version: 66.06
glider: 146
mission: 5
dive: 190
start: 9 12 110 3 8 45
data:
$ID,146
$MISSION,5
$DIVE,190
$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,-251078.42
$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,28
$R_STBD_OVSHOOT,48
$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
$GPS1,030101,2256.087,-15741.994,36,2.0,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.6
$GPS2,030750,2256.046,-15741.986,13,1.0,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.100,0.190
$KALMAN_X,-203202.8,44.0,192.3,252221.1,-1239.0
$KALMAN_Y,-72612.0,15.0,-267.6,212626.0,-2855.4
$MHEAD_RNG_PITCHd_Wd,17.5,3620,-16.4,-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,-1.16,-112.8,0.0,0.0,0,105,0.00,0.00,-85.12,0.000,6,0.000,0.000,477,1760,3462,0,0,0,0,0,0
$GC,108,-1.17,-116.8,4.5,-6.4,11,127,11.50,2.53,-0.22,0.000,4,0.140,0.039,2738,3346,3478,0,0,0,0,0,0
$GC,237,-1.08,-116.8,33.3,-14.1,28,242,0.12,2.55,0.00,0.000,6,0.108,0.033,2765,1768,3479,0,0,0,0,0,0
$GC,505,-0.96,-116.8,69.2,-13.4,52,510,0.10,2.70,0.00,0.000,4,0.127,0.061,2787,189,3478,0,0,0,0,0,0
$GC,541,-0.88,-116.8,75.2,-13.3,54,550,0.00,2.45,0.00,0.000,6,0.000,0.022,2786,1801,3479,0,0,0,0,0,0
$GC,806,-0.88,-116.8,104.6,-10.6,79,811,0.00,2.72,0.00,0.000,4,0.000,0.064,2788,191,3479,0,0,0,0,0,0
$GC,840,-0.88,-116.8,108.1,-10.8,81,844,0.00,2.35,0.00,0.000,6,0.000,0.015,2787,1783,3479,0,0,0,0,0,0
$GC,1106,-0.88,-116.8,134.5,-10.0,105,1110,0.00,2.70,0.00,0.000,4,0.000,0.065,2787,191,3480,0,0,0,0,0,0
$GC,1139,-0.88,-116.8,137.8,-10.3,107,1143,0.00,2.30,0.00,0.000,6,0.000,0.021,2787,1760,3480,0,0,0,0,0,0
$GC,1402,-0.92,-116.8,159.1,-7.5,131,1406,0.00,2.65,0.00,0.000,4,0.000,0.066,2787,193,3480,0,0,0,0,0,0
$GC,1435,-0.92,-116.8,161.8,-9.3,133,1439,0.00,2.28,0.00,0.000,6,0.000,0.021,2787,1743,3480,0,0,0,0,0,0
$GC,1703,-0.98,-116.8,183.2,-8.6,157,1707,0.00,2.65,0.00,0.000,4,0.000,0.061,2787,185,3480,0,0,0,0,0,0
$GC,1748,-1.06,-116.8,188.3,-9.8,160,1754,0.00,2.30,0.00,0.000,6,0.000,0.023,2787,1731,3480,0,0,0,0,0,0
$GC,2016,-1.12,-116.8,210.9,-8.2,177,2021,0.12,2.47,0.00,0.000,4,0.072,0.025,2742,3316,3480,0,0,0,0,0,0
$GC,2059,-1.12,-116.8,215.2,-9.6,178,2064,0.00,2.50,0.00,0.000,6,0.000,0.035,2741,1737,3480,0,0,0,0,0,0
$GC,2338,-1.12,-116.8,242.3,-9.7,185,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1735,3480,0,0,0,0,0,0
$GC,2583,-1.12,-116.8,264.0,-8.9,191,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1735,3480,0,0,0,0,0,0
$GC,2825,-1.12,-116.8,285.0,-8.6,197,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1735,3479,0,0,0,0,0,0
$GC,3069,-1.12,-116.8,307.6,-9.5,203,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1735,3479,0,0,0,0,0,0
$GC,3312,-1.12,-116.8,330.3,-9.1,209,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1735,3478,0,0,0,0,0,0
$GC,3557,-1.12,-116.8,350.7,-8.3,215,3562,0.00,2.53,0.00,0.000,4,0.000,0.043,2742,3309,3477,0,0,0,0,0,0
$GC,3585,-1.15,-116.8,353.1,-8.2,215,3590,0.00,2.60,0.00,0.000,6,0.000,0.045,2742,1745,3477,0,0,0,0,0,0
