version: 66.06
glider: 146
mission: 5
dive: 206
start: 9 14 110 9 34 19
data:
$ID,146
$MISSION,5
$DIVE,206
$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,-251362.73
$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,33
$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
$GPS1,092634,2254.806,-15743.440,10,99.0,29,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-66.3
$GPS2,093324,2254.784,-15743.487,27,1.5,44,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.087,0.200
$KALMAN_X,-220029.3,-189.3,-188.6,267077.7,-1013.9
$KALMAN_Y,-115084.9,-249.7,-71.8,252834.6,-2323.4
$MHEAD_RNG_PITCHd_Wd,13.5,6474,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-86.10,0.000,6,0.000,0.000,475,1752,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.6,-6.6,11,125,11.55,2.58,0.00,0.000,4,0.140,0.030,2743,3364,3481,0,0,0,0,0,0
$GC,189,-1.06,-116.8,26.5,-14.8,22,199,0.08,2.60,0.00,0.000,6,0.081,0.032,2765,1786,3482,0,0,0,0,0,0
$GC,467,-0.97,-116.8,65.0,-11.7,48,472,0.10,2.75,0.00,0.000,4,0.124,0.061,2786,186,3482,0,0,0,0,0,0
$GC,490,-0.89,-116.8,68.4,-12.7,49,494,0.00,2.45,0.00,0.000,6,0.000,0.015,2786,1820,3481,0,0,0,0,0,0
$GC,756,-0.89,-116.8,94.1,-9.0,73,760,0.00,2.38,0.00,0.000,4,0.000,0.024,2786,3318,3482,0,0,0,0,0,0
$GC,814,-0.94,-116.8,99.3,-8.8,77,818,0.00,2.47,0.00,0.000,6,0.000,0.028,2786,1767,3482,0,0,0,0,0,0
$GC,1080,-0.94,-116.8,121.3,-8.0,101,1084,0.00,2.67,0.00,0.000,4,0.000,0.067,2786,195,3483,0,0,0,0,0,0
$GC,1138,-0.94,-116.8,127.0,-9.5,105,1144,0.00,2.40,0.00,0.000,6,0.000,0.015,2786,1790,3483,0,0,0,0,0,0
$GC,1400,-0.94,-116.8,148.4,-8.5,130,1405,0.00,2.72,0.00,0.000,4,0.000,0.062,2785,197,3483,0,0,0,0,0,0
$GC,1434,-0.94,-116.8,151.7,-9.1,132,1444,0.00,2.38,0.00,0.000,6,0.000,0.023,2786,1770,3483,0,0,0,0,0,0
$GC,1702,-0.98,-116.8,173.2,-8.1,157,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1770,3483,0,0,0,0,0,0
$GC,1965,-1.02,-116.8,193.5,-7.3,182,1970,0.00,2.42,0.00,0.000,4,0.000,0.028,2786,3308,3483,0,0,0,0,0,0
$GC,2001,-1.09,-116.8,195.8,-7.6,184,2006,0.10,2.47,0.00,0.000,6,0.081,0.029,2745,1751,3483,0,0,0,0,0,0
$GC,2253,-1.05,-116.8,219.8,-9.6,193,2258,0.12,2.67,0.00,0.000,4,0.138,0.067,2772,197,3483,0,0,0,0,0,0
$GC,2282,-1.05,-116.8,222.7,-9.9,193,2286,0.00,2.33,0.00,0.000,6,0.000,0.023,2772,1755,3483,0,0,0,0,0,0
$GC,2531,-1.05,-116.8,244.6,-8.8,199,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1756,3482,0,0,0,0,0,0
$GC,2775,-1.05,-116.8,264.4,-8.0,205,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1756,3482,0,0,0,0,0,0
$GC,3019,-1.05,-116.8,281.5,-6.8,211,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1756,3481,0,0,0,0,0,0
$GC,3264,-1.09,-116.8,296.3,-5.9,217,3269,0.00,2.70,0.00,0.000,4,0.000,0.077,2772,199,3481,0,0,0,0,0,0
$GC,3304,-1.15,-116.8,299.0,-6.8,218,3308,0.00,2.35,0.00,0.000,6,0.000,0.018,2772,1734,3481,0,0,0,0,0,0
$GC,3588,-1.21,-116.8,316.7,-6.4,225,3589,0.15,0.00,0.00,0.000,6,0.066,0.000,2725,1734,3481,0,0,0,0,0,0
