version: 66.06
glider: 146
mission: 5
dive: 182
start: 9 10 110 23 23 15
data:
$ID,146
$MISSION,5
$DIVE,182
$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,-250945.66
$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,64
$R_STBD_OVSHOOT,32
$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
$GPS1,231537,2255.927,-15742.778,30,1.1,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-69.2
$GPS2,232220,2255.906,-15742.817,14,1.1,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.070,0.207
$KALMAN_X,-196452.5,-32.7,343.8,243972.2,-1139.9
$KALMAN_Y,-54114.7,323.2,626.7,192670.4,-3325.6
$MHEAD_RNG_PITCHd_Wd,8.5,4122,-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,-85.90,0.000,6,0.000,0.000,480,1724,3479,0,0,0,0,0,0
$GC,109,-1.15,-116.8,4.4,-6.0,11,125,11.43,2.60,0.00,0.000,4,0.137,0.025,2740,3375,3481,0,0,0,0,0,0
$GC,284,-1.05,-116.8,39.7,-13.5,32,294,0.10,2.58,0.00,0.000,6,0.081,0.031,2768,1804,3482,0,0,0,0,0,0
$GC,552,-0.93,-116.8,74.9,-13.5,57,557,0.12,2.80,0.00,0.000,4,0.110,0.064,2795,189,3482,0,0,0,0,0,0
$GC,611,-0.89,-116.8,83.3,-12.8,61,615,0.00,2.45,0.00,0.000,6,0.000,0.019,2795,1820,3482,0,0,0,0,0,0
$GC,879,-0.89,-116.8,109.7,-9.7,85,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1822,3482,0,0,0,0,0,0
$GC,1139,-0.89,-116.8,133.0,-9.0,110,1144,0.00,2.78,0.00,0.000,4,0.000,0.063,2795,188,3483,0,0,0,0,0,0
$GC,1168,-0.89,-116.8,135.2,-7.9,112,1173,0.00,2.35,0.00,0.000,6,0.000,0.018,2795,1781,3483,0,0,0,0,0,0
$GC,1436,-0.94,-116.8,156.8,-8.4,136,1441,0.00,2.70,0.00,0.000,4,0.000,0.067,2795,191,3483,0,0,0,0,0,0
$GC,1504,-1.03,-116.8,163.7,-8.8,141,1513,0.00,2.33,0.00,0.000,6,0.000,0.023,2795,1732,3483,0,0,0,0,0,0
$GC,1772,-1.10,-116.8,183.9,-7.6,166,1777,0.15,2.47,0.00,0.000,4,0.063,0.025,2745,3317,3483,0,0,0,0,0,0
$GC,1817,-1.10,-116.8,188.8,-10.0,169,1822,0.00,2.50,0.00,0.000,6,0.000,0.028,2745,1745,3483,0,0,0,0,0,0
$GC,2093,-1.06,-116.8,217.4,-10.6,184,2095,0.10,0.00,0.00,0.000,6,0.142,0.000,2767,1743,3483,0,0,0,0,0,0
$GC,2335,-1.06,-116.8,240.7,-9.6,190,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1742,3483,0,0,0,0,0,0
$GC,2579,-1.06,-116.8,263.0,-8.7,196,2583,0.00,2.67,0.00,0.000,4,0.000,0.071,2767,188,3483,0,0,0,0,0,0
$GC,2611,-1.06,-116.8,266.1,-9.2,196,2617,0.00,2.35,0.00,0.000,6,0.000,0.022,2767,1737,3483,0,0,0,0,0,0
$GC,2862,-1.06,-116.8,288.3,-8.9,203,2867,0.00,2.50,0.00,0.000,4,0.000,0.029,2767,3331,3483,0,0,0,0,0,0
$GC,2907,-1.15,-116.8,292.3,-8.6,204,2911,0.00,2.53,0.00,0.000,6,0.000,0.032,2767,1757,3483,0,0,0,0,0,0
$GC,3186,-1.19,-116.8,314.7,-7.8,211,3188,0.12,0.00,0.00,0.000,6,0.073,0.000,2726,1757,3482,0,0,0,0,0,0
$GC,3427,-1.19,-116.8,334.7,-8.1,217,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1758,3481,0,0,0,0,0,0
$GC,3671,-1.19,-116.8,355.6,-8.9,223,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1757,3480,0,0,0,0,0,0
$GC,3915,-1.19,-116.8,378.1,-9.2,229,3919,0.00,2.55,0.00,0.000,4,0.000,0.044,2726,3322,3479,0,0,0,0,0,0
