version: 66.06
glider: 146
mission: 5
dive: 159
start: 9 7 110 13 44 55
data:
$ID,146
$MISSION,5
$DIVE,159
$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,-250528.09
$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,30
$R_STBD_OVSHOOT,64
$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
$GPS1,133740,2249.704,-15745.308,32,99.0,51,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-66.0
$GPS2,134401,2249.648,-15745.410,41,1.1,41,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,0.015
$KALMAN_X,-172381.4,223.4,-298.3,215817.0,-1597.3
$KALMAN_Y,-12125.9,-289.5,-580.5,140912.7,-412.8
$MHEAD_RNG_PITCHd_Wd,76.0,5944,-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,-86.57,0.000,6,0.000,0.000,475,1752,3478,0,0,0,0,0,0
$GC,109,-1.15,-116.8,4.0,-5.2,11,125,11.45,2.50,0.00,0.000,4,0.137,0.024,2741,3341,3480,0,0,0,0,0,0
$GC,169,-0.82,-116.8,23.9,-25.6,19,179,0.30,2.58,0.00,0.000,6,0.067,0.035,2814,1778,3481,0,0,0,0,0,0
$GC,446,-0.82,-116.8,56.3,-11.6,47,451,0.00,2.70,0.00,0.000,4,0.000,0.060,2814,193,3481,0,0,0,0,0,0
$GC,469,-0.78,-116.8,58.9,-11.6,48,473,0.00,2.40,0.00,0.000,6,0.000,0.015,2814,1806,3481,0,0,0,0,0,0
$GC,732,-0.82,-116.8,85.3,-8.6,72,736,0.00,2.75,0.00,0.000,4,0.000,0.064,2814,188,3481,0,0,0,0,0,0
$GC,778,-0.89,-116.8,88.7,-8.1,75,783,0.00,2.35,0.00,0.000,6,0.000,0.015,2813,1759,3481,0,0,0,0,0,0
$GC,1045,-0.95,-116.8,109.2,-8.0,99,1049,0.00,2.45,0.00,0.000,4,0.000,0.031,2814,3313,3482,0,0,0,0,0,0
$GC,1086,-1.07,-116.8,112.9,-8.0,102,1091,0.20,2.50,0.00,0.000,6,0.052,0.035,2749,1748,3482,0,0,0,0,0,0
$GC,1346,-1.02,-116.8,140.4,-10.8,126,1352,0.12,2.67,0.00,0.000,4,0.108,0.064,2777,190,3483,0,0,0,0,0,0
$GC,1380,-1.02,-116.8,144.1,-10.2,128,1390,0.00,2.35,0.00,0.000,6,0.000,0.015,2777,1744,3483,0,0,0,0,0,0
$GC,1644,-1.02,-116.8,166.4,-7.9,153,1648,0.00,2.62,0.00,0.000,4,0.000,0.065,2777,197,3482,0,0,0,0,0,0
$GC,1667,-1.02,-116.8,168.1,-8.3,154,1671,0.00,2.30,0.00,0.000,6,0.000,0.022,2777,1749,3482,0,0,0,0,0,0
$GC,1935,-1.02,-116.8,190.6,-7.9,178,1939,0.00,2.42,0.00,0.000,4,0.000,0.033,2777,3314,3482,0,0,0,0,0,0
$GC,1964,-1.07,-116.8,193.4,-7.9,180,1968,0.00,2.47,0.00,0.000,6,0.000,0.033,2777,1754,3482,0,0,0,0,0,0
$GC,2219,-1.07,-116.8,213.3,-7.9,192,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1753,3482,0,0,0,0,0,0
$GC,2461,-1.11,-116.8,234.8,-9.1,198,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1751,3482,0,0,0,0,0,0
$GC,2705,-1.15,-116.8,258.9,-10.0,204,2707,0.12,0.00,0.00,0.000,6,0.072,0.000,2733,1751,3482,0,0,0,0,0,0
$GC,2949,-1.11,-116.8,284.8,-10.5,210,2950,0.10,0.00,0.00,0.000,6,0.114,0.000,2757,1751,3481,0,0,0,0,0,0
$GC,3194,-1.11,-116.8,302.6,-7.0,216,3198,0.00,2.45,0.00,0.000,4,0.000,0.031,2757,3307,3481,0,0,0,0,0,0
$GC,3221,-1.16,-116.8,304.6,-6.9,216,3225,0.00,2.50,0.00,0.000,6,0.000,0.037,2757,1758,3481,0,0,0,0,0,0
$GC,3471,-1.16,-116.8,319.8,-5.9,222,3475,0.00,2.75,0.00,0.000,4,0.000,0.084,2756,190,3480,0,0,0,0,0,0
$GC,3505,-1.16,-116.8,322.2,-7.2,222,3510,0.00,2.35,0.00,0.000,6,0.000,0.026,2756,1716,3480,0,0,0,0,0,0
