version: 66.06
glider: 146
mission: 5
dive: 180
start: 9 10 110 16 23 45
data:
$ID,146
$MISSION,5
$DIVE,180
$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,-250915.2
$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,25
$R_STBD_OVSHOOT,50
$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
$GPS1,161225,2254.644,-15742.604,37,1.2,37,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.2
$GPS2,162250,2254.551,-15742.688,12,1.0,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.072,0.206
$KALMAN_X,-194090.9,-299.3,-366.1,242812.3,-572.3
$KALMAN_Y,-49327.9,-265.8,-819.5,187407.8,-771.3
$MHEAD_RNG_PITCHd_Wd,9.3,6495,-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,-116.8,0.0,0.0,0,105,0.00,0.00,-85.35,0.000,6,0.000,0.000,477,1704,3480,0,0,0,0,0,0
$GC,110,-1.15,-116.8,4.7,-6.7,11,127,11.60,2.60,0.00,0.000,4,0.143,0.022,2742,3350,3481,0,0,0,0,0,0
$GC,204,-1.05,-116.8,30.1,-13.9,24,214,0.08,2.60,0.00,0.000,6,0.083,0.035,2765,1772,3482,0,0,0,0,0,0
$GC,472,-0.93,-116.8,67.5,-14.4,49,477,0.15,2.72,0.00,0.000,4,0.107,0.067,2797,186,3482,0,0,0,0,0,0
$GC,496,-0.82,-116.8,72.2,-14.7,50,506,0.08,2.45,0.00,0.000,6,0.086,0.015,2818,1808,3482,0,0,0,0,0,0
$GC,761,-0.82,-116.8,97.3,-9.1,75,766,0.00,2.78,0.00,0.000,4,0.000,0.063,2818,185,3482,0,0,0,0,0,0
$GC,784,-0.82,-116.8,99.9,-9.3,76,794,0.00,2.40,0.00,0.000,6,0.000,0.015,2818,1781,3482,0,0,0,0,0,0
$GC,1051,-0.88,-116.8,121.4,-7.7,101,1055,0.00,2.70,0.00,0.000,4,0.000,0.064,2818,185,3482,0,0,0,0,0,0
$GC,1084,-0.94,-116.8,124.3,-9.2,103,1089,0.10,2.33,0.00,0.000,6,0.086,0.023,2780,1762,3483,0,0,0,0,0,0
$GC,1350,-0.94,-116.8,148.7,-8.5,127,1354,0.00,2.40,0.00,0.000,4,0.000,0.024,2780,3299,3483,0,0,0,0,0,0
$GC,1406,-0.99,-116.8,154.0,-8.3,131,1411,0.00,2.47,0.00,0.000,6,0.000,0.035,2779,1744,3483,0,0,0,0,0,0
$GC,1668,-0.99,-116.8,175.7,-8.4,156,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1745,3483,0,0,0,0,0,0
$GC,1922,-0.99,-116.8,196.1,-7.7,180,1926,0.00,2.45,0.00,0.000,4,0.000,0.026,2780,3300,3483,0,0,0,0,0,0
$GC,1964,-1.06,-116.8,199.2,-7.4,183,1968,0.00,2.45,0.00,0.000,6,0.000,0.028,2780,1753,3483,0,0,0,0,0,0
$GC,2224,-1.06,-116.8,219.7,-8.0,190,2229,0.00,2.65,0.00,0.000,4,0.000,0.067,2779,197,3483,0,0,0,0,0,0
$GC,2298,-1.12,-116.8,226.2,-8.8,191,2302,0.10,2.30,0.00,0.000,6,0.088,0.020,2743,1722,3483,0,0,0,0,0,0
$GC,2552,-1.12,-116.8,251.5,-9.9,198,2557,0.00,2.53,0.00,0.000,4,0.000,0.033,2742,3331,3483,0,0,0,0,0,0
$GC,2585,-1.12,-116.8,254.7,-9.0,198,2591,0.00,2.53,0.00,0.000,6,0.000,0.031,2742,1747,3483,0,0,0,0,0,0
$GC,2835,-1.12,-116.8,276.4,-8.5,205,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1747,3483,0,0,0,0,0,0
$GC,3080,-1.12,-116.8,298.1,-9.1,211,3084,0.00,2.50,0.00,0.000,4,0.000,0.036,2742,3330,3482,0,0,0,0,0,0
$GC,3124,-1.12,-116.8,302.4,-9.1,212,3129,0.00,2.55,0.00,0.000,6,0.000,0.035,2742,1751,3482,0,0,0,0,0,0
$GC,3402,-1.12,-116.8,328.6,-9.6,219,3407,0.00,2.50,0.00,0.000,4,0.000,0.039,2742,3325,3481,0,0,0,0,0,0
$GC,3425,-1.12,-116.8,330.6,-8.9,219,3430,0.00,2.58,0.00,0.000,6,0.000,0.041,2742,1753,3481,0,0,0,0,0,0
