version: 66.06
glider: 146
mission: 5
dive: 374
start: 10 9 110 22 30 8
data:
$ID,146
$MISSION,5
$DIVE,374
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$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,166
$T_MISSION,360
$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,-254917.12
$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,31
$R_STBD_OVSHOOT,54
$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
$GPS1,222307,2252.192,-15753.750,32,1.0,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-67.0
$GPS2,222914,2252.174,-15753.701,12,1.3,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.047,0.230
$KALMAN_X,-266735.8,186.3,420.2,295223.0,488.8
$KALMAN_Y,-535227.3,231.9,617.2,666969.8,-2402.2
$MHEAD_RNG_PITCHd_Wd,338.4,11014,-19.8,-10.040
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-77.32,0.000,2,0.000,0.000,476,1754,3196,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.1,-5.6,10,126,11.43,2.55,-5.55,0.000,4,0.146,0.038,2690,3339,3479,0,0,0,0,0,0
$GC,191,-1.31,-116.8,23.7,-16.2,22,201,0.08,2.58,0.00,0.000,6,0.110,0.031,2708,1773,3481,0,0,0,0,0,0
$GC,466,-1.20,-116.8,68.6,-14.6,49,471,0.15,2.70,0.00,0.000,4,0.122,0.058,2738,193,3481,0,0,0,0,0,0
$GC,490,-1.10,-116.8,72.2,-15.4,50,495,0.10,2.42,0.00,0.000,6,0.131,0.015,2758,1808,3481,0,0,0,0,0,0
$GC,753,-1.16,-116.8,102.4,-9.7,74,757,0.00,2.35,0.00,0.000,4,0.000,0.028,2758,3314,3482,0,0,0,0,0,0
$GC,784,-1.26,-116.8,105.4,-9.4,76,789,0.15,2.47,0.00,0.000,6,0.061,0.035,2706,1764,3482,0,0,0,0,0,0
$GC,1046,-1.26,-116.8,136.8,-12.1,100,1051,0.00,2.67,0.00,0.000,4,0.000,0.064,2706,185,3483,0,0,0,0,0,0
$GC,1081,-1.26,-116.8,141.1,-13.0,102,1090,0.00,2.40,0.00,0.000,6,0.000,0.020,2706,1760,3483,0,0,0,0,0,0
$GC,1347,-1.26,-116.8,170.0,-10.4,127,1352,0.10,2.42,0.00,0.000,4,0.119,0.027,2727,3313,3484,0,0,0,0,0,0
$GC,1381,-1.33,-116.8,174.1,-10.0,129,1390,0.00,2.50,0.00,0.000,6,0.000,0.035,2727,1772,3484,0,0,0,0,0,0
$GC,1649,-1.38,-116.8,197.9,-10.0,154,1654,0.12,2.72,0.00,0.000,4,0.186,0.063,2687,187,3484,0,0,0,0,0,0
$GC,1676,-1.38,-116.8,202.0,-12.5,155,1680,0.00,2.38,0.00,0.000,6,0.000,0.020,2687,1762,3484,0,0,0,0,0,0
$GC,1927,-1.38,-116.8,230.2,-11.1,161,1932,0.00,2.45,0.00,0.000,4,0.000,0.032,2687,3336,3484,0,0,0,0,0,0
$GC,1955,-1.38,-116.8,233.5,-10.6,161,1959,0.00,2.53,0.00,0.000,6,0.000,0.031,2687,1768,3484,0,0,0,0,0,0
$GC,2205,-1.38,-116.8,260.1,-10.6,167,2209,0.00,2.45,0.00,0.000,4,0.000,0.034,2687,3331,3484,0,0,0,0,0,0
$GC,2250,-1.38,-116.8,264.7,-10.0,168,2254,0.00,2.50,0.00,0.000,6,0.000,0.035,2687,1785,3484,0,0,0,0,0,0
$GC,2527,-1.38,-116.8,295.6,-11.5,175,2532,0.00,2.78,0.00,0.000,4,0.000,0.072,2687,190,3484,0,0,0,0,0,0
$GC,2554,-1.38,-116.8,299.0,-12.8,175,2558,0.00,2.42,0.00,0.000,6,0.000,0.021,2687,1770,3484,0,0,0,0,0,0
$GC,2805,-1.38,-116.8,328.9,-11.7,181,2810,0.00,2.50,0.00,0.000,4,0.000,0.040,2687,3339,3483,0,0,0,0,0,0
