version: 66.06
glider: 146
mission: 5
dive: 181
start: 9 10 110 19 52 57
data:
$ID,146
$MISSION,5
$DIVE,181
$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,-250928.61
$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,38
$R_STBD_OVSHOOT,22
$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
$GPS1,194558,2255.346,-15742.636,44,99.0,63,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-69.7
$GPS2,195202,2255.359,-15742.676,11,1.3,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.022,0.217
$KALMAN_X,-195134.4,-158.0,-345.2,243710.0,98.9
$KALMAN_Y,-51610.6,123.7,7.5,189970.1,-1149.9
$MHEAD_RNG_PITCHd_Wd,355.6,5026,-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,-85.68,0.000,6,0.000,0.000,471,1752,3478,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.5,-6.1,11,126,11.68,2.58,0.00,0.000,4,0.143,0.030,2743,3375,3480,0,0,0,0,0,0
$GC,235,-1.06,-116.8,32.7,-13.9,28,240,0.12,2.60,0.00,0.000,6,0.107,0.033,2770,1783,3481,0,0,0,0,0,0
$GC,503,-0.94,-116.8,68.7,-13.9,52,508,0.10,2.75,0.00,0.000,4,0.123,0.062,2792,193,3481,0,0,0,0,0,0
$GC,539,-0.86,-116.8,74.9,-14.8,54,548,0.00,2.50,0.00,0.000,6,0.000,0.015,2792,1824,3481,0,0,0,0,0,0
$GC,805,-0.86,-116.8,104.7,-11.1,79,810,0.00,2.78,0.00,0.000,4,0.000,0.059,2792,193,3482,0,0,0,0,0,0
$GC,840,-0.86,-116.8,109.2,-11.4,81,845,0.00,2.45,0.00,0.000,6,0.000,0.018,2792,1838,3482,0,0,0,0,0,0
$GC,1101,-0.86,-116.8,133.7,-8.7,106,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1839,3482,0,0,0,0,0,0
$GC,1363,-0.90,-116.8,153.5,-7.5,130,1367,0.00,2.80,0.00,0.000,4,0.000,0.064,2792,193,3483,0,0,0,0,0,0
$GC,1408,-0.97,-116.8,157.9,-8.2,133,1414,0.00,2.42,0.00,0.000,6,0.000,0.018,2792,1816,3483,0,0,0,0,0,0
$GC,1672,-1.03,-116.8,178.2,-7.7,158,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1817,3483,0,0,0,0,0,0
$GC,1934,-1.09,-116.8,198.0,-7.4,183,1939,0.12,2.35,0.00,0.000,4,0.072,0.028,2750,3318,3483,0,0,0,0,0,0
$GC,1967,-1.09,-116.8,201.1,-9.5,185,1973,0.00,2.50,0.00,0.000,6,0.000,0.028,2750,1758,3483,0,0,0,0,0,0
$GC,2219,-1.09,-116.8,224.3,-9.1,192,2223,0.00,2.67,0.00,0.000,4,0.000,0.075,2750,194,3483,0,0,0,0,0,0
$GC,2258,-1.09,-116.8,228.3,-10.7,193,2262,0.00,2.33,0.00,0.000,6,0.000,0.017,2750,1736,3483,0,0,0,0,0,0
$GC,2546,-1.09,-116.8,254.9,-8.9,200,2551,0.00,2.65,0.00,0.000,4,0.000,0.071,2750,194,3482,0,0,0,0,0,0
$GC,2591,-1.09,-116.8,259.0,-9.2,201,2595,0.00,2.35,0.00,0.000,6,0.000,0.024,2750,1753,3482,0,0,0,0,0,0
$GC,2874,-1.09,-116.8,283.9,-8.7,208,2878,0.00,2.47,0.00,0.000,4,0.000,0.036,2750,3336,3482,0,0,0,0,0,0
$GC,2931,-1.15,-116.8,288.7,-8.9,209,2935,0.00,2.58,0.00,0.000,6,0.000,0.040,2750,1749,3482,0,0,0,0,0,0
$GC,3198,-1.15,-116.8,311.3,-8.7,216,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1749,3481,0,0,0,0,0,0
$GC,3440,-1.15,-116.8,332.5,-8.7,222,3444,0.00,2.55,0.00,0.000,4,0.000,0.033,2750,3336,3481,0,0,0,0,0,0