$GC,3680,-1.12,-116.8,351.6,-7.9,226,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1753,3480,0,0,0,0,0,0
$GC,3924,-1.12,-116.8,369.7,-7.2,232,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1753,3479,0,0,0,0,0,0
$GC,4168,-1.12,-116.8,387.0,-7.1,238,4172,0.00,2.83,0.00,0.000,4,0.000,0.100,2742,183,3477,0,0,0,0,0,0
$GC,4207,-1.12,-116.8,390.1,-8.4,239,4211,0.00,2.40,0.00,0.000,6,0.000,0.025,2742,1720,3477,0,0,0,0,0,0
$GC,4490,-1.12,-116.8,412.4,-7.9,246,4494,0.00,2.67,0.00,0.000,4,0.000,0.054,2742,3346,3475,0,0,0,0,0,0
$GC,4546,-1.18,-116.8,417.1,-9.0,247,4551,0.00,2.67,0.00,0.000,6,0.000,0.053,2742,1750,3475,0,0,0,0,0,0
$GC,4813,-1.22,-116.8,438.5,-7.8,254,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1750,3473,0,0,0,0,0,0
$GC,5056,-1.26,-116.8,456.2,-7.1,260,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1750,3472,0,0,0,0,0,0
$GC,5302,-1.30,-116.8,473.7,-7.1,266,5307,0.12,2.67,0.00,0.000,4,0.074,0.052,2701,3353,3470,0,0,0,0,0,0
$GC,5318,-1.30,-116.8,475.3,-7.4,266,5323,0.00,2.72,0.00,0.000,6,0.000,0.059,2700,1752,3470,0,0,0,0,0,0
$GC,5579,-1.27,-116.8,498.1,-8.8,273,5581,0.10,0.00,0.00,0.000,6,0.122,0.000,2722,1752,3468,0,0,0,0,0,0
$STATE,5616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5617,begin apogee
$GC,5624,-0.31,0.0,501.7,9.0,274,5723,0.93,0.00,95.57,0.917,6,0.077,0.000,2931,1831,3001,0,0,0,0,0,0
$STATE,5724,end apogee,CONTROL_FINISHED_OK
$STATE,5724,begin climb
$GC,5726,1.15,116.8,504.0,0.0,276,5835,1.35,3.15,100.50,0.891,4,0.056,0.115,3254,226,2524,0,0,0,0,0,0
$GC,5852,1.04,187.2,502.5,4.8,279,5921,0.12,2.60,60.90,0.874,6,0.129,0.040,3228,1796,2236,0,0,0,0,0,0
$GC,6186,0.97,187.2,474.3,9.3,288,6190,0.00,2.75,0.00,0.000,4,0.000,0.063,3228,3403,2227,0,0,0,0,0,0
$GC,6213,0.93,187.2,471.6,9.2,288,6218,0.12,2.70,0.00,0.000,6,0.121,0.051,3204,1817,2225,0,0,0,0,0,0
$GC,6464,0.93,190.6,451.6,7.9,294,6468,0.00,2.65,0.00,0.000,4,0.000,0.048,3204,3410,2223,0,0,0,0,0,0
$GC,6507,0.93,190.6,447.9,8.3,295,6512,0.00,2.67,0.00,0.000,6,0.000,0.058,3204,1830,2223,0,0,0,0,0,0
$GC,6787,0.95,208.2,428.2,7.2,302,6806,0.00,0.00,16.98,0.825,6,0.000,0.000,3204,1830,2152,0,0,0,0,0,0
$GC,7069,0.96,215.3,407.1,7.7,309,7083,0.00,2.67,7.40,0.728,4,0.000,0.036,3204,3422,2123,0,0,0,0,0,0
$GC,7165,1.02,230.7,399.7,7.3,311,7186,0.00,2.70,15.05,0.806,6,0.000,0.048,3204,1834,2060,0,0,0,0,0,0
$GC,7443,1.03,236.8,378.2,7.7,318,7451,0.00,0.00,6.43,0.686,6,0.000,0.000,3204,1834,2035,0,0,0,0,0,0
$GC,7685,1.03,236.8,358.6,8.2,324,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1834,2032,0,0,0,0,0,0
$GC,7929,1.04,245.2,340.0,7.6,330,7944,0.10,2.62,8.57,0.722,4,0.097,0.033,3232,3410,2001,0,0,0,0,0,0
$GC,7974,1.04,245.2,336.3,9.4,331,7978,0.00,2.60,0.00,0.000,6,0.000,0.038,3232,1834,1999,0,0,0,0,0,0
$GC,8257,1.04,245.2,310.9,9.1,338,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1834,1998,0,0,0,0,0,0
$GC,8500,1.04,245.2,288.5,9.2,344,8504,0.00,2.55,0.00,0.000,4,0.000,0.031,3232,3416,1997,0,0,0,0,0,0
$GC,8607,1.04,245.2,278.3,9.5,346,8611,0.00,2.55,0.00,0.000,6,0.000,0.036,3232,1847,1996,0,0,0,0,0,0
