version: 66.06
glider: 146
mission: 5
dive: 140
start: 9 4 110 20 11 29
data:
$ID,146
$MISSION,5
$DIVE,140
$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,-250112.42
$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,35
$R_STBD_OVSHOOT,67
$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
$GPS1,200425,2257.366,-15754.996,38,1.4,38,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-66.8
$GPS2,201032,2257.352,-15755.062,15,1.4,15,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.053
$KALMAN_X,-138468.9,-368.1,-1.2,165592.9,-1748.6
$KALMAN_Y,-2362.0,-25.9,-74.6,144645.3,46.6
$MHEAD_RNG_PITCHd_Wd,93.9,27137,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-86.22,0.000,2,0.000,0.000,473,1750,3475,0,0,0,0,0,0
$GC,107,-1.15,-116.8,3.9,-5.2,11,123,11.50,2.58,0.00,0.000,4,0.139,0.050,2740,201,3477,0,0,0,0,0,0
$GC,168,-0.72,-116.8,24.8,-27.7,19,176,0.43,2.40,0.00,0.000,6,0.074,0.015,2839,1768,3478,0,0,0,0,0,0
$GC,442,-0.76,-116.8,55.0,-10.1,46,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1769,3478,0,0,0,0,0,0
$GC,707,-0.83,-116.8,76.3,-6.3,71,711,0.00,2.45,0.00,0.000,4,0.000,0.026,2839,3332,3479,0,0,0,0,0,0
$GC,728,-0.92,-116.8,77.7,-6.2,72,733,0.17,2.50,0.00,0.000,6,0.055,0.028,2779,1778,3479,0,0,0,0,0,0
$GC,992,-0.92,-116.8,99.7,-8.3,96,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1778,3479,0,0,0,0,0,0
$GC,1243,-0.92,-116.8,123.7,-10.0,120,1248,0.00,2.70,0.00,0.000,4,0.000,0.063,2779,192,3480,0,0,0,0,0,0
$GC,1273,-0.92,-116.8,126.6,-10.3,122,1278,0.00,2.40,0.00,0.000,6,0.000,0.021,2779,1801,3480,0,0,0,0,0,0
$GC,1536,-0.92,-116.8,151.5,-9.4,146,1540,0.00,2.75,0.00,0.000,4,0.000,0.067,2779,191,3480,0,0,0,0,0,0
$GC,1602,-0.92,-116.8,157.7,-9.3,151,1606,0.00,2.35,0.00,0.000,6,0.000,0.021,2779,1768,3480,0,0,0,0,0,0
$GC,1870,-0.92,-116.8,180.5,-8.8,175,1874,0.00,2.42,0.00,0.000,4,0.000,0.033,2779,3317,3480,0,0,0,0,0,0
$GC,1903,-0.98,-116.8,184.0,-9.0,177,1912,0.00,2.50,0.00,0.000,6,0.000,0.029,2779,1772,3480,0,0,0,0,0,0
$GC,2193,-0.98,-116.8,207.2,-7.9,199,2197,0.00,2.70,0.00,0.000,4,0.000,0.073,2779,194,3480,0,0,0,0,0,0
$GC,2208,-0.98,-116.8,208.6,-8.0,199,2213,0.00,2.35,0.00,0.000,6,0.000,0.016,2779,1780,3480,0,0,0,0,0,0
$GC,2469,-0.98,-116.8,230.2,-8.3,206,2474,0.00,2.75,0.00,0.000,4,0.000,0.074,2779,186,3480,0,0,0,0,0,0
$GC,2503,-0.98,-116.8,233.2,-8.8,206,2508,0.00,2.35,0.00,0.000,6,0.000,0.021,2779,1754,3480,0,0,0,0,0,0
$GC,2753,-1.02,-116.8,253.4,-8.0,213,2757,0.00,2.45,0.00,0.000,4,0.000,0.032,2779,3322,3479,0,0,0,0,0,0
$GC,2792,-1.10,-116.8,256.3,-7.3,214,2797,0.00,2.50,0.00,0.000,6,0.000,0.030,2779,1762,3479,0,0,0,0,0,0
$GC,3077,-1.15,-116.8,276.1,-6.9,221,3083,0.12,2.72,0.00,0.000,4,0.077,0.072,2735,189,3479,0,0,0,0,0,0
$GC,3099,-1.15,-116.8,278.2,-8.2,221,3103,0.00,2.38,0.00,0.000,6,0.000,0.018,2735,1759,3478,0,0,0,0,0,0
$GC,3360,-1.15,-116.8,301.6,-9.1,228,3365,0.00,2.70,0.00,0.000,4,0.000,0.072,2735,193,3478,0,0,0,0,0,0
$GC,3385,-1.11,-116.8,303.8,-10.2,228,3390,0.10,2.40,0.00,0.000,6,0.118,0.025,2758,1752,3479,0,0,0,0,0,0
