version: 66.06
glider: 146
mission: 5
dive: 211
start: 9 15 110 3 0 53
data:
$ID,146
$MISSION,5
$DIVE,211
$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,-251462.08
$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,28
$R_STBD_OVSHOOT,70
$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
$GPS1,025338,2254.572,-15743.748,29,1.6,29,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-68.8
$GPS2,025956,2254.539,-15743.754,12,1.0,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.090,0.198
$KALMAN_X,-226541.2,316.9,267.5,272168.1,-1726.0
$KALMAN_Y,-128895.0,193.1,267.5,265403.0,-3749.7
$MHEAD_RNG_PITCHd_Wd,14.4,7074,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-85.50,0.000,6,0.000,0.000,473,1767,3479,0,0,0,0,0,0
$GC,106,-1.15,-116.8,4.5,-6.6,11,124,11.52,2.45,0.00,0.000,4,0.139,0.027,2740,3332,3481,0,0,0,0,0,0
$GC,201,-1.03,-116.8,28.1,-13.9,24,211,0.12,2.55,0.00,0.000,6,0.077,0.030,2773,1776,3482,0,0,0,0,0,0
$GC,479,-0.93,-116.8,66.2,-13.7,50,485,0.12,2.72,0.00,0.000,4,0.113,0.064,2799,185,3482,0,0,0,0,0,0
$GC,525,-0.93,-116.8,72.7,-12.9,53,530,0.00,2.38,0.00,0.000,6,0.000,0.015,2799,1784,3483,0,0,0,0,0,0
$GC,793,-0.93,-116.8,102.4,-11.6,77,798,0.00,2.70,0.00,0.000,4,0.000,0.064,2799,189,3483,0,0,0,0,0,0
$GC,828,-0.93,-116.8,106.6,-12.4,79,832,0.00,2.33,0.00,0.000,6,0.000,0.015,2799,1761,3483,0,0,0,0,0,0
$GC,1094,-0.97,-116.8,131.0,-6.9,103,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1762,3483,0,0,0,0,0,0
$GC,1359,-1.02,-116.8,148.1,-6.4,128,1363,0.00,2.67,0.00,0.000,4,0.000,0.067,2800,184,3484,0,0,0,0,0,0
$GC,1388,-1.08,-116.8,150.4,-7.1,130,1393,0.15,2.33,0.00,0.000,6,0.064,0.023,2750,1744,3484,0,0,0,0,0,0
$GC,1653,-1.03,-116.8,174.3,-9.8,154,1658,0.12,2.47,0.00,0.000,4,0.107,0.025,2777,3313,3484,0,0,0,0,0,0
$GC,1705,-1.11,-116.8,179.0,-8.0,158,1709,0.00,2.50,0.00,0.000,6,0.000,0.032,2777,1736,3484,0,0,0,0,0,0
$GC,1969,-1.11,-116.8,200.2,-7.9,182,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1736,3484,0,0,0,0,0,0
$GC,2210,-1.11,-116.8,218.8,-7.5,188,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1736,3484,0,0,0,0,0,0
$GC,2454,-1.11,-116.8,236.4,-7.1,194,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1736,3484,0,0,0,0,0,0
$GC,2697,-1.11,-116.8,256.3,-8.3,200,2701,0.00,2.62,0.00,0.000,4,0.000,0.068,2777,197,3483,0,0,0,0,0,0
$GC,2730,-1.11,-116.8,259.3,-10.1,200,2736,0.00,2.33,0.00,0.000,6,0.000,0.018,2777,1724,3483,0,0,0,0,0,0
$GC,2981,-1.15,-116.8,278.3,-7.2,207,2986,0.12,2.53,0.00,0.000,4,0.072,0.031,2732,3329,3483,0,0,0,0,0,0
$GC,3060,-1.15,-116.8,285.3,-8.7,208,3065,0.00,2.55,0.00,0.000,6,0.000,0.035,2732,1750,3483,0,0,0,0,0,0
$GC,3309,-1.15,-116.8,309.1,-9.6,215,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1750,3483,0,0,0,0,0,0
$GC,3553,-1.15,-116.8,333.6,-10.2,221,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1750,3482,0,0,0,0,0,0