$GC,2838,-1.44,-116.8,332.8,-11.2,181,2844,0.00,2.53,0.00,0.000,6,0.000,0.039,2687,1806,3483,0,0,0,0,0,0
$GC,3088,-1.44,-116.8,358.2,-10.1,188,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1806,3482,0,0,0,0,0,0
$GC,3332,-1.44,-116.8,381.6,-9.8,194,3337,0.00,2.47,0.00,0.000,4,0.000,0.042,2687,3346,3481,0,0,0,0,0,0
$GC,3384,-1.51,-116.8,386.7,-9.6,195,3389,0.00,2.58,0.00,0.000,6,0.000,0.051,2687,1807,3481,0,0,0,0,0,0
$GC,3657,-1.55,-116.8,412.8,-9.7,202,3662,0.10,2.97,0.00,0.000,4,0.084,0.099,2651,185,3479,0,0,0,0,0,0
$GC,3686,-1.49,-116.8,416.0,-12.0,202,3692,0.10,2.53,0.00,0.000,6,0.127,0.029,2672,1790,3479,0,0,0,0,0,0
$GC,3937,-1.49,-116.8,441.8,-9.9,208,3941,0.00,2.55,0.00,0.000,4,0.000,0.047,2673,3350,3477,0,0,0,0,0,0
$GC,3992,-1.55,-116.8,446.9,-8.3,209,3997,0.00,2.60,0.00,0.000,6,0.000,0.053,2673,1816,3477,0,0,0,0,0,0
$GC,4260,-1.55,-116.8,469.1,-8.3,216,4264,0.00,2.50,0.00,0.000,4,0.000,0.044,2673,3349,3474,0,0,0,0,0,0
$GC,4282,-1.59,-116.8,471.3,-9.1,216,4286,0.00,2.62,0.00,0.000,6,0.000,0.058,2672,1806,3474,0,0,0,0,0,0
$GC,4537,-1.59,-116.8,495.8,-10.0,223,4541,0.00,2.55,0.00,0.000,4,0.000,0.052,2673,3349,3473,0,0,0,0,0,0
$GC,4565,-1.63,-116.8,499.0,-10.9,223,4570,0.12,2.62,0.00,0.000,6,0.077,0.064,2634,1821,3472,0,0,0,0,0,0
$STATE,4609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4609,begin apogee
$GC,4615,-0.31,0.0,504.2,11.1,224,4716,1.35,0.00,97.30,0.936,6,0.090,0.000,2930,1820,3001,0,0,0,0,0,0
$STATE,4717,end apogee,CONTROL_FINISHED_OK
$STATE,4717,begin climb
$GC,4719,1.38,116.8,507.3,0.0,226,4833,1.52,2.75,101.40,0.912,4,0.043,0.050,3302,3397,2523,0,0,0,0,0,0
$GC,4861,1.34,176.2,506.6,6.6,229,4921,0.00,2.75,52.45,0.893,6,0.000,0.057,3301,1820,2281,0,0,0,0,0,0
$GC,5172,1.25,176.2,474.4,11.1,237,5177,0.15,2.65,0.00,0.000,4,0.229,0.041,3273,3405,2272,0,0,0,0,0,0
$GC,5278,1.25,176.2,463.3,10.1,239,5282,0.00,2.70,0.00,0.000,6,0.000,0.058,3273,1836,2270,0,0,0,0,0,0
$GC,5541,1.27,199.1,439.6,8.7,246,5566,0.00,2.62,19.33,0.854,4,0.000,0.045,3273,3400,2188,0,0,0,0,0,0
$GC,5635,1.31,230.0,431.8,8.3,248,5669,0.00,2.67,28.75,0.862,6,0.000,0.051,3273,1845,2062,0,0,0,0,0,0
$GC,5957,1.33,243.7,403.3,9.2,256,5976,0.00,3.05,12.73,0.803,4,0.000,0.101,3272,241,2006,0,0,0,0,0,0
$GC,6005,1.25,243.7,397.8,11.7,257,6009,0.00,2.60,0.00,0.000,6,0.000,0.022,3273,1856,2004,0,0,0,0,0,0
$GC,6284,1.25,245.1,370.0,10.0,264,6288,0.00,2.53,0.00,0.000,4,0.000,0.036,3273,3410,2002,0,0,0,0,0,0
$GC,6299,1.25,245.1,368.2,10.0,264,6303,0.00,2.65,0.00,0.000,6,0.000,0.044,3272,1837,2001,0,0,0,0,0,0
$GC,6567,1.26,254.2,342.5,9.5,271,6578,0.00,0.00,10.10,0.763,6,0.000,0.000,3273,1836,1964,0,0,0,0,0,0
$GC,6810,1.26,254.2,318.1,10.3,277,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1836,1961,0,0,0,0,0,0
$GC,7055,1.26,254.2,292.3,10.6,283,7060,0.00,2.83,0.00,0.000,4,0.000,0.078,3273,236,1959,0,0,0,0,0,0