$GC,3641,-1.11,-116.8,325.5,-8.2,235,3646,0.00,2.55,0.00,0.000,4,0.000,0.040,2758,3347,3478,0,0,0,0,0,0
$GC,3669,-1.16,-116.8,328.3,-9.3,235,3673,0.00,2.58,0.00,0.000,6,0.000,0.045,2758,1775,3478,0,0,0,0,0,0
$GC,3920,-1.20,-116.8,349.1,-8.1,241,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1775,3477,0,0,0,0,0,0
$GC,4163,-1.24,-116.8,366.3,-6.8,247,4168,0.12,2.58,0.00,0.000,4,0.074,0.038,2718,3345,3475,0,0,0,0,0,0
$GC,4190,-1.24,-116.8,368.5,-8.0,247,4195,0.00,2.60,0.00,0.000,6,0.000,0.048,2718,1773,3475,0,0,0,0,0,0
$GC,4441,-1.24,-116.8,388.5,-8.2,253,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1774,3475,0,0,0,0,0,0
$GC,4684,-1.24,-116.8,409.6,-8.8,259,4688,0.00,2.58,0.00,0.000,4,0.000,0.049,2717,3341,3473,0,0,0,0,0,0
$GC,4723,-1.24,-116.8,413.3,-9.1,260,4727,0.00,2.65,0.00,0.000,6,0.000,0.058,2717,1780,3473,0,0,0,0,0,0
$GC,5007,-1.24,-116.8,438.9,-8.9,267,5011,0.00,2.55,0.00,0.000,4,0.000,0.049,2718,3339,3471,0,0,0,0,0,0
$GC,5028,-1.24,-116.8,440.9,-8.6,267,5032,0.00,2.65,0.00,0.000,6,0.000,0.058,2718,1779,3471,0,0,0,0,0,0
$GC,5283,-1.24,-116.8,462.8,-8.7,274,5287,0.00,2.97,0.00,0.000,4,0.000,0.115,2717,183,3469,0,0,0,0,0,0
$GC,5305,-1.24,-116.8,465.0,-9.9,274,5309,0.00,2.58,0.00,0.000,6,0.000,0.034,2717,1768,3469,0,0,0,0,0,0
$GC,5560,-1.24,-116.8,486.8,-8.5,281,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1769,3467,0,0,0,0,0,0
$STATE,5720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5720,begin apogee
$GC,5726,-0.31,0.0,500.6,8.5,285,5824,0.95,0.00,95.07,0.917,6,0.076,0.000,2933,1835,3001,0,0,0,0,0,0
$STATE,5825,end apogee,CONTROL_FINISHED_OK
$STATE,5825,begin climb
$GC,5829,1.15,116.8,503.1,0.0,287,5940,1.33,2.83,99.95,0.894,4,0.051,0.067,3257,3401,2522,0,0,0,0,0,0
$GC,5957,1.08,181.9,502.9,5.0,290,6021,0.00,2.78,56.35,0.874,6,0.000,0.057,3256,1811,2259,0,0,0,0,0,0
$GC,6278,0.96,181.9,472.0,10.6,298,6280,0.22,0.00,0.00,0.000,6,0.163,0.000,3211,1811,2250,0,0,0,0,0,0
$GC,6522,0.96,181.9,448.4,9.6,304,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1811,2248,0,0,0,0,0,0
$GC,6766,0.96,181.9,425.8,9.0,310,6770,0.00,2.62,0.00,0.000,4,0.000,0.044,3211,3406,2246,0,0,0,0,0,0
$GC,6822,0.96,181.9,421.2,8.5,311,6826,0.00,2.65,0.00,0.000,6,0.000,0.051,3211,1831,2244,0,0,0,0,0,0
$GC,7091,1.00,214.6,402.7,6.5,318,7126,0.00,2.70,27.27,0.839,4,0.000,0.041,3211,3417,2125,0,0,0,0,0,0
$GC,7178,1.01,218.0,396.2,7.9,320,7188,0.00,2.62,4.10,0.551,6,0.000,0.049,3211,1852,2112,0,0,0,0,0,0
$GC,7467,1.02,227.7,374.0,7.6,327,7479,0.00,0.00,9.95,0.760,6,0.000,0.000,3211,1852,2072,0,0,0,0,0,0
$GC,7711,1.04,243.7,356.2,7.3,333,7728,0.00,0.00,15.68,0.791,6,0.000,0.000,3211,1852,2006,0,0,0,0,0,0
$GC,7955,1.04,243.7,336.6,8.2,339,7960,0.00,2.53,0.00,0.000,4,0.000,0.035,3211,3408,2002,0,0,0,0,0,0
$GC,7971,1.04,243.7,335.1,8.1,339,7976,0.00,2.60,0.00,0.000,6,0.000,0.037,3211,1840,2001,0,0,0,0,0,0
$GC,8232,1.04,243.7,313.7,8.4,346,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1839,2000,0,0,0,0,0,0
