version: 66.06
glider: 146
mission: 5
dive: 165
start: 9 8 110 10 39 40
data:
$ID,146
$MISSION,5
$DIVE,165
$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,-250652.44
$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,45
$R_STBD_OVSHOOT,52
$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
$GPS1,103236,2250.531,-15742.882,39,0.9,50,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-67.1
$GPS2,103843,2250.502,-15742.922,10,1.6,15,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,0.151
$KALMAN_X,-180776.6,7.2,381.0,228033.4,-2008.0
$KALMAN_Y,-19826.6,335.4,252.5,148729.5,-2312.8
$MHEAD_RNG_PITCHd_Wd,36.0,13976,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.15,-116.7,0.0,0.0,0,103,0.00,0.00,-85.20,0.000,6,0.000,0.000,470,1744,3478,0,0,0,0,0,0
$GC,106,-1.15,-116.8,4.7,-6.6,11,124,11.52,2.55,0.00,0.000,4,0.139,0.022,2741,3352,3480,0,0,0,0,0,0
$GC,155,-0.39,-116.8,21.8,-35.4,17,165,0.73,2.58,0.00,0.000,6,0.067,0.035,2912,1793,3481,0,0,0,0,0,0
$GC,453,-0.61,-116.8,41.2,-6.6,50,458,0.20,2.72,0.00,0.000,4,0.051,0.059,2845,187,3481,0,0,0,0,0,0
$GC,500,-0.71,-116.8,45.7,-9.9,53,504,0.00,2.42,0.00,0.000,6,0.000,0.016,2845,1799,3481,0,0,0,0,0,0
$GC,768,-0.77,-116.8,69.4,-8.0,77,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1800,3481,0,0,0,0,0,0
$GC,1031,-0.88,-116.8,89.0,-6.0,102,1033,0.17,0.00,0.00,0.000,6,0.058,0.000,2788,1800,3481,0,0,0,0,0,0
$GC,1283,-0.88,-116.8,111.5,-8.6,126,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1800,3482,0,0,0,0,0,0
$GC,1540,-0.88,-116.8,134.2,-8.4,150,1544,0.00,2.75,0.00,0.000,4,0.000,0.067,2788,190,3483,0,0,0,0,0,0
$GC,1561,-0.88,-116.8,136.4,-9.0,151,1567,0.00,2.35,0.00,0.000,6,0.000,0.016,2788,1774,3483,0,0,0,0,0,0
$GC,1826,-0.92,-116.8,159.8,-8.8,176,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1774,3482,0,0,0,0,0,0
$GC,2087,-0.96,-116.8,182.4,-8.8,201,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1774,3483,0,0,0,0,0,0
$GC,2372,-1.01,-116.8,206.8,-8.2,222,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1774,3483,0,0,0,0,0,0
$GC,2614,-1.07,-116.8,225.8,-7.7,228,2618,0.00,2.42,0.00,0.000,4,0.000,0.034,2788,3306,3483,0,0,0,0,0,0
$GC,2642,-1.15,-116.8,228.0,-7.3,228,2647,0.17,2.50,0.00,0.000,6,0.058,0.032,2730,1752,3483,0,0,0,0,0,0
$GC,2899,-1.10,-116.8,252.1,-9.6,235,2904,0.12,2.67,0.00,0.000,4,0.107,0.070,2759,194,3482,0,0,0,0,0,0
$GC,2932,-1.10,-116.8,255.6,-10.1,235,2940,0.00,2.33,0.00,0.000,6,0.000,0.021,2759,1734,3482,0,0,0,0,0,0
$GC,3182,-1.10,-116.8,277.7,-8.6,242,3186,0.00,2.47,0.00,0.000,4,0.000,0.029,2759,3323,3482,0,0,0,0,0,0
$GC,3210,-1.14,-116.8,280.1,-8.5,242,3215,0.00,2.55,0.00,0.000,6,0.000,0.034,2759,1745,3482,0,0,0,0,0,0
$GC,3460,-1.14,-116.8,298.9,-7.1,248,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1745,3481,0,0,0,0,0,0
$GC,3704,-1.18,-116.8,315.9,-7.1,254,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1745,3481,0,0,0,0,0,0
$GC,3949,-1.23,-116.8,335.0,-7.9,260,3955,0.12,2.78,0.00,0.000,4,0.071,0.091,2715,189,3480,0,0,0,0,0,0
