version: 66.06
glider: 146
mission: 5
dive: 230
start: 9 17 110 21 15 9
data:
$ID,146
$MISSION,5
$DIVE,230
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,800
$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,-251816.55
$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,47
$R_STBD_OVSHOOT,66
$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
$GPS1,210806,2249.055,-15744.244,39,1.4,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-65.5
$GPS2,211414,2248.980,-15744.283,13,1.4,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.059,0.210
$KALMAN_X,-242816.7,18.4,-91.9,288192.5,-729.6
$KALMAN_Y,-187246.9,164.5,-404.1,314165.9,-2602.1
$MHEAD_RNG_PITCHd_Wd,5.5,17152,-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,-85.53,0.000,6,0.000,0.000,475,1737,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.6,-6.4,11,126,11.55,2.53,0.00,0.000,4,0.140,0.028,2743,3335,3480,0,0,0,0,0,0
$GC,190,-1.03,-116.8,27.0,-14.6,22,198,0.10,2.53,0.00,0.000,6,0.078,0.031,2770,1798,3481,0,0,0,0,0,0
$GC,463,-0.93,-116.8,62.2,-13.4,48,468,0.12,2.78,0.00,0.000,4,0.106,0.061,2797,191,3481,0,0,0,0,0,0
$GC,523,-0.93,-116.8,69.3,-10.8,52,527,0.00,2.40,0.00,0.000,6,0.000,0.015,2797,1786,3482,0,0,0,0,0,0
$GC,783,-0.93,-116.8,92.5,-8.8,76,787,0.00,2.38,0.00,0.000,4,0.000,0.022,2797,3314,3482,0,0,0,0,0,0
$GC,842,-1.01,-116.8,97.0,-7.2,80,852,0.00,2.53,0.00,0.000,6,0.000,0.035,2797,1756,3482,0,0,0,0,0,0
$GC,1109,-1.07,-116.8,115.7,-7.2,105,1115,0.12,2.65,0.00,0.000,4,0.074,0.062,2753,193,3483,0,0,0,0,0,0
$GC,1167,-1.02,-116.8,121.3,-10.5,109,1172,0.12,2.35,0.00,0.000,6,0.102,0.021,2780,1776,3483,0,0,0,0,0,0
$GC,1431,-1.02,-116.8,146.2,-9.5,133,1435,0.00,2.38,0.00,0.000,4,0.000,0.025,2780,3307,3483,0,0,0,0,0,0
$GC,1489,-1.10,-116.8,152.1,-9.4,137,1494,0.00,2.45,0.00,0.000,6,0.000,0.034,2780,1764,3483,0,0,0,0,0,0
$GC,1751,-1.10,-116.8,177.3,-9.6,162,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1761,3483,0,0,0,0,0,0
$GC,2036,-1.13,-116.8,203.7,-8.8,186,2041,0.12,2.42,0.00,0.000,4,0.075,0.024,2735,3307,3483,0,0,0,0,0,0
$GC,2057,-1.13,-116.8,206.0,-9.6,186,2062,0.00,2.42,0.00,0.000,6,0.000,0.033,2735,1774,3483,0,0,0,0,0,0
$GC,2314,-1.07,-116.8,231.3,-9.7,193,2319,0.15,2.75,0.00,0.000,4,0.133,0.067,2768,190,3483,0,0,0,0,0,0
$GC,2342,-1.07,-116.8,234.0,-9.9,193,2347,0.00,2.35,0.00,0.000,6,0.000,0.021,2768,1755,3483,0,0,0,0,0,0
$GC,2592,-1.07,-116.8,254.8,-8.2,199,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1756,3482,0,0,0,0,0,0
$GC,2836,-1.07,-116.8,275.3,-8.3,205,2840,0.00,2.47,0.00,0.000,4,0.000,0.034,2768,3330,3482,0,0,0,0,0,0
$GC,2868,-1.15,-116.8,278.2,-8.8,205,2874,0.00,2.53,0.00,0.000,6,0.000,0.031,2768,1768,3482,0,0,0,0,0,0
$GC,3120,-1.20,-116.8,299.4,-8.5,212,3125,0.12,2.75,0.00,0.000,4,0.069,0.074,2719,191,3482,0,0,0,0,0,0
$GC,3160,-1.15,-116.8,303.3,-10.3,213,3165,0.12,2.38,0.00,0.000,6,0.105,0.025,2747,1742,3482,0,0,0,0,0,0
$GC,3445,-1.15,-116.8,324.3,-7.2,220,3449,0.00,2.55,0.00,0.000,4,0.000,0.035,2747,3343,3482,0,0,0,0,0,0
