version: 66.06
glider: 146
mission: 5
dive: 195
start: 9 12 110 20 1 51
data:
$ID,146
$MISSION,5
$DIVE,195
$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,-251166.55
$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,48
$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
$GPS1,195506,2256.724,-15741.835,13,1.0,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-68.3
$GPS2,200056,2256.700,-15741.860,14,1.1,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.010,0.217
$KALMAN_X,-207090.9,53.3,-331.4,256839.0,-242.6
$KALMAN_Y,-84195.4,110.0,-163.5,225217.4,-1558.0
$MHEAD_RNG_PITCHd_Wd,352.6,2420,-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,-116.3,0.0,0.0,0,105,0.00,0.00,-85.70,0.000,6,0.000,0.000,476,1742,3476,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.5,-6.5,11,126,11.60,2.58,0.00,0.000,4,0.143,0.024,2741,3358,3478,0,0,0,0,0,0
$GC,260,-1.06,-116.8,37.5,-14.8,29,265,0.12,2.53,0.00,0.000,6,0.248,0.031,2768,1793,3479,0,0,0,0,0,0
$GC,528,-0.95,-116.8,74.9,-12.7,53,533,0.10,2.72,0.00,0.000,4,0.120,0.062,2789,193,3479,0,0,0,0,0,0
$GC,574,-0.95,-116.8,80.5,-10.8,56,578,0.00,2.40,0.00,0.000,6,0.000,0.022,2790,1806,3479,0,0,0,0,0,0
$GC,836,-0.95,-116.8,104.6,-8.3,80,841,0.00,2.75,0.00,0.000,4,0.000,0.058,2789,194,3480,0,0,0,0,0,0
$GC,895,-0.95,-116.8,109.8,-8.6,84,904,0.00,2.35,0.00,0.000,6,0.000,0.015,2790,1758,3480,0,0,0,0,0,0
$GC,1161,-0.95,-116.8,128.5,-6.4,109,1165,0.00,2.40,0.00,0.000,4,0.000,0.031,2789,3302,3480,0,0,0,0,0,0
$GC,1194,-1.01,-116.8,130.8,-6.5,111,1199,0.00,2.50,0.00,0.000,6,0.000,0.035,2789,1742,3480,0,0,0,0,0,0
$GC,1457,-1.05,-116.8,153.0,-8.8,135,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1740,3481,0,0,0,0,0,0
$GC,1711,-1.10,-116.8,176.4,-9.2,159,1713,0.12,0.00,0.00,0.000,6,0.197,0.000,2745,1740,3481,0,0,0,0,0,0
$GC,1973,-1.06,-116.8,205.1,-10.8,181,1978,0.10,2.45,0.00,0.000,4,0.115,0.025,2766,3296,3481,0,0,0,0,0,0
$GC,2014,-1.11,-116.8,208.8,-9.0,182,2018,0.00,2.47,0.00,0.000,6,0.000,0.028,2766,1741,3481,0,0,0,0,0,0
$GC,2297,-1.11,-116.8,234.6,-9.0,189,2301,0.00,2.45,0.00,0.000,4,0.000,0.032,2767,3306,3480,0,0,0,0,0,0
$GC,2336,-1.16,-116.8,238.2,-8.8,190,2340,0.00,2.47,0.00,0.000,6,0.000,0.036,2766,1750,3480,0,0,0,0,0,0
$GC,2620,-1.16,-116.8,263.4,-9.0,197,2625,0.00,2.67,0.00,0.000,4,0.000,0.071,2766,189,3480,0,0,0,0,0,0
$GC,2670,-1.20,-116.8,268.6,-9.9,198,2675,0.12,2.33,0.00,0.000,6,0.071,0.018,2724,1730,3480,0,0,0,0,0,0
$GC,2944,-1.14,-116.8,300.0,-11.7,205,2949,0.12,2.53,0.00,0.000,4,0.107,0.037,2750,3320,3479,0,0,0,0,0,0
$GC,2988,-1.21,-116.8,305.1,-10.1,206,2993,0.00,2.55,0.00,0.000,6,0.000,0.036,2750,1755,3479,0,0,0,0,0,0
$GC,3266,-1.21,-116.8,331.0,-9.1,213,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1754,3479,0,0,0,0,0,0
$GC,3512,-1.21,-116.8,350.5,-8.0,219,3516,0.00,2.50,0.00,0.000,4,0.000,0.038,2750,3320,3479,0,0,0,0,0,0