$GC,3971,-1.23,-116.8,337.4,-9.3,260,3975,0.00,2.38,0.00,0.000,6,0.000,0.025,2715,1714,3480,0,0,0,0,0,0
$GC,4233,-1.19,-116.8,362.5,-9.5,267,4235,0.12,0.00,0.00,0.000,6,0.105,0.000,2742,1715,3479,0,0,0,0,0,0
$GC,4476,-1.19,-116.8,382.9,-8.6,273,4480,0.00,2.62,0.00,0.000,4,0.000,0.054,2742,3322,3477,0,0,0,0,0,0
$GC,4532,-1.25,-116.8,387.9,-9.1,274,4537,0.00,2.62,0.00,0.000,6,0.000,0.051,2742,1753,3477,0,0,0,0,0,0
$GC,4798,-1.25,-116.8,410.5,-8.3,281,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1753,3476,0,0,0,0,0,0
$GC,5042,-1.25,-116.8,428.0,-7.1,287,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1753,3474,0,0,0,0,0,0
$GC,5288,-1.29,-116.8,446.6,-7.8,293,5290,0.10,0.00,0.00,0.000,6,0.088,0.000,2708,1753,3472,0,0,0,0,0,0
$GC,5529,-1.29,-116.8,468.8,-9.2,299,5534,0.00,2.60,0.00,0.000,4,0.000,0.055,2708,3312,3471,0,0,0,0,0,0
$GC,5556,-1.29,-116.8,471.3,-8.7,299,5561,0.00,2.67,0.00,0.000,6,0.000,0.067,2708,1746,3471,0,0,0,0,0,0
$GC,5808,-1.29,-116.8,492.2,-8.3,305,5812,0.00,2.62,0.00,0.000,4,0.000,0.056,2708,3316,3470,0,0,0,0,0,0
$GC,5857,-1.29,-116.8,496.5,-8.5,306,5861,0.00,2.67,0.00,0.000,6,0.000,0.063,2708,1750,3469,0,0,0,0,0,0
$STATE,5924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5924,begin apogee
$GC,5929,-0.31,0.0,501.9,7.9,308,6028,1.00,0.00,95.35,0.913,6,0.077,0.000,2933,1750,3001,0,0,0,0,0,0
$STATE,6029,end apogee,CONTROL_FINISHED_OK
$STATE,6029,begin climb
$GC,6033,1.15,116.8,503.0,0.0,310,6144,1.33,2.85,99.80,0.889,4,0.046,0.057,3254,3362,2523,0,0,0,0,0,0
$GC,6161,1.03,132.5,498.9,7.3,313,6182,0.15,2.70,14.32,0.809,6,0.123,0.056,3225,1815,2460,0,0,0,0,0,0
$GC,6441,0.97,144.0,478.5,7.5,320,6453,0.00,0.00,10.10,0.787,6,0.000,0.000,3225,1815,2414,0,0,0,0,0,0
$GC,6682,0.92,157.2,460.2,7.4,326,6702,0.12,2.65,12.55,0.815,4,0.121,0.044,3201,3360,2360,0,0,0,0,0,0
$GC,6794,0.92,163.2,451.7,7.7,328,6808,0.00,2.62,6.80,0.723,6,0.000,0.058,3201,1821,2334,0,0,0,0,0,0
$GC,7059,0.92,163.2,430.6,8.1,335,7063,0.00,2.95,0.00,0.000,4,0.000,0.106,3200,234,2330,0,0,0,0,0,0
$GC,7086,0.86,163.2,428.3,9.0,335,7090,0.00,2.47,0.00,0.000,6,0.000,0.025,3200,1776,2329,0,0,0,0,0,0
$GC,7337,0.90,191.1,410.7,6.7,341,7368,0.00,2.72,25.25,0.844,4,0.000,0.042,3200,3403,2220,0,0,0,0,0,0
$GC,7426,0.95,201.8,404.3,7.5,343,7442,0.00,2.67,10.43,0.768,6,0.000,0.050,3200,1823,2179,0,0,0,0,0,0
$GC,7706,0.99,231.6,385.6,6.6,350,7735,0.00,0.00,27.45,0.828,6,0.000,0.000,3200,1823,2056,0,0,0,0,0,0
$GC,7948,1.01,249.5,368.2,7.2,356,7972,0.00,2.67,16.65,0.796,4,0.000,0.038,3200,3404,1982,0,0,0,0,0,0
$GC,8002,1.09,252.5,364.3,7.9,357,8012,0.15,2.65,4.12,0.542,6,0.074,0.042,3241,1834,1971,0,0,0,0,0,0
$GC,8274,1.05,252.5,337.0,10.2,364,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1834,1967,0,0,0,0,0,0
$GC,8517,1.05,252.5,311.4,10.5,370,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1834,1965,0,0,0,0,0,0
$GC,8762,1.05,252.5,288.0,9.3,376,8766,0.00,2.55,0.00,0.000,4,0.000,0.037,3241,3407,1965,0,0,0,0,0,0
$GC,8794,1.05,252.5,285.1,8.8,376,8800,0.00,2.60,0.00,0.000,6,0.000,0.039,3241,1827,1964,0,0,0,0,0,0
