version: 66.06
glider: 146
mission: 5
dive: 205
start: 9 14 110 6 12 34
data:
$ID,146
$MISSION,5
$DIVE,205
$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,-251316.48
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,060224,2255.256,-15743.576,37,1.4,37,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-68.4
$GPS2,061139,2255.122,-15743.599,12,1.6,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.137,0.170
$KALMAN_X,-218899.6,42.2,-32.5,265372.7,-1779.3
$KALMAN_Y,-111885.0,-130.8,-645.9,250713.5,-2262.3
$MHEAD_RNG_PITCHd_Wd,28.7,5986,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.15,-116.8,0.0,0.0,0,97,0.00,0.00,-79.10,0.000,2,0.000,0.000,473,1752,3254,0,0,0,0,0,0
$GC,100,-1.15,-116.8,3.1,-3.7,10,126,11.55,2.60,-4.43,0.000,4,0.140,0.035,2741,3364,3480,0,0,0,0,0,0
$GC,185,-1.04,-116.8,21.7,-13.9,21,195,0.10,2.58,0.00,0.000,6,0.074,0.036,2769,1790,3481,0,0,0,0,0,0
$GC,465,-0.91,-116.8,57.7,-13.4,50,470,0.15,2.75,0.00,0.000,4,0.103,0.061,2802,185,3482,0,0,0,0,0,0
$GC,537,-0.91,-116.8,66.4,-11.6,55,541,0.00,2.45,0.00,0.000,6,0.000,0.015,2802,1824,3481,0,0,0,0,0,0
$GC,803,-0.91,-116.8,93.7,-9.8,79,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1825,3482,0,0,0,0,0,0
$GC,1066,-0.97,-116.8,118.7,-8.9,104,1070,0.00,2.78,0.00,0.000,4,0.000,0.064,2802,186,3482,0,0,0,0,0,0
$GC,1123,-1.08,-116.8,123.8,-8.6,108,1133,0.12,2.45,0.00,0.000,6,0.035,0.020,2751,1797,3482,0,0,0,0,0,0
$GC,1391,-1.03,-116.8,150.0,-10.6,133,1395,0.10,2.38,0.00,0.000,4,0.111,0.030,2775,3322,3483,0,0,0,0,0,0
$GC,1418,-1.03,-116.8,153.3,-9.1,135,1423,0.00,2.50,0.00,0.000,6,0.000,0.035,2775,1746,3483,0,0,0,0,0,0
$GC,1683,-1.03,-116.8,173.9,-7.8,159,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1746,3483,0,0,0,0,0,0
$GC,1947,-1.03,-116.8,195.2,-8.7,184,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1746,3483,0,0,0,0,0,0
$GC,2210,-1.03,-116.8,220.9,-10.0,195,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1746,3482,0,0,0,0,0,0
$GC,2455,-1.03,-116.8,244.8,-9.6,201,2459,0.00,2.45,0.00,0.000,4,0.000,0.028,2775,3312,3483,0,0,0,0,0,0
$GC,2476,-1.07,-116.8,246.9,-9.2,201,2480,0.00,2.50,0.00,0.000,6,0.000,0.029,2775,1749,3482,0,0,0,0,0,0
$GC,2731,-1.12,-116.8,270.9,-9.5,208,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1749,3482,0,0,0,0,0,0
$GC,2975,-1.16,-116.8,292.2,-8.6,214,2977,0.12,0.00,0.00,0.000,6,0.071,0.000,2733,1749,3482,0,0,0,0,0,0
$GC,3220,-1.16,-116.8,317.1,-10.0,220,3224,0.00,2.70,0.00,0.000,4,0.000,0.084,2732,197,3481,0,0,0,0,0,0
$GC,3252,-1.11,-116.8,320.7,-10.9,220,3258,0.12,2.35,0.00,0.000,6,0.104,0.024,2760,1727,3481,0,0,0,0,0,0
$GC,3502,-1.15,-116.8,342.5,-8.5,227,3507,0.00,2.60,0.00,0.000,4,0.000,0.039,2760,3349,3481,0,0,0,0,0,0
$GC,3549,-1.22,-116.8,346.1,-7.5,228,3554,0.12,2.58,0.00,0.000,6,0.073,0.048,2715,1775,3481,0,0,0,0,0,0