$GC,3539,-1.26,-116.8,352.8,-7.4,219,3544,0.10,2.58,0.00,0.000,6,0.079,0.047,2709,1765,3479,0,0,0,0,0,0
$GC,3789,-1.20,-116.8,374.9,-8.9,225,3794,0.12,2.50,0.00,0.000,4,0.107,0.039,2735,3311,3478,0,0,0,0,0,0
$GC,3830,-1.25,-116.8,378.2,-8.0,226,3835,0.00,2.55,0.00,0.000,6,0.000,0.048,2735,1781,3477,0,0,0,0,0,0
$GC,4115,-1.25,-116.8,399.4,-7.6,233,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1780,3475,0,0,0,0,0,0
$GC,4357,-1.25,-116.8,418.1,-7.8,239,4362,0.00,2.95,0.00,0.000,4,0.000,0.108,2735,181,3475,0,0,0,0,0,0
$GC,4430,-1.25,-116.8,424.6,-8.9,240,4435,0.00,2.45,0.00,0.000,6,0.000,0.031,2735,1726,3475,0,0,0,0,0,0
$GC,4680,-1.25,-116.8,444.7,-7.9,246,4685,0.00,2.70,0.00,0.000,4,0.000,0.061,2735,3354,3472,0,0,0,0,0,0
$GC,4753,-1.30,-116.8,450.3,-7.3,247,4757,0.00,2.67,0.00,0.000,6,0.000,0.062,2735,1775,3472,0,0,0,0,0,0
$GC,5004,-1.30,-116.8,469.7,-8.0,253,5009,0.00,2.60,0.00,0.000,4,0.000,0.048,2734,3356,3470,0,0,0,0,0,0
$GC,5031,-1.34,-116.8,472.3,-8.5,253,5036,0.12,2.70,0.00,0.000,6,0.080,0.060,2696,1776,3470,0,0,0,0,0,0
$GC,5283,-1.30,-116.8,496.7,-10.0,259,5288,0.10,2.65,0.00,0.000,4,0.120,0.057,2717,3361,3468,0,0,0,0,0,0
$STATE,5313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5313,begin apogee
$GC,5321,-0.31,0.0,500.3,10.3,259,5420,0.93,0.00,95.53,0.910,6,0.077,0.000,2930,1819,3001,0,0,0,0,0,0
$STATE,5421,end apogee,CONTROL_FINISHED_OK
$STATE,5421,begin climb
$GC,5424,1.15,116.8,503.3,0.0,262,5528,1.38,0.00,100.32,0.889,6,0.056,0.000,3259,1819,2524,0,0,0,0,0,0
$GC,5775,1.05,150.6,486.9,6.4,271,5810,0.15,2.72,29.12,0.858,4,0.118,0.051,3228,3402,2385,0,0,0,0,0,0
$GC,5846,1.01,165.7,481.8,7.3,271,5865,0.00,2.72,14.32,0.810,6,0.000,0.056,3228,1820,2325,0,0,0,0,0,0
$GC,6142,0.95,167.3,458.8,7.9,279,6146,0.00,2.67,0.00,0.000,4,0.000,0.045,3228,3408,2318,0,0,0,0,0,0
$GC,6272,0.91,167.3,447.9,8.2,282,6278,0.15,2.70,0.00,0.000,6,0.117,0.058,3198,1832,2316,0,0,0,0,0,0
$GC,6557,0.96,208.0,429.9,6.1,289,6602,0.00,2.70,36.78,0.858,4,0.000,0.040,3198,3408,2152,0,0,0,0,0,0
$GC,6673,1.04,217.9,421.8,7.6,291,6690,0.12,2.67,9.98,0.764,6,0.080,0.054,3233,1837,2112,0,0,0,0,0,0
$GC,6933,1.00,217.9,398.9,9.0,298,6938,0.00,2.90,0.00,0.000,4,0.000,0.094,3233,234,2107,0,0,0,0,0,0
$GC,6988,0.91,217.9,393.0,10.4,299,6993,0.15,2.58,0.00,0.000,6,0.112,0.027,3201,1844,2105,0,0,0,0,0,0
$GC,7256,0.94,235.6,373.4,7.2,306,7278,0.00,2.60,16.05,0.798,4,0.000,0.042,3201,3412,2039,0,0,0,0,0,0
$GC,7307,1.00,242.8,369.7,7.7,307,7322,0.00,2.65,7.90,0.710,6,0.000,0.044,3200,1826,2010,0,0,0,0,0,0
$GC,7586,1.04,242.8,347.4,8.3,314,7591,0.12,2.60,0.00,0.000,4,0.080,0.033,3234,3411,2006,0,0,0,0,0,0
$GC,7641,1.04,242.8,341.8,9.9,315,7645,0.00,2.58,0.00,0.000,6,0.000,0.043,3234,1839,2005,0,0,0,0,0,0
$GC,7908,1.04,242.8,316.5,9.2,322,7912,0.00,2.53,0.00,0.000,4,0.000,0.035,3234,3401,2004,0,0,0,0,0,0
$GC,7969,1.04,242.8,310.5,9.9,323,7974,0.00,2.55,0.00,0.000,6,0.000,0.041,3234,1852,2003,0,0,0,0,0,0