$GC,3833,-1.17,-116.8,337.4,-8.7,231,3837,0.00,2.55,0.00,0.000,4,0.000,0.037,2725,3333,3480,0,0,0,0,0,0
$GC,3889,-1.17,-116.8,342.9,-9.0,232,3893,0.00,2.55,0.00,0.000,6,0.000,0.044,2725,1778,3480,0,0,0,0,0,0
$GC,4155,-1.17,-116.8,370.0,-10.5,239,4159,0.00,2.83,0.00,0.000,4,0.000,0.090,2725,187,3479,0,0,0,0,0,0
$GC,4196,-1.13,-116.8,374.3,-11.3,240,4201,0.12,2.45,0.00,0.000,6,0.104,0.031,2753,1755,3478,0,0,0,0,0,0
$GC,4480,-1.18,-116.8,397.3,-7.5,247,4484,0.00,2.62,0.00,0.000,4,0.000,0.050,2753,3360,3477,0,0,0,0,0,0
$GC,4503,-1.25,-116.8,398.9,-6.8,247,4508,0.10,2.62,0.00,0.000,6,0.086,0.054,2717,1783,3477,0,0,0,0,0,0
$GC,4758,-1.25,-116.8,419.8,-8.3,254,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1783,3476,0,0,0,0,0,0
$GC,5002,-1.25,-116.8,441.1,-8.8,260,5006,0.00,2.55,0.00,0.000,4,0.000,0.044,2717,3350,3475,0,0,0,0,0,0
$GC,5034,-1.25,-116.8,444.1,-9.1,260,5040,0.00,2.65,0.00,0.000,6,0.000,0.064,2717,1783,3474,0,0,0,0,0,0
$GC,5285,-1.25,-116.8,465.9,-8.8,267,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1783,3473,0,0,0,0,0,0
$GC,5528,-1.25,-116.8,484.3,-7.7,273,5532,0.00,2.62,0.00,0.000,4,0.000,0.049,2717,3357,3471,0,0,0,0,0,0
$GC,5594,-1.25,-116.8,489.7,-8.3,274,5599,0.00,2.72,0.00,0.000,6,0.000,0.066,2716,1774,3470,0,0,0,0,0,0
$STATE,5727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5727,begin apogee
$GC,5733,-0.31,0.0,500.0,7.8,278,5834,0.95,0.00,96.97,0.916,6,0.071,0.000,2933,1834,3001,0,0,0,0,0,0
$STATE,5834,end apogee,CONTROL_FINISHED_OK
$STATE,5834,begin climb
$GC,5837,1.15,116.8,501.6,0.0,280,5950,1.30,2.70,100.95,0.889,4,0.050,0.051,3252,3381,2522,0,0,0,0,0,0
$GC,5973,1.05,150.6,498.0,6.4,283,6009,0.10,2.75,29.62,0.851,6,0.133,0.063,3232,1812,2387,0,0,0,0,0,0
$GC,6289,0.97,150.6,469.1,9.4,291,6293,0.00,2.65,0.00,0.000,4,0.000,0.044,3233,3397,2378,0,0,0,0,0,0
$GC,6400,0.90,150.6,457.7,10.3,293,6405,0.17,2.67,0.00,0.000,6,0.108,0.058,3197,1842,2376,0,0,0,0,0,0
$GC,6655,0.90,150.6,436.1,8.0,300,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1842,2374,0,0,0,0,0,0
$GC,6900,0.95,190.3,420.1,6.2,306,6942,0.00,2.60,33.95,0.849,4,0.000,0.038,3197,3394,2224,0,0,0,0,0,0
$GC,6981,0.99,221.0,415.1,6.6,307,7015,0.00,2.67,28.52,0.833,6,0.000,0.051,3197,1826,2099,0,0,0,0,0,0
$GC,7274,0.99,223.9,393.3,7.9,315,7279,0.00,2.55,0.00,0.000,4,0.000,0.038,3197,3400,2092,0,0,0,0,0,0
$GC,7308,1.05,223.9,390.0,8.9,315,7314,0.12,2.60,0.00,0.000,6,0.081,0.047,3232,1852,2091,0,0,0,0,0,0
$GC,7558,1.05,223.9,364.6,10.5,322,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1852,2090,0,0,0,0,0,0
$GC,7803,1.05,223.9,338.6,10.6,328,7808,0.00,2.90,0.00,0.000,4,0.000,0.087,3233,228,2089,0,0,0,0,0,0
$GC,7831,0.97,223.9,335.3,11.1,328,7836,0.00,2.53,0.00,0.000,6,0.000,0.021,3232,1837,2087,0,0,0,0,0,0
$GC,8081,0.97,223.9,313.7,8.3,334,8085,0.00,2.53,0.00,0.000,4,0.000,0.038,3232,3405,2086,0,0,0,0,0,0
$GC,8194,0.98,230.7,304.7,7.7,336,8210,0.00,2.53,7.53,0.682,6,0.000,0.040,3233,1851,2060,0,0,0,0,0,0