$GC,3467,-1.19,-116.8,334.9,-8.8,222,3472,0.00,2.60,0.00,0.000,6,0.000,0.042,2750,1762,3481,0,0,0,0,0,0
$GC,3718,-1.19,-116.8,354.9,-7.9,228,3723,0.00,2.83,0.00,0.000,4,0.000,0.096,2750,179,3479,0,0,0,0,0,0
$GC,3746,-1.19,-116.8,357.3,-8.7,228,3751,0.00,2.42,0.00,0.000,6,0.000,0.026,2750,1744,3479,0,0,0,0,0,0
$GC,3996,-1.19,-116.8,376.7,-7.6,234,4001,0.00,2.60,0.00,0.000,4,0.000,0.046,2750,3343,3478,0,0,0,0,0,0
$GC,4041,-1.27,-116.8,380.1,-7.4,235,4046,0.12,2.62,0.00,0.000,6,0.069,0.054,2706,1768,3478,0,0,0,0,0,0
$GC,4319,-1.23,-116.8,404.7,-9.0,242,4321,0.12,0.00,0.00,0.000,6,0.107,0.000,2732,1768,3477,0,0,0,0,0,0
$GC,4563,-1.23,-116.8,423.9,-8.0,248,4567,0.00,2.58,0.00,0.000,4,0.000,0.048,2732,3347,3475,0,0,0,0,0,0
$GC,4603,-1.27,-116.8,427.1,-8.3,249,4608,0.00,2.67,0.00,0.000,6,0.000,0.063,2732,1767,3475,0,0,0,0,0,0
$GC,4886,-1.27,-116.8,449.9,-7.9,256,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1767,3473,0,0,0,0,0,0
$GC,5130,-1.27,-116.8,467.2,-6.9,262,5135,0.00,2.95,0.00,0.000,4,0.000,0.115,2733,185,3472,0,0,0,0,0,0
$GC,5158,-1.27,-116.8,469.2,-7.6,262,5163,0.00,2.55,0.00,0.000,6,0.000,0.037,2732,1767,3471,0,0,0,0,0,0
$GC,5408,-1.27,-116.8,486.4,-6.9,268,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1767,3470,0,0,0,0,0,0
$STATE,5608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5609,begin apogee
$GC,5615,-0.31,0.0,500.1,6.9,273,5714,0.88,0.00,95.72,0.914,6,0.078,0.000,2930,1826,3001,0,0,0,0,0,0
$STATE,5715,end apogee,CONTROL_FINISHED_OK
$STATE,5715,begin climb
$GC,5718,1.15,116.8,501.8,0.0,275,5823,1.35,0.00,100.57,0.892,6,0.047,0.000,3254,1825,2524,0,0,0,0,0,0
$GC,6055,1.04,138.8,486.0,7.0,284,6077,0.12,0.00,18.77,0.836,6,0.127,0.000,3229,1825,2434,0,0,0,0,0,0
$GC,6300,0.99,158.4,468.7,7.1,290,6320,0.00,0.00,17.95,0.835,6,0.000,0.000,3229,1825,2355,0,0,0,0,0,0
$GC,6543,0.93,158.4,449.0,8.1,296,6548,0.12,2.70,0.00,0.000,4,0.124,0.054,3205,3406,2350,0,0,0,0,0,0
$GC,6587,0.93,158.4,445.3,8.4,297,6591,0.00,2.70,0.00,0.000,6,0.000,0.051,3204,1815,2348,0,0,0,0,0,0
$GC,6866,0.94,167.7,424.5,7.6,304,6880,0.00,2.67,8.68,0.762,4,0.000,0.039,3204,3399,2316,0,0,0,0,0,0
$GC,6920,0.95,179.9,420.2,7.4,305,6939,0.00,2.67,12.82,0.802,6,0.000,0.048,3205,1825,2266,0,0,0,0,0,0
$GC,7196,0.99,212.5,401.4,6.5,312,7230,0.00,2.65,29.23,0.841,4,0.000,0.038,3204,3402,2133,0,0,0,0,0,0
$GC,7279,1.05,225.2,395.9,7.4,313,7299,0.10,2.62,12.68,0.780,6,0.098,0.048,3232,1836,2081,0,0,0,0,0,0
$GC,7569,1.05,225.2,371.2,9.0,320,7573,0.00,2.55,0.00,0.000,4,0.000,0.038,3232,3403,2075,0,0,0,0,0,0
$GC,7618,1.05,225.2,366.3,9.9,321,7622,0.00,2.62,0.00,0.000,6,0.000,0.045,3232,1831,2074,0,0,0,0,0,0
$GC,7891,1.05,225.2,340.0,9.7,328,7895,0.00,2.58,0.00,0.000,4,0.000,0.034,3232,3412,2071,0,0,0,0,0,0
$GC,7958,1.05,225.2,333.3,9.9,329,7962,0.00,2.60,0.00,0.000,6,0.000,0.041,3232,1841,2072,0,0,0,0,0,0
$GC,8213,1.06,235.0,313.0,7.6,336,8223,0.00,0.00,8.43,0.701,6,0.000,0.000,3232,1841,2042,0,0,0,0,0,0
