$GC,5618,-0.31,0.0,502.5,7.7,275,5717,0.93,0.00,95.22,0.917,6,0.074,0.000,2931,1846,3001,0,0,0,0,0,0
$STATE,5717,end apogee,CONTROL_FINISHED_OK
$STATE,5718,begin climb
$GC,5720,1.15,116.8,504.5,0.0,277,5831,1.33,2.62,99.93,0.894,4,0.054,0.051,3252,3377,2522,0,0,0,0,0,0
$GC,5848,1.09,175.1,503.2,5.3,280,5904,0.00,2.72,50.47,0.871,6,0.000,0.055,3252,1811,2287,0,0,0,0,0,0
$GC,6166,0.97,175.1,474.6,9.5,288,6171,0.20,2.62,0.00,0.000,4,0.109,0.047,3212,3383,2278,0,0,0,0,0,0
$GC,6232,0.97,175.1,468.9,8.4,289,6237,0.00,2.67,0.00,0.000,6,0.000,0.058,3212,1829,2276,0,0,0,0,0,0
$GC,6494,0.99,186.7,449.1,7.5,296,6505,0.00,0.00,9.65,0.776,6,0.000,0.000,3212,1829,2238,0,0,0,0,0,0
$GC,6739,1.02,213.3,432.0,6.8,302,6769,0.00,2.60,24.25,0.851,4,0.000,0.038,3212,3382,2130,0,0,0,0,0,0
$GC,6780,1.06,246.1,429.1,6.5,303,6816,0.00,2.62,30.38,0.845,6,0.000,0.051,3212,1835,1996,0,0,0,0,0,0
$GC,7061,1.07,251.5,407.7,7.8,310,7072,0.00,2.95,5.38,0.643,4,0.000,0.094,3212,234,1974,0,0,0,0,0,0
$GC,7083,1.07,251.5,405.5,8.7,310,7087,0.00,2.53,0.00,0.000,6,0.000,0.021,3212,1817,1973,0,0,0,0,0,0
$GC,7339,1.07,251.5,384.0,8.5,317,7343,0.00,2.60,0.00,0.000,4,0.000,0.042,3212,3408,1971,0,0,0,0,0,0
$GC,7384,1.12,251.5,380.2,8.9,318,7389,0.12,2.62,0.00,0.000,6,0.084,0.048,3246,1840,1970,0,0,0,0,0,0
$GC,7663,1.07,251.5,353.0,9.7,325,7668,0.00,2.53,0.00,0.000,4,0.000,0.038,3246,3401,1969,0,0,0,0,0,0
$GC,7696,1.07,251.5,349.2,10.9,325,7702,0.00,2.60,0.00,0.000,6,0.000,0.040,3246,1835,1968,0,0,0,0,0,0
$GC,7948,1.03,251.5,322.8,10.5,332,7953,0.10,2.55,0.00,0.000,4,0.133,0.031,3226,3402,1968,0,0,0,0,0,0
$GC,7969,1.03,251.5,320.3,10.4,332,7974,0.00,2.55,0.00,0.000,6,0.000,0.041,3226,1846,1967,0,0,0,0,0,0
$GC,8225,1.03,251.5,296.3,9.1,339,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1846,1967,0,0,0,0,0,0
$GC,8470,1.03,251.5,274.9,8.8,345,8474,0.00,2.50,0.00,0.000,4,0.000,0.031,3226,3404,1966,0,0,0,0,0,0
$GC,8498,1.03,251.5,272.3,8.7,345,8503,0.00,2.55,0.00,0.000,6,0.000,0.035,3226,1844,1966,0,0,0,0,0,0
$GC,8748,1.03,251.5,249.4,9.3,351,8752,0.00,2.47,0.00,0.000,4,0.000,0.035,3226,3404,1965,0,0,0,0,0,0
$GC,8776,1.07,251.5,246.8,9.5,351,8780,0.00,2.55,0.00,0.000,6,0.000,0.038,3226,1845,1965,0,0,0,0,0,0
$GC,9026,1.07,251.5,224.6,8.7,357,9030,0.00,2.78,0.00,0.000,4,0.000,0.072,3226,240,1965,0,0,0,0,0,0
$GC,9065,1.07,251.5,220.9,9.8,358,9069,0.00,2.53,0.00,0.000,6,0.000,0.020,3226,1865,1964,0,0,0,0,0,0