$GC,3835,-1.15,-116.8,373.7,-8.2,221,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1745,3476,0,0,0,0,0,0
$GC,4078,-1.15,-116.8,395.3,-9.0,227,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1744,3475,0,0,0,0,0,0
$GC,4324,-1.20,-116.8,415.6,-8.3,233,4328,0.00,2.55,0.00,0.000,4,0.000,0.045,2742,3300,3473,0,0,0,0,0,0
$GC,4368,-1.27,-116.8,419.4,-8.8,234,4372,0.00,2.62,0.00,0.000,6,0.000,0.058,2741,1742,3473,0,0,0,0,0,0
$GC,4647,-1.32,-116.8,440.7,-7.8,241,4652,0.12,2.58,0.00,0.000,4,0.070,0.047,2699,3299,3471,0,0,0,0,0,0
$GC,4669,-1.32,-116.8,442.7,-8.4,241,4673,0.00,2.65,0.00,0.000,6,0.000,0.058,2699,1738,3471,0,0,0,0,0,0
$GC,4924,-1.28,-116.8,466.0,-9.2,248,4926,0.10,0.00,0.00,0.000,6,0.119,0.000,2719,1738,3469,0,0,0,0,0,0
$GC,5167,-1.28,-116.8,487.1,-8.7,254,5172,0.00,2.58,0.00,0.000,4,0.000,0.051,2720,3295,3468,0,0,0,0,0,0
$GC,5190,-1.28,-116.8,489.2,-9.3,254,5194,0.00,2.65,0.00,0.000,6,0.000,0.062,2720,1755,3468,0,0,0,0,0,0
$STATE,5320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5320,begin apogee
$GC,5326,-0.31,0.0,501.8,9.4,258,5424,0.93,0.00,95.05,0.909,6,0.076,0.000,2929,1754,3001,0,0,0,0,0,0
$STATE,5425,end apogee,CONTROL_FINISHED_OK
$STATE,5425,begin climb
$GC,5427,1.17,116.8,505.1,0.0,260,5540,1.35,2.83,99.88,0.890,4,0.053,0.058,3260,3344,2522,0,0,0,0,0,0
$GC,5553,1.13,195.5,506.1,4.2,263,5627,0.00,2.67,67.55,0.874,6,0.000,0.063,3260,1818,2203,0,0,0,0,0,0
$GC,5878,1.01,195.5,474.6,10.6,271,5883,0.20,2.55,0.00,0.000,4,0.108,0.042,3219,3350,2195,0,0,0,0,0,0
$GC,5902,0.96,195.5,472.3,9.9,271,5906,0.00,2.62,0.00,0.000,6,0.000,0.056,3219,1834,2194,0,0,0,0,0,0
$GC,6158,0.96,195.5,449.2,8.9,278,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1834,2192,0,0,0,0,0,0
$GC,6401,0.96,195.5,428.8,8.2,284,6406,0.00,2.50,0.00,0.000,4,0.000,0.046,3219,3362,2190,0,0,0,0,0,0
$GC,6429,0.97,198.1,426.3,7.9,284,6433,0.00,2.58,0.00,0.000,6,0.000,0.054,3219,1836,2189,0,0,0,0,0,0
$GC,6679,0.98,205.1,406.9,7.7,290,6693,0.00,2.58,7.22,0.719,4,0.000,0.037,3219,3362,2163,0,0,0,0,0,0
$GC,6733,0.98,205.1,402.5,8.3,291,6738,0.00,2.58,0.00,0.000,6,0.000,0.048,3219,1835,2163,0,0,0,0,0,0
$GC,7005,1.00,225.1,382.7,7.1,298,7030,0.00,2.55,18.77,0.809,4,0.000,0.035,3219,3354,2083,0,0,0,0,0,0
$GC,7101,1.05,230.4,375.4,7.8,300,7113,0.00,2.50,6.22,0.672,6,0.000,0.044,3219,1854,2061,0,0,0,0,0,0
$GC,7381,1.05,231.4,353.1,8.0,307,7385,0.00,2.40,0.00,0.000,4,0.000,0.031,3219,3355,2057,0,0,0,0,0,0
$GC,7403,1.05,231.4,351.3,8.2,307,7407,0.00,2.47,0.00,0.000,6,0.000,0.042,3219,1853,2057,0,0,0,0,0,0
$GC,7659,1.05,231.4,330.2,8.5,314,7663,0.00,2.42,0.00,0.000,4,0.000,0.036,3219,3358,2056,0,0,0,0,0,0
$GC,7698,1.11,231.4,326.6,9.5,315,7703,0.00,2.47,0.00,0.000,6,0.000,0.040,3219,1859,2055,0,0,0,0,0,0
$GC,7982,1.11,231.4,302.4,8.5,322,7986,0.00,2.83,0.00,0.000,4,0.000,0.077,3219,234,2055,0,0,0,0,0,0
$GC,8022,1.11,231.4,298.7,9.7,323,8026,0.00,2.50,0.00,0.000,6,0.000,0.025,3219,1830,2053,0,0,0,0,0,0
$GC,8305,1.11,233.6,275.7,7.9,330,8310,0.10,2.53,0.00,0.000,4,0.096,0.039,3245,3394,2053,0,0,0,0,0,0
