version: 66.06
glider: 146
mission: 5
dive: 204
start: 9 14 110 2 40 14
data:
$ID,146
$MISSION,5
$DIVE,204
$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,-251301.31
$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,51
$R_STBD_OVSHOOT,29
$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
$GPS1,023325,2255.967,-15743.119,39,1.1,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-68.7
$GPS2,023919,2255.921,-15743.128,9,1.0,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.084,0.201
$KALMAN_X,-217510.3,245.7,228.8,264328.0,-1721.8
$KALMAN_Y,-108943.5,32.3,240.2,248200.0,-3857.9
$MHEAD_RNG_PITCHd_Wd,12.5,4303,-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,-86.00,0.000,6,0.000,0.000,475,1732,3480,0,0,0,0,0,0
$GC,109,-1.15,-116.8,4.3,-6.0,11,126,11.50,2.58,0.00,0.000,4,0.139,0.028,2740,3370,3482,0,0,0,0,0,0
$GC,216,-1.05,-116.8,29.4,-13.4,26,226,0.10,2.58,0.00,0.000,6,0.081,0.031,2767,1797,3482,0,0,0,0,0,0
$GC,484,-0.93,-116.8,66.2,-14.9,51,489,0.12,2.78,0.00,0.000,4,0.113,0.060,2796,188,3483,0,0,0,0,0,0
$GC,543,-0.89,-116.8,75.8,-14.8,55,547,0.00,2.45,0.00,0.000,6,0.000,0.015,2796,1820,3482,0,0,0,0,0,0
$GC,807,-0.89,-116.8,108.7,-11.1,79,812,0.00,2.78,0.00,0.000,4,0.000,0.061,2796,186,3483,0,0,0,0,0,0
$GC,865,-0.89,-116.8,115.2,-12.7,83,869,0.00,2.35,0.00,0.000,6,0.000,0.018,2796,1769,3483,0,0,0,0,0,0
$GC,1132,-0.94,-116.8,137.8,-6.9,107,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1770,3484,0,0,0,0,0,0
$GC,1394,-0.98,-116.8,157.7,-8.1,132,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1771,3484,0,0,0,0,0,0
$GC,1648,-1.04,-116.8,178.0,-8.0,156,1653,0.10,2.45,0.00,0.000,4,0.081,0.025,2759,3319,3484,0,0,0,0,0,0
$GC,1683,-1.04,-116.8,181.1,-9.4,158,1689,0.00,2.50,0.00,0.000,6,0.000,0.033,2759,1750,3484,0,0,0,0,0,0
$GC,1961,-1.04,-116.8,208.2,-9.4,179,1966,0.00,2.65,0.00,0.000,4,0.000,0.065,2759,192,3484,0,0,0,0,0,0
$GC,2001,-1.04,-116.8,211.9,-9.4,180,2005,0.00,2.33,0.00,0.000,6,0.000,0.016,2759,1759,3484,0,0,0,0,0,0
$GC,2285,-1.04,-116.8,234.2,-7.5,187,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1760,3484,0,0,0,0,0,0
$GC,2527,-1.04,-116.8,253.8,-8.2,193,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1762,3483,0,0,0,0,0,0
$GC,2771,-1.04,-116.8,275.1,-8.6,199,2775,0.00,2.45,0.00,0.000,4,0.000,0.035,2759,3313,3484,0,0,0,0,0,0
$GC,2794,-1.04,-116.8,276.8,-7.7,199,2798,0.00,2.47,0.00,0.000,6,0.000,0.030,2759,1757,3484,0,0,0,0,0,0
$GC,3049,-1.04,-116.8,296.6,-7.9,206,3053,0.00,2.70,0.00,0.000,4,0.000,0.076,2759,195,3483,0,0,0,0,0,0
$GC,3087,-1.04,-116.8,299.8,-9.2,207,3092,0.00,2.35,0.00,0.000,6,0.000,0.026,2759,1734,3483,0,0,0,0,0,0
$GC,3372,-1.04,-116.8,325.6,-9.1,214,3377,0.00,2.58,0.00,0.000,4,0.000,0.037,2759,3349,3482,0,0,0,0,0,0
$GC,3405,-1.09,-116.8,328.9,-9.7,214,3411,0.00,2.60,0.00,0.000,6,0.000,0.039,2759,1760,3482,0,0,0,0,0,0
$GC,3656,-1.13,-116.8,348.6,-7.7,221,3660,0.00,2.55,0.00,0.000,4,0.000,0.038,2759,3346,3481,0,0,0,0,0,0
