version: 66.06
glider: 146
mission: 5
dive: 429
start: 10 16 110 22 18 10
data:
$ID,146
$MISSION,5
$DIVE,429
$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,-257780.92
$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,14
$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
$GPS1,220454,2253.923,-15754.587,24,1.1,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-64.3
$GPS2,221714,2253.958,-15754.526,15,1.2,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.038,0.232
$KALMAN_X,-258761.3,-44.4,150.1,286322.2,218.0
$KALMAN_Y,-594093.1,-361.0,-520.4,730894.6,-814.4
$MHEAD_RNG_PITCHd_Wd,340.6,7530,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,128,0.00,0.00,-109.95,0.000,2,0.000,0.000,472,1761,3241,0,0,0,0,0,0
$GC,133,-1.38,-116.8,3.3,-6.0,14,159,11.38,2.53,-4.60,0.000,4,0.142,0.037,2691,3336,3482,0,0,0,0,0,0
$GC,229,-1.33,-116.8,23.9,-13.9,27,238,0.00,2.58,0.00,0.000,6,0.000,0.037,2691,1763,3482,0,0,0,0,0,0
$GC,506,-1.21,-116.8,68.7,-16.6,54,515,0.20,0.00,0.00,0.000,6,0.113,0.000,2733,1762,3483,0,0,0,0,0,0
$GC,774,-1.25,-116.8,99.5,-8.6,79,778,0.00,2.65,0.00,0.000,4,0.000,0.064,2733,186,3483,0,0,0,0,0,0
$GC,820,-1.33,-116.8,103.8,-7.9,82,830,0.08,2.40,0.00,0.000,6,0.041,0.023,2695,1765,3482,0,0,0,0,0,0
$GC,1087,-1.33,-116.8,125.7,-8.3,107,1091,0.00,2.40,0.00,0.000,4,0.000,0.031,2695,3309,3483,0,0,0,0,0,0
$GC,1122,-1.37,-116.8,129.1,-8.2,109,1128,0.00,2.47,0.00,0.000,6,0.000,0.028,2695,1757,3483,0,0,0,0,0,0
$GC,1385,-1.37,-116.8,155.7,-11.0,134,1389,0.00,2.42,0.00,0.000,4,0.000,0.026,2695,3309,3484,0,0,0,0,0,0
$GC,1406,-1.37,-116.8,158.3,-11.1,135,1415,0.00,2.50,0.00,0.000,6,0.000,0.034,2695,1765,3483,0,0,0,0,0,0
$GC,1673,-1.37,-116.8,186.5,-10.8,160,1678,0.00,2.65,0.00,0.000,4,0.000,0.067,2694,195,3483,0,0,0,0,0,0
$GC,1696,-1.37,-116.8,189.6,-10.5,161,1702,0.00,2.35,0.00,0.000,6,0.000,0.021,2695,1765,3483,0,0,0,0,0,0
$GC,1973,-1.37,-116.8,216.2,-9.4,176,1977,0.00,2.45,0.00,0.000,4,0.000,0.033,2694,3317,3483,0,0,0,0,0,0
$GC,1999,-1.37,-116.8,219.1,-9.6,176,2004,0.00,2.50,0.00,0.000,6,0.000,0.029,2695,1766,3483,0,0,0,0,0,0
$GC,2250,-1.37,-116.8,243.1,-9.9,182,2254,0.00,2.45,0.00,0.000,4,0.000,0.027,2694,3313,3482,0,0,0,0,0,0
$GC,2272,-1.37,-116.8,245.4,-10.2,182,2276,0.00,2.47,0.00,0.000,6,0.000,0.031,2695,1772,3482,0,0,0,0,0,0
$GC,2527,-1.37,-116.8,268.7,-8.9,189,2532,0.00,2.75,0.00,0.000,4,0.000,0.077,2694,191,3481,0,0,0,0,0,0
$GC,2605,-1.42,-116.8,276.7,-10.3,190,2611,0.00,2.38,0.00,0.000,6,0.000,0.025,2694,1729,3481,0,0,0,0,0,0
$GC,2856,-1.42,-116.8,301.5,-10.2,197,2860,0.00,2.55,0.00,0.000,4,0.000,0.038,2694,3343,3480,0,0,0,0,0,0
$GC,2917,-1.51,-116.8,308.0,-10.6,198,2921,0.00,2.53,0.00,0.000,6,0.000,0.037,2694,1784,3479,0,0,0,0,0,0
$GC,3178,-1.54,-116.8,334.0,-10.0,205,3183,0.12,2.50,0.00,0.000,4,0.073,0.032,2653,3345,3478,0,0,0,0,0,0
