version: 66.06
glider: 146
mission: 5
dive: 223
start: 9 16 110 20 50 32
data:
$ID,146
$MISSION,5
$DIVE,223
$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,-251681.95
$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,58
$R_STBD_OVSHOOT,37
$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
$GPS1,204231,2251.504,-15743.810,64,0.9,64,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.3
$GPS2,204937,2251.445,-15743.843,8,1.3,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.041,0.214
$KALMAN_X,-237105.8,-225.3,-212.8,283609.4,-418.2
$KALMAN_Y,-164457.0,220.2,-336.7,295812.9,-2310.7
$MHEAD_RNG_PITCHd_Wd,0.8,12540,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-85.45,0.000,6,0.000,0.000,473,1729,3478,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.6,-6.7,11,125,11.62,2.58,0.00,0.000,4,0.143,0.026,2742,3359,3481,0,0,0,0,0,0
$GC,234,-1.05,-116.8,33.2,-13.4,28,239,0.12,2.53,0.00,0.000,6,0.105,0.031,2769,1798,3481,0,0,0,0,0,0
$GC,502,-0.95,-116.8,68.6,-12.6,52,507,0.10,2.75,0.00,0.000,4,0.120,0.066,2790,193,3482,0,0,0,0,0,0
$GC,560,-0.95,-116.8,74.7,-9.2,56,564,0.00,2.42,0.00,0.000,6,0.000,0.015,2791,1808,3482,0,0,0,0,0,0
$GC,822,-0.95,-116.8,95.3,-8.4,80,827,0.00,2.35,0.00,0.000,4,0.000,0.023,2791,3324,3482,0,0,0,0,0,0
$GC,868,-1.04,-116.8,98.7,-8.2,83,873,0.00,2.53,0.00,0.000,6,0.000,0.027,2791,1752,3482,0,0,0,0,0,0
$GC,1134,-1.04,-116.8,123.8,-10.1,107,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1752,3483,0,0,0,0,0,0
$GC,1397,-1.08,-116.8,148.2,-8.6,132,1402,0.12,2.65,0.00,0.000,4,0.074,0.064,2748,198,3483,0,0,0,0,0,0
$GC,1431,-1.01,-116.8,152.1,-11.4,134,1437,0.12,2.35,0.00,0.000,6,0.106,0.015,2777,1780,3483,0,0,0,0,0,0
$GC,1694,-1.01,-116.8,174.9,-8.6,159,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1781,3483,0,0,0,0,0,0
$GC,1946,-1.01,-116.8,198.1,-9.8,183,1950,0.00,2.38,0.00,0.000,4,0.000,0.028,2777,3310,3483,0,0,0,0,0,0
$GC,1970,-1.06,-116.8,200.4,-9.9,184,1975,0.00,2.45,0.00,0.000,6,0.000,0.028,2777,1764,3483,0,0,0,0,0,0
$GC,2219,-1.06,-116.8,225.0,-9.7,191,2224,0.00,2.70,0.00,0.000,4,0.000,0.073,2777,190,3483,0,0,0,0,0,0
$GC,2254,-1.06,-116.8,228.1,-9.9,191,2259,0.00,2.33,0.00,0.000,6,0.000,0.023,2777,1746,3483,0,0,0,0,0,0
$GC,2505,-1.06,-116.8,247.1,-7.1,198,2509,0.00,2.47,0.00,0.000,4,0.000,0.033,2777,3318,3483,0,0,0,0,0,0
$GC,2538,-1.13,-116.8,249.4,-6.3,198,2544,0.10,2.47,0.00,0.000,6,0.080,0.033,2735,1760,3483,0,0,0,0,0,0
$GC,2788,-1.09,-116.8,270.8,-9.0,205,2790,0.12,0.00,0.00,0.000,6,0.104,0.000,2762,1757,3482,0,0,0,0,0,0
$GC,3032,-1.09,-116.8,292.9,-9.4,211,3037,0.00,2.70,0.00,0.000,4,0.000,0.077,2762,196,3482,0,0,0,0,0,0
$GC,3071,-1.09,-116.8,296.8,-10.3,212,3076,0.00,2.38,0.00,0.000,6,0.000,0.021,2762,1744,3482,0,0,0,0,0,0
$GC,3356,-1.13,-116.8,318.1,-6.9,219,3360,0.00,2.53,0.00,0.000,4,0.000,0.039,2762,3337,3481,0,0,0,0,0,0
$GC,3407,-1.24,-116.8,321.5,-6.7,220,3412,0.12,2.55,0.00,0.000,6,0.074,0.042,2716,1772,3481,0,0,0,0,0,0
