version: 66.06
glider: 146
mission: 5
dive: 172
start: 9 9 110 11 20 26
data:
$ID,146
$MISSION,5
$DIVE,172
$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,-250776.53
$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,44
$R_STBD_OVSHOOT,59
$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
$GPS1,111307,2253.158,-15742.504,25,1.1,25,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-68.4
$GPS2,111931,2253.107,-15742.541,15,1.1,32,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.107,0.190
$KALMAN_X,-187504.9,-247.5,442.8,235610.8,-1388.5
$KALMAN_Y,-31838.2,22.7,252.4,165888.1,-2904.6
$MHEAD_RNG_PITCHd_Wd,19.3,9108,-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,-116.7,0.0,0.0,0,104,0.00,0.00,-85.78,0.000,6,0.000,0.000,470,1745,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.8,-7.0,11,125,11.57,2.50,0.00,0.000,4,0.141,0.026,2741,3346,3481,0,0,0,0,0,0
$GC,137,0.31,-116.8,18.8,-32.6,14,145,1.40,2.55,0.00,0.000,6,0.075,0.035,3061,1792,3481,0,0,0,0,0,0
$GC,437,-0.26,-116.8,44.1,-8.8,50,443,0.47,2.70,0.00,0.000,4,0.063,0.058,2940,189,3481,0,0,0,0,0,0
$GC,619,-0.81,-116.8,59.2,-8.2,64,625,0.50,2.40,0.00,0.000,6,0.067,0.015,2821,1803,3481,0,0,0,0,0,0
$GC,883,-0.81,-116.8,83.1,-9.5,88,887,0.00,2.75,0.00,0.000,4,0.000,0.059,2820,189,3482,0,0,0,0,0,0
$GC,929,-0.86,-116.8,88.0,-9.9,91,934,0.00,2.35,0.00,0.000,6,0.000,0.015,2820,1761,3482,0,0,0,0,0,0
$GC,1193,-0.92,-116.8,109.5,-7.4,116,1197,0.00,2.45,0.00,0.000,4,0.000,0.031,2820,3314,3482,0,0,0,0,0,0
$GC,1233,-1.04,-116.8,112.6,-7.4,119,1238,0.20,2.47,0.00,0.000,6,0.051,0.035,2757,1754,3482,0,0,0,0,0,0
$GC,1499,-1.00,-116.8,140.2,-10.1,143,1504,0.10,2.67,0.00,0.000,4,0.117,0.065,2780,189,3483,0,0,0,0,0,0
$GC,1540,-1.00,-116.8,144.8,-10.1,146,1544,0.00,2.33,0.00,0.000,6,0.000,0.022,2780,1761,3483,0,0,0,0,0,0
$GC,1803,-1.00,-116.8,165.5,-8.0,170,1807,0.00,2.40,0.00,0.000,4,0.000,0.032,2780,3310,3483,0,0,0,0,0,0
$GC,1845,-1.07,-116.8,168.7,-7.6,173,1849,0.00,2.47,0.00,0.000,6,0.000,0.028,2780,1752,3483,0,0,0,0,0,0
$GC,2108,-1.07,-116.8,188.7,-7.9,197,2112,0.00,2.65,0.00,0.000,4,0.000,0.066,2780,194,3483,0,0,0,0,0,0
$GC,2160,-1.11,-116.8,193.8,-9.6,201,2165,0.10,2.33,0.00,0.000,6,0.087,0.016,2743,1758,3483,0,0,0,0,0,0
$GC,2423,-1.07,-116.8,221.9,-10.7,211,2428,0.10,2.42,0.00,0.000,4,0.113,0.028,2765,3314,3483,0,0,0,0,0,0
$GC,2450,-1.07,-116.8,224.7,-9.6,211,2454,0.00,2.50,0.00,0.000,6,0.000,0.030,2765,1757,3483,0,0,0,0,0,0
$GC,2707,-1.07,-116.8,247.0,-8.7,218,2711,0.00,2.67,0.00,0.000,4,0.000,0.074,2765,195,3483,0,0,0,0,0,0
$GC,2746,-1.07,-116.8,251.0,-10.0,219,2750,0.00,2.30,0.00,0.000,6,0.000,0.024,2765,1732,3482,0,0,0,0,0,0
$GC,3029,-1.07,-116.8,275.8,-8.6,226,3033,0.00,2.50,0.00,0.000,4,0.000,0.033,2765,3330,3482,0,0,0,0,0,0
$GC,3080,-1.16,-116.8,279.5,-7.3,227,3084,0.00,2.53,0.00,0.000,6,0.000,0.037,2765,1754,3482,0,0,0,0,0,0
$GC,3354,-1.20,-116.8,297.6,-6.3,234,3359,0.12,2.75,0.00,0.000,4,0.074,0.083,2723,185,3481,0,0,0,0,0,0
