version: 66.06
glider: 146
mission: 5
dive: 199
start: 9 13 110 9 30 3
data:
$ID,146
$MISSION,5
$DIVE,199
$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,-251223.59
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,092307,2256.266,-15742.479,26,1.4,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.7
$GPS2,092908,2256.252,-15742.544,10,1.4,10,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.051,0.212
$KALMAN_X,-211256.6,-199.4,-345.9,260100.8,-582.9
$KALMAN_Y,-95328.4,-122.6,214.1,235378.9,-2479.3
$MHEAD_RNG_PITCHd_Wd,3.3,3367,-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,-85.70,0.000,6,0.000,0.000,476,1709,3480,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.6,-6.4,11,126,11.45,2.62,0.00,0.000,4,0.137,0.027,2741,3372,3482,0,0,0,0,0,0
$GC,222,-1.06,-116.8,31.6,-14.1,27,228,0.12,2.60,0.00,0.000,6,0.105,0.031,2769,1765,3482,0,0,0,0,0,0
$GC,490,-0.96,-116.8,66.5,-11.6,51,500,0.10,0.00,0.00,0.000,6,0.117,0.000,2790,1765,3482,0,0,0,0,0,0
$GC,751,-0.96,-116.8,90.6,-8.4,76,756,0.00,2.53,0.00,0.000,4,0.000,0.025,2790,3375,3483,0,0,0,0,0,0
$GC,781,-1.00,-116.8,92.8,-7.7,78,786,0.00,2.55,0.00,0.000,6,0.000,0.031,2790,1775,3483,0,0,0,0,0,0
$GC,1045,-1.00,-116.8,115.8,-9.4,102,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1775,3484,0,0,0,0,0,0
$GC,1297,-1.00,-116.8,136.6,-7.0,126,1301,0.00,2.70,0.00,0.000,4,0.000,0.064,2790,188,3484,0,0,0,0,0,0
$GC,1355,-1.07,-116.8,140.9,-7.4,130,1364,0.08,2.53,0.00,0.000,6,0.045,0.021,2752,1838,3484,0,0,0,0,0,0
$GC,1618,-1.03,-116.8,162.6,-9.3,155,1620,0.10,0.00,0.00,0.000,6,0.114,0.000,2774,1840,3484,0,0,0,0,0,0
$GC,1872,-1.03,-116.8,184.4,-8.9,179,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1840,3484,0,0,0,0,0,0
$GC,2143,-1.03,-116.8,207.4,-8.3,199,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1839,3484,0,0,0,0,0,0
$GC,2387,-1.03,-116.8,227.4,-8.2,205,2391,0.00,2.83,0.00,0.000,4,0.000,0.071,2774,196,3484,0,0,0,0,0,0
$GC,2414,-1.03,-116.8,229.9,-9.1,205,2419,0.00,2.47,0.00,0.000,6,0.000,0.021,2774,1837,3484,0,0,0,0,0,0
$GC,2665,-1.07,-116.8,249.8,-7.8,211,2669,0.00,2.80,0.00,0.000,4,0.000,0.071,2775,196,3484,0,0,0,0,0,0
$GC,2697,-1.07,-116.8,252.6,-8.3,211,2703,0.00,2.45,0.00,0.000,6,0.000,0.022,2774,1822,3484,0,0,0,0,0,0
$GC,2949,-1.12,-116.8,272.5,-8.1,218,2953,0.00,2.80,0.00,0.000,4,0.000,0.067,2774,193,3484,0,0,0,0,0,0
$GC,2988,-1.18,-116.8,276.5,-10.2,219,2993,0.12,2.42,0.00,0.000,6,0.071,0.024,2733,1795,3484,0,0,0,0,0,0
$GC,3271,-1.18,-116.8,309.4,-11.8,226,3275,0.00,2.42,0.00,0.000,4,0.000,0.031,2733,3332,3483,0,0,0,0,0,0
$GC,3300,-1.18,-116.8,312.7,-11.7,226,3304,0.00,2.55,0.00,0.000,6,0.000,0.043,2733,1760,3483,0,0,0,0,0,0
$GC,3549,-1.18,-116.8,340.5,-11.1,232,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1759,3482,0,0,0,0,0,0
$GC,3793,-1.18,-116.8,361.7,-8.2,238,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1760,3481,0,0,0,0,0,0