$GC,3495,-1.21,-116.8,327.7,-6.3,221,3499,0.00,2.55,0.00,0.000,6,0.000,0.041,2747,1775,3481,0,0,0,0,0,0
$GC,3767,-1.21,-116.8,345.1,-6.7,228,3771,0.00,2.83,0.00,0.000,4,0.000,0.084,2747,186,3481,0,0,0,0,0,0
$GC,3823,-1.25,-116.8,350.2,-9.0,229,3827,0.00,2.45,0.00,0.000,6,0.000,0.025,2747,1761,3480,0,0,0,0,0,0
$GC,4089,-1.25,-116.8,374.9,-9.4,236,4093,0.00,2.60,0.00,0.000,4,0.000,0.044,2746,3358,3478,0,0,0,0,0,0
$GC,4133,-1.31,-116.8,379.2,-9.4,237,4138,0.15,2.62,0.00,0.000,6,0.064,0.042,2698,1772,3478,0,0,0,0,0,0
$GC,4412,-1.24,-116.8,412.6,-12.5,244,4418,0.15,2.58,0.00,0.000,4,0.100,0.041,2731,3356,3476,0,0,0,0,0,0
$GC,4468,-1.29,-116.8,419.3,-11.2,245,4473,0.00,2.67,0.00,0.000,6,0.000,0.060,2731,1775,3476,0,0,0,0,0,0
$GC,4735,-1.29,-116.8,444.3,-9.2,252,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1775,3475,0,0,0,0,0,0
$GC,4978,-1.29,-116.8,464.2,-8.1,258,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1775,3473,0,0,0,0,0,0
$GC,5222,-1.29,-116.8,481.7,-7.2,264,5226,0.00,2.60,0.00,0.000,4,0.000,0.051,2731,3343,3472,0,0,0,0,0,0
$GC,5264,-1.34,-116.8,484.7,-7.8,265,5270,0.10,2.65,0.00,0.000,6,0.084,0.059,2697,1780,3472,0,0,0,0,0,0
$STATE,5464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5464,begin apogee
$GC,5470,-0.31,0.0,503.3,9.2,270,5570,1.02,0.00,96.90,0.916,6,0.074,0.000,2930,1779,3000,0,0,0,0,0,0
$STATE,5571,end apogee,CONTROL_FINISHED_OK
$STATE,5571,begin climb
$GC,5573,1.15,116.8,505.8,0.0,272,5687,1.33,2.85,100.82,0.893,4,0.053,0.058,3252,3390,2523,0,0,0,0,0,0
$GC,5704,1.12,202.1,506.4,4.1,275,5785,0.00,2.75,74.40,0.877,6,0.000,0.061,3252,1812,2176,0,0,0,0,0,0
$GC,6068,1.01,202.1,475.6,9.1,284,6074,0.15,2.62,0.00,0.000,4,0.113,0.044,3221,3394,2167,0,0,0,0,0,0
$GC,6090,0.96,202.1,473.5,9.6,284,6095,0.00,2.72,0.00,0.000,6,0.000,0.059,3221,1818,2165,0,0,0,0,0,0
$GC,6347,0.91,202.1,452.3,8.1,291,6352,0.10,2.62,0.00,0.000,4,0.235,0.041,3201,3404,2163,0,0,0,0,0,0
$GC,6368,0.91,202.1,450.3,8.3,291,6373,0.00,2.70,0.00,0.000,6,0.000,0.052,3200,1825,2163,0,0,0,0,0,0
$GC,6630,0.92,207.8,430.4,7.8,298,6634,0.00,2.60,0.00,0.000,4,0.000,0.043,3201,3406,2162,0,0,0,0,0,0
$GC,6651,0.92,207.9,428.5,8.0,298,6655,0.00,2.67,0.00,0.000,6,0.000,0.049,3200,1831,2161,0,0,0,0,0,0
$GC,6908,0.92,207.9,407.2,8.5,305,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1831,2161,0,0,0,0,0,0
$GC,7150,0.92,207.9,386.9,8.2,311,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1831,2159,0,0,0,0,0,0
$GC,7394,0.95,231.7,369.2,6.9,317,7424,0.00,2.62,24.42,0.818,4,0.000,0.037,3200,3403,2055,0,0,0,0,0,0
$GC,7525,1.08,279.4,361.5,5.8,320,7575,0.15,2.62,43.75,0.821,6,0.073,0.041,3240,1827,1861,0,0,0,0,0,0
$GC,7849,1.10,290.1,337.7,7.5,328,7864,0.00,2.90,9.68,0.723,4,0.000,0.085,3240,230,1818,0,0,0,0,0,0
$GC,7909,1.03,290.1,332.5,9.1,329,7913,0.00,2.55,0.00,0.000,6,0.000,0.025,3240,1843,1816,0,0,0,0,0,0
$GC,8169,1.03,290.1,310.7,8.6,336,8173,0.00,2.50,0.00,0.000,4,0.000,0.034,3241,3396,1814,0,0,0,0,0,0
$GC,8203,1.03,290.1,307.6,10.1,336,8209,0.00,2.62,0.00,0.000,6,0.000,0.042,3241,1811,1813,0,0,0,0,0,0
