version: 66.06
glider: 146
mission: 5
dive: 650
start: 11 15 110 6 22 2
data:
$ID,146
$MISSION,5
$DIVE,650
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$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,619.13721
$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,-263578.38
$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,13
$R_STBD_OVSHOOT,87
$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
$GPS1,060531,2253.605,-15742.818,41,1.2,41,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-60.3
$GPS2,062108,2253.699,-15742.833,12,1.6,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.097,0.214
$KALMAN_X,-300771.6,311.4,-36.0,348300.7,-575.0
$KALMAN_Y,-322054.5,-244.5,59.5,457659.1,75.0
$MHEAD_RNG_PITCHd_Wd,14.4,8091,-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,-116.7,0.0,0.0,0,132,0.00,0.00,-113.22,0.000,2,0.000,0.000,472,1801,3324,0,0,0,0,0,0
$GC,135,-1.38,-116.8,3.5,-7.9,18,157,12.12,2.38,-3.15,0.000,4,0.169,0.033,2693,3312,3479,0,0,0,0,0,0
$GC,226,-1.34,-116.8,20.3,-13.2,33,233,0.00,2.55,0.00,0.000,6,0.000,0.031,2693,1758,3480,0,0,0,0,0,0
$GC,488,-1.22,-116.8,57.9,-14.0,65,493,0.17,2.65,0.00,0.000,4,0.118,0.057,2729,193,3480,0,0,0,0,0,0
$GC,513,-1.13,-116.8,61.1,-12.4,66,520,0.08,2.40,0.00,0.000,6,0.100,0.015,2748,1755,3480,0,0,0,0,0,0
$GC,778,-1.13,-116.8,88.2,-9.5,91,782,0.00,2.47,0.00,0.000,4,0.000,0.030,2748,3332,3480,0,0,0,0,0,0
$GC,819,-1.21,-116.8,92.3,-9.7,94,823,0.00,2.47,0.00,0.000,6,0.000,0.025,2748,1770,3481,0,0,0,0,0,0
$GC,1082,-1.26,-116.8,115.0,-9.6,118,1087,0.10,2.65,0.00,0.000,4,0.084,0.063,2710,198,3480,0,0,0,0,0,0
$GC,1116,-1.26,-116.8,118.9,-11.5,120,1126,0.00,2.42,0.00,0.000,6,0.000,0.017,2710,1792,3481,0,0,0,0,0,0
$GC,1380,-1.26,-116.8,144.1,-8.7,145,1384,0.00,2.38,0.00,0.000,4,0.000,0.025,2710,3315,3481,0,0,0,0,0,0
$GC,1472,-1.31,-116.8,151.8,-8.0,153,1476,0.00,2.42,0.00,0.000,6,0.000,0.031,2711,1793,3481,0,0,0,0,0,0
$GC,1735,-1.31,-116.8,173.6,-8.9,177,1740,0.00,2.72,0.00,0.000,4,0.000,0.064,2710,194,3481,0,0,0,0,0,0
$GC,1790,-1.36,-116.8,179.5,-10.8,181,1796,0.00,2.38,0.00,0.000,6,0.000,0.021,2710,1794,3481,0,0,0,0,0,0
$GC,2064,-1.36,-116.8,203.6,-8.8,204,2068,0.00,2.38,0.00,0.000,4,0.000,0.027,2711,3310,3481,0,0,0,0,0,0
$GC,2103,-1.43,-116.8,207.4,-8.8,205,2108,0.00,2.42,0.00,0.000,6,0.000,0.032,2710,1776,3480,0,0,0,0,0,0
$GC,2389,-1.43,-116.8,229.7,-7.6,212,2394,0.00,2.70,0.00,0.000,4,0.000,0.071,2710,200,3480,0,0,0,0,0,0
$GC,2411,-1.47,-116.8,231.7,-8.3,212,2416,0.12,2.35,0.00,0.000,6,0.072,0.015,2668,1751,3480,0,0,0,0,0,0
$GC,2667,-1.42,-116.8,254.8,-9.1,219,2672,0.10,2.50,0.00,0.000,4,0.127,0.035,2689,3330,3480,0,0,0,0,0,0
$GC,2766,-1.46,-116.8,263.1,-7.9,221,2770,0.00,2.45,0.00,0.000,6,0.000,0.030,2688,1800,3480,0,0,0,0,0,0
$GC,3038,-1.46,-116.8,287.0,-9.0,228,3042,0.00,2.78,0.00,0.000,4,0.000,0.072,2689,194,3479,0,0,0,0,0,0
$GC,3079,-1.46,-116.8,290.9,-9.8,229,3083,0.00,2.42,0.00,0.000,6,0.000,0.019,2689,1771,3479,0,0,0,0,0,0