$GC,4037,-1.18,-116.8,380.1,-7.5,244,4041,0.00,2.58,0.00,0.000,4,0.000,0.046,2733,3326,3481,0,0,0,0,0,0
$GC,4065,-1.18,-116.8,382.2,-7.3,244,4070,0.00,2.65,0.00,0.000,6,0.000,0.057,2733,1758,3481,0,0,0,0,0,0
$GC,4315,-1.18,-116.8,399.6,-6.9,250,4320,0.00,2.85,0.00,0.000,4,0.000,0.105,2733,185,3479,0,0,0,0,0,0
$GC,4331,-1.18,-116.8,400.7,-6.6,250,4335,0.00,2.42,0.00,0.000,6,0.000,0.032,2732,1732,3479,0,0,0,0,0,0
$GC,4593,-1.18,-116.8,419.4,-7.4,257,4598,0.00,2.67,0.00,0.000,4,0.000,0.055,2733,3361,3477,0,0,0,0,0,0
$GC,4677,-1.21,-116.8,426.0,-8.2,259,4682,0.00,2.67,0.00,0.000,6,0.000,0.058,2733,1772,3477,0,0,0,0,0,0
$GC,4962,-1.21,-116.8,452.1,-9.3,266,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1772,3475,0,0,0,0,0,0
$GC,5204,-1.21,-116.8,474.3,-8.9,272,5208,0.00,2.97,0.00,0.000,4,0.000,0.111,2733,179,3474,0,0,0,0,0,0
$GC,5236,-1.21,-116.8,477.3,-9.3,272,5242,0.00,2.58,0.00,0.000,6,0.000,0.039,2733,1761,3474,0,0,0,0,0,0
$GC,5486,-1.21,-116.8,496.6,-7.2,279,5491,0.00,2.70,0.00,0.000,4,0.000,0.067,2733,3354,3472,0,0,0,0,0,0
$GC,5515,-1.26,-116.8,498.4,-6.7,279,5520,0.00,2.72,0.00,0.000,6,0.000,0.065,2733,1767,3472,0,0,0,0,0,0
$STATE,5561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5561,begin apogee
$GC,5567,-0.31,0.0,501.8,7.1,280,5666,0.88,0.00,95.72,0.917,6,0.072,0.000,2933,1850,3001,0,0,0,0,0,0
$STATE,5667,end apogee,CONTROL_FINISHED_OK
$STATE,5667,begin climb
$GC,5669,1.15,116.8,503.6,0.0,282,5777,1.33,2.65,99.60,0.891,4,0.052,0.052,3257,3381,2523,0,0,0,0,0,0
$GC,5786,1.08,178.2,502.5,5.2,285,5846,0.10,2.70,53.12,0.869,6,0.133,0.053,3238,1819,2273,0,0,0,0,0,0
$GC,6129,0.99,178.2,474.5,8.3,294,6134,0.10,2.60,0.00,0.000,4,0.135,0.048,3217,3386,2264,0,0,0,0,0,0
$GC,6235,0.99,178.2,466.0,8.2,296,6239,0.00,2.67,0.00,0.000,6,0.000,0.054,3217,1825,2262,0,0,0,0,0,0
$GC,6504,0.97,197.2,446.8,7.1,303,6525,0.00,3.03,15.30,0.828,4,0.000,0.109,3217,230,2197,0,0,0,0,0,0
$GC,6559,0.87,197.2,441.9,9.0,304,6564,0.12,2.55,0.00,0.000,6,0.123,0.031,3192,1796,2195,0,0,0,0,0,0
$GC,6825,0.89,212.0,422.2,7.3,311,6845,0.00,2.75,14.43,0.818,4,0.000,0.049,3192,3412,2135,0,0,0,0,0,0
$GC,6925,0.94,212.0,414.0,8.5,313,6930,0.00,2.67,0.00,0.000,6,0.000,0.046,3192,1830,2132,0,0,0,0,0,0
$GC,7197,0.96,229.6,394.0,7.2,320,7220,0.00,2.62,16.23,0.815,4,0.000,0.036,3192,3416,2064,0,0,0,0,0,0
$GC,7303,1.04,229.6,385.5,8.7,322,7308,0.15,2.60,0.00,0.000,6,0.076,0.049,3232,1861,2062,0,0,0,0,0,0
$GC,7569,1.04,229.6,361.7,8.8,329,7574,0.00,2.90,0.00,0.000,4,0.000,0.082,3232,235,2059,0,0,0,0,0,0
$GC,7592,0.97,229.6,359.5,9.7,329,7597,0.00,2.62,0.00,0.000,6,0.000,0.023,3232,1879,2058,0,0,0,0,0,0
$GC,7848,0.97,229.6,337.9,8.3,336,7852,0.00,2.47,0.00,0.000,4,0.000,0.043,3232,3410,2058,0,0,0,0,0,0
$GC,7914,0.97,229.6,332.4,8.5,337,7918,0.00,2.53,0.00,0.000,6,0.000,0.040,3232,1871,2057,0,0,0,0,0,0
$GC,8176,0.99,241.9,313.1,7.4,344,8194,0.00,2.92,11.32,0.745,4,0.000,0.079,3232,229,2013,0,0,0,0,0,0
