version: 66.06
glider: 146
mission: 5
dive: 169
start: 9 9 110 0 52 23
data:
$ID,146
$MISSION,5
$DIVE,169
$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,-250712.47
$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,51
$R_STBD_OVSHOOT,31
$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
$GPS1,004406,2251.894,-15741.948,35,0.9,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-68.1
$GPS2,005126,2251.829,-15742.023,11,1.5,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.028,0.216
$KALMAN_X,-184495.0,152.5,57.9,233478.3,-1595.7
$KALMAN_Y,-25303.8,-353.6,-453.3,158071.2,-1109.8
$MHEAD_RNG_PITCHd_Wd,357.3,11429,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-86.22,0.000,2,0.000,0.000,479,1736,3477,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.2,-5.8,11,125,11.40,2.60,0.00,0.000,4,0.135,0.025,2743,3367,3479,0,0,0,0,0,0
$GC,188,-1.05,-116.8,26.4,-15.0,22,198,0.08,2.58,0.00,0.000,6,0.081,0.033,2765,1796,3479,0,0,0,0,0,0
$GC,463,-0.93,-116.8,65.6,-14.5,48,468,0.15,2.75,0.00,0.000,4,0.105,0.062,2798,193,3480,0,0,0,0,0,0
$GC,522,-0.88,-116.8,74.5,-13.8,52,526,0.00,2.42,0.00,0.000,6,0.000,0.015,2797,1808,3479,0,0,0,0,0,0
$GC,785,-0.88,-116.8,104.7,-10.7,76,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1810,3480,0,0,0,0,0,0
$GC,1037,-0.88,-116.8,125.7,-7.6,100,1042,0.00,2.78,0.00,0.000,4,0.000,0.061,2797,193,3481,0,0,0,0,0,0
$GC,1071,-0.92,-116.8,128.5,-8.3,102,1080,0.00,2.38,0.00,0.000,6,0.000,0.016,2797,1765,3481,0,0,0,0,0,0
$GC,1339,-0.98,-116.8,147.0,-6.7,127,1343,0.00,2.40,0.00,0.000,4,0.000,0.028,2797,3313,3481,0,0,0,0,0,0
$GC,1362,-1.04,-116.8,149.1,-6.9,128,1371,0.08,2.53,0.00,0.000,6,0.044,0.032,2759,1751,3481,0,0,0,0,0,0
$GC,1625,-1.04,-116.8,172.8,-9.5,153,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1749,3481,0,0,0,0,0,0
$GC,1876,-1.04,-116.8,195.6,-8.9,177,1880,0.00,2.42,0.00,0.000,4,0.000,0.023,2759,3312,3482,0,0,0,0,0,0
$GC,1907,-1.04,-116.8,198.3,-9.1,179,1911,0.00,2.50,0.00,0.000,6,0.000,0.033,2759,1750,3481,0,0,0,0,0,0
$GC,2178,-1.04,-116.8,222.9,-9.2,187,2182,0.00,2.70,0.00,0.000,4,0.000,0.076,2758,189,3481,0,0,0,0,0,0
$GC,2238,-1.04,-116.8,229.2,-10.3,188,2242,0.00,2.30,0.00,0.000,6,0.000,0.018,2759,1725,3480,0,0,0,0,0,0
$GC,2506,-1.04,-116.8,252.9,-8.6,195,2510,0.00,2.53,0.00,0.000,4,0.000,0.028,2759,3331,3481,0,0,0,0,0,0
$GC,2533,-1.04,-116.8,255.6,-9.0,195,2538,0.00,2.53,0.00,0.000,6,0.000,0.031,2759,1743,3480,0,0,0,0,0,0
$GC,2784,-1.04,-116.8,275.9,-7.9,201,2788,0.00,2.70,0.00,0.000,4,0.000,0.076,2759,190,3480,0,0,0,0,0,0
$GC,2811,-1.04,-116.8,278.2,-8.4,201,2816,0.00,2.35,0.00,0.000,6,0.000,0.023,2758,1731,3480,0,0,0,0,0,0
$GC,3061,-1.04,-116.8,298.8,-8.2,207,3065,0.00,2.55,0.00,0.000,4,0.000,0.041,2758,3339,3480,0,0,0,0,0,0
$GC,3118,-1.12,-116.8,303.8,-9.2,208,3122,0.00,2.60,0.00,0.000,6,0.000,0.043,2759,1747,3480,0,0,0,0,0,0
$GC,3386,-1.15,-116.8,324.1,-7.1,215,3390,0.00,2.75,0.00,0.000,4,0.000,0.089,2758,187,3479,0,0,0,0,0,0
$GC,3426,-1.20,-116.8,327.0,-7.6,216,3430,0.00,2.40,0.00,0.000,6,0.000,0.020,2758,1732,3479,0,0,0,0,0,0