$GC,9044,1.05,252.5,264.6,8.4,383,9049,0.00,2.53,0.00,0.000,4,0.000,0.031,3241,3407,1963,0,0,0,0,0,0
$GC,9071,1.05,252.5,262.0,9.4,383,9076,0.00,2.58,0.00,0.000,6,0.000,0.041,3241,1839,1963,0,0,0,0,0,0
$GC,9323,1.05,252.5,236.6,10.3,389,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1838,1962,0,0,0,0,0,0
$GC,9565,1.05,252.5,213.8,9.3,395,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1838,1962,0,0,0,0,0,0
$GC,9813,1.06,262.9,193.2,7.5,407,9827,0.00,2.53,9.02,0.624,4,0.000,0.031,3241,3410,1929,0,0,0,0,0,0
$GC,9864,1.12,274.9,189.4,7.5,411,9882,0.00,2.58,12.00,0.636,6,0.000,0.034,3241,1850,1879,0,0,0,0,0,0
$GC,10137,1.12,274.9,167.8,8.5,437,10141,0.00,2.50,0.00,0.000,4,0.000,0.028,3241,3417,1878,0,0,0,0,0,0
$GC,10173,1.12,274.9,165.4,8.9,439,10177,0.00,2.55,0.00,0.000,6,0.000,0.035,3241,1848,1877,0,0,0,0,0,0
$GC,10439,1.12,274.9,141.9,9.2,463,10444,0.00,2.72,0.00,0.000,4,0.000,0.064,3241,243,1877,0,0,0,0,0,0
$GC,10460,1.12,274.9,139.2,9.7,464,10469,0.00,2.55,0.00,0.000,6,0.000,0.025,3241,1884,1876,0,0,0,0,0,0
$GC,10729,1.17,274.9,115.3,9.3,489,10733,0.00,2.45,0.00,0.000,4,0.000,0.031,3241,3422,1876,0,0,0,0,0,0
$GC,10746,1.23,274.9,113.3,8.6,490,10751,0.12,2.53,0.00,0.000,6,0.082,0.035,3279,1858,1876,0,0,0,0,0,0
$GC,11006,1.24,280.2,89.2,7.8,514,11021,0.00,2.80,5.93,0.476,4,0.000,0.065,3279,245,1858,0,0,0,0,0,0
$GC,11048,1.17,280.2,85.9,9.0,517,11053,0.10,2.55,0.00,0.000,6,0.123,0.018,3257,1894,1857,0,0,0,0,0,0
$GC,11313,1.23,280.2,66.3,8.8,541,11317,0.00,2.40,0.00,0.000,4,0.000,0.027,3257,3422,1857,0,0,0,0,0,0
$GC,11335,1.29,280.2,64.4,9.1,542,11340,0.10,2.53,0.00,0.000,6,0.091,0.028,3289,1847,1857,0,0,0,0,0,0
$GC,11599,1.29,280.2,42.6,8.7,566,11608,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1847,1857,0,0,0,0,0,0
$GC,11900,1.29,280.2,18.0,8.2,602,11909,0.00,2.50,0.00,0.000,4,0.000,0.029,3289,3405,1857,0,0,0,0,0,0
$GC,11939,1.29,280.2,13.5,10.8,607,11949,0.00,2.50,0.00,0.000,6,0.000,0.035,3289,1870,1857,0,0,0,0,0,0
$STATE,12031,end climb,SURFACE_DEPTH_REACHED
$STATE,12031,begin surface coast
$FINISH,0.4,1.000159
$STATE,12090,end surface coast,CONTROL_FINISHED_OK
$STATE,12090,begin surface
$SM_CCo,12111,120.53,0.463,1,0,1287,420.20
$SM_GC,0.89,0.00,0.00,120.53,0.000,0.000,0.463,472,1747,1287,-11.63,-0.65,420.20
$IRIDIUM_FIX,2241.69,-15744.57,031299,070750
$TT8_MAMPS,0.025311
$HUMID,43.03
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.80
$XPDR_PINGS,45
$24V_AH,23.6,24.793
$10V_AH,10.3,24.899
$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,27.675,124.350,349.775,120.525,0.000,26.420,31.559,169.053,11.250,0.000,17.178,1223.236,7976.349,563.324,2291.297,552.649,33.371,1342.941,0.000,2309.018,0.000,0.536,0.000
$DEVICE_MAMPS,138.827,105.846,913.497,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,425.546,377.035,497.284,968.140,1464.422,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,47923,628
$CAP_FILE_SIZE,119181,0
$CFSIZE,260165632,172851200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080910,140524,2250.417,-15742.596,63,1.6,63,10.1