$GC,8453,1.03,290.1,283.5,9.9,343,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1811,1812,0,0,0,0,0,0
$GC,8696,1.03,290.1,259.0,10.0,349,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1811,1812,0,0,0,0,0,0
$GC,8940,1.03,290.1,237.3,8.7,355,8944,0.00,2.72,0.00,0.000,4,0.000,0.070,3240,240,1811,0,0,0,0,0,0
$GC,8974,0.97,290.1,234.0,10.1,355,8980,0.15,2.50,0.00,0.000,6,0.111,0.025,3210,1840,1810,0,0,0,0,0,0
$GC,9224,1.06,301.3,214.8,7.5,362,9239,0.00,2.47,10.32,0.647,4,0.000,0.033,3210,3388,1771,0,0,0,0,0,0
$GC,9256,1.15,303.0,212.3,7.9,362,9263,0.17,2.55,0.00,0.000,6,0.064,0.031,3258,1828,1770,0,0,0,0,0,0
$GC,9511,1.15,303.0,187.5,9.9,375,9515,0.00,2.47,0.00,0.000,4,0.000,0.034,3258,3392,1769,0,0,0,0,0,0
$GC,9544,1.15,303.0,183.9,10.3,377,9550,0.00,2.53,0.00,0.000,6,0.000,0.034,3258,1841,1769,0,0,0,0,0,0
$GC,9807,1.15,303.0,155.4,10.9,402,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1841,1769,0,0,0,0,0,0
$GC,10060,1.15,303.0,129.0,9.7,426,10065,0.00,2.45,0.00,0.000,4,0.000,0.030,3258,3395,1768,0,0,0,0,0,0
$GC,10081,1.15,303.0,127.5,9.4,427,10085,0.00,2.53,0.00,0.000,6,0.000,0.036,3258,1839,1768,0,0,0,0,0,0
$GC,10349,1.16,315.8,106.2,7.4,451,10369,0.00,2.75,13.30,0.575,4,0.000,0.065,3258,242,1715,0,0,0,0,0,0
$GC,10385,1.16,315.8,102.6,8.4,454,10395,0.00,2.55,0.00,0.000,6,0.000,0.019,3258,1866,1715,0,0,0,0,0,0
$GC,10654,1.20,315.8,81.0,9.0,479,10658,0.00,2.40,0.00,0.000,4,0.000,0.031,3258,3390,1714,0,0,0,0,0,0
$GC,10688,1.31,315.8,77.1,9.5,481,10698,0.08,2.50,0.00,0.000,6,0.052,0.032,3290,1864,1713,0,0,0,0,0,0
$GC,10957,1.31,315.8,52.1,8.8,506,10961,0.00,2.72,0.00,0.000,4,0.000,0.058,3290,243,1713,0,0,0,0,0,0
$GC,10978,1.31,315.8,49.8,9.2,507,10983,0.00,2.47,0.00,0.000,6,0.000,0.018,3290,1865,1713,0,0,0,0,0,0
$GC,11258,1.31,315.8,24.5,9.1,535,11267,0.00,2.42,0.00,0.000,4,0.000,0.033,3290,3384,1713,0,0,0,0,0,0
$GC,11277,1.31,315.8,22.8,8.9,537,11286,0.00,2.47,0.00,0.000,6,0.000,0.031,3290,1867,1713,0,0,0,0,0,0
$STATE,11493,end climb,SURFACE_DEPTH_REACHED
$STATE,11493,begin surface coast
$FINISH,0.3,0.998286
$STATE,11549,end surface coast,CONTROL_FINISHED_OK
$STATE,11549,begin surface
$SM_CCo,11572,98.60,0.459,1,0,1287,420.20
$SM_GC,1.12,0.00,0.00,98.60,0.000,0.000,0.459,474,1725,1287,-11.62,-1.24,420.20
$IRIDIUM_FIX,2241.69,-15741.52,121299,171709
$TT8_MAMPS,0.026078
$HUMID,45.07
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.30
$XPDR_PINGS,53
$24V_AH,23.5,32.463
$10V_AH,10.3,33.380
$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,27.425,149.175,373.600,98.600,0.000,27.438,27.686,168.627,13.250,0.000,14.724,1164.540,7634.739,552.158,2153.546,537.267,33.378,1355.040,0.000,2155.677,0.000,0.535,0.000
$DEVICE_MAMPS,235.469,85.137,915.798,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.638,334.316,441.020,832.310,1260.190,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,44655,576
$CAP_FILE_SIZE,121380,0
$CFSIZE,260165632,168837120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180910,003107,2248.782,-15744.164,40,1.4,40,10.1