$GC,3718,-1.22,-116.8,352.8,-6.4,222,3723,0.12,2.62,0.00,0.000,6,0.068,0.048,2710,1758,3482,0,0,0,0,0,0
$GC,3980,-1.19,-116.8,373.7,-8.1,229,3985,0.15,2.85,0.00,0.000,4,0.101,0.100,2743,189,3481,0,0,0,0,0,0
$GC,4024,-1.19,-116.8,377.2,-7.5,230,4028,0.00,2.45,0.00,0.000,6,0.000,0.025,2743,1739,3480,0,0,0,0,0,0
$GC,4302,-1.19,-116.8,397.0,-7.3,237,4307,0.00,2.65,0.00,0.000,4,0.000,0.048,2743,3354,3479,0,0,0,0,0,0
$GC,4369,-1.25,-116.8,402.2,-7.8,238,4374,0.00,2.67,0.00,0.000,6,0.000,0.053,2743,1764,3478,0,0,0,0,0,0
$GC,4626,-1.25,-116.8,421.6,-7.7,245,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1764,3476,0,0,0,0,0,0
$GC,4868,-1.29,-116.8,441.4,-8.2,251,4873,0.12,2.95,0.00,0.000,4,0.078,0.107,2705,183,3475,0,0,0,0,0,0
$GC,4901,-1.23,-116.8,445.0,-11.1,251,4908,0.12,2.55,0.00,0.000,6,0.110,0.037,2732,1765,3474,0,0,0,0,0,0
$GC,5152,-1.23,-116.8,465.6,-8.2,258,5157,0.00,2.85,0.00,0.000,4,0.000,0.093,2732,179,3473,0,0,0,0,0,0
$GC,5168,-1.23,-116.8,467.0,-7.8,258,5172,0.00,2.58,0.00,0.000,6,0.000,0.034,2732,1766,3473,0,0,0,0,0,0
$GC,5429,-1.23,-116.8,486.0,-7.1,265,5433,0.00,2.70,0.00,0.000,4,0.000,0.064,2732,3357,3472,0,0,0,0,0,0
$GC,5508,-1.28,-116.8,491.6,-6.8,266,5514,0.00,2.67,0.00,0.000,6,0.000,0.064,2732,1781,3471,0,0,0,0,0,0
$STATE,5633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5633,begin apogee
$GC,5640,-0.31,0.0,500.7,7.0,270,5740,0.88,0.00,96.55,0.920,6,0.072,0.000,2932,1854,3001,0,0,0,0,0,0
$STATE,5740,end apogee,CONTROL_FINISHED_OK
$STATE,5740,begin climb
$GC,5743,1.15,116.8,502.2,0.0,272,5856,1.30,2.67,100.70,0.896,4,0.044,0.057,3251,3376,2522,0,0,0,0,0,0
$GC,5890,1.07,166.6,500.1,5.7,275,5939,0.00,2.72,43.67,0.871,6,0.000,0.058,3251,1812,2321,0,0,0,0,0,0
$GC,6200,0.95,166.6,475.8,8.0,283,6205,0.20,2.62,0.00,0.000,4,0.189,0.042,3211,3378,2311,0,0,0,0,0,0
$GC,6266,1.00,201.2,471.0,6.4,284,6302,0.00,2.62,30.10,0.859,6,0.000,0.053,3210,1838,2180,0,0,0,0,0,0
$GC,6566,1.00,207.0,449.1,7.7,292,6577,0.00,2.58,5.68,0.670,4,0.000,0.043,3210,3378,2156,0,0,0,0,0,0
$GC,6661,1.00,207.0,439.9,9.0,294,6665,0.00,2.65,0.00,0.000,6,0.000,0.059,3210,1837,2155,0,0,0,0,0,0
$GC,6933,1.00,207.0,413.8,9.7,301,6938,0.00,2.95,0.00,0.000,4,0.000,0.106,3210,233,2153,0,0,0,0,0,0
$GC,6956,0.96,207.0,411.5,11.0,301,6960,0.00,2.53,0.00,0.000,6,0.000,0.027,3210,1819,2151,0,0,0,0,0,0
$GC,7212,0.96,207.0,388.4,8.6,308,7216,0.00,2.58,0.00,0.000,4,0.000,0.040,3210,3407,2151,0,0,0,0,0,0
$GC,7289,0.97,221.2,382.5,7.4,309,7309,0.00,2.62,13.43,0.795,6,0.000,0.045,3210,1842,2098,0,0,0,0,0,0
$GC,7583,1.00,245.0,362.5,6.9,317,7613,0.00,2.65,22.10,0.811,4,0.000,0.034,3210,3408,2001,0,0,0,0,0,0
$GC,7641,1.06,248.7,358.0,7.8,318,7651,0.00,2.62,4.57,0.577,6,0.000,0.043,3210,1840,1987,0,0,0,0,0,0
$GC,7908,1.06,248.7,336.3,8.2,325,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1839,1983,0,0,0,0,0,0
$GC,8150,1.06,248.7,316.8,8.1,331,8155,0.00,2.55,0.00,0.000,4,0.000,0.031,3211,3412,1982,0,0,0,0,0,0