$GC,3948,-1.19,-116.8,380.9,-8.2,229,3954,0.00,2.58,0.00,0.000,6,0.000,0.053,2726,1775,3479,0,0,0,0,0,0
$GC,4200,-1.19,-116.8,400.2,-7.4,236,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1774,3477,0,0,0,0,0,0
$GC,4442,-1.19,-116.8,417.7,-7.3,242,4446,0.00,2.55,0.00,0.000,4,0.000,0.045,2726,3327,3476,0,0,0,0,0,0
$GC,4485,-1.19,-116.8,421.2,-8.4,243,4490,0.00,2.62,0.00,0.000,6,0.000,0.055,2726,1771,3476,0,0,0,0,0,0
$GC,4765,-1.19,-116.8,444.6,-8.7,250,4769,0.00,2.55,0.00,0.000,4,0.000,0.051,2726,3317,3474,0,0,0,0,0,0
$GC,4791,-1.19,-116.8,447.3,-9.7,250,4796,0.00,2.62,0.00,0.000,6,0.000,0.058,2726,1771,3474,0,0,0,0,0,0
$GC,5041,-1.19,-116.8,469.6,-9.0,256,5046,0.00,3.00,0.00,0.000,4,0.000,0.120,2726,179,3472,0,0,0,0,0,0
$GC,5069,-1.19,-116.8,472.4,-9.9,256,5074,0.00,2.50,0.00,0.000,6,0.000,0.037,2726,1736,3472,0,0,0,0,0,0
$GC,5319,-1.19,-116.8,492.7,-7.9,262,5324,0.00,2.78,0.00,0.000,4,0.000,0.067,2726,3359,3470,0,0,0,0,0,0
$GC,5352,-1.19,-116.8,495.1,-7.6,262,5357,0.00,2.72,0.00,0.000,6,0.000,0.065,2726,1772,3469,0,0,0,0,0,0
$STATE,5437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5437,begin apogee
$GC,5444,-0.31,0.0,501.1,7.0,265,5544,0.90,0.00,95.95,0.921,6,0.077,0.000,2929,1857,3001,0,0,0,0,0,0
$STATE,5544,end apogee,CONTROL_FINISHED_OK
$STATE,5545,begin climb
$GC,5547,1.15,116.8,502.5,0.0,267,5658,1.35,2.62,100.18,0.893,4,0.054,0.056,3254,3378,2522,0,0,0,0,0,0
$GC,5669,1.07,164.5,500.7,5.8,270,5721,0.10,2.70,41.42,0.868,6,0.140,0.060,3235,1814,2329,0,0,0,0,0,0
$GC,5967,0.98,164.5,476.8,8.1,278,5973,0.10,2.62,0.00,0.000,4,0.134,0.044,3215,3384,2320,0,0,0,0,0,0
$GC,6002,1.02,198.3,474.1,6.4,278,6037,0.00,2.70,29.33,0.855,6,0.000,0.053,3215,1810,2192,0,0,0,0,0,0
$GC,6287,1.03,207.3,452.7,7.6,286,6298,0.00,0.00,8.62,0.756,6,0.000,0.000,3215,1810,2155,0,0,0,0,0,0
$GC,6531,1.03,208.8,433.1,7.9,292,6535,0.00,2.60,0.00,0.000,4,0.000,0.044,3215,3382,2151,0,0,0,0,0,0
$GC,6576,1.04,210.5,429.5,7.9,293,6581,0.00,2.67,0.00,0.000,6,0.000,0.059,3215,1813,2150,0,0,0,0,0,0
$GC,6854,1.04,210.5,407.0,8.2,300,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1814,2148,0,0,0,0,0,0
$GC,7098,1.04,210.5,386.3,8.5,306,7102,0.00,2.55,0.00,0.000,4,0.000,0.035,3215,3383,2147,0,0,0,0,0,0
$GC,7187,1.04,210.5,378.4,8.4,308,7192,0.00,2.65,0.00,0.000,6,0.000,0.051,3215,1810,2146,0,0,0,0,0,0
$GC,7466,1.04,210.5,354.8,8.3,315,7470,0.00,2.53,0.00,0.000,4,0.000,0.037,3215,3383,2144,0,0,0,0,0,0
$GC,7516,1.04,210.5,350.5,8.7,316,7521,0.00,2.60,0.00,0.000,6,0.000,0.039,3215,1814,2144,0,0,0,0,0,0
$GC,7788,1.05,218.8,329.5,7.6,323,7803,0.00,2.83,9.82,0.742,4,0.000,0.080,3215,237,2108,0,0,0,0,0,0
$GC,7853,1.05,218.8,323.8,9.0,324,7858,0.00,2.45,0.00,0.000,6,0.000,0.025,3215,1805,2105,0,0,0,0,0,0
$GC,8111,1.06,233.1,305.0,7.3,331,8130,0.00,2.65,13.95,0.754,4,0.000,0.041,3215,3390,2049,0,0,0,0,0,0