$GC,9349,1.10,270.2,199.6,7.1,365,9370,0.00,0.00,16.17,0.663,6,0.000,0.000,3226,1867,1898,0,0,0,0,0,0
$GC,9629,1.14,270.4,179.0,8.0,391,9633,0.08,2.45,0.00,0.000,4,0.108,0.031,3251,3391,1895,0,0,0,0,0,0
$GC,9672,1.14,270.4,174.9,10.2,394,9676,0.00,2.50,0.00,0.000,6,0.000,0.039,3251,1843,1895,0,0,0,0,0,0
$GC,9935,1.14,270.4,149.0,9.3,418,9944,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1843,1895,0,0,0,0,0,0
$GC,10200,1.14,270.4,126.2,8.3,443,10204,0.00,2.42,0.00,0.000,4,0.000,0.034,3251,3390,1895,0,0,0,0,0,0
$GC,10243,1.19,271.9,122.8,7.9,446,10247,0.00,2.50,0.00,0.000,6,0.000,0.039,3251,1844,1894,0,0,0,0,0,0
$GC,10507,1.20,276.9,103.1,7.8,470,10522,0.00,2.50,7.12,0.511,4,0.000,0.027,3251,3389,1871,0,0,0,0,0,0
$GC,10540,1.26,283.8,100.3,7.7,472,10553,0.05,2.53,7.78,0.514,6,0.061,0.034,3278,1849,1843,0,0,0,0,0,0
$GC,10812,1.26,284.2,78.0,8.0,497,10817,0.00,2.72,0.00,0.000,4,0.000,0.061,3278,239,1841,0,0,0,0,0,0
$GC,10823,1.26,284.2,76.7,8.2,497,10832,0.00,2.53,0.00,0.000,6,0.000,0.018,3278,1871,1840,0,0,0,0,0,0
$GC,11087,1.26,284.2,54.4,8.4,522,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1873,1841,0,0,0,0,0,0
$GC,11353,1.26,284.2,31.0,9.0,547,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1873,1840,0,0,0,0,0,0
$GC,11676,1.30,320.1,5.5,6.3,595,11693,0.00,0.00,15.55,0.488,2,0.000,0.000,3278,1873,1776,0,0,0,0,0,0
$STATE,11694,end climb,SURFACE_DEPTH_REACHED
$STATE,11694,begin surface coast
$FINISH,0.2,1.023119
$STATE,11769,end surface coast,CONTROL_FINISHED_OK
$STATE,11769,begin surface
$SM_CCo,11792,103.35,0.457,1,0,1288,420.20
$SM_GC,0.98,0.00,0.00,103.35,0.000,0.000,0.457,470,1744,1288,-11.64,-0.71,420.20
$IRIDIUM_FIX,2239.35,-15752.82,031299,030335
$TT8_MAMPS,0.026078
$HUMID,43.50
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.90
$XPDR_PINGS,50
$24V_AH,23.6,24.679
$10V_AH,10.3,24.759
$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,26.775,124.550,361.900,103.350,0.000,30.070,28.484,160.935,12.500,0.000,13.826,1192.680,7834.483,531.768,2171.089,528.474,33.374,1314.209,0.000,2186.347,0.000,0.536,0.000
$DEVICE_MAMPS,185.614,108.914,917.332,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.727,356.480,474.832,892.757,1350.644,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,47705,608
$CAP_FILE_SIZE,118209,0
$CFSIZE,260165632,172920832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080910,103236,2250.531,-15742.882,39,0.9,50,10.1