$GC,3755,-1.19,-116.8,339.7,-7.1,229,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1716,3480,0,0,0,0,0,0
$GC,3998,-1.23,-116.8,360.0,-8.6,235,4004,0.12,2.58,0.00,0.000,4,0.074,0.046,2716,3301,3478,0,0,0,0,0,0
$GC,4032,-1.23,-116.8,363.7,-11.4,235,4040,0.00,2.55,0.00,0.000,6,0.000,0.044,2716,1753,3478,0,0,0,0,0,0
$GC,4282,-1.23,-116.8,391.7,-11.0,242,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1753,3477,0,0,0,0,0,0
$GC,4526,-1.23,-116.8,416.1,-9.7,248,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1753,3476,0,0,0,0,0,0
$GC,4769,-1.23,-116.8,437.4,-8.7,254,4774,0.00,2.55,0.00,0.000,4,0.000,0.052,2716,3305,3475,0,0,0,0,0,0
$GC,4826,-1.23,-116.8,442.3,-8.5,255,4831,0.00,2.70,0.00,0.000,6,0.000,0.060,2716,1734,3474,0,0,0,0,0,0
$GC,5092,-1.23,-116.8,465.0,-8.7,262,5096,0.00,2.58,0.00,0.000,4,0.000,0.051,2716,3298,3472,0,0,0,0,0,0
$GC,5133,-1.23,-116.8,468.3,-8.8,263,5137,0.00,2.67,0.00,0.000,6,0.000,0.067,2716,1739,3472,0,0,0,0,0,0
$GC,5417,-1.23,-116.8,493.1,-8.8,270,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1738,3470,0,0,0,0,0,0
$STATE,5535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5535,begin apogee
$GC,5540,-0.31,0.0,503.2,8.4,273,5639,0.95,0.00,95.55,0.914,6,0.074,0.000,2932,1738,3001,0,0,0,0,0,0
$STATE,5640,end apogee,CONTROL_FINISHED_OK
$STATE,5640,begin climb
$GC,5643,1.15,116.8,505.5,0.0,275,5755,1.33,2.90,99.68,0.889,4,0.043,0.112,3254,233,2522,0,0,0,0,0,0
$GC,5761,1.07,198.0,504.3,4.2,277,5837,0.08,2.50,69.40,0.874,6,0.114,0.038,3236,1757,2194,0,0,0,0,0,0
$GC,6096,1.00,198.0,475.6,9.2,286,6101,0.00,2.72,0.00,0.000,4,0.000,0.063,3236,3343,2185,0,0,0,0,0,0
$GC,6213,0.96,198.0,465.3,8.6,288,6219,0.12,2.60,0.00,0.000,6,0.124,0.055,3210,1825,2183,0,0,0,0,0,0
$GC,6464,0.97,207.2,446.3,7.6,294,6474,0.00,0.00,7.38,0.727,6,0.000,0.000,3210,1826,2156,0,0,0,0,0,0
$GC,6707,0.97,207.8,426.9,8.0,300,6711,0.00,2.50,0.00,0.000,4,0.000,0.041,3210,3354,2154,0,0,0,0,0,0
$GC,6773,0.97,207.8,421.4,8.8,301,6777,0.00,2.55,0.00,0.000,6,0.000,0.050,3210,1843,2153,0,0,0,0,0,0
$GC,7030,0.98,217.1,401.8,7.6,308,7046,0.00,2.97,9.88,0.773,4,0.000,0.093,3210,230,2114,0,0,0,0,0,0
$GC,7063,0.94,217.3,399.0,8.0,308,7068,0.00,2.50,0.00,0.000,6,0.000,0.023,3210,1801,2113,0,0,0,0,0,0
$GC,7312,0.96,231.7,380.4,7.3,315,7332,0.00,2.62,14.15,0.798,4,0.000,0.041,3210,3397,2055,0,0,0,0,0,0
$GC,7362,1.00,236.3,376.6,7.8,316,7373,0.00,2.60,5.70,0.649,6,0.000,0.046,3210,1845,2036,0,0,0,0,0,0
$GC,7640,1.00,238.6,355.6,7.9,323,7644,0.00,2.53,0.00,0.000,4,0.000,0.031,3210,3402,2033,0,0,0,0,0,0
$GC,7666,1.00,238.6,353.0,9.4,323,7671,0.00,2.58,0.00,0.000,6,0.000,0.038,3210,1847,2032,0,0,0,0,0,0
$GC,7918,1.00,238.6,330.5,9.2,329,7922,0.00,2.85,0.00,0.000,4,0.000,0.076,3210,232,2031,0,0,0,0,0,0
$GC,7957,1.00,238.6,326.3,10.8,330,7961,0.00,2.55,0.00,0.000,6,0.000,0.025,3210,1854,2030,0,0,0,0,0,0
$GC,8241,1.04,238.6,301.2,8.9,337,8246,0.00,2.47,0.00,0.000,4,0.000,0.038,3210,3396,2030,0,0,0,0,0,0