$GC,8456,1.09,259.2,296.2,6.9,342,8486,0.00,2.62,22.50,0.763,4,0.000,0.035,3232,3407,1944,0,0,0,0,0,0
$GC,8516,1.09,259.2,291.7,8.8,343,8520,0.00,2.58,0.00,0.000,6,0.000,0.033,3232,1849,1942,0,0,0,0,0,0
$GC,8782,1.09,260.6,270.6,7.9,350,8786,0.00,2.53,0.00,0.000,4,0.000,0.031,3232,3410,1939,0,0,0,0,0,0
$GC,8837,1.14,260.6,266.1,8.5,351,8841,0.00,2.50,0.00,0.000,6,0.000,0.034,3232,1869,1938,0,0,0,0,0,0
$GC,9103,1.14,260.6,244.4,8.3,358,9108,0.00,2.83,0.00,0.000,4,0.000,0.070,3232,237,1938,0,0,0,0,0,0
$GC,9169,1.14,260.6,237.7,9.8,359,9173,0.00,2.55,0.00,0.000,6,0.000,0.021,3232,1878,1936,0,0,0,0,0,0
$GC,9425,1.14,260.6,215.4,8.9,366,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1879,1936,0,0,0,0,0,0
$GC,9671,1.14,260.6,193.5,8.6,375,9676,0.00,2.83,0.00,0.000,4,0.000,0.062,3232,238,1937,0,0,0,0,0,0
$GC,9704,1.14,260.6,190.0,10.2,377,9710,0.00,2.55,0.00,0.000,6,0.000,0.018,3232,1881,1935,0,0,0,0,0,0
$GC,9968,1.17,285.2,169.8,6.9,402,9996,0.10,2.50,22.65,0.648,4,0.097,0.037,3261,3419,1837,0,0,0,0,0,0
$GC,10026,1.17,285.2,164.6,9.3,406,10032,0.00,2.58,0.00,0.000,6,0.000,0.038,3261,1846,1836,0,0,0,0,0,0
$GC,10293,1.17,285.2,140.7,9.4,431,10297,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1846,1835,0,0,0,0,0,0
$GC,10555,1.17,285.2,117.5,8.3,456,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1846,1834,0,0,0,0,0,0
$GC,10809,1.19,301.6,97.6,7.3,480,10828,0.00,0.00,15.52,0.568,6,0.000,0.000,3261,1846,1769,0,0,0,0,0,0
$GC,11091,1.25,306.1,74.7,7.8,506,11100,0.00,0.00,4.38,0.408,6,0.000,0.000,3261,1846,1754,0,0,0,0,0,0
$GC,11360,1.31,306.1,53.1,8.0,531,11369,0.10,0.00,0.00,0.000,6,0.085,0.000,3293,1846,1754,0,0,0,0,0,0
$GC,11628,1.31,306.1,28.0,8.9,557,11637,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1846,1754,0,0,0,0,0,0
$STATE,11894,end climb,SURFACE_DEPTH_REACHED
$STATE,11894,begin surface coast
$FINISH,0.3,1.023346
$STATE,11957,end surface coast,CONTROL_FINISHED_OK
$STATE,11957,begin surface
$SM_CCo,11978,105.65,0.459,1,0,1288,420.20
$SM_GC,0.82,0.00,0.00,105.65,0.000,0.000,0.459,480,1725,1288,-11.59,-1.27,420.20
$IRIDIUM_FIX,2246.36,-15743.68,051299,161653
$TT8_MAMPS,0.025311
$HUMID,44.21
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.80
$XPDR_PINGS,48
$24V_AH,23.6,26.704
$10V_AH,10.4,27.045
$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,26.450,119.775,369.900,105.650,0.000,29.271,35.869,162.584,12.000,0.000,12.766,1187.026,7975.354,579.643,2184.878,526.340,33.366,1337.264,0.000,2196.052,0.000,0.536,0.000
$DEVICE_MAMPS,143.429,124.254,914.264,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,408.696,353.616,466.299,869.207,1314.550,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,47842,604
$CAP_FILE_SIZE,114224,0
$CFSIZE,260165632,171859968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100910,231537,2255.927,-15742.778,30,1.1,30,10.1