$GC,3797,-1.15,-116.8,352.9,-7.4,227,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1750,3481,0,0,0,0,0,0
$GC,4042,-1.15,-116.8,371.3,-7.7,233,4047,0.00,2.55,0.00,0.000,4,0.000,0.041,2732,3326,3480,0,0,0,0,0,0
$GC,4102,-1.15,-116.8,376.5,-8.1,234,4107,0.00,2.58,0.00,0.000,6,0.000,0.053,2732,1768,3480,0,0,0,0,0,0
$GC,4363,-1.15,-116.8,399.1,-8.9,241,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1768,3479,0,0,0,0,0,0
$GC,4607,-1.15,-116.8,419.0,-8.1,247,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1768,3478,0,0,0,0,0,0
$GC,4852,-1.15,-116.8,436.2,-6.9,253,4857,0.00,2.55,0.00,0.000,4,0.000,0.048,2732,3319,3476,0,0,0,0,0,0
$GC,4869,-1.15,-116.8,437.5,-7.0,253,4873,0.00,2.62,0.00,0.000,6,0.000,0.055,2732,1763,3476,0,0,0,0,0,0
$GC,5129,-1.15,-116.8,455.7,-7.1,260,5134,0.00,2.55,0.00,0.000,4,0.000,0.046,2732,3320,3474,0,0,0,0,0,0
$GC,5192,-1.20,-116.8,460.5,-8.1,261,5197,0.00,2.62,0.00,0.000,6,0.000,0.064,2732,1780,3474,0,0,0,0,0,0
$GC,5452,-1.20,-116.8,482.3,-8.8,268,5457,0.00,3.03,0.00,0.000,4,0.000,0.124,2732,179,3472,0,0,0,0,0,0
$GC,5479,-1.20,-116.8,485.2,-10.6,268,5483,0.00,2.50,0.00,0.000,6,0.000,0.039,2731,1740,3472,0,0,0,0,0,0
$STATE,5645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5645,begin apogee
$GC,5653,-0.31,0.0,500.6,9.2,272,5752,0.88,0.00,96.28,0.920,6,0.074,0.000,2931,1836,3001,0,0,0,0,0,0
$STATE,5753,end apogee,CONTROL_FINISHED_OK
$STATE,5753,begin climb
$GC,5756,1.15,116.8,503.8,0.0,274,5868,1.35,2.78,100.72,0.897,4,0.054,0.066,3258,3405,2522,0,0,0,0,0,0
$GC,5913,1.05,148.7,502.8,6.5,278,5948,0.15,2.72,27.88,0.857,6,0.118,0.059,3228,1812,2393,0,0,0,0,0,0
$GC,6224,0.96,148.7,476.6,8.7,286,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1812,2384,0,0,0,0,0,0
$GC,6465,0.88,148.7,455.3,8.7,292,6470,0.17,2.62,0.00,0.000,4,0.203,0.041,3193,3408,2382,0,0,0,0,0,0
$GC,6497,0.89,156.6,452.7,7.6,292,6509,0.00,2.67,6.20,0.696,6,0.000,0.054,3193,1818,2361,0,0,0,0,0,0
$GC,6789,0.94,190.5,433.4,6.4,300,6829,0.00,2.65,31.23,0.858,4,0.000,0.038,3193,3412,2222,0,0,0,0,0,0
$GC,6887,0.97,190.5,425.8,8.0,302,6891,0.00,2.70,0.00,0.000,6,0.000,0.052,3193,1818,2219,0,0,0,0,0,0
$GC,7160,0.99,200.7,405.0,7.5,309,7175,0.00,2.97,9.60,0.766,4,0.000,0.103,3193,226,2181,0,0,0,0,0,0
$GC,7203,1.00,213.3,401.6,7.4,310,7223,0.10,2.53,12.73,0.792,6,0.095,0.028,3220,1823,2130,0,0,0,0,0,0
$GC,7486,1.03,232.3,380.9,7.1,317,7510,0.00,2.65,17.58,0.810,4,0.000,0.038,3220,3401,2052,0,0,0,0,0,0
$GC,7546,1.03,232.3,376.1,8.6,318,7551,0.00,2.62,0.00,0.000,6,0.000,0.048,3219,1826,2051,0,0,0,0,0,0
$GC,7812,1.03,232.3,354.2,8.3,325,7817,0.00,2.53,0.00,0.000,4,0.000,0.033,3220,3404,2047,0,0,0,0,0,0
$GC,7852,1.03,232.3,350.8,8.0,326,7856,0.00,2.60,0.00,0.000,6,0.000,0.042,3220,1837,2047,0,0,0,0,0,0
$GC,8136,1.03,232.3,326.9,8.6,333,8140,0.00,2.53,0.00,0.000,4,0.000,0.033,3220,3408,2046,0,0,0,0,0,0
$GC,8185,1.07,232.3,321.9,9.4,334,8190,0.00,2.55,0.00,0.000,6,0.000,0.038,3220,1854,2044,0,0,0,0,0,0