$GC,8274,1.10,238.6,298.0,9.1,337,8281,0.12,2.53,0.00,0.000,6,0.081,0.040,3243,1852,2029,0,0,0,0,0,0
$GC,8524,1.10,238.6,274.7,9.0,344,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1852,2029,0,0,0,0,0,0
$GC,8768,1.11,245.9,254.9,7.7,350,8782,0.00,2.55,8.68,0.664,4,0.000,0.033,3243,3395,1998,0,0,0,0,0,0
$GC,8817,1.11,245.9,250.9,8.4,351,8821,0.00,2.53,0.00,0.000,6,0.000,0.038,3243,1859,1996,0,0,0,0,0,0
$GC,9096,1.11,245.9,229.1,8.1,358,9101,0.00,2.47,0.00,0.000,4,0.000,0.031,3243,3405,1996,0,0,0,0,0,0
$GC,9118,1.11,245.9,227.0,8.9,358,9122,0.00,2.47,0.00,0.000,6,0.000,0.034,3243,1863,1996,0,0,0,0,0,0
$GC,9375,1.11,245.9,204.3,9.1,365,9379,0.00,2.45,0.00,0.000,4,0.000,0.028,3243,3401,1995,0,0,0,0,0,0
$GC,9414,1.11,245.9,200.6,9.6,366,9418,0.00,2.47,0.00,0.000,6,0.000,0.038,3243,1874,1995,0,0,0,0,0,0
$GC,9683,1.11,245.9,176.9,9.2,388,9687,0.00,2.78,0.00,0.000,4,0.000,0.067,3243,243,1995,0,0,0,0,0,0
$GC,9711,1.06,245.9,173.4,10.5,390,9715,0.00,2.55,0.00,0.000,6,0.000,0.018,3243,1896,1995,0,0,0,0,0,0
$GC,9973,1.07,255.7,150.8,7.6,414,9985,0.00,0.00,10.07,0.589,6,0.000,0.000,3243,1898,1958,0,0,0,0,0,0
$GC,10243,1.07,257.4,129.4,7.9,439,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1898,1957,0,0,0,0,0,0
$GC,10504,1.11,257.4,106.0,8.8,464,10508,0.00,2.40,0.00,0.000,4,0.000,0.035,3243,3408,1956,0,0,0,0,0,0
$GC,10535,1.17,257.4,103.3,9.5,466,10539,0.00,2.50,0.00,0.000,6,0.000,0.031,3243,1864,1956,0,0,0,0,0,0
$GC,10798,1.26,288.0,82.5,6.6,490,10835,0.12,2.80,29.30,0.574,4,0.076,0.065,3281,242,1825,0,0,0,0,0,0
$GC,10866,1.19,288.0,77.4,9.3,495,10872,0.12,2.55,0.00,0.000,6,0.114,0.018,3255,1888,1823,0,0,0,0,0,0
$GC,11132,1.29,317.7,61.7,6.6,519,11163,0.10,2.45,25.90,0.548,4,0.090,0.028,3287,3404,1705,0,0,0,0,0,0
$GC,11195,1.34,317.7,56.6,8.6,523,11204,0.00,2.55,0.00,0.000,6,0.000,0.033,3287,1864,1703,0,0,0,0,0,0
$GC,11465,1.34,317.7,27.5,11.4,549,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1863,1702,0,0,0,0,0,0
$STATE,11728,end climb,SURFACE_DEPTH_REACHED
$STATE,11728,begin surface coast
$FINISH,0.2,1.010466
$STATE,11779,end surface coast,CONTROL_FINISHED_OK
$STATE,11779,begin surface
$SM_CCo,11800,88.97,0.451,1,0,1287,420.20
$SM_GC,0.97,0.00,0.00,88.97,0.000,0.000,0.451,474,1750,1287,-11.62,-0.57,420.20
$IRIDIUM_FIX,2241.69,-15741.52,021299,101043
$TT8_MAMPS,0.025311
$HUMID,42.95
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,49
$24V_AH,23.6,24.108
$10V_AH,10.4,24.092
$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,26.700,138.400,375.675,88.975,0.000,24.765,29.305,160.225,12.250,0.000,43.212,1180.589,7809.841,531.144,2225.706,528.429,33.375,1329.399,0.000,2201.723,0.000,0.536,0.000
$DEVICE_MAMPS,136.526,111.982,914.264,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.828,347.501,461.379,876.153,1326.410,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,47936,594
$CAP_FILE_SIZE,120109,0
$CFSIZE,260165632,173215744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070910,170434,2249.326,-15744.557,41,1.8,41,10.1