$GC,3362,-1.46,-116.8,314.5,-8.2,236,3366,0.00,2.50,0.00,0.000,4,0.000,0.034,2689,3345,3478,0,0,0,0,0,0
$GC,3431,-1.52,-116.8,320.4,-8.3,237,3435,0.00,2.53,0.00,0.000,6,0.000,0.041,2689,1793,3478,0,0,0,0,0,0
$GC,3686,-1.52,-116.8,341.0,-8.0,244,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1793,3476,0,0,0,0,0,0
$GC,3929,-1.52,-116.8,360.8,-8.1,250,3934,0.00,2.50,0.00,0.000,4,0.000,0.033,2689,3349,3475,0,0,0,0,0,0
$GC,3963,-1.59,-116.8,363.5,-7.5,250,3969,0.15,2.58,0.00,0.000,6,0.065,0.043,2641,1804,3475,0,0,0,0,0,0
$GC,4215,-1.52,-116.8,386.9,-9.6,257,4221,0.12,2.92,0.00,0.000,4,0.117,0.087,2667,179,3473,0,0,0,0,0,0
$GC,4232,-1.48,-116.8,389.0,-9.6,257,4237,0.00,2.58,0.00,0.000,6,0.000,0.028,2667,1799,3473,0,0,0,0,0,0
$GC,4496,-1.48,-116.8,413.8,-9.7,264,4500,0.00,2.53,0.00,0.000,4,0.000,0.045,2667,3354,3472,0,0,0,0,0,0
$GC,4545,-1.52,-116.8,419.0,-10.3,265,4549,0.00,2.58,0.00,0.000,6,0.000,0.052,2667,1829,3472,0,0,0,0,0,0
$GC,4817,-1.52,-116.8,444.5,-9.3,272,4822,0.00,3.03,0.00,0.000,4,0.000,0.103,2667,184,3470,0,0,0,0,0,0
$GC,4863,-1.52,-116.8,448.7,-9.6,273,4867,0.00,2.65,0.00,0.000,6,0.000,0.033,2667,1824,3469,0,0,0,0,0,0
$GC,5140,-1.52,-116.8,470.4,-7.6,280,5145,0.00,2.55,0.00,0.000,4,0.000,0.052,2667,3357,3467,0,0,0,0,0,0
$GC,5167,-1.52,-116.8,472.5,-6.9,280,5172,0.00,2.58,0.00,0.000,6,0.000,0.054,2667,1821,3468,0,0,0,0,0,0
$GC,5418,-1.52,-116.8,492.2,-8.2,286,5422,0.00,3.05,0.00,0.000,4,0.000,0.104,2667,183,3465,0,0,0,0,0,0
$GC,5450,-1.52,-116.8,495.6,-10.1,286,5456,0.00,2.62,0.00,0.000,6,0.000,0.036,2667,1801,3465,0,0,0,0,0,0
$STATE,5535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5535,begin apogee
$GC,5541,-0.31,0.0,503.0,8.7,289,5641,1.20,0.00,96.15,0.911,6,0.082,0.000,2932,1800,3001,0,0,0,0,0,0
$STATE,5641,end apogee,CONTROL_FINISHED_OK
$STATE,5642,begin climb
$GC,5646,1.38,116.8,505.7,0.0,291,5758,1.52,2.92,102.32,0.893,4,0.044,0.086,3308,237,2523,0,0,0,0,0,0
$GC,5787,1.20,168.9,504.7,7.0,294,5841,0.22,2.60,46.17,0.873,6,0.119,0.031,3265,1819,2311,0,0,0,0,0,0
$GC,6091,1.27,220.9,483.3,7.0,302,6145,0.00,2.75,46.20,0.867,4,0.000,0.061,3265,3404,2098,0,0,0,0,0,0
$GC,6171,1.29,239.8,477.0,8.9,303,6196,0.00,2.78,17.75,0.819,6,0.000,0.058,3264,1810,2022,0,0,0,0,0,0
$GC,6464,1.29,239.8,447.1,10.5,311,6468,0.00,2.92,0.00,0.000,4,0.000,0.103,3264,233,2015,0,0,0,0,0,0
$GC,6491,1.25,239.8,443.9,11.7,311,6495,0.00,2.58,0.00,0.000,6,0.000,0.026,3264,1811,2014,0,0,0,0,0,0
$GC,6742,1.25,239.8,416.3,10.9,317,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1811,2012,0,0,0,0,0,0
$GC,6984,1.27,255.3,393.2,9.1,323,7000,0.00,0.00,13.52,0.791,6,0.000,0.000,3264,1811,1960,0,0,0,0,0,0
$GC,7228,1.28,267.6,370.7,9.3,329,7247,0.00,2.92,12.12,0.771,4,0.000,0.072,3265,227,1909,0,0,0,0,0,0
$GC,7260,1.28,267.6,367.6,10.5,329,7265,0.00,2.58,0.00,0.000,6,0.000,0.027,3264,1816,1908,0,0,0,0,0,0
$GC,7511,1.36,296.4,345.9,8.4,335,7540,0.15,0.00,27.08,0.800,6,0.077,0.000,3304,1816,1792,0,0,0,0,0,0
$GC,7754,1.36,296.4,320.8,10.5,341,7758,0.00,2.60,0.00,0.000,4,0.000,0.038,3304,3409,1785,0,0,0,0,0,0