$GC,3680,-1.19,-116.8,341.9,-7.9,227,3685,0.10,2.85,0.00,0.000,4,0.114,0.084,2739,185,3480,0,0,0,0,0,0
$GC,3713,-1.19,-116.8,344.9,-8.8,227,3718,0.00,2.45,0.00,0.000,6,0.000,0.021,2739,1753,3480,0,0,0,0,0,0
$GC,3964,-1.19,-116.8,367.0,-9.2,234,3968,0.00,2.60,0.00,0.000,4,0.000,0.051,2739,3349,3479,0,0,0,0,0,0
$GC,4050,-1.24,-116.8,375.4,-9.6,236,4054,0.00,2.62,0.00,0.000,6,0.000,0.049,2739,1783,3479,0,0,0,0,0,0
$GC,4334,-1.24,-116.8,401.8,-9.0,243,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1783,3477,0,0,0,0,0,0
$GC,4576,-1.24,-116.8,421.9,-8.0,249,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1783,3476,0,0,0,0,0,0
$GC,4820,-1.24,-116.8,440.9,-7.8,255,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1783,3474,0,0,0,0,0,0
$GC,5064,-1.24,-116.8,458.5,-7.1,261,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1783,3473,0,0,0,0,0,0
$GC,5309,-1.24,-116.8,476.6,-7.5,267,5314,0.00,2.60,0.00,0.000,4,0.000,0.058,2739,3347,3471,0,0,0,0,0,0
$GC,5348,-1.30,-116.8,480.0,-8.2,268,5354,0.10,2.65,0.00,0.000,6,0.085,0.062,2706,1792,3471,0,0,0,0,0,0
$STATE,5589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5589,begin apogee
$GC,5594,-0.31,0.0,503.3,9.8,274,5694,1.00,0.00,96.07,0.917,6,0.075,0.000,2932,1792,3001,0,0,0,0,0,0
$STATE,5695,end apogee,CONTROL_FINISHED_OK
$STATE,5695,begin climb
$GC,5699,1.15,116.8,506.2,0.0,276,5810,1.33,2.85,100.03,0.894,4,0.041,0.058,3254,3390,2522,0,0,0,0,0,0
$GC,5827,1.10,195.8,507.0,4.4,279,5904,0.00,2.72,68.70,0.879,6,0.000,0.061,3254,1818,2201,0,0,0,0,0,0
$GC,6148,1.00,195.8,478.2,9.7,287,6153,0.17,2.65,0.00,0.000,4,0.114,0.047,3219,3397,2193,0,0,0,0,0,0
$GC,6170,0.94,195.8,476.1,8.8,287,6174,0.00,2.70,0.00,0.000,6,0.000,0.058,3219,1828,2192,0,0,0,0,0,0
$GC,6426,0.94,195.8,453.8,8.9,294,6430,0.00,2.60,0.00,0.000,4,0.000,0.041,3219,3394,2190,0,0,0,0,0,0
$GC,6475,0.94,195.8,448.7,10.0,295,6479,0.00,2.67,0.00,0.000,6,0.000,0.056,3219,1834,2189,0,0,0,0,0,0
$GC,6748,0.94,195.8,423.2,9.3,302,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1834,2188,0,0,0,0,0,0
$GC,6993,0.94,195.8,401.4,8.9,308,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1834,2187,0,0,0,0,0,0
$GC,7235,0.97,215.1,382.9,7.1,314,7256,0.00,2.58,15.48,0.803,4,0.000,0.038,3219,3401,2123,0,0,0,0,0,0
$GC,7312,1.02,254.2,378.1,6.2,315,7353,0.00,2.62,35.95,0.825,6,0.000,0.045,3219,1830,1963,0,0,0,0,0,0
$GC,7600,1.02,257.9,357.3,7.8,322,7604,0.00,2.55,0.00,0.000,4,0.000,0.032,3218,3403,1957,0,0,0,0,0,0
$GC,7644,1.09,257.9,352.6,10.1,323,7648,0.00,2.60,0.00,0.000,6,0.000,0.041,3219,1848,1956,0,0,0,0,0,0
$GC,7923,1.09,257.9,324.8,10.1,330,7927,0.00,2.53,0.00,0.000,4,0.000,0.031,3219,3407,1955,0,0,0,0,0,0
$GC,7938,1.09,257.9,323.1,9.6,330,7942,0.00,2.55,0.00,0.000,6,0.000,0.040,3219,1843,1954,0,0,0,0,0,0
$GC,8199,1.09,257.9,300.7,8.4,337,8204,0.00,2.53,0.00,0.000,4,0.000,0.033,3219,3408,1953,0,0,0,0,0,0