$GC,3709,-1.24,-116.8,348.7,-7.6,223,3714,0.12,2.62,0.00,0.000,4,0.071,0.041,2716,3345,3477,0,0,0,0,0,0
$GC,3766,-1.24,-116.8,353.9,-9.3,224,3771,0.00,2.65,0.00,0.000,6,0.000,0.052,2716,1747,3477,0,0,0,0,0,0
$GC,4032,-1.24,-116.8,380.4,-9.9,231,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1747,3475,0,0,0,0,0,0
$GC,4276,-1.24,-116.8,404.2,-9.7,237,4280,0.00,2.83,0.00,0.000,4,0.000,0.100,2715,186,3475,0,0,0,0,0,0
$GC,4310,-1.20,-116.8,407.7,-10.7,237,4316,0.10,2.45,0.00,0.000,6,0.120,0.026,2737,1739,3474,0,0,0,0,0,0
$GC,4560,-1.20,-116.8,428.2,-8.0,244,4564,0.00,2.70,0.00,0.000,4,0.000,0.053,2736,3362,3472,0,0,0,0,0,0
$GC,4609,-1.25,-116.8,432.1,-8.2,245,4614,0.00,2.70,0.00,0.000,6,0.000,0.053,2737,1756,3472,0,0,0,0,0,0
$GC,4883,-1.25,-116.8,451.9,-7.2,252,4887,0.00,2.90,0.00,0.000,4,0.000,0.108,2737,182,3471,0,0,0,0,0,0
$GC,4922,-1.25,-116.8,455.0,-8.0,253,4926,0.00,2.53,0.00,0.000,6,0.000,0.033,2737,1756,3470,0,0,0,0,0,0
$GC,5206,-1.25,-116.8,475.3,-7.0,260,5211,0.00,2.72,0.00,0.000,4,0.000,0.062,2737,3361,3468,0,0,0,0,0,0
$GC,5256,-1.32,-116.8,479.1,-7.1,261,5261,0.10,2.72,0.00,0.000,6,0.089,0.062,2704,1758,3468,0,0,0,0,0,0
$STATE,5526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5526,begin apogee
$GC,5534,-0.31,0.0,502.3,8.7,268,5633,1.00,0.00,95.43,0.919,6,0.076,0.000,2931,1859,3001,0,0,0,0,0,0
$STATE,5633,end apogee,CONTROL_FINISHED_OK
$STATE,5633,begin climb
$GC,5636,1.15,116.8,505.0,0.0,270,5742,1.33,0.00,99.93,0.895,6,0.044,0.000,3252,1859,2523,0,0,0,0,0,0
$GC,6004,1.06,151.2,489.5,6.4,279,6040,0.10,2.60,29.38,0.865,4,0.135,0.054,3234,3373,2383,0,0,0,0,0,0
$GC,6152,1.01,160.6,478.6,7.6,281,6166,0.00,2.65,9.02,0.761,6,0.000,0.055,3234,1820,2346,0,0,0,0,0,0
$GC,6419,0.93,160.6,457.4,8.1,288,6424,0.15,2.60,0.00,0.000,4,0.116,0.042,3204,3377,2340,0,0,0,0,0,0
$GC,6469,0.94,163.9,453.3,7.9,289,6474,0.00,2.67,0.00,0.000,6,0.000,0.058,3203,1820,2340,0,0,0,0,0,0
$GC,6743,0.98,194.8,434.5,6.6,296,6779,0.00,3.00,30.40,0.855,4,0.000,0.102,3203,231,2204,0,0,0,0,0,0
$GC,6796,0.93,194.8,430.3,8.3,296,6800,0.00,2.53,0.00,0.000,6,0.000,0.028,3203,1793,2202,0,0,0,0,0,0
$GC,7062,0.96,221.3,411.4,6.8,303,7092,0.00,2.75,23.70,0.835,4,0.000,0.049,3203,3419,2097,0,0,0,0,0,0
$GC,7157,1.01,221.3,404.7,8.4,305,7162,0.00,2.70,0.00,0.000,6,0.000,0.044,3203,1821,2093,0,0,0,0,0,0
$GC,7435,1.04,242.8,384.9,7.0,312,7461,0.10,2.92,19.40,0.815,4,0.098,0.088,3231,233,2010,0,0,0,0,0,0
$GC,7474,0.97,242.8,381.8,8.1,313,7479,0.00,2.55,0.00,0.000,6,0.000,0.024,3231,1842,2008,0,0,0,0,0,0
$GC,7757,0.97,242.8,356.3,9.0,320,7762,0.00,2.53,0.00,0.000,4,0.000,0.036,3231,3397,2005,0,0,0,0,0,0
$GC,7812,0.97,242.8,350.8,9.6,321,7817,0.00,2.60,0.00,0.000,6,0.000,0.042,3231,1826,2004,0,0,0,0,0,0
$GC,8080,0.97,242.8,327.5,8.5,328,8085,0.00,2.55,0.00,0.000,4,0.000,0.032,3231,3400,2003,0,0,0,0,0,0
$GC,8120,0.97,242.8,323.9,8.6,329,8124,0.00,2.60,0.00,0.000,6,0.000,0.044,3231,1829,2002,0,0,0,0,0,0
$GC,8403,0.97,242.8,297.5,9.7,336,8407,0.00,2.53,0.00,0.000,4,0.000,0.037,3231,3398,2002,0,0,0,0,0,0