$GC,8478,1.05,255.5,295.1,7.5,352,8494,0.00,2.85,10.95,0.726,4,0.000,0.075,3211,237,1958,0,0,0,0,0,0
$GC,8505,1.06,261.9,292.7,7.7,352,8519,0.00,2.58,7.20,0.657,6,0.000,0.023,3210,1867,1933,0,0,0,0,0,0
$GC,8806,1.11,261.9,267.1,8.7,360,8812,0.12,2.88,0.00,0.000,4,0.109,0.067,3243,232,1931,0,0,0,0,0,0
$GC,8835,1.04,261.9,263.9,11.2,360,8840,0.00,2.53,0.00,0.000,6,0.000,0.025,3243,1838,1929,0,0,0,0,0,0
$GC,9085,1.04,261.9,240.4,9.0,366,9089,0.00,2.47,0.00,0.000,4,0.000,0.038,3242,3394,1929,0,0,0,0,0,0
$GC,9145,1.04,261.9,234.4,9.9,367,9150,0.00,2.50,0.00,0.000,6,0.000,0.035,3243,1850,1928,0,0,0,0,0,0
$GC,9407,1.04,261.9,210.9,8.7,374,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1850,1927,0,0,0,0,0,0
$GC,9653,1.04,261.9,190.8,8.4,386,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1850,1928,0,0,0,0,0,0
$GC,9908,1.04,261.9,168.2,9.4,410,9909,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1850,1928,0,0,0,0,0,0
$GC,10164,1.04,261.9,142.0,10.6,434,10169,0.00,2.47,0.00,0.000,4,0.000,0.035,3242,3405,1928,0,0,0,0,0,0
$GC,10187,1.04,261.9,140.1,10.6,435,10191,0.00,2.47,0.00,0.000,6,0.000,0.032,3243,1858,1928,0,0,0,0,0,0
$GC,10454,1.04,261.9,116.8,8.1,459,10459,0.00,2.72,0.00,0.000,4,0.000,0.061,3242,244,1928,0,0,0,0,0,0
$GC,10510,1.04,261.9,110.9,10.1,463,10514,0.00,2.50,0.00,0.000,6,0.000,0.023,3243,1866,1928,0,0,0,0,0,0
$GC,10778,1.11,290.9,91.9,6.7,487,10812,0.00,2.47,25.90,0.584,4,0.000,0.033,3243,3383,1813,0,0,0,0,0,0
$GC,10841,1.22,290.9,86.4,8.3,492,10850,0.00,2.53,0.00,0.000,6,0.000,0.033,3243,1857,1812,0,0,0,0,0,0
$GC,11109,1.32,303.9,66.4,7.4,517,11128,0.17,2.80,12.55,0.533,4,0.062,0.061,3294,240,1760,0,0,0,0,0,0
$GC,11145,1.32,303.9,63.0,9.5,519,11149,0.00,2.53,0.00,0.000,6,0.000,0.025,3294,1870,1759,0,0,0,0,0,0
$GC,11412,1.32,303.9,36.3,10.1,543,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1871,1758,0,0,0,0,0,0
$STATE,11732,end climb,SURFACE_DEPTH_REACHED
$STATE,11733,begin surface coast
$FINISH,0.2,1.016057
$STATE,11784,end surface coast,CONTROL_FINISHED_OK
$STATE,11784,begin surface
$SM_CCo,11806,100.45,0.464,1,0,1287,420.20
$SM_GC,0.95,0.00,0.00,100.45,0.000,0.000,0.464,475,1748,1287,-11.62,-0.62,420.20
$IRIDIUM_FIX,2248.70,-15753.23,291199,161606
$TT8_MAMPS,0.025311
$HUMID,42.71
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.50
$XPDR_PINGS,56
$24V_AH,23.6,21.912
$10V_AH,10.4,21.619
$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,26.600,134.525,364.975,100.450,0.000,24.840,27.946,174.957,14.000,0.000,17.068,1172.675,7853.397,543.791,2177.278,534.448,33.376,1320.899,0.000,2182.630,0.000,0.535,0.000
$DEVICE_MAMPS,162.604,115.050,916.565,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.481,350.558,459.346,874.736,1321.643,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,47889,594
$CAP_FILE_SIZE,116909,0
$CFSIZE,260165632,174374912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040910,233124,2256.868,-15754.512,24,1.9,41,10.1