version: 66.06
glider: 146
mission: 5
dive: 198
start: 9 13 110 6 6 27
data:
$ID,146
$MISSION,5
$DIVE,198
$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,-251210.64
$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,55
$R_STBD_OVSHOOT,61
$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
$GPS1,055937,2256.100,-15742.391,26,1.3,26,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.5
$GPS2,060532,2256.031,-15742.438,12,1.3,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.109,0.189
$KALMAN_X,-210050.1,-53.4,-150.5,258735.6,-1311.3
$KALMAN_Y,-92515.5,-145.7,-625.0,233024.3,-2106.4
$MHEAD_RNG_PITCHd_Wd,19.9,3722,-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,-86.07,0.000,6,0.000,0.000,474,1735,3478,0,0,0,0,0,0
$GC,109,-1.15,-116.8,4.3,-5.9,11,125,11.55,2.53,0.00,0.000,4,0.141,0.030,2740,3335,3481,0,0,0,0,0,0
$GC,234,-1.05,-116.8,32.5,-13.4,28,239,0.15,2.45,0.00,0.000,6,0.101,0.038,2772,1798,3482,0,0,0,0,0,0
$GC,502,-0.96,-116.8,65.8,-12.3,52,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1799,3482,0,0,0,0,0,0
$GC,766,-0.96,-116.8,95.8,-11.0,77,770,0.00,2.72,0.00,0.000,4,0.000,0.065,2772,189,3483,0,0,0,0,0,0
$GC,801,-0.92,-116.8,100.5,-12.7,79,807,0.12,2.42,0.00,0.000,6,0.116,0.015,2800,1802,3483,0,0,0,0,0,0
$GC,1065,-0.97,-116.8,126.0,-9.6,104,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1803,3484,0,0,0,0,0,0
$GC,1330,-1.04,-116.8,150.8,-8.5,129,1335,0.12,2.75,0.00,0.000,4,0.072,0.061,2759,197,3484,0,0,0,0,0,0
$GC,1422,-1.04,-116.8,160.4,-10.6,136,1426,0.00,2.35,0.00,0.000,6,0.000,0.021,2759,1778,3484,0,0,0,0,0,0
$GC,1688,-1.04,-116.8,184.1,-8.6,160,1692,0.00,2.40,0.00,0.000,4,0.000,0.025,2759,3312,3484,0,0,0,0,0,0
$GC,1733,-1.04,-116.8,187.9,-8.7,163,1738,0.00,2.45,0.00,0.000,6,0.000,0.029,2759,1767,3483,0,0,0,0,0,0
$GC,1999,-1.04,-116.8,211.8,-9.2,179,2004,0.00,2.70,0.00,0.000,4,0.000,0.069,2759,192,3484,0,0,0,0,0,0
$GC,2042,-1.04,-116.8,216.3,-10.0,180,2047,0.00,2.38,0.00,0.000,6,0.000,0.016,2759,1781,3484,0,0,0,0,0,0
$GC,2328,-1.04,-116.8,244.0,-9.7,187,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1783,3484,0,0,0,0,0,0
$GC,2570,-1.04,-116.8,266.9,-9.3,193,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1783,3484,0,0,0,0,0,0
$GC,2814,-1.04,-116.8,290.2,-9.6,199,2818,0.00,2.75,0.00,0.000,4,0.000,0.073,2759,196,3483,0,0,0,0,0,0
$GC,2840,-1.04,-116.8,292.8,-10.1,199,2845,0.00,2.35,0.00,0.000,6,0.000,0.023,2759,1747,3483,0,0,0,0,0,0
$GC,3092,-1.04,-116.8,313.4,-7.9,205,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1748,3483,0,0,0,0,0,0
$GC,3334,-1.04,-116.8,330.5,-7.2,211,3338,0.00,2.55,0.00,0.000,4,0.000,0.041,2759,3336,3482,0,0,0,0,0,0
$GC,3391,-1.11,-116.8,334.4,-7.1,212,3396,0.00,2.55,0.00,0.000,6,0.000,0.046,2759,1777,3482,0,0,0,0,0,0
$GC,3659,-1.16,-116.8,352.3,-6.2,219,3664,0.00,2.83,0.00,0.000,4,0.000,0.089,2758,187,3481,0,0,0,0,0,0
$GC,3691,-1.16,-116.8,355.2,-8.1,219,3697,0.00,2.42,0.00,0.000,6,0.000,0.024,2759,1739,3481,0,0,0,0,0,0