$GC,8436,0.97,242.8,294.1,10.3,336,8442,0.00,2.55,0.00,0.000,6,0.000,0.036,3231,1845,2001,0,0,0,0,0,0
$GC,8686,0.97,242.8,270.7,8.8,343,8690,0.00,2.47,0.00,0.000,4,0.000,0.037,3231,3398,2001,0,0,0,0,0,0
$GC,8701,0.97,242.8,269.2,8.8,343,8706,0.00,2.53,0.00,0.000,6,0.000,0.039,3231,1835,2001,0,0,0,0,0,0
$GC,8964,0.99,256.0,249.4,7.4,350,8983,0.00,2.60,11.55,0.686,4,0.000,0.035,3231,3400,1956,0,0,0,0,0,0
$GC,9052,1.06,276.0,243.2,7.1,352,9077,0.00,2.50,19.23,0.710,6,0.000,0.038,3231,1862,1873,0,0,0,0,0,0
$GC,9338,1.06,276.0,221.1,8.1,359,9343,0.00,2.80,0.00,0.000,4,0.000,0.068,3231,239,1869,0,0,0,0,0,0
$GC,9382,1.06,276.0,216.8,9.9,360,9386,0.00,2.55,0.00,0.000,6,0.000,0.020,3231,1867,1868,0,0,0,0,0,0
$GC,9642,1.06,276.0,194.2,8.1,371,9646,0.00,2.42,0.00,0.000,4,0.000,0.036,3231,3387,1868,0,0,0,0,0,0
$GC,9665,1.10,276.0,192.3,8.5,372,9674,0.00,2.53,0.00,0.000,6,0.000,0.033,3231,1851,1867,0,0,0,0,0,0
$GC,9931,1.10,276.0,170.8,8.4,397,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1851,1867,0,0,0,0,0,0
$GC,10193,1.10,276.0,147.6,8.7,422,10197,0.00,2.42,0.00,0.000,4,0.000,0.034,3231,3390,1867,0,0,0,0,0,0
$GC,10214,1.16,276.0,146.0,9.2,423,10219,0.00,2.50,0.00,0.000,6,0.000,0.036,3231,1846,1867,0,0,0,0,0,0
$GC,10483,1.23,287.6,125.3,7.5,447,10499,0.15,2.47,10.50,0.568,4,0.074,0.035,3272,3390,1826,0,0,0,0,0,0
$GC,10539,1.27,287.6,120.0,9.9,451,10543,0.00,2.50,0.00,0.000,6,0.000,0.040,3272,1857,1826,0,0,0,0,0,0
$GC,10806,1.27,287.6,95.6,9.1,475,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1857,1825,0,0,0,0,0,0
$GC,11071,1.27,288.3,72.6,8.0,500,11075,0.00,2.45,0.00,0.000,4,0.000,0.027,3271,3398,1825,0,0,0,0,0,0
$GC,11104,1.32,288.3,70.0,8.3,502,11108,0.00,2.45,0.00,0.000,6,0.000,0.031,3272,1863,1825,0,0,0,0,0,0
$GC,11372,1.33,296.3,50.0,7.6,526,11390,0.00,0.00,8.88,0.492,6,0.000,0.000,3271,1863,1792,0,0,0,0,0,0
$GC,11653,1.33,297.0,27.3,8.0,554,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1863,1792,0,0,0,0,0,0
$STATE,11946,end climb,SURFACE_DEPTH_REACHED
$STATE,11946,begin surface coast
$FINISH,0.4,1.010506
$STATE,12030,end surface coast,CONTROL_FINISHED_OK
$STATE,12030,begin surface
$SM_CCo,12052,112.78,0.460,1,0,1288,420.20
$SM_GC,0.96,0.00,0.00,112.78,0.000,0.000,0.460,470,1734,1288,-11.64,-1.02,420.20
$IRIDIUM_FIX,2241.69,-15741.52,031299,212125
$TT8_MAMPS,0.025311
$HUMID,43.26
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.10
$XPDR_PINGS,60
$24V_AH,23.6,25.261
$10V_AH,10.4,25.435
$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,26.025,155.375,357.400,112.775,0.000,25.081,31.805,245.448,15.000,0.000,13.145,1239.367,7829.957,556.294,2364.648,620.940,33.375,1418.912,0.000,2369.366,0.000,0.537,0.000
$DEVICE_MAMPS,134.992,152.633,918.866,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.990,358.108,470.524,893.939,1353.285,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,47887,608
$CAP_FILE_SIZE,128557,0
$CFSIZE,260165632,172597248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090910,041636,2252.127,-15742.873,35,1.1,41,10.1