$GC,3207,-1.54,-116.8,337.1,-10.8,205,3211,0.00,2.58,0.00,0.000,6,0.000,0.038,2653,1782,3478,0,0,0,0,0,0
$GC,3457,-1.50,-116.8,362.0,-9.6,211,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1782,3476,0,0,0,0,0,0
$GC,3701,-1.47,-116.8,383.7,-8.8,217,3706,0.12,2.53,0.00,0.000,4,0.114,0.039,2678,3341,3475,0,0,0,0,0,0
$GC,3724,-1.47,-116.8,385.5,-8.1,217,3729,0.00,2.58,0.00,0.000,6,0.000,0.044,2679,1799,3474,0,0,0,0,0,0
$GC,3979,-1.47,-116.8,406.6,-8.6,224,3983,0.00,2.50,0.00,0.000,4,0.000,0.037,2679,3337,3472,0,0,0,0,0,0
$GC,4001,-1.47,-116.8,408.7,-8.8,224,4005,0.00,2.58,0.00,0.000,6,0.000,0.054,2679,1797,3472,0,0,0,0,0,0
$GC,4258,-1.47,-116.8,433.1,-9.8,231,4262,0.00,2.50,0.00,0.000,4,0.000,0.040,2678,3335,3471,0,0,0,0,0,0
$GC,4279,-1.47,-116.8,435.6,-10.4,231,4283,0.00,2.60,0.00,0.000,6,0.000,0.054,2679,1805,3470,0,0,0,0,0,0
$GC,4534,-1.47,-116.8,462.3,-10.8,238,4539,0.00,3.00,0.00,0.000,4,0.000,0.104,2679,180,3469,0,0,0,0,0,0
$GC,4556,-1.47,-116.8,465.0,-11.6,238,4561,0.00,2.58,0.00,0.000,6,0.000,0.030,2679,1777,3468,0,0,0,0,0,0
$GC,4811,-1.47,-116.8,493.6,-11.0,245,4816,0.00,2.62,0.00,0.000,4,0.000,0.059,2678,3353,3466,0,0,0,0,0,0
$GC,4833,-1.51,-116.8,496.1,-10.9,245,4838,0.00,2.62,0.00,0.000,6,0.000,0.053,2679,1800,3466,0,0,0,0,0,0
$STATE,4883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4883,begin apogee
$GC,4890,-0.31,0.0,501.7,10.9,247,4991,1.12,0.00,97.22,0.922,6,0.080,0.000,2929,1800,3001,0,0,0,0,0,0
$STATE,4992,end apogee,CONTROL_FINISHED_OK
$STATE,4992,begin climb
$GC,4994,1.38,116.8,504.9,0.0,249,5105,1.58,2.78,102.75,0.898,4,0.042,0.048,3309,3400,2524,0,0,0,0,0,0
$GC,5129,1.33,185.2,504.0,6.1,253,5196,0.00,2.72,60.65,0.881,6,0.000,0.058,3309,1814,2245,0,0,0,0,0,0
$GC,5446,1.24,185.2,469.6,11.6,261,5451,0.20,2.65,0.00,0.000,4,0.120,0.038,3269,3404,2234,0,0,0,0,0,0
$GC,5486,1.25,191.4,465.5,9.7,262,5496,0.00,2.72,4.80,0.617,6,0.000,0.058,3269,1821,2220,0,0,0,0,0,0
$GC,5771,1.28,215.2,440.7,8.7,269,5800,0.00,3.08,22.58,0.848,4,0.000,0.106,3269,237,2122,0,0,0,0,0,0
$GC,5813,1.23,220.8,436.7,9.7,270,5826,0.00,2.58,6.47,0.690,6,0.000,0.028,3269,1819,2100,0,0,0,0,0,0
$GC,6101,1.26,241.1,410.4,8.9,277,6122,0.00,0.00,19.10,0.828,6,0.000,0.000,3269,1819,2018,0,0,0,0,0,0
$GC,6343,1.26,241.1,386.6,10.1,283,6347,0.00,2.60,0.00,0.000,4,0.000,0.042,3269,3409,2013,0,0,0,0,0,0
$GC,6384,1.32,241.1,382.4,11.0,284,6388,0.00,2.70,0.00,0.000,6,0.000,0.050,3269,1816,2011,0,0,0,0,0,0
$GC,6668,1.32,241.1,354.0,10.1,291,6673,0.00,2.83,0.00,0.000,4,0.000,0.086,3269,234,2010,0,0,0,0,0,0
$GC,6708,1.26,241.1,349.6,11.4,292,6712,0.00,2.55,0.00,0.000,6,0.000,0.027,3269,1838,2009,0,0,0,0,0,0
$GC,6992,1.28,256.4,323.2,9.2,299,7012,0.00,2.60,14.02,0.772,4,0.000,0.041,3269,3396,1954,0,0,0,0,0,0
$GC,7036,1.34,262.2,318.7,9.7,300,7050,0.00,2.65,6.88,0.673,6,0.000,0.043,3269,1813,1931,0,0,0,0,0,0