$GC,3944,-1.21,-116.8,374.1,-7.8,226,3948,0.00,2.62,0.00,0.000,4,0.000,0.044,2759,3356,3480,0,0,0,0,0,0
$GC,3988,-1.31,-116.8,377.9,-7.7,227,3993,0.20,2.67,0.00,0.000,6,0.051,0.051,2697,1759,3480,0,0,0,0,0,0
$GC,4266,-1.25,-116.8,405.0,-9.7,234,4271,0.15,2.88,0.00,0.000,4,0.100,0.104,2730,185,3478,0,0,0,0,0,0
$GC,4340,-1.25,-116.8,411.9,-9.4,235,4344,0.00,2.50,0.00,0.000,6,0.000,0.028,2730,1755,3478,0,0,0,0,0,0
$GC,4590,-1.25,-116.8,430.1,-7.1,241,4594,0.00,2.65,0.00,0.000,4,0.000,0.056,2730,3356,3477,0,0,0,0,0,0
$GC,4611,-1.25,-116.8,431.7,-7.5,241,4616,0.00,2.70,0.00,0.000,6,0.000,0.053,2730,1760,3477,0,0,0,0,0,0
$GC,4867,-1.25,-116.8,452.4,-8.6,248,4872,0.00,2.60,0.00,0.000,4,0.000,0.051,2730,3353,3475,0,0,0,0,0,0
$GC,4934,-1.30,-116.8,458.6,-8.6,249,4939,0.00,2.70,0.00,0.000,6,0.000,0.065,2730,1773,3474,0,0,0,0,0,0
$GC,5189,-1.30,-116.8,479.8,-8.4,256,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1773,3473,0,0,0,0,0,0
$GC,5434,-1.30,-116.8,499.8,-8.1,262,5438,0.00,2.03,0.00,0.000,3,0.000,0.111,2730,660,3471,0,0,0,0,0,0
$STATE,5439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5439,begin apogee
$GC,5447,-0.31,0.0,500.5,8.1,262,5546,0.85,0.00,95.32,0.913,6,0.075,0.000,2926,1817,3001,0,0,0,0,0,0
$STATE,5547,end apogee,CONTROL_FINISHED_OK
$STATE,5547,begin climb
$GC,5549,1.15,116.8,502.8,0.0,264,5659,1.35,2.78,99.12,0.888,4,0.046,0.067,3252,3405,2523,0,0,0,0,0,0
$GC,5682,1.08,172.0,500.6,5.5,267,5737,0.00,2.72,47.67,0.867,6,0.000,0.059,3252,1814,2298,0,0,0,0,0,0
$GC,6002,0.97,172.0,474.4,8.7,275,6004,0.20,0.00,0.00,0.000,6,0.194,0.000,3213,1813,2289,0,0,0,0,0,0
$GC,6243,1.00,198.2,457.5,6.8,281,6267,0.00,0.00,22.65,0.847,6,0.000,0.000,3213,1813,2192,0,0,0,0,0,0
$GC,6487,1.04,234.3,441.7,6.3,287,6528,0.00,2.75,32.17,0.854,4,0.000,0.047,3212,3407,2044,0,0,0,0,0,0
$GC,6628,1.05,242.6,431.5,7.6,290,6643,0.00,2.67,8.65,0.745,6,0.000,0.051,3212,1831,2010,0,0,0,0,0,0
$GC,6905,1.07,254.4,410.9,7.5,297,6923,0.00,2.62,11.62,0.785,4,0.000,0.041,3212,3418,1962,0,0,0,0,0,0
$GC,6964,1.13,254.4,406.2,8.2,298,6970,0.15,2.65,0.00,0.000,6,0.075,0.050,3251,1848,1960,0,0,0,0,0,0
$GC,7231,1.07,254.4,381.5,9.5,305,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1848,1958,0,0,0,0,0,0
$GC,7476,1.01,254.4,357.2,10.1,311,7482,0.15,2.55,0.00,0.000,4,0.111,0.032,3221,3411,1957,0,0,0,0,0,0
$GC,7499,1.01,254.4,354.6,10.2,311,7504,0.00,2.60,0.00,0.000,6,0.000,0.041,3220,1850,1956,0,0,0,0,0,0
$GC,7755,1.01,254.4,332.5,8.5,318,7759,0.00,2.85,0.00,0.000,4,0.000,0.083,3220,236,1955,0,0,0,0,0,0
$GC,7770,1.01,254.4,331.2,8.3,318,7774,0.00,2.58,0.00,0.000,6,0.000,0.022,3220,1879,1953,0,0,0,0,0,0
$GC,8033,1.01,254.4,309.8,8.3,325,8037,0.00,2.47,0.00,0.000,4,0.000,0.037,3220,3418,1954,0,0,0,0,0,0
$GC,8093,1.08,254.4,304.1,8.8,326,8098,0.00,2.53,0.00,0.000,6,0.000,0.041,3220,1860,1952,0,0,0,0,0,0
$GC,8354,1.08,254.4,281.8,8.5,333,8358,0.00,2.83,0.00,0.000,4,0.000,0.071,3220,236,1952,0,0,0,0,0,0
$GC,8370,1.08,254.4,280.3,8.4,333,8375,0.00,2.58,0.00,0.000,6,0.000,0.025,3220,1896,1952,0,0,0,0,0,0