$GC,8247,1.13,253.3,309.2,7.8,333,8258,0.15,2.60,5.03,0.600,6,0.076,0.038,3250,1841,1968,0,0,0,0,0,0
$GC,8520,1.10,253.3,283.5,9.7,340,8524,0.00,2.80,0.00,0.000,4,0.000,0.077,3250,240,1966,0,0,0,0,0,0
$GC,8535,1.03,253.3,281.8,9.8,340,8540,0.12,2.55,0.00,0.000,6,0.120,0.023,3225,1877,1965,0,0,0,0,0,0
$GC,8798,1.03,253.3,259.4,8.5,347,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1878,1965,0,0,0,0,0,0
$GC,9040,1.04,255.2,239.6,7.9,353,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1878,1965,0,0,0,0,0,0
$GC,9285,1.04,255.2,218.7,8.8,359,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1878,1965,0,0,0,0,0,0
$GC,9527,1.04,255.2,198.1,8.3,365,9531,0.00,2.42,0.00,0.000,4,0.000,0.035,3225,3419,1965,0,0,0,0,0,0
$GC,9561,1.09,255.2,195.8,8.0,367,9566,0.00,2.58,0.00,0.000,6,0.000,0.036,3225,1831,1964,0,0,0,0,0,0
$GC,9828,1.11,269.6,175.9,7.3,391,9845,0.00,0.00,15.30,0.645,6,0.000,0.000,3225,1831,1902,0,0,0,0,0,0
$GC,10102,1.15,269.6,153.0,9.3,417,10107,0.10,2.53,0.00,0.000,4,0.105,0.028,3254,3414,1899,0,0,0,0,0,0
$GC,10125,1.15,269.6,150.3,10.1,418,10130,0.00,2.55,0.00,0.000,6,0.000,0.038,3254,1842,1899,0,0,0,0,0,0
$GC,10392,1.15,269.6,123.4,9.6,443,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1842,1899,0,0,0,0,0,0
$GC,10653,1.17,289.2,103.2,7.1,468,10674,0.00,0.00,18.35,0.585,6,0.000,0.000,3254,1842,1820,0,0,0,0,0,0
$GC,10932,1.21,291.0,82.7,7.9,494,10936,0.00,2.72,0.00,0.000,4,0.000,0.066,3254,235,1818,0,0,0,0,0,0
$GC,10953,1.21,291.0,80.9,8.6,495,10958,0.00,2.53,0.00,0.000,6,0.000,0.018,3254,1881,1817,0,0,0,0,0,0
$GC,11222,1.29,297.1,59.1,7.7,519,11237,0.12,2.80,7.90,0.492,4,0.074,0.059,3292,241,1789,0,0,0,0,0,0
$GC,11267,1.24,297.1,54.4,11.0,522,11272,0.10,2.50,0.00,0.000,6,0.157,0.018,3271,1874,1788,0,0,0,0,0,0
$GC,11533,1.24,297.1,29.4,9.4,546,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1876,1788,0,0,0,0,0,0
$STATE,11837,end climb,SURFACE_DEPTH_REACHED
$STATE,11837,begin surface coast
$FINISH,0.2,1.010255
$STATE,11915,end surface coast,CONTROL_FINISHED_OK
$STATE,11915,begin surface
$SM_CCo,11938,108.32,0.463,1,0,1287,420.20
$SM_GC,0.91,0.00,0.00,108.32,0.000,0.000,0.463,474,1752,1287,-11.62,-0.51,420.20
$IRIDIUM_FIX,2248.70,-15740.63,081299,232332
$TT8_MAMPS,0.026078
$HUMID,44.21
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.70
$XPDR_PINGS,54
$24V_AH,23.6,29.362
$10V_AH,10.4,29.996
$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,26.625,135.875,363.375,108.325,0.000,30.557,30.455,153.227,13.500,0.000,15.521,1199.342,7874.691,549.712,2246.822,534.063,33.372,1353.457,0.000,2257.565,0.000,0.536,0.000
$DEVICE_MAMPS,189.449,179.478,920.400,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,406.644,341.157,460.528,862.692,1304.907,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,47960,601
$CAP_FILE_SIZE,120840,0
$CFSIZE,260165632,170438656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140910,060224,2255.256,-15743.576,37,1.4,37,10.1