$GC,8230,1.04,242.8,285.5,9.5,330,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1852,2002,0,0,0,0,0,0
$GC,8473,1.04,242.8,263.6,8.9,336,8477,0.00,2.50,0.00,0.000,4,0.000,0.035,3234,3404,2002,0,0,0,0,0,0
$GC,8496,1.04,242.8,261.6,9.0,336,8501,0.00,2.53,0.00,0.000,6,0.000,0.034,3234,1858,2001,0,0,0,0,0,0
$GC,8751,1.04,242.8,238.5,9.1,343,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1858,2001,0,0,0,0,0,0
$GC,8994,1.04,242.8,216.7,8.9,349,8999,0.00,2.50,0.00,0.000,4,0.000,0.032,3234,3412,2001,0,0,0,0,0,0
$GC,9038,1.08,242.8,212.7,9.6,350,9043,0.00,2.50,0.00,0.000,6,0.000,0.039,3234,1861,2001,0,0,0,0,0,0
$GC,9306,1.08,242.8,189.6,8.6,364,9310,0.00,2.47,0.00,0.000,4,0.000,0.029,3234,3410,2001,0,0,0,0,0,0
$GC,9327,1.08,242.8,187.3,8.3,365,9333,0.00,2.47,0.00,0.000,6,0.000,0.031,3234,1875,2001,0,0,0,0,0,0
$GC,9589,1.08,242.8,165.8,8.4,390,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1875,2001,0,0,0,0,0,0
$GC,9843,1.09,248.3,146.2,7.8,414,9856,0.00,0.00,4.68,0.470,6,0.000,0.000,3234,1875,1989,0,0,0,0,0,0
$GC,10114,1.13,248.3,124.6,9.0,439,10119,0.00,2.45,0.00,0.000,4,0.000,0.035,3234,3414,1988,0,0,0,0,0,0
$GC,10136,1.18,248.3,121.9,9.2,440,10146,0.05,2.50,0.00,0.000,6,0.058,0.036,3261,1879,1988,0,0,0,0,0,0
$GC,10404,1.19,256.6,98.4,7.6,465,10425,0.00,2.50,9.35,0.542,4,0.000,0.028,3261,3412,1953,0,0,0,0,0,0
$GC,10644,1.28,278.9,80.6,7.0,485,10676,0.00,2.47,20.35,0.566,6,0.000,0.031,3261,1885,1863,0,0,0,0,0,0
$GC,10932,1.38,324.9,65.5,5.9,512,10978,0.17,2.47,40.10,0.557,4,0.061,0.026,3312,3412,1675,0,0,0,0,0,0
$GC,11180,1.38,324.9,39.4,11.6,531,11184,0.00,2.47,0.00,0.000,6,0.000,0.033,3312,1885,1671,0,0,0,0,0,0
$GC,11496,1.34,324.9,5.2,10.8,571,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1885,1670,0,0,0,0,0,0
$STATE,11512,end climb,SURFACE_DEPTH_REACHED
$STATE,11513,begin surface coast
$FINISH,0.4,1.020299
$STATE,11562,end surface coast,CONTROL_FINISHED_OK
$STATE,11562,begin surface
$SM_CCo,11584,82.45,0.446,1,0,1288,420.20
$SM_GC,0.93,0.00,0.00,82.45,0.000,0.000,0.446,477,1736,1288,-11.61,-0.96,420.20
$IRIDIUM_FIX,2246.36,-15743.68,071299,161603
$TT8_MAMPS,0.025311
$HUMID,45.39
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.30
$XPDR_PINGS,53
$24V_AH,23.6,28.321
$10V_AH,10.3,28.856
$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,27.500,138.900,384.475,82.450,0.000,22.204,27.755,159.987,13.250,0.000,15.791,1187.767,7500.663,543.825,2259.641,531.809,33.366,1383.124,0.000,2268.319,0.000,0.536,0.000
$DEVICE_MAMPS,247.741,108.147,910.429,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.084,343.251,452.376,834.066,1261.452,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,44758,580
$CAP_FILE_SIZE,123121,0
$CFSIZE,260165632,170991616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120910,231736,2256.976,-15742.104,31,1.0,31,10.1