$GC,7323,1.35,274.3,291.4,9.3,307,7343,0.10,2.67,11.77,0.738,4,0.092,0.036,3297,3403,1882,0,0,0,0,0,0
$GC,7355,1.35,274.3,288.2,10.3,307,7360,0.00,2.65,0.00,0.000,6,0.000,0.040,3297,1809,1881,0,0,0,0,0,0
$GC,7605,1.35,274.3,262.5,10.2,313,7610,0.00,2.75,0.00,0.000,4,0.000,0.075,3297,234,1879,0,0,0,0,0,0
$GC,7649,1.28,274.3,257.3,11.8,314,7653,0.00,2.50,0.00,0.000,6,0.000,0.025,3297,1807,1878,0,0,0,0,0,0
$GC,7928,1.28,274.3,227.7,10.6,321,7932,0.00,2.55,0.00,0.000,4,0.000,0.036,3297,3403,1877,0,0,0,0,0,0
$GC,7989,1.35,274.3,221.3,10.5,322,7993,0.00,2.62,0.00,0.000,6,0.000,0.041,3297,1810,1876,0,0,0,0,0,0
$GC,8246,1.35,276.0,195.6,9.9,331,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1810,1876,0,0,0,0,0,0
$GC,8507,1.36,283.2,169.4,9.6,356,8521,0.00,2.80,8.30,0.624,4,0.000,0.071,3296,237,1845,0,0,0,0,0,0
$GC,8533,1.37,286.9,167.4,9.8,358,8544,0.00,2.53,5.15,0.532,6,0.000,0.022,3297,1831,1830,0,0,0,0,0,0
$GC,8804,1.37,286.9,140.8,10.1,383,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1832,1828,0,0,0,0,0,0
$GC,9064,1.37,286.9,111.7,11.8,408,9069,0.00,2.50,0.00,0.000,4,0.000,0.033,3297,3393,1827,0,0,0,0,0,0
$GC,9100,1.46,286.9,107.5,12.7,410,9109,0.00,2.62,0.00,0.000,6,0.000,0.035,3297,1814,1827,0,0,0,0,0,0
$GC,9366,1.51,286.9,77.9,11.1,435,9371,0.12,2.55,0.00,0.000,4,0.080,0.028,3333,3390,1826,0,0,0,0,0,0
$GC,9389,1.56,286.9,75.2,11.4,436,9393,0.00,2.58,0.00,0.000,6,0.000,0.036,3333,1820,1826,0,0,0,0,0,0
$GC,9657,1.59,314.6,49.0,8.4,460,9687,0.00,2.75,24.92,0.582,4,0.000,0.059,3333,243,1717,0,0,0,0,0,0
$GC,9755,1.59,315.6,40.6,10.0,467,9759,0.00,2.50,0.00,0.000,6,0.000,0.019,3333,1838,1713,0,0,0,0,0,0
$GC,10056,1.67,338.0,16.8,8.7,502,10082,0.12,0.00,20.30,0.538,6,0.219,0.000,3368,1840,1623,0,0,0,0,0,0
$STATE,10176,end climb,SURFACE_DEPTH_REACHED
$STATE,10176,begin surface coast
$FINISH,0.4,1.010134
$STATE,10222,end surface coast,CONTROL_FINISHED_OK
$STATE,10222,begin surface
$SM_CCo,10244,73.62,0.463,1,0,1287,420.20
$SM_GC,1.02,0.00,0.00,73.62,0.000,0.000,0.463,473,1743,1287,-11.62,-0.76,420.20
$IRIDIUM_FIX,2244.02,-15756.28,100100,222207
$TT8_MAMPS,0.026078
$HUMID,53.38
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.80
$XPDR_PINGS,72
$24V_AH,23.4,59.764
$10V_AH,10.0,57.117
$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,26.950,145.350,404.925,73.625,0.000,54.679,70.725,382.654,18.000,0.000,17.148,1066.467,6594.113,567.876,1988.022,840.396,33.365,1340.773,0.000,1987.503,0.000,0.535,0.000
$DEVICE_MAMPS,219.362,105.846,921.934,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.665,305.516,409.201,782.816,1184.039,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,41565,525
$CAP_FILE_SIZE,118729,0
$CFSIZE,260165632,157229056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171010,011125,2254.784,-15754.617,13,1.6,31,10.1