$GC,8234,1.17,257.9,297.5,9.2,337,8240,0.15,2.58,0.00,0.000,6,0.074,0.035,3260,1844,1952,0,0,0,0,0,0
$GC,8484,1.13,257.9,273.3,9.7,344,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1844,1952,0,0,0,0,0,0
$GC,8727,1.13,257.9,250.9,9.1,350,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1844,1952,0,0,0,0,0,0
$GC,8971,1.13,257.9,228.8,9.1,356,8975,0.00,2.50,0.00,0.000,4,0.000,0.031,3260,3403,1952,0,0,0,0,0,0
$GC,9011,1.13,257.9,224.7,10.4,357,9016,0.00,2.53,0.00,0.000,6,0.000,0.041,3260,1843,1951,0,0,0,0,0,0
$GC,9268,1.13,257.9,197.6,11.0,364,9273,0.00,2.75,0.00,0.000,4,0.000,0.069,3260,243,1951,0,0,0,0,0,0
$GC,9286,1.07,257.9,195.2,11.5,365,9291,0.12,2.53,0.00,0.000,6,0.118,0.019,3234,1872,1950,0,0,0,0,0,0
$GC,9546,1.07,257.9,170.3,8.5,389,9550,0.00,2.42,0.00,0.000,4,0.000,0.035,3234,3404,1950,0,0,0,0,0,0
$GC,9580,1.12,257.9,167.3,9.0,391,9585,0.00,2.53,0.00,0.000,6,0.000,0.036,3234,1847,1950,0,0,0,0,0,0
$GC,9844,1.14,275.6,148.1,7.2,416,9868,0.00,2.80,17.70,0.624,4,0.000,0.063,3233,240,1876,0,0,0,0,0,0
$GC,9885,1.14,275.6,144.9,8.1,419,9890,0.00,2.50,0.00,0.000,6,0.000,0.021,3234,1865,1876,0,0,0,0,0,0
$GC,10153,1.18,275.6,120.8,8.9,443,10158,0.10,2.42,0.00,0.000,4,0.087,0.030,3263,3387,1875,0,0,0,0,0,0
$GC,10209,1.18,275.6,114.9,10.6,447,10213,0.00,2.50,0.00,0.000,6,0.000,0.033,3263,1837,1874,0,0,0,0,0,0
$GC,10476,1.20,291.9,93.3,7.3,471,10496,0.00,2.55,15.15,0.568,4,0.000,0.033,3263,3387,1810,0,0,0,0,0,0
$GC,10509,1.22,304.9,90.4,7.4,474,10527,0.00,2.50,12.80,0.548,6,0.000,0.030,3263,1839,1757,0,0,0,0,0,0
$GC,10789,1.28,324.0,70.8,7.1,499,10817,0.00,2.80,17.60,0.551,4,0.000,0.060,3263,245,1678,0,0,0,0,0,0
$GC,10823,1.37,355.6,68.1,6.5,501,10860,0.10,2.50,27.95,0.552,6,0.045,0.018,3300,1850,1550,0,0,0,0,0,0
$GC,11116,1.37,355.6,37.8,10.7,528,11120,0.00,2.40,0.00,0.000,4,0.000,0.026,3300,3367,1547,0,0,0,0,0,0
$GC,11149,1.37,355.6,34.1,10.6,530,11153,0.00,2.50,0.00,0.000,6,0.000,0.033,3300,1834,1545,0,0,0,0,0,0
$STATE,11430,end climb,SURFACE_DEPTH_REACHED
$STATE,11430,begin surface coast
$FINISH,0.3,1.015371
$STATE,11480,end surface coast,CONTROL_FINISHED_OK
$STATE,11480,begin surface
$SM_CCo,11501,58.92,0.425,1,0,1287,420.20
$SM_GC,0.85,0.00,0.00,58.92,0.000,0.000,0.425,474,1748,1287,-11.62,-0.62,420.20
$IRIDIUM_FIX,2241.69,-15741.52,111299,171743
$TT8_MAMPS,0.025311
$HUMID,45.98
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.20
$XPDR_PINGS,47
$24V_AH,23.5,31.634
$10V_AH,10.4,32.478
$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,27.025,138.425,407.425,58.925,0.000,30.286,32.013,220.994,11.750,0.000,15.205,1143.157,7625.025,520.697,2104.074,596.980,33.380,1306.573,0.000,2115.688,0.000,0.536,0.000
$DEVICE_MAMPS,142.662,95.875,917.332,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.398,338.765,444.641,821.152,1242.021,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,44742,575
$CAP_FILE_SIZE,118304,0
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