$GC,3382,-1.20,-116.8,299.9,-8.4,234,3387,0.00,2.38,0.00,0.000,6,0.000,0.025,2723,1730,3481,0,0,0,0,0,0
$GC,3632,-1.20,-116.8,320.2,-8.3,240,3636,0.00,2.58,0.00,0.000,4,0.000,0.041,2723,3343,3480,0,0,0,0,0,0
$GC,3653,-1.20,-116.8,322.1,-8.3,240,3657,0.00,2.60,0.00,0.000,6,0.000,0.047,2723,1746,3480,0,0,0,0,0,0
$GC,3910,-1.20,-116.8,343.5,-8.3,247,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1746,3479,0,0,0,0,0,0
$GC,4153,-1.20,-116.8,363.1,-8.0,253,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1746,3478,0,0,0,0,0,0
$GC,4396,-1.20,-116.8,383.7,-8.7,259,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1746,3477,0,0,0,0,0,0
$GC,4640,-1.20,-116.8,407.0,-9.7,265,4644,0.00,2.62,0.00,0.000,4,0.000,0.044,2723,3342,3475,0,0,0,0,0,0
$GC,4680,-1.20,-116.8,411.0,-10.2,266,4685,0.00,2.70,0.00,0.000,6,0.000,0.058,2723,1743,3476,0,0,0,0,0,0
$GC,4963,-1.20,-116.8,438.9,-9.5,273,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1743,3473,0,0,0,0,0,0
$GC,5206,-1.20,-116.8,459.1,-8.1,279,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1743,3471,0,0,0,0,0,0
$GC,5450,-1.20,-116.8,477.7,-7.6,285,5455,0.00,2.65,0.00,0.000,4,0.000,0.057,2723,3334,3469,0,0,0,0,0,0
$GC,5479,-1.20,-116.8,479.7,-7.7,285,5483,0.00,2.75,0.00,0.000,6,0.000,0.068,2723,1743,3469,0,0,0,0,0,0
$GC,5728,-1.20,-116.8,500.0,-8.2,291,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1743,3468,0,0,0,0,0,0
$STATE,5768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5768,begin apogee
$GC,5775,-0.31,0.0,503.3,8.3,292,5873,0.93,0.00,95.05,0.920,6,0.075,0.000,2934,1821,3001,0,0,0,0,0,0
$STATE,5874,end apogee,CONTROL_FINISHED_OK
$STATE,5874,begin climb
$GC,5878,1.15,116.8,505.5,0.0,294,5987,1.35,2.67,100.55,0.894,4,0.054,0.058,3260,3379,2522,0,0,0,0,0,0
$GC,5993,1.08,191.9,504.3,4.5,297,6065,0.12,2.72,64.75,0.875,6,0.129,0.061,3236,1816,2218,0,0,0,0,0,0
$GC,6335,1.00,191.9,474.2,9.3,306,6339,0.00,2.62,0.00,0.000,4,0.000,0.048,3236,3383,2209,0,0,0,0,0,0
$GC,6368,0.96,191.9,471.0,9.4,306,6374,0.12,2.70,0.00,0.000,6,0.124,0.062,3212,1827,2207,0,0,0,0,0,0
$GC,6619,0.98,209.3,452.6,7.2,313,6635,0.00,0.00,14.73,0.818,6,0.000,0.000,3212,1827,2147,0,0,0,0,0,0
$GC,6863,0.99,215.8,434.3,7.7,319,6877,0.00,2.65,6.80,0.715,4,0.000,0.042,3212,3387,2120,0,0,0,0,0,0
$GC,6916,0.99,215.8,429.4,8.8,320,6921,0.00,2.62,0.00,0.000,6,0.000,0.053,3212,1840,2119,0,0,0,0,0,0
$GC,7191,0.99,215.8,405.7,8.7,327,7195,0.00,2.95,0.00,0.000,4,0.000,0.104,3212,230,2116,0,0,0,0,0,0
$GC,7212,0.94,215.8,403.3,10.2,327,7216,0.00,2.53,0.00,0.000,6,0.000,0.025,3212,1828,2115,0,0,0,0,0,0
$GC,7467,0.94,215.8,379.9,9.2,334,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1828,2114,0,0,0,0,0,0
$GC,7710,0.94,215.8,357.7,9.0,340,7714,0.00,2.55,0.00,0.000,4,0.000,0.041,3212,3404,2113,0,0,0,0,0,0
$GC,7778,0.94,215.8,351.4,9.0,341,7783,0.00,2.60,0.00,0.000,6,0.000,0.043,3212,1829,2112,0,0,0,0,0,0
$GC,8033,0.94,215.8,328.8,8.8,348,8037,0.00,2.80,0.00,0.000,4,0.000,0.084,3212,235,2112,0,0,0,0,0,0