$GC,8164,1.13,233.1,300.8,8.2,332,8169,0.12,2.60,0.00,0.000,6,0.080,0.038,3250,1803,2048,0,0,0,0,0,0
$GC,8438,1.09,233.1,277.4,8.5,339,8442,0.00,2.58,0.00,0.000,4,0.000,0.036,3250,3396,2046,0,0,0,0,0,0
$GC,8504,1.09,233.1,271.6,8.3,340,8508,0.00,2.55,0.00,0.000,6,0.000,0.038,3250,1831,2045,0,0,0,0,0,0
$GC,8765,1.09,233.1,249.6,8.5,347,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1831,2044,0,0,0,0,0,0
$GC,9009,1.09,233.1,228.9,8.5,353,9013,0.00,2.50,0.00,0.000,4,0.000,0.030,3250,3396,2044,0,0,0,0,0,0
$GC,9053,1.09,233.1,224.8,9.5,354,9058,0.00,2.55,0.00,0.000,6,0.000,0.035,3250,1834,2044,0,0,0,0,0,0
$GC,9331,1.09,233.1,199.5,9.1,361,9335,0.00,2.47,0.00,0.000,4,0.000,0.036,3250,3399,2044,0,0,0,0,0,0
$GC,9376,1.09,233.1,195.2,9.7,364,9382,0.00,2.50,0.00,0.000,6,0.000,0.035,3250,1849,2044,0,0,0,0,0,0
$GC,9641,1.09,233.1,172.7,8.7,389,9645,0.00,2.47,0.00,0.000,4,0.000,0.035,3250,3400,2044,0,0,0,0,0,0
$GC,9716,1.09,233.7,166.2,8.0,395,9720,0.00,2.47,0.00,0.000,6,0.000,0.032,3250,1866,2043,0,0,0,0,0,0
$GC,9984,1.10,242.4,146.1,7.6,419,9998,0.00,2.80,8.85,0.574,4,0.000,0.067,3250,246,2012,0,0,0,0,0,0
$GC,10056,1.10,242.4,139.7,9.3,425,10060,0.00,2.50,0.00,0.000,6,0.000,0.019,3250,1873,2010,0,0,0,0,0,0
$GC,10323,1.11,253.0,121.1,7.5,449,10339,0.00,2.42,10.93,0.569,4,0.000,0.028,3250,3401,1969,0,0,0,0,0,0
$GC,10379,1.19,253.0,116.3,9.3,453,10383,0.00,2.47,0.00,0.000,6,0.000,0.035,3250,1863,1968,0,0,0,0,0,0
$GC,10647,1.25,262.3,95.6,7.6,477,10658,0.00,0.00,9.55,0.535,6,0.000,0.000,3250,1863,1931,0,0,0,0,0,0
$GC,10919,1.35,285.9,74.6,6.9,502,10951,0.17,0.00,21.60,0.556,6,0.065,0.000,3299,1863,1833,0,0,0,0,0,0
$GC,11206,1.35,285.9,50.8,8.3,529,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1864,1831,0,0,0,0,0,0
$GC,11481,1.35,285.9,25.8,9.2,557,11490,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1863,1831,0,0,0,0,0,0
$STATE,11718,end climb,SURFACE_DEPTH_REACHED
$STATE,11718,begin surface coast
$FINISH,0.2,1.009272
$STATE,11774,end surface coast,CONTROL_FINISHED_OK
$STATE,11774,begin surface
$SM_CCo,11796,113.62,0.463,1,0,1287,420.20
$SM_GC,0.87,0.00,0.00,113.62,0.000,0.000,0.463,476,1743,1287,-11.61,-0.76,420.20
$IRIDIUM_FIX,2248.70,-15742.79,051299,191958
$TT8_MAMPS,0.025311
$HUMID,43.58
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.00
$XPDR_PINGS,54
$24V_AH,23.6,26.817
$10V_AH,10.4,27.176
$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,26.200,129.400,350.200,113.625,0.000,30.740,32.255,182.496,13.500,0.000,16.415,1174.037,7816.751,546.294,2210.607,571.274,33.362,1340.514,0.000,2215.001,0.000,0.536,0.000
$DEVICE_MAMPS,141.895,119.652,921.167,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,404.853,358.662,465.381,871.654,1317.984,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,47862,599
$CAP_FILE_SIZE,116084,0
$CFSIZE,260165632,171798528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110910,024307,2255.377,-15743.174,35,1.0,35,10.1