$GC,8459,1.07,232.3,298.6,8.3,341,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1855,2044,0,0,0,0,0,0
$GC,8702,1.08,242.4,279.7,7.5,347,8716,0.00,2.55,8.85,0.691,4,0.000,0.036,3220,3401,2012,0,0,0,0,0,0
$GC,8733,1.10,262.5,277.5,7.1,347,8758,0.00,2.53,19.40,0.741,6,0.000,0.034,3220,1858,1929,0,0,0,0,0,0
$GC,9034,1.14,266.4,255.3,7.8,355,9041,0.12,0.00,4.30,0.519,6,0.082,0.000,3252,1858,1914,0,0,0,0,0,0
$GC,9274,1.14,266.4,230.4,10.2,361,9275,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1858,1912,0,0,0,0,0,0
$GC,9518,1.14,266.4,205.1,10.4,367,9522,0.00,2.80,0.00,0.000,4,0.000,0.067,3252,240,1912,0,0,0,0,0,0
$GC,9558,1.07,266.4,200.6,12.3,368,9563,0.00,2.53,0.00,0.000,6,0.000,0.025,3252,1880,1910,0,0,0,0,0,0
$GC,9823,1.07,266.4,173.1,9.9,390,9827,0.00,2.42,0.00,0.000,4,0.000,0.035,3252,3415,1910,0,0,0,0,0,0
$GC,9845,1.07,266.4,171.0,10.7,391,9849,0.00,2.53,0.00,0.000,6,0.000,0.039,3252,1852,1910,0,0,0,0,0,0
$GC,10112,1.07,266.4,145.7,8.9,415,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1852,1909,0,0,0,0,0,0
$GC,10373,1.07,266.4,125.7,8.1,440,10377,0.00,2.47,0.00,0.000,4,0.000,0.028,3252,3417,1910,0,0,0,0,0,0
$GC,10407,1.07,266.4,122.7,9.0,442,10416,0.00,2.55,0.00,0.000,6,0.000,0.040,3252,1857,1909,0,0,0,0,0,0
$GC,10675,1.07,266.4,99.7,9.2,467,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1857,1909,0,0,0,0,0,0
$GC,10943,1.11,267.8,77.5,7.9,492,10951,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1857,1909,0,0,0,0,0,0
$GC,11208,1.21,289.1,58.9,7.0,517,11236,0.00,2.50,20.77,0.552,4,0.000,0.026,3252,3410,1821,0,0,0,0,0,0
$GC,11255,1.31,305.4,55.9,7.3,520,11284,0.15,2.53,15.25,0.531,6,0.066,0.031,3298,1856,1754,0,0,0,0,0,0
$GC,11540,1.31,305.4,30.7,9.5,546,11548,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1857,1751,0,0,0,0,0,0
$STATE,11819,end climb,SURFACE_DEPTH_REACHED
$STATE,11819,begin surface coast
$FINISH,0.3,1.004253
$STATE,11909,end surface coast,CONTROL_FINISHED_OK
$STATE,11909,begin surface
$SM_CCo,11930,101.62,0.460,1,0,1288,420.20
$SM_GC,1.00,0.00,0.00,101.62,0.000,0.000,0.460,475,1744,1288,-11.62,-0.74,420.20
$IRIDIUM_FIX,2244.02,-15743.68,091299,232325
$TT8_MAMPS,0.025311
$HUMID,45.66
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.40
$XPDR_PINGS,47
$24V_AH,23.6,30.220
$10V_AH,10.3,30.908
$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,26.425,118.925,370.775,101.625,0.000,30.227,31.261,179.342,11.750,0.000,13.605,1172.843,7956.226,541.963,2193.227,552.833,33.373,1334.561,0.000,2200.476,0.000,0.536,0.000
$DEVICE_MAMPS,203.255,124.254,919.633,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,405.204,347.528,459.144,875.486,1324.236,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,47694,599
$CAP_FILE_SIZE,115643,0
$CFSIZE,260165632,170012672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150910,062237,2253.805,-15744.067,25,1.5,25,10.1