$GC,8454,0.98,231.0,283.9,8.0,343,8458,0.00,2.83,0.00,0.000,4,0.000,0.072,3232,239,2058,0,0,0,0,0,0
$GC,8493,0.93,231.0,280.1,9.9,344,8498,0.15,2.53,0.00,0.000,6,0.110,0.025,3202,1860,2056,0,0,0,0,0,0
$GC,8778,1.01,240.3,258.6,7.6,351,8790,0.00,0.00,9.75,0.683,6,0.000,0.000,3202,1863,2021,0,0,0,0,0,0
$GC,9021,1.11,260.9,241.0,7.1,357,9046,0.17,2.50,19.65,0.709,4,0.083,0.036,3249,3394,1936,0,0,0,0,0,0
$GC,9062,1.11,260.9,237.4,8.4,358,9067,0.00,2.55,0.00,0.000,6,0.000,0.038,3249,1841,1935,0,0,0,0,0,0
$GC,9340,1.11,260.9,212.9,8.7,365,9344,0.00,2.50,0.00,0.000,4,0.000,0.035,3249,3397,1933,0,0,0,0,0,0
$GC,9400,1.11,260.9,207.4,8.7,366,9405,0.00,2.50,0.00,0.000,6,0.000,0.039,3249,1849,1932,0,0,0,0,0,0
$GC,9660,1.11,260.9,184.8,8.5,384,9664,0.00,2.45,0.00,0.000,4,0.000,0.034,3249,3394,1932,0,0,0,0,0,0
$GC,9700,1.11,260.9,180.9,9.4,387,9704,0.00,2.47,0.00,0.000,6,0.000,0.033,3249,1859,1932,0,0,0,0,0,0
$GC,9963,1.11,260.9,158.2,8.6,411,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1859,1932,0,0,0,0,0,0
$GC,10219,1.13,275.3,138.0,7.3,435,10244,0.00,2.83,13.57,0.599,4,0.000,0.065,3249,247,1877,0,0,0,0,0,0
$GC,10249,1.14,280.7,135.4,7.8,437,10260,0.00,2.53,6.20,0.507,6,0.000,0.024,3249,1885,1856,0,0,0,0,0,0
$GC,10515,1.16,301.5,116.5,7.1,462,10536,0.00,0.00,19.10,0.593,6,0.000,0.000,3249,1886,1772,0,0,0,0,0,0
$GC,10793,1.21,301.5,93.8,8.9,488,10802,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1886,1770,0,0,0,0,0,0
$GC,11060,1.29,304.1,71.3,7.9,513,11070,0.12,0.00,0.00,0.000,6,0.081,0.000,3288,1886,1769,0,0,0,0,0,0
$GC,11326,1.29,304.1,47.4,9.0,538,11341,0.00,2.45,3.62,0.347,4,0.000,0.028,3288,3394,1760,0,0,0,0,0,0
$GC,11359,1.29,304.1,43.8,8.8,540,11368,0.00,2.53,0.00,0.000,6,0.000,0.033,3287,1857,1760,0,0,0,0,0,0
$GC,11649,1.29,304.1,19.0,8.4,573,11659,0.00,2.45,0.00,0.000,4,0.000,0.025,3287,3395,1760,0,0,0,0,0,0
$GC,11676,1.29,304.1,16.4,9.1,576,11685,0.00,2.50,0.00,0.000,6,0.000,0.034,3288,1862,1760,0,0,0,0,0,0
$STATE,11809,end climb,SURFACE_DEPTH_REACHED
$STATE,11810,begin surface coast
$FINISH,0.1,1.011729
$STATE,11874,end surface coast,CONTROL_FINISHED_OK
$STATE,11874,begin surface
$SM_CCo,11897,105.05,0.460,1,0,1287,420.20
$SM_GC,0.81,0.00,0.00,105.05,0.000,0.000,0.460,473,1731,1287,-11.62,-1.10,420.20
$IRIDIUM_FIX,2246.36,-15741.52,091299,060647
$TT8_MAMPS,0.025311
$HUMID,43.89
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.60
$XPDR_PINGS,52
$24V_AH,23.6,29.598
$10V_AH,10.4,30.260
$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,26.800,134.025,369.450,105.050,0.000,29.154,28.137,182.660,13.000,0.000,45.618,1193.297,7843.721,563.777,2266.384,549.598,33.404,1381.099,0.000,2239.153,0.000,0.536,0.000
$DEVICE_MAMPS,140.361,118.885,915.798,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,408.130,347.352,469.346,872.366,1319.353,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,47895,604
$CAP_FILE_SIZE,120680,0
$CFSIZE,260165632,170315776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140910,125537,2254.919,-15743.469,29,1.1,29,10.1