$GC,8631,1.08,254.4,257.7,8.7,340,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1898,1952,0,0,0,0,0,0
$GC,8875,1.08,254.4,236.6,8.6,346,8879,0.00,2.85,0.00,0.000,4,0.000,0.065,3220,240,1952,0,0,0,0,0,0
$GC,8891,1.08,254.4,235.2,8.2,346,8896,0.00,2.55,0.00,0.000,6,0.000,0.020,3220,1899,1951,0,0,0,0,0,0
$GC,9153,1.14,275.6,216.0,7.0,353,9174,0.12,0.00,18.20,0.688,6,0.082,0.000,3253,1901,1877,0,0,0,0,0,0
$GC,9398,1.14,275.6,195.2,8.6,362,9399,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1901,1874,0,0,0,0,0,0
$GC,9654,1.14,275.6,172.1,9.8,386,9658,0.00,2.40,0.00,0.000,4,0.000,0.034,3253,3416,1874,0,0,0,0,0,0
$GC,9694,1.14,275.6,167.9,10.4,389,9698,0.00,2.53,0.00,0.000,6,0.000,0.035,3253,1860,1872,0,0,0,0,0,0
$GC,9961,1.14,275.6,141.6,10.3,413,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1859,1872,0,0,0,0,0,0
$GC,10222,1.14,275.6,116.3,8.8,438,10227,0.00,2.72,0.00,0.000,4,0.000,0.061,3253,243,1872,0,0,0,0,0,0
$GC,10252,1.14,275.6,113.2,10.7,440,10256,0.00,2.55,0.00,0.000,6,0.000,0.024,3253,1897,1872,0,0,0,0,0,0
$GC,10516,1.16,293.4,92.9,7.2,464,10539,0.00,2.47,16.20,0.573,4,0.000,0.032,3253,3418,1804,0,0,0,0,0,0
$GC,10557,1.23,306.0,90.2,7.4,467,10582,0.00,2.55,12.70,0.551,6,0.000,0.031,3253,1849,1751,0,0,0,0,0,0
$GC,10837,1.29,318.9,69.7,7.4,493,10855,0.12,2.58,11.93,0.532,4,0.075,0.028,3290,3421,1701,0,0,0,0,0,0
$GC,10878,1.29,318.9,66.3,8.4,496,10882,0.00,2.55,0.00,0.000,6,0.000,0.036,3290,1856,1700,0,0,0,0,0,0
$GC,11146,1.29,318.9,42.6,8.6,520,11150,0.00,2.47,0.00,0.000,4,0.000,0.026,3290,3416,1699,0,0,0,0,0,0
$GC,11180,1.33,318.9,39.1,8.4,522,11189,0.00,2.55,0.00,0.000,6,0.000,0.032,3290,1862,1698,0,0,0,0,0,0
$GC,11481,1.33,318.9,12.9,9.3,561,11490,0.00,2.50,0.00,0.000,4,0.000,0.028,3290,3421,1698,0,0,0,0,0,0
$GC,11499,1.33,318.9,11.0,10.1,563,11508,0.00,2.55,0.00,0.000,6,0.000,0.034,3290,1863,1698,0,0,0,0,0,0
$STATE,11568,end climb,SURFACE_DEPTH_REACHED
$STATE,11568,begin surface coast
$FINISH,0.3,1.012470
$STATE,11615,end surface coast,CONTROL_FINISHED_OK
$STATE,11615,begin surface
$SM_CCo,11638,88.25,0.455,1,0,1287,420.20
$SM_GC,0.92,0.00,0.00,88.25,0.000,0.000,0.455,476,1709,1287,-11.61,-1.72,420.20
$IRIDIUM_FIX,2246.36,-15740.63,081299,020259
$TT8_MAMPS,0.025311
$HUMID,44.88
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.50
$XPDR_PINGS,55
$24V_AH,23.6,28.665
$10V_AH,10.4,29.233
$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,26.650,138.975,376.250,88.250,0.000,23.793,30.094,163.509,13.750,0.000,14.170,1155.800,7710.589,546.409,2151.841,521.458,33.367,1338.005,0.000,2156.517,0.000,0.536,0.000
$DEVICE_MAMPS,194.051,111.215,913.497,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.497,327.447,443.748,849.927,1284.149,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,44825,580
$CAP_FILE_SIZE,116950,0
$CFSIZE,260165632,170815488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130910,092307,2256.266,-15742.479,26,1.4,26,10.1