$GC,3827,-1.22,-116.8,372.1,-9.2,235,3831,0.00,2.83,0.00,0.000,4,0.000,0.091,2715,187,3479,0,0,0,0,0,0
$GC,3887,-1.18,-116.8,377.5,-9.0,236,3892,0.12,2.47,0.00,0.000,6,0.107,0.031,2742,1750,3479,0,0,0,0,0,0
$GC,4148,-1.18,-116.8,394.9,-6.4,243,4152,0.00,2.62,0.00,0.000,4,0.000,0.053,2742,3360,3478,0,0,0,0,0,0
$GC,4181,-1.23,-116.8,397.1,-6.9,243,4186,0.00,2.65,0.00,0.000,6,0.000,0.054,2742,1770,3478,0,0,0,0,0,0
$GC,4432,-1.23,-116.8,415.9,-7.7,250,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1770,3477,0,0,0,0,0,0
$GC,4675,-1.27,-116.8,436.9,-8.5,256,4679,0.00,2.65,0.00,0.000,4,0.000,0.047,2742,3357,3475,0,0,0,0,0,0
$GC,4701,-1.32,-116.8,439.1,-8.4,256,4707,0.12,2.70,0.00,0.000,6,0.072,0.059,2699,1775,3475,0,0,0,0,0,0
$GC,4953,-1.28,-116.8,464.0,-10.0,262,4955,0.10,0.00,0.00,0.000,6,0.117,0.000,2720,1775,3473,0,0,0,0,0,0
$GC,5195,-1.28,-116.8,484.1,-8.0,268,5199,0.00,2.65,0.00,0.000,4,0.000,0.056,2720,3358,3472,0,0,0,0,0,0
$GC,5222,-1.28,-116.8,486.4,-8.5,268,5226,0.00,2.72,0.00,0.000,6,0.000,0.064,2720,1781,3471,0,0,0,0,0,0
$STATE,5388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5388,begin apogee
$GC,5396,-0.31,0.0,500.3,8.3,272,5495,0.93,0.00,96.15,0.913,6,0.074,0.000,2930,1844,3001,0,0,0,0,0,0
$STATE,5496,end apogee,CONTROL_FINISHED_OK
$STATE,5496,begin climb
$GC,5498,1.15,116.8,502.1,0.0,274,5607,1.35,2.65,100.68,0.889,4,0.053,0.054,3254,3381,2522,0,0,0,0,0,0
$GC,5616,1.11,198.6,501.8,4.2,277,5693,0.00,2.72,70.68,0.872,6,0.000,0.063,3254,1810,2191,0,0,0,0,0,0
$GC,5954,1.00,198.6,472.9,9.0,286,5960,0.17,2.62,0.00,0.000,4,0.140,0.044,3219,3382,2182,0,0,0,0,0,0
$GC,6080,1.02,217.0,463.7,7.2,288,6102,0.00,2.67,15.88,0.815,6,0.000,0.058,3219,1840,2116,0,0,0,0,0,0
$GC,6368,1.02,217.0,441.2,8.1,296,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1840,2111,0,0,0,0,0,0
$GC,6614,1.02,217.0,419.3,9.2,302,6618,0.00,2.55,0.00,0.000,4,0.000,0.041,3219,3390,2109,0,0,0,0,0,0
$GC,6662,1.02,217.0,414.1,10.3,303,6667,0.00,2.60,0.00,0.000,6,0.000,0.055,3219,1858,2108,0,0,0,0,0,0
$GC,6935,1.02,217.0,387.2,10.1,310,6939,0.00,2.47,0.00,0.000,4,0.000,0.035,3219,3391,2107,0,0,0,0,0,0
$GC,6979,1.02,217.0,382.4,10.2,311,6984,0.00,2.55,0.00,0.000,6,0.000,0.046,3219,1866,2106,0,0,0,0,0,0
$GC,7259,1.02,217.0,358.4,8.1,318,7263,0.00,2.92,0.00,0.000,4,0.000,0.089,3218,233,2106,0,0,0,0,0,0
$GC,7298,0.96,225.8,355.3,7.6,319,7313,0.00,2.60,7.45,0.705,6,0.000,0.028,3219,1864,2080,0,0,0,0,0,0
$GC,7589,1.00,256.9,336.4,6.6,326,7623,0.00,2.58,29.48,0.802,4,0.000,0.040,3218,3409,1952,0,0,0,0,0,0
$GC,7657,1.06,256.9,330.7,8.6,326,7661,0.00,2.55,0.00,0.000,6,0.000,0.037,3218,1876,1950,0,0,0,0,0,0
$GC,7908,1.06,256.9,305.6,10.6,332,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1875,1947,0,0,0,0,0,0