$GC,8207,0.95,241.9,310.2,9.2,344,8212,0.12,2.65,0.00,0.000,6,0.120,0.025,3208,1894,2013,0,0,0,0,0,0
$GC,8457,0.99,241.9,289.8,8.3,350,8461,0.00,2.45,0.00,0.000,4,0.000,0.034,3207,3416,2011,0,0,0,0,0,0
$GC,8519,1.07,241.9,284.2,9.2,351,8524,0.10,2.50,0.00,0.000,6,0.090,0.038,3236,1877,2010,0,0,0,0,0,0
$GC,8779,1.07,241.9,258.6,10.0,358,8784,0.00,2.85,0.00,0.000,4,0.000,0.075,3236,228,2010,0,0,0,0,0,0
$GC,8795,1.07,241.9,256.9,9.8,358,8799,0.00,2.65,0.00,0.000,6,0.000,0.025,3236,1915,2008,0,0,0,0,0,0
$GC,9057,1.07,241.9,234.1,8.4,365,9062,0.00,2.90,0.00,0.000,4,0.000,0.064,3235,230,2008,0,0,0,0,0,0
$GC,9096,1.02,241.9,230.5,9.1,366,9101,0.00,2.62,0.00,0.000,6,0.000,0.022,3236,1910,2008,0,0,0,0,0,0
$GC,9380,1.04,260.6,209.9,7.1,373,9399,0.00,0.00,17.27,0.683,6,0.000,0.000,3236,1911,1938,0,0,0,0,0,0
$GC,9632,1.05,269.6,191.4,7.6,385,9647,0.00,2.40,9.10,0.617,4,0.000,0.036,3236,3415,1901,0,0,0,0,0,0
$GC,9678,1.09,269.6,187.3,8.1,389,9682,0.00,2.53,0.00,0.000,6,0.000,0.037,3236,1869,1900,0,0,0,0,0,0
$GC,9942,1.11,284.7,167.9,7.3,413,9962,0.00,0.00,14.73,0.632,6,0.000,0.000,3236,1868,1839,0,0,0,0,0,0
$GC,10219,1.11,284.7,147.4,8.2,439,10224,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1869,1836,0,0,0,0,0,0
$GC,10482,1.16,284.7,123.6,9.7,464,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1869,1836,0,0,0,0,0,0
$GC,10735,1.22,284.7,101.6,8.5,488,10737,0.12,0.00,0.00,0.000,6,0.076,0.000,3272,1869,1836,0,0,0,0,0,0
$GC,10995,1.22,284.7,78.2,8.7,512,11003,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1869,1836,0,0,0,0,0,0
$GC,11260,1.23,293.8,57.5,7.6,537,11275,0.00,2.47,9.23,0.507,4,0.000,0.025,3272,3416,1802,0,0,0,0,0,0
$GC,11330,1.32,293.8,51.9,9.0,542,11334,0.00,2.47,0.00,0.000,6,0.000,0.032,3272,1875,1802,0,0,0,0,0,0
$GC,11599,1.32,293.8,28.0,9.0,567,11608,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1875,1800,0,0,0,0,0,0
$STATE,11905,end climb,SURFACE_DEPTH_REACHED
$STATE,11905,begin surface coast
$FINISH,0.3,1.022173
$STATE,11968,end surface coast,CONTROL_FINISHED_OK
$STATE,11968,begin surface
$SM_CCo,11989,115.00,0.466,1,0,1287,420.20
$SM_GC,0.97,0.00,0.00,115.00,0.000,0.000,0.466,476,1726,1287,-11.61,-1.24,420.20
$IRIDIUM_FIX,2246.36,-15743.68,081299,060633
$TT8_MAMPS,0.025311
$HUMID,44.48
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.90
$XPDR_PINGS,50
$24V_AH,23.5,28.779
$10V_AH,10.4,29.368
$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,26.250,132.175,356.050,115.000,0.000,28.383,34.260,161.590,12.500,0.000,12.327,1223.317,7829.735,565.257,2324.333,529.157,33.373,1365.511,0.000,2327.200,0.000,0.536,0.000
$DEVICE_MAMPS,137.293,111.215,916.565,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,420.073,360.638,486.824,917.815,1383.423,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,47829,620
$CAP_FILE_SIZE,119169,0
$CFSIZE,260165632,170745856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130910,125307,2256.415,-15742.631,32,1.4,32,10.1