$GC,7072,1.26,254.2,290.3,10.7,283,7076,0.00,2.58,0.00,0.000,6,0.000,0.021,3273,1867,1958,0,0,0,0,0,0
$GC,7333,1.31,260.2,264.4,9.7,290,7346,0.00,2.88,6.10,0.643,4,0.000,0.072,3273,235,1939,0,0,0,0,0,0
$GC,7359,1.31,260.2,261.8,10.3,290,7363,0.00,2.58,0.00,0.000,6,0.000,0.022,3273,1851,1938,0,0,0,0,0,0
$GC,7614,1.37,266.6,236.9,9.7,297,7629,0.10,2.58,7.20,0.656,4,0.101,0.038,3298,3401,1914,0,0,0,0,0,0
$GC,7635,1.37,266.6,234.6,10.3,297,7639,0.00,2.58,0.00,0.000,6,0.000,0.041,3298,1833,1913,0,0,0,0,0,0
$GC,7897,1.37,266.6,207.0,10.7,304,7901,0.00,2.80,0.00,0.000,4,0.000,0.069,3298,234,1912,0,0,0,0,0,0
$GC,7918,1.33,266.6,204.2,11.5,304,7922,0.00,2.55,0.00,0.000,6,0.000,0.027,3298,1850,1911,0,0,0,0,0,0
$GC,8185,1.33,266.6,176.7,11.0,326,8189,0.00,2.47,0.00,0.000,4,0.000,0.036,3298,3398,1910,0,0,0,0,0,0
$GC,8206,1.33,266.6,173.8,11.3,327,8216,0.00,2.58,0.00,0.000,6,0.000,0.035,3298,1843,1909,0,0,0,0,0,0
$GC,8469,1.34,275.8,146.4,9.5,352,8484,0.00,2.78,9.52,0.619,4,0.000,0.068,3298,241,1875,0,0,0,0,0,0
$GC,8500,1.30,275.8,143.0,10.4,354,8510,0.00,2.55,0.00,0.000,6,0.000,0.023,3298,1850,1874,0,0,0,0,0,0
$GC,8766,1.32,289.3,118.6,9.3,379,8785,0.00,0.00,13.27,0.615,6,0.000,0.000,3298,1851,1820,0,0,0,0,0,0
$GC,9045,1.37,292.8,92.7,9.8,405,9056,0.00,2.47,4.30,0.439,4,0.000,0.035,3298,3384,1806,0,0,0,0,0,0
$GC,9073,1.46,292.8,89.3,11.1,407,9078,0.00,2.53,0.00,0.000,6,0.000,0.033,3298,1831,1806,0,0,0,0,0,0
$GC,9342,1.58,314.6,63.4,8.8,431,9375,0.20,2.80,20.27,0.578,4,0.070,0.060,3351,243,1717,0,0,0,0,0,0
$GC,9380,1.58,314.6,58.8,10.6,434,9390,0.00,2.53,0.00,0.000,6,0.000,0.021,3351,1829,1716,0,0,0,0,0,0
$GC,9649,1.58,320.0,32.4,9.7,459,9663,0.00,2.53,5.82,0.455,4,0.000,0.027,3351,3389,1697,0,0,0,0,0,0
$GC,9709,1.65,320.0,26.4,10.2,465,9718,0.00,2.58,0.00,0.000,6,0.000,0.034,3351,1834,1696,0,0,0,0,0,0
$STATE,9932,end climb,SURFACE_DEPTH_REACHED
$STATE,9932,begin surface coast
$FINISH,0.4,1.010682
$STATE,9982,end surface coast,CONTROL_FINISHED_OK
$STATE,9982,begin surface
$SM_CCo,10003,88.62,0.469,1,0,1288,420.20
$SM_GC,1.04,0.00,0.00,88.62,0.000,0.000,0.469,477,1713,1288,-11.61,-1.61,420.20
$IRIDIUM_FIX,2244.02,-15754.11,030100,191926
$TT8_MAMPS,0.026078
$HUMID,50.70
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.00
$XPDR_PINGS,59
$24V_AH,23.5,52.346
$10V_AH,10.1,50.628
$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,27.425,150.550,388.550,88.625,0.000,31.102,40.450,159.854,14.750,0.000,14.205,1041.641,6405.148,551.544,1926.445,539.693,33.367,1311.519,0.000,1931.142,0.000,0.534,0.000
$DEVICE_MAMPS,228.566,101.244,935.740,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.600,284.986,392.622,746.879,1130.627,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,38637,504
$CAP_FILE_SIZE,113682,0
$CFSIZE,260165632,160256000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101010,011934,2252.009,-15754.063,8,99.0,27,10.1