$GC,8150,1.06,256.9,280.2,10.1,338,8155,0.00,2.88,0.00,0.000,4,0.000,0.073,3218,234,1946,0,0,0,0,0,0
$GC,8177,1.06,256.9,277.4,10.2,338,8181,0.00,2.60,0.00,0.000,6,0.000,0.020,3219,1891,1945,0,0,0,0,0,0
$GC,8433,1.11,264.2,256.7,7.7,345,8442,0.10,0.00,6.80,0.628,6,0.211,0.000,3245,1893,1923,0,0,0,0,0,0
$GC,8678,1.11,265.9,237.4,7.9,351,8682,0.00,2.85,0.00,0.000,4,0.000,0.066,3245,233,1921,0,0,0,0,0,0
$GC,8693,1.11,265.9,235.8,8.3,351,8697,0.00,2.60,0.00,0.000,6,0.000,0.019,3245,1895,1920,0,0,0,0,0,0
$GC,8954,1.11,265.9,213.1,8.9,358,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1897,1920,0,0,0,0,0,0
$GC,9207,1.11,265.9,188.0,10.4,370,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1898,1920,0,0,0,0,0,0
$GC,9468,1.11,265.9,160.5,9.7,395,9472,0.00,2.40,0.00,0.000,4,0.000,0.034,3245,3411,1920,0,0,0,0,0,0
$GC,9484,1.11,265.9,158.9,9.6,396,9489,0.00,2.47,0.00,0.000,6,0.000,0.037,3245,1868,1919,0,0,0,0,0,0
$GC,9748,1.11,265.9,135.9,8.1,420,9752,0.00,2.45,0.00,0.000,4,0.000,0.029,3245,3415,1919,0,0,0,0,0,0
$GC,9768,1.11,270.2,134.4,7.8,421,9780,0.00,2.47,6.43,0.527,6,0.000,0.037,3245,1880,1899,0,0,0,0,0,0
$GC,10034,1.14,288.3,115.1,7.2,446,10054,0.00,0.00,17.42,0.594,6,0.000,0.000,3245,1881,1825,0,0,0,0,0,0
$GC,10311,1.18,288.3,93.3,8.6,472,10312,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1881,1822,0,0,0,0,0,0
$GC,10569,1.24,288.3,71.2,8.8,496,10578,0.10,0.00,0.00,0.000,6,0.089,0.000,3277,1881,1822,0,0,0,0,0,0
$GC,10833,1.24,288.3,47.2,8.2,521,10837,0.00,2.40,0.00,0.000,4,0.000,0.027,3277,3408,1822,0,0,0,0,0,0
$GC,10868,1.29,288.3,44.3,8.4,523,10872,0.00,2.42,0.00,0.000,6,0.000,0.031,3277,1887,1822,0,0,0,0,0,0
$GC,11156,1.29,288.3,21.9,8.1,554,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1887,1822,0,0,0,0,0,0
$STATE,11365,end climb,SURFACE_DEPTH_REACHED
$STATE,11365,begin surface coast
$FINISH,0.3,1.023405
$STATE,11429,end surface coast,CONTROL_FINISHED_OK
$STATE,11429,begin surface
$SM_CCo,11451,113.45,0.465,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,113.45,0.000,0.000,0.465,475,1752,1288,-11.62,-0.51,420.20
$IRIDIUM_FIX,2246.36,-15745.85,091299,060626
$TT8_MAMPS,0.025311
$HUMID,44.52
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.50
$XPDR_PINGS,46
$24V_AH,23.6,29.482
$10V_AH,10.3,30.128
$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,26.625,114.250,350.950,113.450,0.000,55.921,55.628,239.924,11.500,0.000,14.553,1145.813,7595.221,552.582,2180.188,650.912,33.374,1296.460,0.000,2188.109,0.000,0.535,0.000
$DEVICE_MAMPS,210.925,118.118,912.730,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.183,345.378,466.540,894.650,1353.147,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,47864,593
$CAP_FILE_SIZE,114326,0
$CFSIZE,260165632,170385408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140910,092634,2254.806,-15743.440,10,99.0,29,10.1