$GC,8867,1.04,245.2,256.5,8.2,353,8871,0.00,2.53,0.00,0.000,4,0.000,0.032,3232,3422,1996,0,0,0,0,0,0
$GC,8923,1.08,245.2,252.1,8.2,354,8928,0.00,2.53,0.00,0.000,6,0.000,0.037,3232,1864,1995,0,0,0,0,0,0
$GC,9190,1.10,258.6,232.3,7.4,361,9210,0.00,2.90,12.75,0.683,4,0.000,0.072,3232,243,1946,0,0,0,0,0,0
$GC,9234,1.10,258.6,228.6,9.1,362,9238,0.00,2.58,0.00,0.000,6,0.000,0.019,3232,1899,1944,0,0,0,0,0,0
$GC,9518,1.10,258.6,205.4,8.1,369,9522,0.00,2.88,0.00,0.000,4,0.000,0.064,3232,239,1943,0,0,0,0,0,0
$GC,9584,1.10,258.6,199.1,9.5,370,9588,0.00,2.55,0.00,0.000,6,0.000,0.019,3232,1883,1942,0,0,0,0,0,0
$GC,9853,1.10,258.6,175.9,9.0,395,9857,0.00,2.45,0.00,0.000,4,0.000,0.031,3233,3428,1942,0,0,0,0,0,0
$GC,9940,1.17,258.6,167.6,9.2,402,9945,0.10,2.53,0.00,0.000,6,0.094,0.035,3261,1853,1942,0,0,0,0,0,0
$GC,10200,1.17,258.6,145.7,8.0,426,10205,0.00,2.50,0.00,0.000,4,0.000,0.033,3261,3425,1942,0,0,0,0,0,0
$GC,10246,1.17,258.6,142.3,8.8,429,10250,0.00,2.50,0.00,0.000,6,0.000,0.038,3261,1867,1942,0,0,0,0,0,0
$GC,10512,1.17,258.6,121.6,8.0,453,10517,0.00,2.75,0.00,0.000,4,0.000,0.066,3261,241,1942,0,0,0,0,0,0
$GC,10530,1.17,258.6,119.8,8.4,454,10534,0.00,2.58,0.00,0.000,6,0.000,0.019,3261,1912,1942,0,0,0,0,0,0
$GC,10792,1.17,258.6,96.2,8.8,478,10796,0.00,2.38,0.00,0.000,4,0.000,0.033,3261,3426,1942,0,0,0,0,0,0
$GC,10833,1.21,258.6,92.9,8.7,481,10837,0.00,2.53,0.00,0.000,6,0.000,0.036,3261,1848,1941,0,0,0,0,0,0
$GC,11100,1.28,287.2,74.3,6.7,505,11132,0.00,2.58,25.62,0.564,4,0.000,0.027,3261,3418,1829,0,0,0,0,0,0
$GC,11158,1.37,312.8,70.6,6.8,509,11187,0.15,2.55,23.05,0.550,6,0.067,0.032,3307,1844,1724,0,0,0,0,0,0
$GC,11443,1.37,312.8,45.8,9.9,535,11447,0.00,2.50,0.00,0.000,4,0.000,0.027,3306,3427,1720,0,0,0,0,0,0
$GC,11464,1.37,312.8,43.7,9.2,536,11469,0.00,2.55,0.00,0.000,6,0.000,0.032,3307,1848,1719,0,0,0,0,0,0
$GC,11764,1.33,312.8,13.5,10.7,571,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1848,1719,0,0,0,0,0,0
$STATE,11855,end climb,SURFACE_DEPTH_REACHED
$STATE,11855,begin surface coast
$FINISH,0.4,1.023285
$STATE,11906,end surface coast,CONTROL_FINISHED_OK
$STATE,11906,begin surface
$SM_CCo,11929,92.35,0.453,1,0,1287,420.20
$SM_GC,1.00,0.00,0.00,92.35,0.000,0.000,0.453,471,1753,1287,-11.63,-0.51,420.20
$IRIDIUM_FIX,2246.36,-15740.63,051299,161626
$TT8_MAMPS,0.025311
$HUMID,44.05
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.60
$XPDR_PINGS,54
$24V_AH,23.6,26.589
$10V_AH,10.3,26.915
$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,26.675,145.225,372.825,92.350,0.000,61.805,55.889,297.956,13.500,0.000,13.654,1196.773,7996.613,553.869,2158.950,743.634,33.367,1353.164,0.000,2165.125,0.000,0.536,0.000
$DEVICE_MAMPS,142.662,267.683,916.565,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,400.142,344.853,452.743,830.786,1256.526,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,47894,591
$CAP_FILE_SIZE,125801,0
$CFSIZE,260165632,171905024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100910,194558,2255.346,-15742.636,44,99.0,63,10.1