$GC,8349,1.11,233.6,271.9,8.9,331,8353,0.00,2.45,0.00,0.000,6,0.000,0.035,3245,1874,2052,0,0,0,0,0,0
$GC,8628,1.11,233.6,248.6,8.2,338,8633,0.00,2.83,0.00,0.000,4,0.000,0.073,3246,241,2052,0,0,0,0,0,0
$GC,8650,1.05,233.6,246.6,8.8,338,8654,0.00,2.58,0.00,0.000,6,0.000,0.025,3246,1888,2051,0,0,0,0,0,0
$GC,8905,1.05,236.5,226.6,7.9,345,8915,0.00,2.40,5.53,0.568,4,0.000,0.037,3245,3394,2035,0,0,0,0,0,0
$GC,8984,1.06,240.7,220.2,7.8,346,8994,0.00,2.45,5.43,0.558,6,0.000,0.033,3246,1877,2019,0,0,0,0,0,0
$GC,9242,1.06,240.7,197.8,9.0,354,9247,0.00,2.80,0.00,0.000,4,0.000,0.071,3246,239,2018,0,0,0,0,0,0
$GC,9265,1.06,240.7,196.2,9.6,355,9270,0.00,2.58,0.00,0.000,6,0.000,0.020,3246,1893,2017,0,0,0,0,0,0
$GC,9530,1.06,240.7,173.0,8.4,379,9534,0.00,2.40,0.00,0.000,4,0.000,0.029,3246,3406,2017,0,0,0,0,0,0
$GC,9540,1.06,240.7,171.8,8.4,379,9546,0.00,2.47,0.00,0.000,6,0.000,0.030,3246,1869,2016,0,0,0,0,0,0
$GC,9804,1.07,246.0,149.9,7.8,404,9819,0.00,2.85,6.45,0.541,4,0.000,0.064,3246,243,1996,0,0,0,0,0,0
$GC,9835,1.03,246.0,146.8,8.9,406,9844,0.08,2.60,0.00,0.000,6,0.097,0.019,3226,1897,1996,0,0,0,0,0,0
$GC,10104,1.11,265.9,127.6,7.1,431,10125,0.00,0.00,18.62,0.608,6,0.000,0.000,3225,1898,1917,0,0,0,0,0,0
$GC,10381,1.24,307.3,108.5,6.0,457,10430,0.17,2.92,36.33,0.601,4,0.063,0.064,3275,248,1747,0,0,0,0,0,0
$GC,10473,1.20,307.3,100.0,9.3,464,10482,0.00,2.58,0.00,0.000,6,0.000,0.018,3274,1877,1744,0,0,0,0,0,0
$GC,10740,1.22,327.7,78.6,7.0,489,10768,0.00,2.47,18.42,0.555,4,0.000,0.027,3275,3390,1663,0,0,0,0,0,0
$GC,10799,1.29,327.7,74.0,8.8,493,10803,0.00,2.47,0.00,0.000,6,0.000,0.033,3275,1868,1662,0,0,0,0,0,0
$GC,11065,1.33,327.7,51.9,8.7,517,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1867,1661,0,0,0,0,0,0
$GC,11332,1.37,327.7,29.3,9.0,542,11342,0.10,2.80,0.00,0.000,4,0.091,0.064,3306,248,1661,0,0,0,0,0,0
$GC,11352,1.37,327.7,27.0,9.4,544,11361,0.00,2.55,0.00,0.000,6,0.000,0.018,3306,1883,1659,0,0,0,0,0,0
$STATE,11576,end climb,SURFACE_DEPTH_REACHED
$STATE,11576,begin surface coast
$FINISH,0.3,1.023164
$STATE,11625,end surface coast,CONTROL_FINISHED_OK
$STATE,11625,begin surface
$SM_CCo,11646,86.35,0.449,1,0,1287,420.20
$SM_GC,0.92,0.00,0.00,86.35,0.000,0.000,0.449,473,1723,1287,-11.62,-1.33,420.20
$IRIDIUM_FIX,2251.04,-15740.63,061299,232305
$TT8_MAMPS,0.026078
$HUMID,45.15
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.40
$XPDR_PINGS,52
$24V_AH,23.6,27.753
$10V_AH,10.3,28.227
$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,26.350,143.875,385.475,86.350,0.000,23.981,46.738,196.222,13.000,0.000,15.289,1157.790,7721.267,541.108,2142.737,585.010,33.377,1348.640,0.000,2146.585,0.000,0.536,0.000
$DEVICE_MAMPS,139.594,77.467,908.895,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.980,333.560,449.887,836.390,1265.020,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,44793,583
$CAP_FILE_SIZE,118698,0
$CFSIZE,260165632,171302912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120910,062536,2256.041,-15742.055,31,1.2,31,10.1