$GC,8067,0.90,215.8,325.8,9.9,348,8073,0.00,2.50,0.00,0.000,6,0.000,0.025,3212,1842,2111,0,0,0,0,0,0
$GC,8318,0.93,242.9,308.2,6.8,355,8344,0.00,0.00,23.98,0.792,6,0.000,0.000,3211,1844,2010,0,0,0,0,0,0
$GC,8561,0.95,257.7,290.7,7.3,361,8580,0.00,2.55,13.98,0.752,4,0.000,0.039,3212,3393,1949,0,0,0,0,0,0
$GC,8604,1.02,263.4,287.6,7.7,362,8617,0.00,2.55,6.50,0.645,6,0.000,0.035,3212,1834,1927,0,0,0,0,0,0
$GC,8893,1.08,278.5,266.4,7.3,369,8910,0.10,0.00,14.60,0.734,6,0.268,0.000,3240,1834,1864,0,0,0,0,0,0
$GC,9135,1.08,278.5,243.7,9.6,375,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1834,1861,0,0,0,0,0,0
$GC,9378,1.08,278.5,220.2,9.5,381,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1834,1860,0,0,0,0,0,0
$GC,9623,1.08,278.5,199.8,8.2,387,9628,0.00,2.47,0.00,0.000,4,0.000,0.035,3240,3398,1859,0,0,0,0,0,0
$GC,9664,1.12,278.5,196.4,8.3,390,9669,0.00,2.55,0.00,0.000,6,0.000,0.034,3240,1834,1858,0,0,0,0,0,0
$GC,9928,1.12,278.5,175.3,8.3,414,9933,0.00,2.72,0.00,0.000,4,0.000,0.068,3240,237,1858,0,0,0,0,0,0
$GC,9957,1.12,278.5,172.5,9.9,416,9961,0.00,2.47,0.00,0.000,6,0.000,0.022,3240,1850,1857,0,0,0,0,0,0
$GC,10219,1.12,278.5,149.2,9.4,440,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1852,1858,0,0,0,0,0,0
$GC,10474,1.16,278.5,127.2,8.4,464,10478,0.00,2.42,0.00,0.000,4,0.000,0.028,3240,3390,1857,0,0,0,0,0,0
$GC,10496,1.22,278.5,125.1,8.9,465,10502,0.10,2.50,0.00,0.000,6,0.094,0.037,3270,1834,1857,0,0,0,0,0,0
$GC,10760,1.22,278.5,101.6,9.1,490,10764,0.00,2.47,0.00,0.000,4,0.000,0.028,3270,3396,1857,0,0,0,0,0,0
$GC,10805,1.27,278.5,97.6,9.0,493,10810,0.00,2.53,0.00,0.000,6,0.000,0.033,3270,1834,1857,0,0,0,0,0,0
$GC,11073,1.30,302.4,78.2,6.9,517,11101,0.00,2.50,21.05,0.571,4,0.000,0.026,3270,3390,1766,0,0,0,0,0,0
$GC,11205,1.48,367.1,68.7,5.0,527,11273,0.22,2.47,55.25,0.564,6,0.054,0.033,3334,1854,1502,0,0,0,0,0,0
$GC,11529,1.40,367.1,30.8,13.4,556,11538,0.12,0.00,0.00,0.000,6,0.116,0.000,3307,1853,1499,0,0,0,0,0,0
$STATE,11746,end climb,SURFACE_DEPTH_REACHED
$STATE,11746,begin surface coast
$FINISH,0.3,1.023192
$STATE,11790,end surface coast,CONTROL_FINISHED_OK
$STATE,11790,begin surface
$SM_CCo,11811,49.10,0.403,1,0,1287,420.20
$SM_GC,0.98,0.00,0.00,49.10,0.000,0.000,0.403,470,1739,1287,-11.64,-0.90,420.20
$IRIDIUM_FIX,2246.36,-15741.52,041299,070727
$TT8_MAMPS,0.025311
$HUMID,44.80
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.20
$XPDR_PINGS,52
$24V_AH,23.6,25.604
$10V_AH,10.4,25.834
$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,29.100,133.350,417.225,49.100,0.000,30.543,28.051,166.498,13.000,0.000,34.399,1179.846,7832.113,549.992,2148.818,537.877,33.367,1318.138,0.000,2135.134,0.000,0.537,0.000
$DEVICE_MAMPS,267.683,103.545,920.400,403.442,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.331,359.873,458.585,861.959,1303.696,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,48061,593
$CAP_FILE_SIZE,117777,0
$CFSIZE,260165632,172425216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090910,143936,2253.065,-15742.526,37,1.1,42,10.1