$GC,7771,1.36,296.4,319.1,10.5,341,7775,0.00,2.72,0.00,0.000,6,0.000,0.044,3303,1798,1783,0,0,0,0,0,0
$GC,8031,1.37,299.0,292.9,9.9,348,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1798,1782,0,0,0,0,0,0
$GC,8275,1.40,324.9,271.7,8.5,354,8306,0.00,2.65,25.12,0.749,4,0.000,0.033,3304,3408,1675,0,0,0,0,0,0
$GC,8330,1.47,330.7,266.7,9.7,355,8344,0.00,2.70,6.47,0.616,6,0.000,0.041,3304,1806,1652,0,0,0,0,0,0
$GC,8600,1.47,330.7,239.7,10.3,362,8605,0.00,2.72,0.00,0.000,4,0.000,0.071,3303,239,1647,0,0,0,0,0,0
$GC,8633,1.47,330.7,235.8,11.7,362,8639,0.00,2.50,0.00,0.000,6,0.000,0.025,3304,1833,1646,0,0,0,0,0,0
$GC,8885,1.51,330.7,209.2,10.8,369,8890,0.10,2.80,0.00,0.000,4,0.096,0.065,3333,238,1645,0,0,0,0,0,0
$GC,8946,1.46,330.7,201.1,12.9,370,8951,0.00,2.42,0.00,0.000,6,0.000,0.025,3333,1786,1644,0,0,0,0,0,0
$GC,9211,1.46,330.7,173.2,10.9,394,9215,0.00,2.58,0.00,0.000,4,0.000,0.035,3332,3395,1644,0,0,0,0,0,0
$GC,9257,1.54,330.7,167.9,10.7,397,9262,0.00,2.70,0.00,0.000,6,0.000,0.038,3332,1766,1643,0,0,0,0,0,0
$GC,9520,1.55,334.3,141.2,9.8,422,9524,0.00,2.62,0.00,0.000,4,0.000,0.064,3333,231,1643,0,0,0,0,0,0
$GC,9540,1.55,334.3,139.4,10.2,423,9544,0.00,2.45,0.00,0.000,6,0.000,0.026,3332,1803,1642,0,0,0,0,0,0
$GC,9805,1.59,368.6,117.2,8.1,447,9848,0.00,2.83,32.55,0.624,4,0.000,0.061,3333,234,1496,0,0,0,0,0,0
$GC,9862,1.60,377.8,112.0,9.5,452,9878,0.00,2.45,9.70,0.558,6,0.000,0.025,3332,1795,1459,0,0,0,0,0,0
$GC,10142,1.68,377.8,78.2,11.5,478,10147,0.15,2.70,0.00,0.000,4,0.084,0.059,3372,237,1455,0,0,0,0,0,0
$GC,10177,1.64,377.8,73.7,12.7,480,10184,0.00,2.42,0.00,0.000,6,0.000,0.019,3372,1773,1454,0,0,0,0,0,0
$GC,10443,1.64,377.8,44.9,12.1,505,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1775,1453,0,0,0,0,0,0
$GC,10707,1.66,395.3,17.2,9.0,541,10728,0.00,2.70,15.95,0.515,4,0.000,0.059,3372,233,1387,0,0,0,0,0,0
$GC,10764,1.61,395.3,11.4,11.8,550,10772,0.08,2.42,0.00,0.000,6,0.096,0.019,3353,1777,1386,0,0,0,0,0,0
$STATE,10840,end climb,SURFACE_DEPTH_REACHED
$STATE,10840,begin surface coast
$FINISH,0.5,1.023756
$STATE,10876,end surface coast,CONTROL_FINISHED_OK
$STATE,10876,begin surface
$SM_CCo,10897,179.05,0.525,0,0,477,619.14
$SM_GC,0.99,0.00,0.00,179.05,0.000,0.000,0.525,475,1779,477,-11.62,0.25,619.14
$IRIDIUM_FIX,2246.36,-15743.68,090200,060618
$TT8_MAMPS,0.026078
$HUMID,55.39
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,21.20
$XPDR_PINGS,128
$24V_AH,23.3,91.106
$10V_AH,9.9,83.808
$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,28.100,156.125,451.125,179.050,0.000,135.212,400.408,0.000,32.000,0.000,13.912,1137.337,7590.664,719.725,1683.586,877.877,33.364,1535.009,0.000,1668.905,0.000,0.535,0.000
$DEVICE_MAMPS,168.740,104.312,911.196,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.244,291.628,396.809,775.335,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44570,570
$CAP_FILE_SIZE,122545,0
$CFSIZE,260165632,144125952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151110,092800,2255.094,-15742.391,29,1.1,39,10.1